Marine surveying and mapping sonar and unmanned ship

Abstract

The utility model discloses a marine surveying and mapping sonar and unmanned ship. The marine surveying and mapping sonar comprises a multi-beam depth finder and further comprises a self-floating device, the self-floating device is fixedly connected with the multi-beam depth finder, and the self-floating device is provided with an air bag; wherein the self-floating device injects air into the air bag so that the air bag can be unfolded outside the multi-beam depth finder, and the self-floating device is used for providing buoyancy for the multi-beam depth finder. According to the self-floating device, air is injected into the air bag, so that the air bag is unfolded outside the multi-beam depth finder, and buoyancy is generated. The air bag of the self-floating device can provide buoyancy for the multi-beam sounder to float on the sea surface, and when the multi-beam sounder is accidentally separated, the multi-beam sounder can float on the sea surface. The main effects of the self-floating device are that buoyancy is provided for the multi-beam depth finder, the multi-beam depth finder is prevented from sinking or being lost in a severe marine environment, and the probability of being retrieved is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to marine surveying and mapping equipment technical field, concretely relates to a marine surveying and mapping sonar, unmanned ship. BACKGROUND

[0002] Ocean environment is complex and changeable, and there are uncontrollable dangerous factors in ship water operation, which reflects that marine surveying and mapping is very difficult, however, with the development of intelligentization, automation and other related technologies, marine surveying and mapping technology also presents the characteristics of diversification and intelligentization, and the efficiency and level of marine surveying and mapping are improved. Unmanned marine vehicle appears in people's view, including water surface unmanned ship for water operation and unmanned vehicle for underwater operation, which builds a good mobile platform for improving the efficiency of marine operation.

[0003] The utility model discloses a kind of marine surveying and mapping sonar equipment, including unmanned ship, mounting bracket and multibeam bathymeter.The mounting bracket is fixedly connected at the bottom front side of the unmanned ship, and the mounting bracket has installation part;Multibeam bathymeter, the multibeam bathymeter bolt connection is installed in the installation part of the mounting bracket.

[0004] The prior art avoids the loss of multibeam bathymeter due to the loosening of the installation structure during operation by the anti-lost rope design. However, the ocean environment is harsh, which greatly affects the durability and reliability of the anti-lost rope. Once the anti-lost rope structure fails, the sonar equipment is basically difficult to recover after being lost in the ocean, which greatly increases the cost of marine surveying and mapping of enterprises. UTILITY MODEL CONTENT

[0005] In order to overcome the above technical defects, the utility model provides a kind of marine surveying and mapping sonar, unmanned ship.

[0006] In order to solve the above problems, the utility model is realized according to the following technical scheme:

[0007] The utility model discloses a kind of marine surveying and mapping sonar, including multibeam bathymeter, still include:

[0008] Self-floating device, the self-floating device is fixedly connected with the multibeam bathymeter, and the self-floating device has air bag;

[0009] Among them, the self-floating device is expanded outside the multibeam bathymeter by injecting gas into air bag, to provide buoyancy for multibeam bathymeter.

[0010] Preferably, the self-floating device includes:

[0011] Inflating mechanism, the inflating mechanism is connected with the air bag;

[0012] A controller connected with the inflating mechanism, the controller being configured to control the inflating mechanism to inject gas into the air bag.

[0013] Preferably, the inflating mechanism comprises:

[0014] A compressed gas cylinder connected with the air bag.

[0015] An electric one-way valve connected in a gas path between the compressed gas cylinder and the air bag.

[0016] The electric one-way valve is connected with the controller.

[0017] Preferably, the self-floating device comprises:

[0018] A power supply battery connected with the controller and the electric one-way valve.

[0019] Preferably, the self-floating device comprises:

[0020] A housing fixedly connected with the multi-beam echo sounder, the inflating mechanism, the controller and the air bag being accommodated in the housing.

[0021] The housing has an open structure, and the air bag is extended out of the open structure of the housing when inflated.

[0022] Preferably, the controller has a GPS positioning module and a 4G communication module.

[0023] The utility model also provides an unmanned ship, the unmanned ship is provided with above -mentioned one kind of ocean surveying and mapping sonar.

[0024] Compared with the prior art, the utility model has the advantages that:

[0025] The utility model discloses a kind of ocean surveying and mapping sonar, including multi-beam echo sounder, further including self-floating device, the self-floating device is fixedly connected with the multi-beam echo sounder, the self-floating device has air bag;Wherein, the self-floating device is expanded by injecting gas into air bag to make air bag at the outside of multi-beam echo sounder, for multi-beam echo sounder provides buoyancy.

[0026] The self-floating device of the present technology expands the air bag outside the multi-beam echo sounder by injecting gas into the air bag, thereby generating buoyancy. The air bag of the self-floating device can provide buoyancy for the multi-beam echo sounder to float on the sea surface. When the multi-beam echo sounder is accidentally detached, it can float on the sea surface. The main effect of the self-floating device is to provide buoyancy for the multi-beam echo sounder, preventing it from sinking or being lost in harsh marine environments, greatly improving the probability of being recovered. This is of great significance for protecting expensive surveying and mapping equipment and reducing enterprise costs. BRIEF DESCRIPTION OF DRAWINGS

[0027] The specific embodiments of the utility model will be further described in detail below in combination with the drawings, wherein:

[0028] Figure 1 is a kind of marine surveying and mapping sonar, the three-dimensional schematic diagram of unmanned ship of the utility model;

[0029] Figure 2 is a kind of marine surveying and mapping sonar, the assembly schematic diagram of unmanned ship of the utility model;

[0030] Figure 3 is a kind of marine surveying and mapping sonar, the bottom schematic diagram of unmanned ship of the utility model;

[0031] Figure 4 is a kind of marine surveying and mapping sonar, the structural schematic diagram of the multi-beam tester of unmanned ship of the utility model;

[0032] Figure 5 is a kind of marine surveying and mapping sonar, the assembly schematic diagram of the multi-beam tester and self-floating device of unmanned ship of the utility model;

[0033] Figure 6 is a kind of marine surveying and mapping sonar, the airbag deployment schematic diagram of self-floating device of unmanned ship of the utility model;

[0034] In the drawing:

[0035] 10-unmanned ship, 11-inflatable rubber airbag;

[0036] 20-mounting bracket, 21-mounting portion, 22-leg;

[0037] 30-multi-beam tester, 31-connection ring, 32-anti-lost rope;

[0038] 40-self-floating device, 41-airbag. DETAILED DESCRIPTION

[0039] The preferred embodiments of the utility model will be described below in combination with the drawings, and it should be understood that the preferred embodiments described here are only used to illustrate and explain the utility model, and are not used to limit the utility model.

[0040] As Figures 1-6 shown, the preferred structure of a kind of marine surveying and mapping sonar, unmanned ship of the utility model.

[0041] As Figure 1The utility model discloses a kind of ocean surveying and mapping sonar, unmanned ship, including unmanned ship 10, mounting bracket 20, multibeam echo sounder 30 and self-floating device 40.The mounting bracket is fixedly connected in the front side of the ship bottom of the unmanned ship, the mounting bracket has installation part 21;Multibeam echo sounder, the multibeam echo sounder bolt connection is in the installation part of the mounting bracket.The self-floating device is fixedly connected with the multibeam echo sounder, the self-floating device has gasbag.Wherein, the self-floating device is expanded by injecting gas into gasbag to make gasbag outside multibeam echo sounder, for multibeam echo sounder provides buoyancy.

[0042] The self-floating device of the present technology expands the gasbag outside the multibeam echo sounder by injecting gas into the gasbag, thereby generating buoyancy. The gasbag of the self-floating device can provide the multibeam echo sounder with the buoyancy to float on the sea surface. When the multibeam echo sounder is accidentally detached, it can float on the sea surface. The main effect of the self-floating device is to provide the multibeam echo sounder with buoyancy to prevent it from sinking or being lost in harsh marine environments, greatly improving the probability of being recovered. This is of great significance for protecting expensive surveying and mapping equipment and reducing business costs.

[0043] On the other hand, compared with the prior art, the present patent does not destroy the original overall structure of the ship bottom, but directly installs a mounting bracket on the ship bottom to provide a mounting structure for the multibeam tester, which is fixedly installed on the ship bottom for marine surveying and mapping operations. Furthermore, it effectively solves the problems of water leakage and seepage on the ship bottom, greatly reducing the possibility of damage to the main equipment.

[0044] In a specific implementation, the mounting bracket has a plurality of legs 22 integrally formed with the installation part, which are fixedly connected to the ship bottom of the unmanned ship. Specifically, the mounting bracket is preferably made of aluminum alloy, but other metals can also be used, which need to be treated for seawater corrosion resistance. The mounting bracket is actually formed by a bottom plate and a plurality of legs fixedly welded. The top of the leg is fixedly connected to the ship bottom of the unmanned ship.

[0045] In a specific implementation, the ship bottom of the unmanned ship adopts a streamlined hull structure. The ship bottom of the unmanned ship is integrally made of glass steel or aluminum alloy. The streamlined hull structure is usually designed to reduce water resistance and improve the speed and fuel efficiency of the ship. Glass steel and aluminum alloy are both lightweight, high-strength and corrosion-resistant materials, suitable for shipbuilding, which helps to improve the durability of the ship body.

[0046] On the other hand, when using fiberglass, the mounting bracket's legs are connected using a flat-end adhesive method. Adhesive is applied directly to the end surface of the legs, and then they are joined to the bottom of the boat. Fiberglass tape is then wrapped around the adhesive joint. The mounting bracket can be fixed to the surface of the boat bottom using adhesive. To further strengthen the structural strength of the adhesive joint, fiberglass tape soaked in adhesive can be tightly wrapped around the joint and allowed to dry naturally.

[0047] When using an aluminum alloy hull, the support legs for mounting brackets can be directly welded. This is something that can be done by those skilled in the art, and will not be elaborated upon here.

[0048] In a preferred embodiment, the mounting bracket has four legs, which are tilted outwards.

[0049] like Figure 2 As shown, the unmanned surface vessel (USV) of this technology is a rigid inflatable vessel. Rigid inflatable vessels combine the advantages of flexible and rigid vessels, possessing advantages such as high speed, safety and reliability, high strength, flexible maneuverability, easy loading operations, and good impact resistance. Specifically, the USV is equipped with inflatable rubber airbags 11 as hull fenders. These airbags have a semi-enclosed structure, covering the bow and both sides of the hull.

[0050] The above design helps protect unmanned vessels and surveying equipment, reducing damage caused by unexpected accidents during maritime operations.

[0051] In a preferred embodiment, the multibeam echo sounder has a connecting ring 31 at its bottom, and an anti-loss rope 32 is connected to the connecting ring. The anti-loss rope is fixedly connected to the mounting bracket or the hull of the unmanned surface vessel. The anti-loss rope is a steel wire rope or a nylon rope.

[0052] Specifically, the anti-loss tether can be secured to the multibeam echo sounder, mounting bracket, or unmanned surface vessel by tying it on. Because the multibeam echo sounder is externally mounted, the anti-loss tether provides an auxiliary connection to prevent the multibeam echo sounder from being lost due to loose mounting structure during operation.

[0053] In one specific implementation, the unmanned surface vessel (USV) is equipped with a radar device on its top. The radar device is used to detect various objects around the USV, such as ships, buoys, bridge piers, embankments, floating ice, islands, icebergs, and coastlines. It provides the USV's processing system with intuitive target distance and location information, issues warnings as needed, and intelligently avoids various dangerous obstacles to prevent collisions and ensure safe navigation.

[0054] The unmanned surface vessel (USV) is equipped with a wireless communication device connected to a multibeam echo sounder. This device transmits sampled data from the payload. The wireless communication device includes an antenna assembly mounted on the top of the hull, with a radar device spaced apart from it. The USV also has a processing unit for intelligent navigation control and mapping tasks, as well as a battery that powers the vessel's electrical components. Furthermore, to ensure the USV's endurance, the hull is equipped with a solar power generation device connected to the battery. This solar power generation device includes solar panels mounted on the top of the hull.

[0055] The solar power generation device also includes solar cells, controllers, and inverters. The unmanned vessel navigates the ocean under ample sunlight. The battery provides independent, built-in power delivery, while the solar power generation device supplements the total power supply to a certain extent.

[0056] Regarding the self-drifting device of this application, the present invention provides the following embodiments:

[0057] like Figure 6 As shown, the self-floating device includes:

[0058] Airbag.

[0059] An inflation mechanism is connected to the airbag.

[0060] A controller is connected to the inflation mechanism and is used to control the inflation mechanism to inject gas into the airbag.

[0061] The outer casing is fixedly connected to the multibeam echo sounder, and the inflation mechanism, controller, and airbag are all housed within the outer casing. The outer casing has an open structure through which the airbag extends when inflated. As a mounting and protective mechanism, the outer casing is waterproof. Preferably, a waterproof membrane is provided at the open structure; when the airbag inflates, it breaks through the waterproof membrane and deploys outside the outer casing.

[0062] In this technology, the airbag is the core component of the self-floating device, providing buoyancy; the inflation mechanism is responsible for injecting gas into the airbag; and the controller is used to control the operation of the inflation mechanism. The controller is connected to the inflation mechanism and is used to control its operation. The controller can be made using a microcontroller or similar device, and controls the opening and closing of the electric check valve by receiving operator commands or automatically sensing environmental conditions.

[0063] In one specific embodiment, the airbag can be a silicone airbag. The airbag is spherical when inflated and deployed. When deflated, the airbag can be folded and stored inside the outer shell.

[0064] In one specific implementation, the inflation mechanism includes a compressed gas cylinder and an electrically operated one-way valve. The compressed gas cylinder is connected to the air bladder; the electrically operated one-way valve is connected to the air passage between the compressed gas cylinder and the air bladder; and the electrically operated one-way valve is connected to the controller.

[0065] In this application, a compressed gas cylinder is used to store compressed gas for supplying gas to the airbag when needed. The compressed gas cylinder should be made of a material capable of withstanding high pressure, such as steel or aluminum alloy, and its airtightness should be ensured to prevent gas leakage. It can be a carbon dioxide compressed gas cylinder. An electrically operated one-way valve is connected in the gas path between the compressed gas cylinder and the airbag, ensuring that gas can only flow from the compressed gas cylinder into the airbag in one direction, preventing gas backflow. The electrically operated one-way valve is a commercially available product and will not be described in detail here.

[0066] In one specific implementation, the self-floating device includes a power supply battery connected to the controller and the electrically operated one-way valve. The power supply battery may be a rechargeable battery, connected to the controller and the electrically operated one-way valve to provide power to the entire self-floating device.

[0067] In a preferred embodiment, the controller has a GPS positioning module and a 4G communication module.

[0068] In one specific implementation, the GPS positioning module can be implemented using an STM32 development board combined with an iTrax03-02 GPS receiver. This module communicates with the STM32, achieving positioning via the GPS module. The STM32 reads and processes the data from the GPS module, using the positioning information for monitoring and management of the self-floating device. The main function of the GPS positioning module is to provide precise location information for the self-floating device, which is crucial for monitoring drift, locating the device, and, when necessary, recovering or maintaining it.

[0069] The 4G communication module can be the EC800M-CN, a high-performance, ultra-small LTE Cat 1 wireless communication module from Quectel, designed specifically for M2M (machine-to-machine) and IoT (Internet of Things) applications. This module supports network protocols such as TCP / UDP / FTP and can provide AT command control and data transmission via a UART interface. The GPS positioning module can be implemented using an STM32 development board combined with an iTrax03-02 GPS receiver.

[0070] The communication module communicates with the STM32 microcontroller and uses the GPS module for positioning. The STM32 reads and processes the data from the GPS module, using the positioning information for monitoring and managing the self-floating device. The main function of the GPS positioning module is to provide precise location information for the self-floating device, which is crucial for monitoring drift, locating the device, and retrieving or maintaining it when necessary. On the other hand, the 4G communication module is also used for remotely controlling the self-floating device to open the electric check valve, which is essential when retrieving the device.

[0071] Other structures of the marine mapping sonar and unmanned vessel described in this embodiment are referred to in the prior art.

[0072] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. A marine mapping sonar, comprising a multibeam echo sounder, characterized in that, Also includes: The self-floating device is fixedly connected to the multibeam echo sounder, and the self-floating device has an airbag; The self-buoyancy device provides buoyancy to the multibeam echo sounder by injecting gas into the airbag to deploy the airbag outside the multibeam echo sounder.

2. The marine mapping sonar according to claim 1, characterized in that, The self-floating device includes: An inflation mechanism, which is connected to the airbag; A controller is connected to the inflation mechanism and is used to control the inflation mechanism to inject gas into the airbag.

3. The marine mapping sonar according to claim 2, characterized in that, The inflation mechanism includes: A compressed gas cylinder, which is connected to the air bag; An electric one-way valve is connected in the air passage between the compressed gas cylinder and the air bag; The electric one-way valve is connected to the controller.

4. The marine mapping sonar according to claim 3, characterized in that, The self-floating device includes: A power supply battery is provided, which is connected to the controller and the electric one-way valve.

5. A marine mapping sonar according to claim 4, characterized in that, The self-floating device includes: The outer casing is fixedly connected to the multibeam echo sounder, and the inflation mechanism, controller and airbag are all housed in the outer casing. The outer shell has an open structure, and the airbag extends out from the open structure of the outer shell when it is inflated and deployed.

6. The marine mapping sonar according to claim 5, characterized in that: The controller has a GPS positioning module and a 4G communication module.

7. An unmanned surface vessel, characterized in that, The unmanned vessel is equipped with a marine mapping sonar according to any one of claims 1 to 6.

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