Underwater topography measurement system and methodTechnical Field
The invention relates to the field of underwater topography measurement, in particular to an underwater topography measurement system and a measurement method.
Background
At present, a ship is used as a measuring platform for general underwater topography measurement, and the ship can not be fixed because of floating on water, and in the measuring process, the ship moves along with water flow, even if the ship is a power ship, the ship can not be fixed on a measuring point when a certain point is measured. The water depth measuring instrument calculates the water depth by the time difference between the emitted wave and the reflected wave of the transducer, and when in measurement, the emitted wave is reflected by the underwater original topography, and then the ship moves to other positions with the transducer, so that the measuring precision is greatly affected.
The ship can not move according to the wish of measuring personnel in moving water, especially in moving water with complicated flow state and rapid flow speed, the distribution of measuring points can not be controlled, the point positions of a local area are possibly too dense after the measurement is finished, the local area is not measured, and the measurement quality can not be ensured.
Disclosure of Invention
The invention aims to provide an underwater topography measurement system and an underwater topography measurement method, which can safely, efficiently and accurately measure underwater topography in a moving water area.
In order to solve the technical problems, the invention adopts the following technical scheme: the underwater topography measurement system comprises a mechanical arm device and a depth measurement system, wherein a depth detection device in the depth measurement system is arranged at the free end of the mechanical arm in the mechanical arm device, and the depth detection device is electrically connected with a water depth measuring instrument host in a wireless or wired mode;
In the depth detection device, a fixed rod is vertically fixedly connected with the free end of the mechanical arm, and a transducer is arranged at the bottom end of the fixed rod.
In a preferred scheme, in the mechanical arm device, the mechanical arm is connected with the walking base, and at least two rotatable joints are arranged on the mechanical arm.
In the preferred scheme, be equipped with the claw in the free end of arm, mount pad and claw fixed connection, mount pad and vertical body fixed connection are equipped with a plurality of fastening screw at the lateral wall of body, and the dead lever penetrates in the body to by fastening screw fixed.
In the preferred scheme, a space position locating device is also arranged at the top end of the fixed rod.
In a preferred scheme, the spatial position positioning device is a GPS positioning device or a Beidou positioning device.
In the preferred scheme, a vertical sensor is further fixedly arranged on the fixing rod, and the axis of the vertical sensor is parallel to the axis of the fixing rod.
In the preferred scheme, in the vertical sensor, the top and the casing fixed connection of elastic rod, the elastic rod is located vertical sensor casing's central line position, the bottom of elastic rod is equipped with the induction ball of metal material, is equipped with the electric capacity membrane at shells inner wall.
In the preferred scheme, the top of dead lever still be equipped with the depth sensor, in the depth sensor, stay cord one end and the top fixed connection of dead lever, the other end is connected with the floater, is equipped with tension sensor between stay cord and floater.
The measuring method by using the underwater topography measuring system comprises the following steps:
S1, the mechanical arm device is stopped at the bank side of a region to be measured;
S2, extending the mechanical arm to the position above the water surface of the measuring area, ensuring that the transducer is 0.5m below the water surface and is vertical to the water surface, and starting underwater topography measuring work of the point;
s3, realizing movement of the measurement point position through movement of the mechanical arm;
s4, after the measurement in the coverage area of the mechanical arm is completed, the walking base moves a distance, and the measurement is continuously carried out through the mechanical arm;
the underwater topography measurement is realized through the steps.
In a preferred embodiment the transducer is kept 0.5m under water and level with the water surface during the measurement.
According to the underwater topography measuring system and the underwater topography measuring method, the depth detecting device is arranged on the mechanical arm, and accurate movement of measuring points of the depth detecting device is achieved through movement, rotation and walking of the walking base of the large and small arms of the mechanical arm. By adopting the device and the method, the underwater topography measurement points can be moved according to the wish of the measurer and can be uniformly distributed in the underwater topography measurement area, so that the quality and the efficiency of underwater topography measurement are greatly improved. According to the measuring method, the mechanical arm is used as a measuring carrier, so that man-machine separation is realized, a measuring person can operate measuring equipment on the shore, and the life safety of the measuring person is ensured.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic structural view of a fixing rod in the present invention.
Fig. 3 is a schematic diagram of a connection structure of the depth detection device according to the present invention.
Fig. 4 is a schematic diagram of a preferred structure of the depth detection device according to the present invention.
Fig. 5 is a schematic structural view of a vertical sensor according to the present invention.
FIG. 6 is a schematic diagram of a depth sensor according to the present invention.
In the figure: a water depth measuring instrument host 1; a spatial position locating device 2; a fixed rod 3; a transducer 4; a fixing device 5; a fastening screw 51; a mounting base 52; a tube 53; a signal line 6; a mechanical arm 7; a claw portion 71; a walking base 72; excavating a platform 8; a vertical sensor 9; an elastic lever 91; a capacitance film 92; a sense ball 93; a depth sensor 10; a float 101; a pull cord 102; and a tension sensor 103.
Detailed Description
Example 1:
As shown in fig. 1, an underwater topography measuring system comprises a mechanical arm device and a depth measuring system, wherein a depth detecting device in the depth measuring system is arranged at the free end of a mechanical arm 7 in the mechanical arm device, and the depth detecting device is electrically connected with a water depth measuring instrument host 1 in a wireless or wired mode; the main body 1 of the water depth measuring instrument is arranged on the shore.
In the depth detection device, a fixed rod 3 is vertically fixedly connected with the free end of a mechanical arm 7, and a transducer 4 is arranged at the bottom end of the fixed rod 3. The mechanical arm device in this example may be a long arm backhoe, or may be another long mechanical arm device. The transducer 4 is an ultrasonic transducer, and the water depth is calculated by the time difference between the emitted wave and the reflected wave.
In the preferred embodiment, as shown in fig. 1, in the mechanical arm device, the mechanical arm 7 is rotatably connected to the walking base 72, and at least two rotatable joints are provided on the mechanical arm 7. In this example, three rotatable joints, namely a claw joint, a forearm joint and a forearm joint, are provided.
In the preferred scheme, as shown in fig. 1-4, a claw 71 is arranged at the free end of the mechanical arm 7, a mounting seat 52 is fixedly connected with the claw 71, the mounting seat 52 is fixedly connected with a vertical pipe body 53, a plurality of fastening screws 51 are arranged on the side wall of the pipe body 53, and a fixing rod 3 penetrates into the pipe body 53 and is fixed by the fastening screws 51.
In the preferred scheme, as shown in fig. 2-4, a space position positioning device 2 is further arranged at the top end of the fixed rod 3.
In a preferred embodiment, the spatial position locating device 2 is a GPS locating device or a beidou locating device. With this configuration, the water depth value is correlated with the spatial position.
In a preferred scheme, as shown in fig. 4 and 5, a vertical sensor 9 is also fixed on the fixed rod 3, and the axis of the vertical sensor 9 is parallel to the axis of the fixed rod 3.
In the preferred embodiment shown in fig. 5, in the vertical sensor 9, the top end of the elastic rod 91 is fixedly connected with the housing, the elastic rod 91 is located at the center line position of the housing of the vertical sensor 9, the bottom end of the elastic rod 91 is provided with a sensing ball 93 made of metal material, and the inner wall of the housing is provided with a capacitance film 92. With this structure, when the vertical sensor 9 is kept vertical, the detection of the capacitance film 92 is consistent with the position of the sensing ball 93, and when the vertical sensor 9 is inclined, the sensing ball 93 is close to the capacitance film 92 on one side and far away from the capacitance film 92 on the other side, so that the voltage on each side is changed under the influence of the sensing ball 93 made of metal, and thus the inclined direction and value are obtained, and the operator walking the base 72 performs correction posture according to the value, thereby ensuring that the fixing rod 3 is kept vertical.
In the preferred embodiment, as shown in fig. 4 and 6, a depth sensor 10 is further disposed at the top end of the fixed rod 3, in the depth sensor 10, one end of a pull rope 102 is fixedly connected with the top end of the fixed rod 3, the other end is connected with a floating ball 101, and a tension sensor 103 is disposed between the pull rope 102 and the floating ball 101. The height from the bottom of the floating ball 101 to the transducer 4 is controlled to be 0.5m, and when the claw portion 71 of the mechanical arm 7 is put into a proper position under the water surface, the floating ball 101 is subjected to buoyancy, namely, the tension sensor 103 is stretched, so that the depth of the transducer 4 under the water surface is controlled.
Example 2:
As shown in fig. 1, a measurement method using the above-mentioned underwater topography measurement system includes the following steps:
s1, fixedly mounting the depth detection device on the claw portion 71 of the mechanical arm 7, fixedly connecting the mounting seat 52 with the claw portion 71, mutually perpendicularly connecting the fixing rod 3 with the transducer 4, inserting the fixing rod 3 into the pipe body 53, tightening the fastening screw 51, mounting the vertical sensor 9, ensuring that the axis of the vertical sensor 9 is parallel to the axis of the fixing rod 3, and fixedly mounting the space position positioning device 2 and the pull rope 102 of the depth sensor 10 on the top end of the fixing rod 3. The mechanical arm device is stopped at the bank of the area to be measured through the walking base 72; to ensure the safety of the equipment during the measurement, the crawler belt of the walking base 72 is opposite to the shore when the mechanical arm device stops, and the end of the crawler belt is kept at a safety distance of 1.5-2 m from the shore. It is also possible to connect the depth detection device with the main body 1 of the water depth measuring instrument located on the shore via a signal line 6, preferably by wireless connection.
S2, extending the mechanical arm to the position above the water surface of the measuring area, ensuring that the transducer is 0.5m below the water surface and is vertical to the water surface, and starting underwater topography measuring work of the point;
s3, realizing movement of the measurement point position through movement of the mechanical arm 7;
s4, in the measuring process, after one row of point positions are sequentially completed along the track direction of the walking base 72, measuring the next row of point positions through the movement or rotation of the mechanical arm 7; after the measurement in the coverage area of the mechanical arm 7 is completed, the walking base 72 moves a certain distance, and the measurement is continuously carried out through the mechanical arm 7;
In a preferred embodiment, the transducer 4 is kept at 0.5m under water and level with the water surface during the measurement.
The underwater topography measurement is realized through the steps.
The above embodiments are only preferred embodiments of the present invention, and the technical features described in the present invention should not be construed as limiting the present invention, and the scope of the present invention should be defined by claims, and equivalent alternatives to the technical features described in the claims should be regarded as the scope of the present invention. I.e., equivalent replacement modifications within the scope of this invention are also within the scope of the invention.