A water area surveying and mapping device and a water area surveying and mapping method

Abstract

The present invention provides a water area surveying and mapping device and a surveying and mapping method, including: a main measuring component, a reverse slope measuring component and a surveying ship component; the surveying ship component includes a power boat, the power boat is equipped with a fixed-point anchor, the power boat is connected to a lower U-frame, the lower U-frame is connected to an upper U-frame, the power boat is provided with a straight-mouth groove, the lower U-frame is connected to at least one upper guide U-frame, the lower U-frame is connected to a circular plate, the circular plate is provided with a convex track groove; the power boat is connected to a storage cabin corresponding to the fixed-point anchor; the main measuring component includes a vertical axis, and the vertical axis bearing is connected to the circular plate. The present invention relates to the field of measurement technology, and in particular to a water area surveying and mapping device and a surveying and mapping method. In view of the deficiencies of the prior art, the present invention develops a water area surveying and mapping device and a surveying and mapping method, which can map the three-dimensional shape of the water bank by measuring the distance from the water bank, and at the same time realize the measurement of the local raised reverse slope.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology, and in particular to a water area surveying and mapping device and a surveying and mapping method. Background Art

[0002] Surveying and mapping refers to the technology of measuring, collecting and mapping the shape, spatial position and other attributes of natural geographical elements. When it is necessary to survey and map a water area, in order to facilitate the surveying of different locations in the water area, tools such as ships and pontoons are needed.

[0003] Prior art, such as the invention patent with application number CN202311548996.5. The coordinates of the floating carrier are determined by GNSS equipment, and then the distance between the floating carrier and the waterfront is measured by a laser rangefinder, so that the coordinates of the waterfront points can be collected, and the outline of the waterfront section can be drawn based on the coordinates of multiple points. The water area surveying and mapping device and surveying and mapping method provided by the present invention have the effect of surveying and mapping without approaching the shore. It cannot display the same as Fig. 9 The raised reverse slope shown is measured.

[0004] Currently, there is still a lack of a device that can map the three-dimensional shape of the water bank by measuring the distance from the water bank, so as to avoid the situation where the local raised reverse slope is not measured.

[0005] Therefore, in view of the above problems, a water area surveying and mapping device and a surveying and mapping method are proposed to solve the above problems. Summary of the invention

[0006] In view of the deficiencies of the prior art, the present invention develops a water area surveying and mapping device and a surveying and mapping method. The invention can map the three-dimensional shape of the water bank by measuring the distance from the water bank, and at the same time realize the measurement of the local raised reverse slope.

[0007] The technical solution to the technical problem solved by the present invention is as follows: the present invention provides a water area surveying and mapping device and a surveying and mapping method, including: a main measuring component, a reverse slope measuring component and a surveying ship component; the surveying ship component includes a power ship, the power ship is equipped with a fixed-point anchor, the power ship is connected to a lower U-frame, the lower U-frame is connected to an upper U-frame, the power ship is provided with a straight-mouth groove, the lower U-frame is connected to at least one upper guide U-frame, the lower U-frame is connected to a circular plate, the circular plate is provided with a convex track groove; the power ship is connected to a storage cabin corresponding to the fixed-point anchor; the main measuring component includes a vertical shaft, the vertical shaft bearing is connected to the circular plate, the vertical shaft passes through the lower U-frame, and the vertical shaft The power arm is connected, the power arm is connected to a convex round block, the convex round block is arranged in the convex track groove, and the convex round block is connected to the first distance measuring sensor; the reverse slope measuring assembly includes a second distance measuring sensor, the second distance measuring sensor is connected to the output shaft of the steering gear, the steering gear is connected to the mounting round rod, the mounting round rod is connected to the mounting plate, the mounting plate is connected to the limit round block, the limit round block is arranged in the straight mouth groove, the vertical axis is connected to the telescopic cylinder, and the telescopic end of the telescopic cylinder is rotatably connected to the mounting round rod; the upper guide U frame passes through the first guide block, the mounting plate is connected to at least one guide square rod, and the guide square rod passes through the first guide block. The distance measurement of the water bank is realized by using the first distance measuring sensor and the second distance measuring sensor to realize mutual verification. When measuring, the first distance measuring sensor may be unable to measure the partially raised reverse slope shown in the figure, and the second distance measuring sensor plays an auxiliary measurement role to realize the true reflection of the shape of the water bank.

[0008] As an optimization, the upper U frame is connected to a motor, the output shaft of the motor is connected to a driving gear, the vertical shaft is connected to a driven gear, and the driven gear meshes with the driving gear. By using a motor and gear meshing, power support is provided for the movement of the first distance measuring sensor and the second distance measuring sensor.

[0009] As an optimization, at least one set of river bank vertical measurement components is also included, and the river bank vertical measurement components include symmetrical third distance measuring sensors, each of the third distance measuring sensors is respectively connected to the installation vertical rod, each of the installation vertical rod is respectively connected to the slide slot, the slide slot is connected to the round block, the power boat is connected to the lower guide U frame, the lower guide U frame passes through the second guide block, the second guide block is connected to the guide L rod, the guide L rod passes through the round block, the guide L rod is connected to the installation block, the installation block is connected to the L installation plate, and the L installation plate is connected to the first guide block. The third distance measuring sensor and the second distance measuring sensor remain relatively still in the horizontal plane, and the third distance measuring sensor realizes movement in the height direction to realize the measurement of the vertical surface of the river bank, reflecting the three-dimensional state of the river bank.

[0010] As an optimization, the L mounting plate bearing is connected to the central axis of the transmission gear, the power boat is connected to the rack, the transmission gear meshes with the rack, the central axis of the transmission gear is connected to the turntable, the eccentric part of the turntable is connected to the power round block, and the power round block is arranged in the slide slot. By adopting the meshing of the gear and rack, the movement of the third distance measuring sensor is powered.

[0011] As an optimization, the upper U frame is connected to an electric push rod, and the push rod of the electric push rod is connected to a GNSS device. The vertical axis, the electric push rod, the GNSS device, and the fixed anchor are coaxially arranged and located at the center of the power boat.

[0012] As an optimization, a set of positioning and ranging sensors are respectively connected to both sides of the power boat, so as to facilitate the adjustment of the power boat to the center of the river by measuring the distance between the power boat and the waterside.

[0013] A surveying and mapping method of a water area surveying and mapping device comprises the following steps:

[0014] S1: placing the power boat at the center of the river channel to be tested;

[0015] S2: Control the release of the fixed-point anchor, start the GNSS device to determine the first basic coordinates, and use the first basic coordinates as the X origin of the coordinate system. In the initial state, the origin, the first ranging sensor and the second ranging sensor are on the same straight line;

[0016] S3: Control the motor to rotate, so that the first distance measuring sensor rotates with the first basic coordinate as the center. When the first distance measuring sensor is aimed at the water bank, the distance between the first basic coordinate and the water bank in this direction is measured, and the coordinates A11, A12, A13, ... of the point on the water bank can be calculated. When the second distance measuring sensor is aimed at the water bank, the distance between the first basic coordinate and the water bank in this direction is measured, and the coordinates A21, A22, A23, ... of the point on the water bank can be calculated. The third distance measuring sensor and the second distance measuring sensor remain relatively still in the horizontal plane. When the third distance measuring sensor moves in the height direction and is aimed at the water bank, the distance between the first basic coordinate and the water bank in this direction is measured, and the coordinates A31, A32, A33, ... of the point on the water bank can be calculated. After measuring one side of the river channel and the other side of the river channel, the steering gear is controlled to rotate 180°, and the outline of the section of the water bank is drawn according to the collected coordinates of the water bank points.

[0017] S4: After the fixed-point anchor is stowed and the power boat is controlled to move to the next point, the fixed-point anchor is released again, and the second basic coordinates of the point are determined, and the coordinates of the point correspond to the position on the coordinate system X;

[0018] S5: Control the motor to rotate, realize the second measurement of the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor, and draw the outline of the waterfront according to the collected waterfront point coordinates;

[0019] S6: Repeat the above process and summarize the collected multiple segments of waterside contours to obtain the entire waterside contour of the water area.

[0020] As an optimization, the second distance measuring sensor measures the reverse slope which the first distance measuring sensor cannot measure.

[0021] As an optimization, the first ranging sensor is close to the second ranging sensor in height, so as to achieve the contour measurement of the water bank at this height position, avoid the reverse slope that cannot be measured by the first ranging sensor, and truly reflect the contour of the water bank. The third ranging sensor moves along the height to achieve three-dimensional contour mapping of the water bank.

[0022] The effects provided in the content of the invention are only the effects of the embodiments, rather than all the effects of the invention. The above technical solution has the following advantages or beneficial effects:

[0023] 1. This device realizes the measurement of the water bank by adopting the first distance measuring sensor and the second distance measuring sensor. The coordinates of the measuring point are determined by using the GNSS equipment. The measurement values ​​of the first distance measuring sensor and the second distance measuring sensor are used to realize the mapping of the river bank. When the power boat is in the center of the river channel, the straight groove is parallel to the river bank. Compared with the tilt measurement of the first distance measuring sensor, the measurement result is more intuitive. The vertical measurement range of the second distance measuring sensor is relatively larger than that of the first distance measuring sensor. The reverse slope that the first distance measuring sensor cannot measure can be measured, which truly reflects the water bank condition.

[0024] 2. This device adopts a third ranging sensor. The third ranging sensor and the second ranging sensor remain relatively still in the horizontal plane, which is convenient for comparing the measurement values ​​of the two. The third ranging sensor moves in the height direction to measure when it is aimed at the water bank, reflecting the three-dimensional shape of the water bank, and the surveying and mapping results are more intuitive. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0026] Figure 1 It is a schematic diagram of the measurement state of the present invention.

[0027] Figure 2 It is a schematic diagram of the traveling state of the present invention.

[0028] Figure 3It is a schematic diagram of the three-dimensional structure of the measuring part of the present invention.

[0029] Figure 4 It is a schematic diagram of a partially cutaway three-dimensional structure of a survey ship assembly of the present invention.

[0030] Figure 5 It is a schematic diagram of the three-dimensional structure of the river bank vertical surface measurement component of the present invention.

[0031] Figure 6 It is a schematic diagram of the partial three-dimensional structure of the river bank vertical surface measurement component of the present invention.

[0032] Figure 7 It is a schematic diagram of the three-dimensional structure of the main measuring component and the reverse slope measuring component of the present invention.

[0033] Figure 8 It is a schematic diagram of the three-dimensional structure of the present invention.

[0034] Fig. 9 This is a schematic diagram of measuring the first distance measuring sensor of the present invention.

[0035] In the figure:

[0036] 1. Main measuring component, 11. Motor, 12. Driven gear, 13. Driving gear, 14. Power arm, 15. First distance measuring sensor, 16. Convex round block, 17. Vertical axis;

[0037] 2. reverse slope measuring assembly, 21. second distance measuring sensor, 22. servo, 23. first guide block, 24. guide square rod, 25. limit round block, 26. mounting plate, 27. mounting round rod, 28. telescopic cylinder;

[0038] 3. Survey ship assembly, 31. Power ship, 32. Fixed anchor, 33. Lower U frame, 34. Upper U frame, 35. Round plate, 36. Convex track groove, 37. Straight groove, 38. Upper guide U frame, 39. Lower guide U frame, 310. Positioning and ranging sensor, 311. Storage cabin;

[0039] 4. Riverbank vertical surface measurement assembly, 41. third distance measuring sensor, 42. mounting vertical rod, 43. L mounting plate, 44. rack, 45. transmission gear, 46. mounting block, 47. slideway, 48. turntable, 49. power round block, 410. circular block, 411. guide L rod, 412. second guide block;

[0040] 5. Electric push rod;

[0041] 6. GNSS equipment. DETAILED DESCRIPTION

[0042] In order to clearly illustrate the technical features of the present solution, the present invention is described in detail below through specific implementation methods and in combination with the accompanying drawings. The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. In addition, the present invention may repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. It should be noted that the components illustrated in the accompanying drawings are not necessarily drawn to scale. The present invention omits the description of known components and processing technologies and processes to avoid unnecessary limitations on the present invention. The orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] like Figures 1 to 9As shown, embodiment 1: a water area surveying and mapping device and surveying and mapping method, including: a main measuring component 1, a reverse slope measuring component 2 and a surveying ship component 3; the surveying ship component 3 includes a power boat 31, the power boat 31 is equipped with a fixed anchor 32, the power boat 31 is connected to a lower U frame 33, the lower U frame 33 is connected to an upper U frame 34, the power boat 31 is provided with a straight-mouth groove 37, the lower U frame 33 is connected to at least one upper guide U frame 38, the lower U frame 33 is connected to a circular plate 35, and the circular plate 35 is provided with a convex track groove 36; the power boat 31 is connected to a storage cabin 311 corresponding to the fixed anchor 32; the main measuring component 1 includes a vertical shaft 17, the vertical shaft 17 is connected to the circular plate 35 with a bearing, the vertical shaft 17 passes through the lower U frame 33, and the vertical shaft 17 is connected to the power arm 14, The power arm 14 is connected to a convex circular block 16, which is arranged in the convex track groove 36, and the convex circular block 16 is connected to a first distance measuring sensor 15; the reverse slope measuring assembly 2 includes a second distance measuring sensor 21, and the second distance measuring sensor 21 is connected to the output shaft of a steering gear 22, and the steering gear 22 is connected to a mounting round rod 27, and the mounting round rod 27 is connected to a mounting plate 26, and the mounting plate 26 is connected to a limit circular block 25, and the limit circular block 25 is arranged in the straight-mouth groove 37, and the vertical shaft 17 is connected to a telescopic cylinder 28, and the telescopic end of the telescopic cylinder 28 is rotatably connected to the mounting round rod 27; the upper guide U frame 38 passes through the first guide block 23, and the mounting plate 26 is connected to at least one guide square rod 24, and the guide square rod 24 passes through the first guide block 23. By using the first distance measuring sensor 15 and the second distance measuring sensor 21 to measure the distance to the waterside, mutual verification is achieved, and the first distance measuring sensor 15 may be unable to measure when measuring. Fig. 9 The partially raised reverse slope is shown, and the second distance measuring sensor 21 plays a role of auxiliary measurement to achieve a true reflection of the shape of the water bank.

[0044] The convex track groove 36 can pass through the lower U frame 33 of the bracket. At this time, when the first distance measuring sensor 15 and the second distance measuring sensor 21 are arranged at different times, they can be arranged at the same height.

[0045] The upper U frame 34 is connected to the motor 11, the output shaft of the motor 11 is connected to the driving gear 13, the vertical shaft 17 is connected to the driven gear 12, and the driven gear 12 meshes with the driving gear 13. By using the motor 11 and the gear meshing, the movement of the first distance measuring sensor 15 and the second distance measuring sensor 21 is provided with power support.

[0046] In the initial state, when the first distance measuring sensor 15 and the second distance measuring sensor 21 are arranged on the same side, the first distance measuring sensor 15 and the second distance measuring sensor 21 and the center of the power boat 31 are on the same straight line, and the first measuring point of the first distance measuring sensor 15 and the second distance measuring sensor 21 coincide. As the motor 11 rotates, the three are no longer concentric, and the measuring points of the first distance measuring sensor 15 and the second distance measuring sensor 21 are different. The second distance measuring sensor 21 supplements the measuring point of the first distance measuring sensor 15 to make the measurement more accurate. When the power arm 14 rotates 180°, the three are concentric again, and the measuring points of the first distance measuring sensor 15 and the second distance measuring sensor 21 are the same, that is, two identical measuring points appear in one measurement cycle.

[0047] The upper U frame 34 is connected to the electric push rod 5, and the push rod of the electric push rod 5 is connected to the GNSS device 6. The extension and contraction of the electric push rod 5 is controlled to adjust the height position of the GNSS device 6 to facilitate signal reception. The vertical axis 17, the electric push rod 5, the GNSS device 6, and the fixed anchor 32 are coaxially arranged and located at the center of the power boat 31.

[0048] GNSS equipment, namely Global Navigation Satellite System (GNSS) monitoring equipment, is a professional equipment for high-precision positioning and navigation based on satellite navigation system. It uses satellite positioning system with known spatial position to achieve absolute positioning of ground user terminal equipment by receiving and processing satellite signals. GNSS equipment receives signals from multiple global satellite navigation systems and uses the principle of triangulation, that is, the intersection of three circles in space is the positioning position (in fact, at least four satellites are required to consider time factors) to calculate the user's position, speed, time and other parameters. Obtain the precise location of geographic data and support the collection and update of spatial data.

[0049] The workflow of this embodiment is:

[0050] When the motor 11 rotates, it drives the driving gear 13 to rotate, the driving gear 13 drives the driven gear 12 and the vertical shaft 17 to rotate, the vertical shaft 17 drives the power arm 14 to rotate, the power arm 14 drives the convex round block 16 to move along the convex track groove 36, and the power arm 14 drives the first distance measuring sensor 15 to rotate around the vertical shaft 17.

[0051] The vertical shaft 17 drives the telescopic cylinder 28 to rotate, the telescopic cylinder 28 drives the mounting round rod 27 to move, the mounting round rod 27 realizes the extension and contraction of the telescopic cylinder 28, the mounting round rod 27 drives the steering gear 22 and the second ranging sensor 21 to move, the mounting round rod 27 drives the mounting plate 26 to move, the mounting plate 26 drives the limiting round block 25 to move along the straight groove 37, the mounting plate 26 drives the guide square rod 24 to move, the guide square rod 24 drives the first guide block 23 to move along the upper guide U frame 38, when the limiting round block 25 moves along the straight groove of the straight groove 37, the distance to the river bank is measured, when the limiting round block 25 moves along the semicircular groove of the straight groove 37, the guide square rod 24 moves along the first guide block 23.

[0052] Embodiment 2: This embodiment is further described on the basis of embodiment 1, and further includes at least one set of riverbank vertical surface measurement components 4, the riverbank vertical surface measurement components 4 include symmetrical third distance measuring sensors 41, each of the third distance measuring sensors 41 is respectively connected to the installation vertical rod 42, each of the installation vertical rod 42 is respectively connected to the slide 47, the slide 47 is connected to the round block 410, the power boat 31 is connected to the lower guide U frame 39, the lower guide U frame 39 passes through the second guide block 412, the second guide block 412 is connected to the guide L rod 411, the guide L rod 411 passes through the round block 410, the guide L rod 411 is connected to the installation block 46, the installation block 46 is connected to the L installation plate 43, and the L installation plate 43 is connected to the first guide block 23. The third distance measuring sensor 41 and the second distance measuring sensor 21 remain relatively still in the horizontal plane, and the third distance measuring sensor 41 realizes movement in the height direction to realize the measurement of the vertical surface of the riverbank, reflecting the three-dimensional state of the riverbank.

[0053] The L mounting plate 43 is bearing-connected to the central axis of the transmission gear 45, the power boat 31 is connected to the rack 44, the transmission gear 45 meshes with the rack 44, the central axis of the transmission gear 45 is connected to the turntable 48, the eccentric part of the turntable 48 is connected to the power round block 49, and the power round block 49 is arranged in the slide slot 47. By adopting the meshing of the gear and rack, the movement of the third distance measuring sensor 41 is powered.

[0054] The workflow of this embodiment is:

[0055] When the motor 11 rotates, the first guide block 23 drives the river bank vertical surface measuring assembly 4 (except the rack 44 moves), the transmission gear 45 engages and rotates with the rack 44, the transmission gear 45 drives the turntable 48 to rotate, the turntable 48 drives the power round block 49 to swing in the slide groove 47, the power round block 49 drives the slide groove 47 to move, the slide groove 47 drives the circular block 410 to move along the guide L rod 411, the circular block 410 drives the guide L rod 411 to move, and the guide L rod 411 drives the second guide block 412 to move along the lower guide U frame 39.

[0056] Embodiment 3: This embodiment is further described on the basis of Embodiment 1 or 2, and a group of positioning and ranging sensors 310 are respectively connected to both sides of the power boat 31. By measuring the distance between the power boat 31 and the waterside, it is convenient to adjust the power boat 31 to the center of the river.

[0057] A surveying and mapping method of a water area surveying and mapping device comprises the following steps:

[0058] S1: placing the power boat 31 at the center of the river channel to be tested;

[0059] S2: Control the fixed point anchor 32 to release, start the GNSS device 6 to determine the first basic coordinates, and take the first basic coordinates as the X origin of the coordinate system. In the initial state, the origin, the first distance measuring sensor 15 and the second distance measuring sensor 21 are on the same straight line;

[0060] S3: Control the motor 11 to rotate, so that the first distance measuring sensor 15 rotates with the first basic coordinate as the center. When the first distance measuring sensor 15 is aimed at the water bank, the distance between the first basic coordinate in the direction and the water bank is measured, and the coordinates A11, A12, A13, ... of the point on the water bank can be calculated. When the second distance measuring sensor 21 is aimed at the water bank, the distance between the first basic coordinate in the direction and the water bank is measured, and the coordinates A21, A22, A23, ... of the point on the water bank can be calculated. The third distance measuring sensor 41 and the second distance measuring sensor 21 remain relatively still in the horizontal plane. When the third distance measuring sensor 41 moves in the height direction and is aimed at the water bank, the distance between the first basic coordinate in the direction and the water bank is measured, and the coordinates A31, A32, A33, ... of the point on the water bank can be calculated. After measuring one side of the river channel and the other side of the river channel, the steering gear 22 is controlled to rotate 180°, and the outline of the section of the water bank is drawn according to the collected coordinates of the water bank points.

[0061] S4: After the fixed-point anchor 32 is stowed and the power boat 31 is controlled to move to the next point, the fixed-point anchor 32 is released again, and the second basic coordinates of the point are determined, and the coordinates of the point correspond to the position on the coordinate system X;

[0062] S5: Control the motor 11 to rotate, so as to realize the second measurement of the first distance measuring sensor 15, the second distance measuring sensor 21 and the third distance measuring sensor 41, and draw the outline of the waterfront according to the collected waterfront point coordinates;

[0063] S6: Repeat the above process and summarize the collected multiple segments of waterside contours to obtain the entire waterside contour of the water area.

[0064] The second distance measuring sensor 21 measures the reverse slope which the first distance measuring sensor 15 cannot measure.

[0065] The first ranging sensor 15 is close to the second ranging sensor 21 in height, so as to measure the contour of the water bank at this height position, avoid the reverse slope that cannot be measured by the first ranging sensor 15, and truly reflect the contour of the water bank. The third ranging sensor 41 moves along the height to realize three-dimensional contour mapping of the water bank.

[0066] The device realizes the measurement of the water bank by adopting the first distance measuring sensor 15 and the second distance measuring sensor 21, and determines the coordinates of the measuring point by using the GNSS device 6. The measurement values ​​of the first distance measuring sensor 15 and the second distance measuring sensor 21 are used to realize the mapping of the river bank. When the power boat 31 is in the center of the river channel, the straight groove 37 is parallel to the river bank, and the measurement result is more intuitive compared with the inclination measurement of the first distance measuring sensor 15. The vertical measurement range of the second distance measuring sensor 21 is relatively larger than that of the first distance measuring sensor 15, and the reverse slope that the first distance measuring sensor 15 cannot measure is measured, which truly reflects the water bank condition.

[0067] The device adopts a third distance measuring sensor 41. The third distance measuring sensor 41 and the second distance measuring sensor 21 remain relatively still in the horizontal plane, which is convenient for comparing the measurement values ​​of the two. The third distance measuring sensor 41 moves along the height direction to measure when it is aimed at the water bank, reflecting the three-dimensional shape of the water bank, and the surveying and mapping results are more intuitive.

[0068] Although the above describes the specific implementation mode of the invention in conjunction with the drawings, it is not intended to limit the scope of protection of the invention. Based on the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present invention.

Claims

1. A water area surveying and mapping device, characterized in that: include: A main measurement component (1), a reverse slope measurement component (2) and a measurement vessel component (3); The survey ship assembly (3) comprises a power ship (31), the power ship (31) is equipped with a fixed anchor (32), the power ship (31) is connected to a lower U frame (33), the lower U frame (33) is connected to an upper U frame (34), the power ship (31) is provided with a straight groove (37), the lower U frame (33) is connected to at least one upper guide U frame (38), the lower U frame (33) is connected to a circular plate (35), and the circular plate (35) is provided with a convex track groove (36); The main measuring component (1) comprises a vertical shaft (17), the vertical shaft (17) is connected to the circular plate (35) by a bearing, the vertical shaft (17) passes through the lower U frame (33), the vertical shaft (17) is connected to a power arm (14), the power arm (14) is connected to a convex circular block (16), the convex circular block (16) is arranged in the convex track groove (36), and the convex circular block (16) is connected to a first distance measuring sensor (15); The reverse slope measurement assembly (2) comprises a second distance measuring sensor (21), the second distance measuring sensor (21) is connected to the output shaft of the steering gear (22), the steering gear (22) is connected to the mounting round rod (27), the mounting round rod (27) is connected to the mounting plate (26), the mounting plate (26) is connected to the limiting round block (25), the limiting round block (25) is arranged in the straight groove (37), the vertical shaft (17) is connected to the telescopic cylinder (28), and the telescopic end of the telescopic cylinder (28) is rotatably connected to the mounting round rod (27); The upper guide U frame (38) passes through the first guide block (23), the mounting plate (26) is connected to at least one guide square rod (24), and the guide square rod (24) passes through the first guide block (23).

2. A water area surveying and mapping device according to claim 1, characterized in that: The upper U frame (34) is connected to the motor (11), the output shaft of the motor (11) is connected to the driving gear (13), the vertical shaft (17) is connected to the driven gear (12), and the driven gear (12) meshes with the driving gear (13).

3. A water area surveying and mapping device according to claim 2, characterized in that: The invention also comprises at least one group of river bank vertical surface measurement components (4), wherein the river bank vertical surface measurement components (4) comprise symmetrical third distance measuring sensors (41), each of the third distance measuring sensors (41) is respectively connected to a mounting vertical rod (42), each of the mounting vertical rods (42) is respectively connected to a slide groove (47), the slide groove (47) is connected to a round-shaped block (410), the power boat (31) is connected to a lower guide U frame (39), the lower guide U frame (39) passes through a second guide block (412), the second guide block (412) is connected to a guide L rod (411), the guide L rod (411) passes through the round-shaped block (410), the guide L rod (411) is connected to a mounting block (46), the mounting block (46) is connected to an L mounting plate (43), and the L mounting plate (43) is connected to the first guide block (23).

4. A water area surveying and mapping device according to claim 3, characterized in that: The L mounting plate (43) bearing is connected to the central axis of the transmission gear (45), the power boat (31) is connected to the rack (44), the transmission gear (45) meshes with the rack (44), the central axis of the transmission gear (45) is connected to the turntable (48), the eccentric part of the turntable (48) is connected to the power round block (49), and the power round block (49) is arranged in the slide groove (47).

5. A water area surveying and mapping device according to claim 4, characterized in that: The upper U frame (34) is connected to an electric push rod (5), and a push rod of the electric push rod (5) is connected to a GNSS device (6).

6. A water area surveying and mapping device according to claim 1, characterized in that: A group of positioning and ranging sensors (310) are respectively connected to both sides of the power boat (31).

7. A water area surveying method, using the water area surveying device as claimed in claim 5, characterized in that: The following steps are involved: S1: placing the power boat (31) at the center of the river channel of the water area to be tested; S2: Controlling the fixed point anchor (32) to be released, starting the GNSS device (6) to determine a first basic coordinate, taking the first basic coordinate as the X origin of the coordinate system, and in an initial state, the origin, the first distance measuring sensor (15) and the second distance measuring sensor (21) are on the same straight line; S3: Controlling the motor (11) to rotate, so that the first distance measuring sensor (15) rotates with the first basic coordinate as the center of the circle. When the first distance measuring sensor (15) is aimed at the water bank, the distance between the first basic coordinate in this direction and the water bank is measured, and the coordinates A11, A12, A13, ... of the point on the water bank can be calculated. When the second distance measuring sensor (21) is aimed at the water bank, the distance between the first basic coordinate in this direction and the water bank is measured, and the coordinates A21, A22, A23, ... of the point on the water bank can be calculated. ..., the third distance measuring sensor (41) and the second distance measuring sensor (21) remain relatively still in the horizontal plane, and when the third distance measuring sensor (41) moves in the height direction toward the water bank, the distance between the first basic coordinate in the direction and the water bank is measured, and the coordinates A31, A32, A33, ... of the point on the water bank can be calculated. After measuring one side of the river channel, when measuring the other side of the river channel, the steering engine (22) is controlled to rotate 180 degrees, and the outline of the section of the water bank is drawn according to the collected coordinates of the water bank points; S4: after the fixed-point anchor (32) is stowed and the power boat (31) is controlled to move to the next point, the fixed-point anchor (32) is released again, and the second basic coordinates of the point are determined, and the coordinates of the point correspond to the position on the coordinate system X; S5: controlling the motor (11) to rotate, so as to realize the second measurement by the first distance measuring sensor (15), the second distance measuring sensor (21) and the third distance measuring sensor (41), and drawing the outline of the waterfront according to the collected waterfront point coordinates; S6: Repeat the above process and summarize the collected multiple segments of waterside contours to obtain the entire waterside contour of the water area.

8. A water area surveying and mapping method according to claim 7, characterized in that: The second distance measuring sensor (21) measures a reverse slope that cannot be measured by the first distance measuring sensor (15).

9. A water area surveying and mapping method according to claim 7, characterized in that: The third distance measuring sensor (41) moves along the height to achieve three-dimensional contour mapping of the waterside.

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