Multi-beam channel measuring device for double unmanned ships

Abstract

The utility model discloses a double-unmanned-ship multi-beam channel measuring device which comprises a manned ship and unmanned ships arranged on the two sides of a ship body of the manned ship respectively, the unmanned ships are connected with the ship body of the manned ship through traction fixing devices, and multi-beam measuring devices are arranged on the unmanned ships. The double-probe multi-beam device is formed by the two unmanned ships, the multi-beam measurement efficiency and the scanning measurement range are improved, the endurance time of the unmanned ships is prolonged, and the navigation stability is enhanced; the unmanned ship is adopted for measurement, shallow water areas and slope areas can be covered, the manned ship is used for pulling the unmanned ship to move forwards, the endurance time of the unmanned ship is prolonged, and the navigation stability is enhanced.

Description

Technical Field

[0001] This application relates to the technical field of channel surveying, and particularly to a dual unmanned vessel multi-beam channel surveying device. Background Art

[0002] The focus of channel sounding work is underwater topographic surveying. Through underwater topographic surveying, it is possible to accurately grasp whether there are navigation obstacles in the channel and accurately judge the actual scale of the channel. The currently widely used traditional underwater topographic surveying method is to install a multi-beam sounding instrument on a manned vessel or conduct sounding by integrating a multi-beam sounding instrument on an unmanned vessel.

[0003] Due to the large volume and deep draft of manned vessels, they cannot approach the shore at any time and survey shallow areas. Therefore, underwater topographic surveying is restricted by technology and terrain and cannot map a complete underwater topographic map. The greatest advantage of unmanned vessels in underwater topographic surveying is their high efficiency, safety, portability, and compactness. However, when an unmanned vessel is operating, it will be blocked by freight vessels, resulting in safety problems in controlling the unmanned vessel within non-line-of-sight. Secondly, the battery life of unmanned vessels is limited, and frequent charging or battery replacement may be required for long-term or long-distance sounding tasks. In addition, manual intervention is required to solve obstacles or failures encountered during the operation of unmanned vessels, which reduces the work efficiency to a certain extent. Utility Model Content

[0004] The purpose of this application is to provide a dual unmanned vessel multi-beam channel surveying device to solve the problems that during channel sounding, manned vessels have a large volume, deep draft, are prone to stranding, cannot fully cover the measurement of shallow water areas and slope areas, and the danger of controlling unmanned vessels within non-line-of-sight, limited battery life, etc.

[0005] To achieve the above purpose, the technical solution provided by this application is:

[0006] A dual unmanned vessel multi-beam channel surveying device includes a manned vessel and unmanned vessels respectively arranged on both sides of the hull of the manned vessel. The unmanned vessels are connected to the hull of the manned vessel through a traction fixing device, and a multi-beam measuring device is provided on the unmanned vessels.

[0007] To optimize the above technical solution, the specific measures taken also include:

[0008] The unmanned vessels include a left unmanned vessel arranged on the left side of the hull of the manned vessel and a right unmanned vessel arranged on the right side; the unmanned vessels are connected to the hull of the manned vessel through a traction fixing device provided at the front or rear of the hull of the manned vessel.

[0009] Further, the left unmanned vessel and the right unmanned vessel are respectively arranged one in front and the other behind. The unmanned vessel at the front is connected to the hull of the manned vessel through a front traction fixing device, and the unmanned vessel at the rear is connected to the hull of the manned vessel through a rear traction fixing device.

[0010] Furthermore, the pulling and fixing device includes a fixing rod, a fixing cable, and a towing rope; the fixing rod is fixed on the hull of the manned boat, and one end of the fixing rod extends out of the hull of the manned boat and is connected to the unmanned boat; one end of the fixing cable is connected to the hull of the manned boat, and the other end is connected to the end of the fixing rod extending out of the hull of the manned boat; one end of the towing rope is connected to the hull of the manned boat, and the other end is connected to the unmanned boat.

[0011] The fixing rod includes a horizontal rod and a vertical rod. The horizontal rod is fixed on the hull of the manned boat. The upper end of the vertical rod is connected to the horizontal rod, and the lower end is connected to the unmanned boat.

[0012] Furthermore, ring buckles for connecting and fixing the horizontal rod to the hull of the manned boat are set on the horizontal rod, including a first ring buckle fixed at the intersection of the horizontal rod and one side of the hull of the manned boat, and a second ring buckle fixed at the intersection of the horizontal rod and the other side of the hull of the manned boat.

[0013] Furthermore, a connecting elbow is provided at the end of the horizontal rod extending out of the hull. The upper end of the vertical rod is connected and fixed to the horizontal rod through the connecting elbow.

[0014] Furthermore, a third ring buckle for connecting the unmanned boat is fixed at the lower end of the vertical rod; the towing rope passes through the third ring buckle.

[0015] A number of dispersed force-bearing connection points are fixed on the unmanned boat. The dispersed force-bearing connection points are connected through unmanned boat ropes, and the unmanned boat ropes are connected to the towing rope.

[0016] Furthermore, a rope segment with a hook is connected to the end of the towing rope connecting the unmanned boat, and the unmanned boat rope is hung on the hook of the rope segment.

[0017] Compared with the prior art, the beneficial effects of the present application are as follows:

[0018] The present application forms a multi-beam device with double probes through two unmanned boats, improving the multi-beam measurement efficiency and scanning range, extending the endurance time of the unmanned boat, and enhancing the navigation stability; using the unmanned boat for measurement can cover shallow water areas and slope areas, solving the problems that the manned boat has a large volume, a deep draft, and is prone to stranding, and cannot fully cover the measurement of shallow water areas and slope areas; using the manned boat to pull the unmanned boat forward, extending the endurance time of the unmanned boat and enhancing the navigation stability, solving the problems such as short endurance time and low efficiency in the multi-beam underwater terrain scanning of the waterway only using the unmanned boat.

[0019] In this application, a manned boat drives an unmanned boat forward through a pulling and fixing device. By controlling the relative position between the unmanned boat and the manned boat, the influence of the manned boat on the satellite signal reception of the unmanned boat can be avoided, the influence of bubbles during the navigation of the manned boat on the multi-beam unmanned boat can be avoided, and the scope of channel surveying operations can be increased. The movement range of the unmanned boat is controlled by the lengths of the fixing rod, the fixing cable, and the towing rope, thus avoiding the danger of being caught in the hull during the turning of the manned boat's navigation. By quickly untying the towing rope, emergencies such as collisions caused by cross-navigation of ships can be avoided.

[0020] In this application, the fixing rod elbow is connected to the vertical rod, and the vertical rod is used to lower the connection height of the unmanned boat. In this application, multiple dispersed force connection points are arranged on the unmanned boat to reduce the damage to the hull of the unmanned boat during pulling.

[0021] The solution of this application is simple and easy to implement, solving the problems of cumbersome operation and equipment calibration of unmanned boats. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 : Schematic structural diagram of the double unmanned boat multi-beam channel measuring device of this application.

[0023] Figure 2 : Schematic partial structural diagram of the double unmanned boat multi-beam channel measuring device of this application.

[0024] Figure 3 : Schematic diagram of the application state of the double unmanned boat multi-beam channel measuring device of this application.

[0025] In the figure: 1 - fixing rod, 2 - fixing cable, 3 - towing rope, 4 - unmanned boat rope, 5 - manned boat, 6 - unmanned boat, 7 - horizontal rod, 8 - vertical rod, 9 - first loop, 10 - second loop, 11 - third loop, 12 - fourth loop, 13 - connecting elbow. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The above content of this application will be further described in detail below in the form of embodiments. However, it should not be understood that the scope of the above subject matter of this application is limited to the following embodiments. Any technology implemented based on the above content of this application belongs to the scope of this application.

[0027] In the description of this application, it should also be noted that:

[0028] The orientation or positional relationship therein is based on the relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this application. For the convenience of understanding and description, the orientation or positional relationship in this application is: with the left side in Figure 1 being the left, and with the left side inFigure 1 The front is the upper front.

[0029] In addition, terms such as "first, second, or third" are for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise clearly specified and defined in this application. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] The following will be further described in detail with reference to the drawings. As Figure 1 shown, this application provides a dual unmanned ship multi-beam channel measurement device, which includes a manned ship 5 and unmanned ships 6 respectively arranged on both sides of the hull of the manned ship 5. The unmanned ships 6 are connected to the hull of the manned ship 5 through a pulling and fixing device, and a multi-beam measurement device is provided on the unmanned ships 6.

[0031] In some embodiments, the unmanned ships 6 include a left unmanned ship 6 arranged on the left side of the hull of the manned ship 5 and a right unmanned ship 6 arranged on the right side; the unmanned ships 6 are connected to the hull of the manned ship 5 through a pulling and fixing device arranged at the front or rear of the hull of the manned ship 5.

[0032] The left unmanned ship 6 and the right unmanned ship 6 are arranged one in front of the other. The unmanned ship 6 at the front is connected to the hull of the manned ship 5 through a front pulling and fixing device, and the unmanned ship 6 at the rear is connected to the hull of the manned ship 5 through a rear pulling and fixing device.

[0033] The pulling and fixing device includes a fixing rod 1, a fixing cable 2, and a towing rope 3; the fixing rod 1 is fixed on the hull of the manned ship, and one end of the fixing rod 1 extends out of the hull of the manned ship 5 and is connected to the unmanned ship 6; one end of the fixing cable 2 is connected to the hull of the manned ship 5, and the other end is connected to the end of the fixing rod 1 that extends out of the hull of the manned ship 5; one end of the towing rope 3 is connected to the hull of the manned ship 5, and the other end is connected to the unmanned ship 6.

[0034] As Figure 2 shown, the fixing rod 1 includes a horizontal rod 7 and a vertical rod 8. The horizontal rod 7 is fixed on the hull of the manned ship, the upper end of the vertical rod 8 is connected to the horizontal rod 7, and the lower end is connected to the unmanned ship 6.

[0035] In some embodiments, the fixing rod 1 is a galvanized steel pipe with a diameter of not less than φ250mm and a wall thickness of 3.25mm. The horizontal rod 7 can be composed of multiple galvanized steel pipes connected together, and the length of the horizontal rod 7 is 5 to 8m.

[0036] In some embodiments, the length of the vertical rod 8 is 0.5 to 1m.

[0037] In some embodiments, the fixing cable 2 and the towing rope 3 are steel ropes with a diameter of not less than 30mm.

[0038] On the horizontal rod 7, there are respectively set up loop buckles for connecting and fixing the horizontal rod 7 to the hull of the manned boat 5, including a first loop buckle 9 fixed at the intersection of the horizontal rod 7 and one side of the hull of the manned boat 5, and a second loop buckle 10 fixed at the intersection of the horizontal rod 7 and the other side of the hull of the manned boat 5.

[0039] One end of the horizontal rod 7 extending out of the hull is provided with a connecting elbow 13, and the upper end of the vertical rod 8 is connected and fixed to the horizontal rod 7 through the connecting elbow 13.

[0040] In some embodiments, a third loop buckle 11 for connecting the unmanned boat 6 is fixed at the lower end of the vertical rod 8, and the towing rope 3 passes through the third loop buckle 11.

[0041] In some embodiments, a fourth loop buckle 12 is provided at the connecting elbow 13; hooks are respectively installed at both ends of the fixing cable 2, one end is buckled on the manned boat 5, and the other end is buckled on the fourth loop buckle 12 at the connecting elbow 13.

[0042] In some embodiments, the hook is a hook with a bearing capacity of not less than 0.3T.

[0043] In some embodiments, the first loop buckle 9, the second loop buckle 10, the third loop buckle 11 and the fourth loop buckle 12 are all arc-shaped steel bar loop buckles.

[0044] On the unmanned boat 6, a number of dispersed force-bearing connection points are fixed, and each dispersed force-bearing connection point is connected through the unmanned boat rope 4, and the unmanned boat rope 4 is connected to the towing rope 3.

[0045] In some embodiments, the dispersed force-bearing connection point is a handle structure fixed at both ends on the unmanned boat 6, and the unmanned boat rope 4 passes through these handle structures.

[0046] In some embodiments, at one end of the towing rope 3 connecting the unmanned boat, there is a rope segment with a hook, and the unmanned boat rope is hung on the hook of the rope segment.

[0047] In some embodiments, the unmanned boat rope is a 50mm-wide binding rope.

[0048] In some embodiments, as Figure 1 shown, the right unmanned boat A is arranged on the right front side of the hull of the manned boat 5 and is connected to the hull of the manned boat 5 through a front pulling and fixing device, and the left unmanned boat B is arranged on the left rear side of the hull of the manned boat 5 and is connected to the hull of the manned boat 5 through a rear pulling and fixing device.

[0049] In the present application, two unmanned boats 6 are fixed on a manned boat 5 to form a dual-probe multi-beam device, which improves the multi-beam measurement efficiency and scanning range, extends the cruising time of the unmanned boat 6, and enhances navigation stability; the unmanned boat 6 is used for measurement to cover shallow water areas and slope areas, solving the problem that the manned boat 5 is large in size, deep in draft, and easy to run aground, and cannot fully cover the shallow water areas and slope areas for measurement; using the manned boat 5 to pull the unmanned boat 6 forward can solve the problems of the danger of non-line-of-sight operation of the unmanned boat 6 and limited cruising ability.

[0050] By controlling the relative position between the unmanned ship 6 and the manned ship 5, the influence of the manned ship 5 on the satellite signal reception of the unmanned ship 6 can be avoided, the influence of bubbles on the multi-beam unmanned ship 6 during the navigation of the manned ship 5 can be avoided, and the range of the channel scanning operation can be increased.

[0051] By fixing the length of the rod 1, the cable 2 and the towing rope 3, the range of movement of the unmanned boat 6 can be controlled to avoid the danger of the manned boat 5 being drawn into the hull during navigation and turning. By quickly untying the towing rope 3, emergency situations such as collisions caused by crossing ships can be avoided.

[0052] The vertical rod 8 pointing vertically downward can prevent the unmanned boat 6 from having the bow of the unmanned boat 6 tilted and the multi-beam draft being shallow due to the fixing rod 1 being installed too high.

[0053] The present application sets a plurality of dispersed force connection points on the unmanned boat 6 so that these connection points are evenly distributed, thereby reducing damage to the hull of the unmanned boat 6 during pulling.

[0054] like Figure 3 As shown, the device of the utility model integrates two multi-beam unmanned ships 6 to operate simultaneously, and can adjust the length of each fixed rod 1 to control the relative distance between the two unmanned ships 6, and adjust the opening angle and scanning angle of the multi-beam scanning, which can not only ensure the effective overlap of the scanning of the two multi-beam unmanned ships 6, but also improve the work efficiency of channel scanning, and solve the problems of short operating endurance time of a single unmanned ship 6 and overlapping navigation belts.

[0055] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Any technical personnel familiar with the profession, without departing from the scope of the technical solution of the present application and based on the technical essence of the present application, any simple modification, equivalent replacement and improvement made to the above embodiments shall still fall within the scope of protection of the technical solution of the present application.

Claims

1. A dual unmanned ship multi-beam channel measurement device, characterized in that: It includes a manned boat and unmanned boats respectively arranged on both sides of the hull of the manned boat. The unmanned boats are connected to the hull of the manned boat through a pulling and fixing device, and a multi-beam measuring device is provided on the unmanned boats.

2. The dual-unmanned-ship multi-beam channel measurement device according to claim 1, wherein: The unmanned boats include a left unmanned boat arranged on the left side of the hull of the manned boat and a right unmanned boat arranged on the right side; the unmanned boats are connected to the hull of the manned boat through a pulling and fixing device arranged at the front or rear of the hull of the manned boat.

3. The multi-beam channel measurement device for double unmanned boats according to claim 2, characterized in that: The left unmanned boat and the right unmanned boat are respectively arranged one in front of the other. The unmanned boat at the front is connected to the hull of the manned boat through a front pulling and fixing device, and the unmanned boat at the rear is connected to the hull of the manned boat through a rear pulling and fixing device.

4. The dual unmanned ship multi-beam channel measurement device according to claim 1, characterized in that: The pulling and fixing device includes a fixing rod, a fixing cable and a traction rope; the fixing rod is fixed on the hull of the manned boat, and one end of the fixing rod extends out of the hull of the manned boat and is connected to the unmanned boat; one end of the fixing cable is connected to the hull of the manned boat, and the other end is connected to the end of the fixing rod extending out of the hull of the manned boat; one end of the traction rope is connected to the hull of the manned boat, and the other end is connected to the unmanned boat.

5. The dual unmanned ship multi-beam channel survey device according to claim 4, characterized in that: The fixing rod includes a horizontal rod and a vertical rod. The horizontal rod is fixed on the hull of the manned boat. The upper end of the vertical rod is connected to the horizontal rod, and the lower end is connected to the unmanned boat.

6. The multi-beam channel measurement device for double unmanned boats according to claim 5, wherein: There are buckle rings for connecting and fixing the horizontal rod to the hull of the manned boat set on the horizontal rod, including a first buckle ring fixed at the intersection of the horizontal rod and one side of the hull of the manned boat, and a second buckle ring fixed at the intersection of the horizontal rod and the other side of the hull of the manned boat.

7. The dual unmanned vessel multi-beam channel survey device according to claim 5, wherein: One end of the horizontal rod extending out of the hull is provided with a connecting elbow, and the upper end of the vertical rod is connected and fixed to the horizontal rod through the connecting elbow.

8. The multi-beam channel measurement device for dual unmanned boats according to claim 5, characterized in that: A third buckle ring for connecting the unmanned boat is fixed at the lower end of the vertical rod; the traction rope passes through the third buckle ring.

9. The dual unmanned ship multi-beam channel measurement device according to claim 1, characterized in that: A number of dispersed force-bearing connection points are fixed on the unmanned boat. The dispersed force-bearing connection points are connected through an unmanned boat rope, and the unmanned boat rope is connected to the traction rope.

10. The dual unmanned vessel multi-beam channel survey device according to claim 9, characterized in that: A rope segment with a hook is connected to the end of the traction rope connecting the unmanned boat, and the unmanned boat rope is hung on the hook of the rope segment.

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