| 摘要 |
The invention relates to a platform for obtaining data, such as hydrographic profiles, using a Total Station (or others such as OGPS or KDGPS) to measure the position (coordinates and height) of the end of a pole secured thereto. At fixed heights (< 11m), depending on the objective, the platform is moved over a sedimentary, underwater or sub-aerial surface. For heights > 11m, without a pole, the platform is connected by a cable to the surface module. This platform has various uses and control modes and can carry all types of devices, environmental sensors and image sensors and transmit data to a Base Station or store same. The platform has two portions for the purpose of outlining. The first portion, which is on land, pulls the second portion, which is underwater, enabling said portion to move continuously or stopping at suitable intervals while resting on the seabed. By direct measurement relative to a known reference, the height and position of the end of the mobile portion are obtained for every point, said end being kept in visual contact. Applying the transfer function using the height and the slope, the X, Y and Z coordinates of the seabed are obtained, as well as the depth, with an accuracy of up to 1cm. Said points provide surface profiles. The profiles are integrated to achieve the goal of the study: a morphological description of the environment. The mobile element comprises a tripod and a pole (with an IR reflector). After extensive technological development, said elements have been provided with the hydrodynamic and weight characteristics required for optimum functionality, such as single-person handling, easy assembly, speed of more than 1 m/s in water and not being affected by waves. The core of the tripod comprises two central horizontal plates, the first one of which is triangular and joined by a tube, or similar element, to the second plate occupying a lower position. Three tubes emerge radially from the first plate and curve until vertical, resting on another three horizontal straight tubes anchored to the second plate, maintaining the structural rigidity thereof by a perimeter cable. The tripod includes a set of mini-plates at the bottom ends of the vertical tubes, with other basal plates attached thereto, shaped like skates or mini-skis to enable the platform to slide across the surface of the seabed. The basal plates can be replaced with two or three cylindrical wheels, and can be optionally motorised. Each basal plate or wheel includes elements that enable calibration of the length and inclination thereof. Control can take place remotely, on-site or both remotely and on-site.
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