Bathymetric surveying system and methodTechnical field
The present invention relates to bathymetric surveying field, particularly a kind of bathymetric surveying system and measuring method.
Background technology
At present, general bathymetric surveying uses ship as measuring table, due to ship floating on the water, Wu FaguFixed, in measurement process, ship is moved with flow, even if for power boat, when measuring certain point position, ship can not also surveyedIt is fixed on amount point position.Bathymetric surveying instrument is to calculate the depth of water by the time difference of energy converter transmitted wave and back wave, and when measurement is sent outFor ejected wave after the reflection of underwater initial land form, ship is moved into other positions with energy converter, has to measurement accuracy largerIt influences.
Ship is in dynamic water, and especially certain fluidised forms are complicated, in flow velocity urgency dynamic water, and ship can not be according to survey crew'sWish is moved, and is unable to control the distribution of measurement point position, and possible regional area point position is overstocked after being measured, and regional area is notIt measures, measuring quality can not be guaranteed.
Invention content
The technical problems to be solved by the invention are to provide a kind of bathymetric surveying system and measuring method, Neng GouanEntirely, efficiently, accurately bathymetric surveying is carried out in dynamic water area.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of bathymetric surveying system, includingRobot arm device and depth-measuring system, the depth detection apparatus in depth-measuring system are mounted on mechanical arm in robot arm deviceFree end, depth detection apparatus is electrically connected with Water depth measuring instrument host by way of wirelessly or non-wirelessly；
In the depth detection apparatus, fixed link is vertical to be fixedly connected with the free end of mechanical arm, and the bottom end of fixed link is setThere is energy converter.
In preferred scheme, in the robot arm device, mechanical arm is connect with walking basal seat, and mechanical arm is equipped at leastRotatable joint at two.
In preferred scheme, claw is equipped in the free end of mechanical arm, mounting base is fixedly connected with claw, and mounting base is with erectingStraight tube body is fixedly connected, and is equipped with multiple trip bolts in the side wall of tube body, fixed link is penetrated into tube body, and by trip boltIt is fixed.
In preferred scheme, spatial position positioning device is additionally provided on the top of fixed link.
In preferred scheme, the spatial position positioning device is GPS positioning device or Big Dipper positioning device.
In preferred scheme, vertical sensor, the axis of the vertical sensor and fixation are fixedly provided in fixed linkThe axis of bar is parallel.
In preferred scheme, in the vertical sensor, the top of elastic rod is fixedly connected with the casing, and elastic rod is located atThe position of center line of vertical sensor housing, the bottom end of elastic rod are equipped with the induction sphere of metal material, and electricity is equipped in inner wallsHold film.
In preferred scheme, it is additionally provided with depth transducer on the top of fixed link, in the depth transducer, drawstring oneEnd is fixedly connected with the top of fixed link, and the other end is connect with floating ball, and pulling force sensor is equipped between drawstring and floating ball.
A kind of measuring method using above-mentioned bathymetric surveying system includes the following steps：
S1, robot arm device rest in the bank for needing measured zone；
S2, mechanical arm is reached above the measured zone water surface, ensures that energy converter is in 0.5m below the water surface, and is kept with the water surfaceVertically, the bathymetric surveying work of the point is proceeded by；
S3, the movement by the mobile realization measurement point position of mechanical arm；
S4, mechanical arm coverage area in be measured after, walking basal seat moves a distance, continues through mechanical arm and is surveyedAmount；
Bathymetric surveying is realized by above step.
Energy converter is kept to be located at underwater 0.5m and keeps horizontal with the water surface in measurement process in preferred scheme.
A kind of bathymetric surveying system and measuring method provided by the invention, are installed by using by depth detection apparatusMethod on the robotic arm by the action of big forearm, revolution and the walking of walking basal seat of mechanical arm, realizes depth detection apparatusThe accurate movement of measurement point position.Device and method using the present invention, bathymetric surveying point position can be according to survey crew'sWish is moved, and can be evenly distributed in bathymetric surveying region, greatly improves the matter of bathymetric surveyingAmount and efficiency.The measuring method of the present invention using mechanical arm as carrier is measured, realizes separate men from machines, survey crew can be in bankThe upper operation for carrying out measuring apparatus ensure that the life safety of survey crew.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the structure diagram of fixed link in the present invention.
Fig. 3 is the attachment structure schematic diagram of depth detection apparatus in the present invention.
Fig. 4 is the preferred structure schematic diagram of depth detection apparatus in the present invention.
Fig. 5 is the structure diagram of vertical sensor in the present invention.
Fig. 6 is the structure diagram of depth transducer in the present invention.
In figure：Water depth measuring instrument host 1；Spatial position positioning device 2；Fixed link 3；Energy converter 4；Fixing device 5；FasteningScrew 51；Mounting base 52；Tube body 53；Signal wire 6；Mechanical arm 7；Claw 71；Walking basal seat 72；Excavate platform 8；Vertical sensor9；Elastic rod 91；Capactive film 92；Induction sphere 93；Depth transducer 10；Floating ball 101；Drawstring 102；Pulling force sensor 103.
Specific embodiment
Embodiment 1：
In Fig. 1, a kind of bathymetric surveying system, including robot arm device and depth-measuring system, in depth-measuring systemDepth detection apparatus be mounted on the free end of mechanical arm 7 in robot arm device, depth detection apparatus and Water depth measuring instrument host 1It is electrically connected by way of wirelessly or non-wirelessly；Water depth measuring instrument host 1 is set on the coast.
In the depth detection apparatus, fixed link 3 is vertical to be fixedly connected with the free end of mechanical arm 7, fixed link 3Bottom end is equipped with energy converter 4.Long-armed backhoe may be used in robot arm device in this example, can also use other long mechanical arm dressesIt puts.The energy converter 4 is ultrasonic transducer, and the depth of water is calculated by the time difference of transmitted wave and back wave.
In preferred scheme such as Fig. 1, in the robot arm device, mechanical arm 7 is with walking basal seat 72 with rotatable sideFormula connects, and mechanical arm 7 is equipped with rotatable joint at least two.Rotatable joint, respectively pawl at three are equipped in this examplePortion joint, small shoulder joint and large-arm joint.
In preferred scheme such as Fig. 1 ~ 4, claw 71 is equipped in the free end of mechanical arm 7, mounting base 52 is fixed with claw 71Connection, mounting base 52 are fixedly connected with vertical tube body 53, and multiple trip bolts 51, fixed link 3 are equipped in the side wall of tube body 53It penetrates into tube body 53, and is fixed by trip bolt 51.
In preferred scheme such as Fig. 2 ~ 4, spatial position positioning device 2 is additionally provided on the top of fixed link 3.
In preferred scheme, the spatial position positioning device 2 is GPS positioning device or Big Dipper positioning device.ThusStructure, depth of water numerical value is corresponding with spatial position.
In preferred scheme such as Fig. 4,5, vertical sensor 9 is fixedly provided in fixed link 3, the vertical sensor 9Axis is parallel with the axis of fixed link 3.
In preferred scheme such as Fig. 5, in the vertical sensor 9, the top of elastic rod 91 is fixedly connected with the casing, bulletProperty bar 91 be located at the position of center line of vertical 9 housing of sensor, the bottom end of elastic rod 91 is equipped with the induction sphere 93 of metal material,Inner walls are equipped with capactive film 92.Thus structure, when vertical sensor 9 keeps vertical, capactive film 92 is detected and is sensedThe position of ball 93 is consistent, when vertical sensor 9 tilts, induction sphere 93 close to side capactive film 92, and far from anotherThe capactive film 92 of side, so as to which the voltage per side is influenced to change, therefore obtain inclined by the induction sphere 93 of metal materialDirection and numerical value are modified posture in the operating personnel of walking basal seat 72 according to numerical value, so that it is guaranteed that fixed link 3 keeps perpendicularDirectly.
In preferred scheme such as Fig. 4,6, depth transducer 10, the depth sensing are additionally provided on the top of fixed link 3In device 10,102 one end of drawstring is fixedly connected with the top of fixed link 3, and the other end is connect with floating ball 101, in drawstring 102 and floating ballPulling force sensor 103 is equipped between 101.It is controlled from 101 bottom of floating ball to the height of energy converter 4 in 0.5m, when the pawl of mechanical arm 7Portion 71 when being put into appropriate location below the water surface, after floating ball 101 is by buoyancy, that is, stretches pulling force sensor 103, so as to controlDepth of the energy converter 4 below the water surface.
Embodiment 2：
In Fig. 1, a kind of measuring method using above-mentioned bathymetric surveying system includes the following steps：
Mounting base 52 is fixedly connected by s1, the claw 71 that depth detection apparatus is fixedly mounted on to mechanical arm 7 with claw 71, willFixed link 3 and 4 mutually perpendicular connection of energy converter, fixed link 3 is inserted into tube body 53, tightens trip bolt 51, and installation is perpendicularDirect transfer sensor 9, it is ensured that the axis of vertical sensor 9 is parallel with the axis of fixed link 3, is fixedly mounted on the top of fixed link 3 emptyBetween the drawstring 102 of location position device 2 and depth transducer 10.Robot arm device is rested in by walking basal seat 72 to be needed to measureThe bank in region；To ensure the safety of the equipment in measurement process, the crawler belt face of walking basal seat 72 when robot arm device is stoppedBank and crawler belt end stay the safe distance of 1.5 ~ 2m far from bank.By depth detection apparatus and the Water depth measuring instrument master positioned at bankMachine 1 is connected by signal wire 6, it is preferred that using wireless connection is also feasible.
S2, mechanical arm is reached above the measured zone water surface, ensures that energy converter is in 0.5m below the water surface, and and the water surfaceIt keeps vertical, proceeds by the bathymetric surveying work of the point；
S3, the movement by the mobile realization measurement point position of mechanical arm 7；
S4, it when measuring, behind the complete point position in a row of 72 crawler belt direction of walking basal seat sequence, by the movement of mechanical arm 7 or returnsRotate into the measurement of row next row point position；After being measured in the coverage area of mechanical arm 7, walking basal seat 72 moves a distance,Mechanical arm 7 is continued through to measure；
In preferred scheme, energy converter 4 is kept to be located at underwater 0.5m in measurement process and keeps horizontal with the water surface.
Bathymetric surveying is realized by above step.
The above embodiments are only the preferred technical solution of the present invention, and are not construed as the limitation for the present invention, this hairTechnical characteristic described in bright under the premise of not conflicting, can be combined with each other use, and protection scope of the present invention should be with rightIt is required that record technical solution, including claim record technical solution in technical characteristic equivalents for protection modelIt encloses.Equivalent replacement i.e. within this range is improved, also within protection scope of the present invention.