Unmanned surveying ship suitable for shield crossing river construction monitoring

Abstract

The invention discloses an unmanned surveying ship suitable for shield crossing river construction monitoring. The unmanned surveying ship comprises a ship body, a power system, a detection system anda main control system, wherein the main control system comprises a single chip microcomputer; an advancing obstacle avoidance center is arranged at a nose of the ship body; laser ranging sensors areuniformly arranged on the advancing obstacle avoidance center in the circumferential direction; the laser ranging sensors are connected to the single chip microcomputer; a proximity switch is arrangedin the advancing obstacle avoidance center; the proximity switch is connected to the single chip microcomputer; the detection system comprises an overwater sensor module, an underwater sensor module,an overwater monitor and an underwater monitor; and each of the overwater sensor module and the underwater sensor module is provided with a sensor interface. An obstacle avoidance system is arrangedon a hull, and the obstacle avoidance system is mainly formed by the laser ranging sensors and the proximity switch, and the laser ranging sensors are capable of detecting obstacles in all directionsin order to prevent the hull from colliding with an obstacle. When the hull is very close to the obstacle, the proximity switch can close a steering engine in emergency, and emergency obstacle avoidance is achieved.

Description

technical field [0001] The invention belongs to the field of construction monitoring in water areas, and in particular relates to an unmanned surveying ship suitable for construction monitoring of shield tunneling across rivers. Background technique [0002] Shield tunneling is a construction method of tunnel excavation, which is mainly realized by shield machine. The construction method of shield tunneling is that the "shield" (referring to the supporting segment) of the tunnel is constructed (laid) by the tunnel boring machine while excavating. It is different from Open construction method. The basic working principle of the shield machine is that a cylindrical steel component is pushed forward along the tunnel axis to excavate the soil. The shell of the cylindrical assembly is the shield, which acts as a temporary support for the excavated, unlined tunnel section, withstands the pressure of the surrounding soil and sometimes groundwater pressure and keeps it out. Excava...

AI Technical Summary

Problems solved by technology

[0004] In actual use, it is found that the existing unmanned survey ships cannot meet the monitoring requirements of shield construction, and there are many defects:

[0005] 1. There are many different types and shapes of obstacles in the tunnel construction project. The unmanned survey ship is easy to collide with these obstacles during the process of travel, resulting in damage to the hull

[0006] 2. The existing monitoring devices and sensors of unmanned survey ships are not well arranged, and the monitoring effect is poor, and the obtained data or images are relatively scarce

[0007] 3. Existing unmanned survey ships have great limitations, and often cannot carry out monitoring work in rainy days, and some parts in the hull are easily damaged by water

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