Portable unmanned ship depth calibration device

Abstract

The present invention discloses a portable unmanned ship depth calibration device, including a calibration plate, a sounding rod and a connecting frame. The calibration plate is a circular plate with a water-permeable hole. The calibration plate is horizontally installed on one side of the lower end of the sounding rod through the connecting plate. The sounding rod is assembled from upper and lower sections of a segmented rod, and a scale is arranged on the segmented rod. Two clip-type level gauges are installed on the uppermost segmented rod of the sounding rod at intervals. The connecting frame is installed on one side of the upper part of the sounding rod. The sounding rod is connected to the top platform of the unmanned ship through the connecting frame, and the connecting frame and the calibration plate are located on the same side of the sounding rod, so that the calibration plate is located directly below the unmanned ship transducer. The device solves the problem of correcting the water depth measurement error when the unmanned ship conducts underwater topography measurement, and provides a simpler and more accurate unmanned ship accuracy and stability evaluation method, which can be mass-produced and standardizedly assembled, has strong practicality, low cost, and is easy to promote, while meeting the requirements of accuracy, efficiency, portability and safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of water depth measurement auxiliary equipment, and specifically relates to a portable depth measurement correction device that can be installed on an unmanned ship. The device can be used to measure the propagation speed of sound waves in a water area to be measured, so as to correct the sound speed parameters input into the depth measurement software and calibrate the depth measurement error of the unmanned ship. Background Art

[0002] At present, underwater terrain surveying is difficult and has great safety risks. The method of using unmanned boats for underwater surveying is gradually being promoted. Before starting underwater surveying, it is necessary to correct the errors of the unmanned boat coordinate positioning and depth measurement values. Among them, the key to improving the depth measurement accuracy is to determine the propagation speed of sound waves in the specific water area. The propagation speed of sound waves varies for different water environments.

[0003] Conventional depth sounding correction methods are inaccurate and inefficient. Usually, there are three conventional methods for correcting the depth sounding error of unmanned ships. The first is to use a traditional total station with a sounding rod or a sounding hammer to collect data for a specific position measured by the unmanned ship. This method cannot accurately measure the position directly below the ship, and the depth sounding error by using a human handrail or a hanging hammer is large and unsafe, especially in locations with deep silt. The measured depth is very different from the depth obtained by the echo sounder on the ship. The second method is to hang a large calibration plate tied with a rope under the hull, and convert the length of the rope into water depth. This method is difficult to operate. The depth is high and the working conditions are restricted. It is not easy to keep the calibration plate level, and the depth value calculated by rope length has a large error, and the large calibration plate is inconvenient to carry. The third is to place the unmanned boat in a professional inspection water tank, drive the boat to different standard depths, and compare the measurement results with the standard depth. This method has a high accuracy in depth measurement error inspection, but it needs to be carried out in a professional calibration site. The water quality in the water tank is different from the water quality of actual engineering operations. The underwater sound velocity value obtained by calibration is different from the underwater sound velocity value during on-site operations, and the error is greater at deeper water locations. Summary of the invention

[0004] The present invention aims to provide an unmanned ship depth sounding correction device which has a simple structure, is easy to manufacture, install and operate, is convenient to carry, ensures safety, and can improve accuracy and efficiency.

[0005] To this end, the technical solution adopted by the present invention is: a portable unmanned boat depth sounding calibration device, including a calibration plate, a sounding rod and a connecting frame, the calibration plate is a circular plate with a water-permeable hole, the calibration plate is horizontally installed on one side of the lower end of the sounding rod through the connecting plate, the sounding rod is assembled from upper and lower sections of a segmented rod, the segmented rod is provided with scales, and two clip-type levels are installed on the uppermost segmented rod of the sounding rod at intervals, the connecting frame is installed on one side of the upper part of the sounding rod, the sounding rod is connected to the top platform of the unmanned boat through the connecting frame, and the connecting frame and the calibration plate are located on the same side of the sounding rod, so that the calibration plate is located directly below the unmanned boat transducer.

[0006] As a preferred embodiment of the above scheme, the connecting frame includes a four-corner steel frame and an A-type frame, the four-corner steel frame includes a box-shaped body with an open top, a mounting hole connected to the top platform of the unmanned boat is arranged on the bottom plate of the box-shaped body, and a round rod protruding from the upper plane of the box-shaped body is fixedly provided in each corner of the box-shaped body; the head and two legs of the A-type frame are each fixedly provided with a cylinder, the cylinders of the two legs are respectively inserted from top to bottom into the two round rods on the left or right side, and the cylinder hoop of the head is sleeved on the sounding rod and locked and fixed by a screw and nut assembly passing through horizontally.

[0007] Further preferably, the segmented rods are hollow rods made of carbon material, with a threaded head at the bottom and a threaded hole at the top, and a length of 1.5m-2m; the segmented rods are of the same size, divided into odd-numbered rods of two red and one white and even-numbered rods of two white and one red, and are spliced ​​alternately up and down.

[0008] Further preferably, the calibration plate and the connecting plate are both made of stainless steel plates, the diameter of the calibration plate is 30cm-50cm, the connecting plate is long and narrow, one end of the connecting plate is welded to the bottom of the calibration plate, and the other end is mounted on the threaded head of the lowest segmented rod through a circular hole and fastened with a nut.

[0009] Further preferably, the clip-type level includes a circular level bubble and an elastic clip, the circular level bubble is mounted on the depth measuring rod via the elastic clip, and an anti-slip pad is embedded in the elastic clip.

[0010] The beneficial effects of the present invention are as follows: the present invention solves the problem of correcting the error in water depth measurement when an unmanned ship is used for underwater topographic survey, and provides the staff with a simpler and more accurate method for evaluating the accuracy and stability of unmanned ships; each component of the present invention can be mass-produced and assembled in a standardized manner, and has strong practicality, low cost, and is easy to promote, so that the error correction of unmanned ship depth measurement during underwater measurement can meet the requirements of accuracy, efficiency, portability and safety at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a diagram showing the installation and use effect of the present invention on an unmanned ship.

[0012] Figure 2 A perspective view of the connecting frame.

[0013] Figure 3 A-frame top view.

[0014] Figure 4 A three-dimensional diagram of a clip-type level.

[0015] Figure 5 It is a structural diagram of the calibration plate and the connecting plate. DETAILED DESCRIPTION

[0016] The present invention will be further described below by way of embodiments and in conjunction with the accompanying drawings:

[0017] Combination Figure 1 As shown in FIG. 5 , a portable unmanned boat depth calibration device is mainly composed of a calibration plate 1, a depth rod 2, a clip-type level 3, a connecting plate 4, a four-corner steel frame 5 and an A-frame 6. The entire device can be flexibly combined and can be assembled and disassembled at any time.

[0018] The calibration plate 1 is a circular plate with a water-permeable hole 1a, and the calibration plate 1 is horizontally installed on one side of the lower end of the depth measuring rod 2 through a connecting plate 4.

[0019] The sounding rod 2 is composed of segmented rods assembled up and down, and different numbers of segmented rods can be selected for assembly up and down according to the need of sounding. The segmented rods are provided with scales for easy reading of data.

[0020] There are two clip-type levels 3, which are installed on the uppermost segment of the depth measuring rod 2 at intervals. When reading the depth value on the depth measuring rod 2, the verticality of the depth measuring rod 2 can be adjusted by observing the clip-type level 3, so that the calibration plate 1 is directly below the unmanned ship transducer.

[0021] The connecting frame is installed on one side of the upper part of the depth measuring rod 2, preferably below the two clip-type level gauges 3. The depth measuring rod 2 is connected to the top platform of the unmanned ship through the connecting frame. The connecting frame and the calibration plate 1 are located on the same side of the depth measuring rod 2, so that the calibration plate 1 is located directly below the unmanned ship transducer. The connecting frame is used to fix the relative position of the unmanned ship and the depth measuring rod 2, adjust the posture of the unmanned ship, and make the depth measuring rod 2 vertical to keep the calibration plate 1 directly below the unmanned ship transducer.

[0022] The connecting frame is composed of a four-corner steel frame 5 and an A-frame 6. However, the structural form of the connecting frame is not limited to this, and other forms of connecting frames that can connect the sounding rod 2 to the top platform of the unmanned ship are also acceptable. The main body of the four-corner steel frame 5 is a box-shaped main body 5a with an open top. The box-shaped main body 5a is welded from five steel plates. A mounting hole connected to the top platform of the unmanned ship is provided on the bottom plate of the box-shaped main body 5a. A skylight is provided on the top of the unmanned ship. The connecting frame is installed by using the four existing mounting holes on the skylight, and no additional holes are required. A round rod 5b protruding from the upper plane of the box-shaped main body 5a is fixed in each corner of the box-shaped main body 5a, and the round rod 5b is welded to the box-shaped main body 5a.

[0023] The A-frame 6 is divided into a head and two legs, each of which is fixed with a cylinder 6a, for a total of three cylinders 6a. The cylinders 6a of the two legs are respectively inserted from top to bottom into the two round rods 5b on the left or right side, and the cylinder 6a of the head is hooped on the depth measuring rod 2 and locked and fixed by a screw nut assembly 6b that passes horizontally. The screws are preferably butterfly-shaped screws, which are convenient for direct tightening by hand.

[0024] In order to reduce weight and facilitate carrying, the segmented rod is preferably a hollow rod made of carbon material. A threaded head is set at the bottom of the segmented rod and a threaded hole is set at the top. The threaded head of the next segmented rod is inserted into the threaded hole of the previous segmented rod and tightened to achieve the upper and lower splicing. The segmented rod is preferably 1.5m-2m long. The segmented rods are of the same size, divided into odd-numbered rods of two red and one white, and even-numbered rods of two white and one red, and are spliced ​​alternately up and down, which is convenient for calculating the length of the segments after splicing.

[0025] The calibration plate 1 and the connecting plate 4 are both made of stainless steel to avoid rust and extend the service life. The diameter of the calibration plate 1 is preferably 30cm-50cm, which is determined according to the size of the unmanned ship. It should be ensured that the calibration plate 1 can receive the sound waves emitted by the unmanned ship. The connecting plate 4 is a long strip, one end of which is welded to the bottom of the calibration plate 1, and the other end is set on the threaded head of the lowest segmented rod through a round hole and locked with a nut.

[0026] The clip-type level 3 is composed of a circular level bubble 3a and an elastic clip 3b. The circular level bubble 3a is installed on the depth measuring rod 2 through the elastic clip 3b, and an anti-skid pad is embedded in the elastic clip 3b to ensure a stable installation.

[0027] Usage method: Drive the unmanned boat to the specific water surface to be measured, assemble the calibration plate 1, the sounding rod 2 and the A-frame 6 at a suitable position such as a bridge or a high ridge, and then assemble the sounding rod 2 to the required length through the segmented rod and put it into the water; then put the two cylinders 6a of the legs of the A-frame 6 on the two round rods 5b of the four-corner steel frame 5 that have been fastened to the unmanned boat; finally, install the two clip-type levelers 3 on the uppermost segmented rod, adjust the position of the sounding rod 2 and the unmanned boat to make the two circular level bubbles 3a centered, use the color and scale on the sounding rod 2 to read the depth value of the calibration plate 1, compare it with the result measured by the unmanned boat depth sounder, and calculate the depth error at the depth. By adjusting the fixed position of the A-frame 6 on the sounding rod 2 and changing the length of the sounding rod 2, the error at different depths is calculated, and finally the relationship between the sounding error and depth of the unmanned boat depth sounder is calculated, and the sound velocity in the water quality is calculated, so as to obtain the result of the accuracy assessment of the unmanned boat depth sounding value.

Claims

1. A portable unmanned ship depth calibration device, characterized in that: The device comprises a calibration plate (1), a sounding rod (2) and a connecting frame, wherein the calibration plate (1) is a circular plate with a water permeable hole (1a), the calibration plate (1) is horizontally mounted on one side of the lower end of the sounding rod (2) through a connecting plate (4), the sounding rod (2) is formed by sectional rods assembled from top to bottom, the sectional rods are provided with scales, two clip-type level gauges (3) are mounted on the uppermost sectional rod of the sounding rod (2) at intervals, the connecting frame is mounted on one side of the upper part of the sounding rod (2), the sounding rod (2) is connected to the top platform of the unmanned boat through the connecting frame, and the connecting frame and the calibration plate (1) are located on the same side of the sounding rod (2), so that the calibration plate (1) is located directly below the transducer of the unmanned boat; The connecting frame comprises a four-corner steel frame (5) and an A-shaped frame (6); the four-corner steel frame (5) comprises a box-shaped body (5a) with an open top; a mounting hole connected to the top platform of the unmanned boat is arranged on the bottom plate of the box-shaped body (5a); a round rod (5b) protruding from the upper plane of the box-shaped body (5a) is fixedly provided in each corner of the box-shaped body (5a); a cylinder (6a) is fixedly provided at the head and two legs of the A-shaped frame (6); the cylinders (6a) of the two legs are respectively inserted from top to bottom into the two round rods (5b) on the left or right side; the cylinder (6a) of the head is hooped onto the sounding rod (2) and is locked and fixed by a screw and nut assembly (6b) passing through transversely; The segmented rods are hollow rods made of carbon material, with a threaded head at the bottom and a threaded hole at the top. The segmented rods are 1.5m-2m long. The segmented rods are of the same size and are divided into odd-numbered rods of two red and one white and even-numbered rods of two white and one red, and are spliced ​​alternately up and down.

2. The portable unmanned ship depth calibration device according to claim 1, characterized in that: The calibration plate (1) and the connecting plate (4) are both made of stainless steel plates. The diameter of the calibration plate (1) is 30 cm-50 cm. The connecting plate (4) is in the shape of a long strip. One end of the connecting plate (4) is welded to the bottom of the calibration plate (1), and the other end is sleeved on the threaded head of the lowest segmented rod through a circular hole and is locked and fixed with a nut.

3. The portable unmanned ship depth calibration device according to claim 1 or 2, characterized in that: The clip-type level (3) comprises a circular level bubble (3a) and an elastic clip (3b); the circular level bubble (3a) is mounted on the depth measuring rod (2) via the elastic clip (3b); and an anti-slip pad is embedded in the elastic clip (3b).

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