An automatic underwater terrain detection device suitable for deep-sea strong hydrodynamic environment

Abstract

The present invention discloses an automatic underwater terrain detection device suitable for use in a deep-sea strong hydrodynamic environment, comprising a detection vehicle, a bow fixedly mounted on one side of the outer wall of the detection vehicle, a driving mechanism fixedly mounted on the other side of the detection vehicle, a depth sounder fixedly mounted on the bottom of the detection vehicle, a notch opened on the top of the detection vehicle, a water immersion sensor connected to the side of the notch close to the bow, a water pump installed on the top of the bow, a water suction pipe fixedly connected to the input end of the water pump, a lead-out pipe fixedly connected to the output end of the water pump, and a clamping piece sleeved on the outer surface of the water suction pipe. When the device is traveling in a deep-sea strong hydrodynamic environment, it can timely clean up the water splashing into the interior of the device space to prevent the weight of the overall device from being increased, and at the same time, an auxiliary airbag is deployed to further increase the buoyancy of the device on the water surface, reduce the probability of its sinking or capsizing, and the device has the function of adjusting the direction.

Description

Technical Field

[0001] The invention relates to the technical field of underwater terrain detection, and in particular to an automatic underwater terrain detection device suitable for use in a deep-sea strong hydrodynamic environment. Background Art

[0002] Before the implementation of various water projects, underwater topography measurement and underwater topography mapping are necessary preparations. The general principle of the underwater topography automatic detection device is to use the positioning system to obtain spatial coordinate data and the depth sounder to obtain the elevation data of each underwater point. The combination of the two can complete the underwater topography measurement. Since the water environment to be detected may be in a state of rapids, the splashes caused by the rapids themselves and the splashes caused by the collision between the device and the device are easy to splash into the device.

[0003] In the prior art, for an underwater terrain automatic detection device with a notch-shaped detection vehicle on the top surface, when it travels in a deep-sea strong hydrodynamic environment, part of the splashing waves will enter the space inside the notch, and more and more water will gather inside the notch, which will increase the weight of the entire device, thus easily causing the device to sink.

[0004] In the related art, water in the device is extracted only by operating a pumping mechanism. When there is no water in the device, the pumping mechanism cannot be stopped in time, which easily causes a waste of resources.

[0005] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art known to those skilled in the art. Summary of the invention

[0006] The purpose of the present invention is to provide an automatic underwater terrain detection device suitable for deep-sea strong hydrodynamic environment to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic underwater terrain detection device suitable for use in a deep-sea strong hydrodynamic environment, comprising a detection vehicle, a bow is fixedly installed on the outer wall of one side of the detection vehicle, a driving mechanism is fixedly installed on the other side of the detection vehicle, an ultrasonic depth sounder is fixedly installed on the bottom of the detection vehicle, a notch is opened on the top of the detection vehicle, and the bottom wall of the notch gradually tilts downward from the side where the driving mechanism is located to the side where the bow is located, a water immersion sensor is connected to the side of the notch close to the bow, a water pump is installed on the top of the bow, and the water pump and the water immersion sensor are electrically connected, a water suction pipe is fixedly connected to the input end of the water pump, and the bottom of the water suction pipe extends into the interior of the notch and close to the bottom wall of the notch, a derivation pipe is fixedly connected to the output end of the water pump, a clamping piece is sleeved on the outer surface of the water suction pipe, and an outer wall on one side of the clamping piece is fitted with an inner wall on one side of the notch by a screw.

[0008] Preferably, the front and back sides of the detection vehicle are fixedly installed with connecting parts, wherein the front side of one group of connecting parts and the back side of another group of connecting parts are fixedly connected with cylindrical air bags, the outer walls on opposite sides of the two groups of cylindrical air bags are fixedly connected with ventilation pipes, the tops of the two groups of ventilation pipes are installed with control valves, and the control valves are electrically connected to the water immersion sensors, one ends of the two groups of ventilation pipes are fixedly connected with auxiliary air bags, the outer walls on opposite sides of the cylindrical air bags are fixedly connected with connecting strips, and one ends of the two groups of connecting strips are respectively fitted with the outer surfaces of the two groups of auxiliary air bags.

[0009] Preferably, an integrated tube is installed on the top of the two groups of cylindrical air bags, and a ventilation joint is fixedly connected to the top of the integrated tube. A bending plate is fixedly connected to the top of the driving mechanism by screws, and a limiting ring is fixedly installed on the outer wall of one side of the bending plate. An air pump is movably inserted on the top of the limiting ring, and the air outlet end of the air pump extends into the interior of the ventilation joint. A ring is fixedly connected to the outer surface of the air pump, and a support plate is fixedly installed on the front side of the ring. An electric push rod is installed on the top of the support plate, and the electric push rod is electrically connected to the water immersion sensor and the control valve. A combination plate is fixedly installed on the top of the electric push rod, and the bottom of the combination plate fits the pumping end of the air pump.

[0010] Preferably, air pressure sensors are installed on the bottom walls of the two groups of cylindrical airbags, and the air pressure sensors are electrically connected to the electric push rods.

[0011] Preferably, a protective cylinder is installed through the top of the bow, a waterproof motor is installed on the bottom wall of the protective cylinder, a through groove is opened on the bottom wall of the bow, a roller is installed on the output end of the waterproof motor, an impeller group is fixedly sleeved on the outer surface of the roller, and the bottom of the impeller group passes through the interior of the through groove, and a protective cover is threadedly connected to the top of the protective cylinder.

[0012] Preferably, an integrated plate is fixedly connected to the top of the protective cover, a waterproof electric rod is installed at the bottom of the integrated plate, a connecting plate is installed at the bottom of the waterproof electric rod, and the front of the connecting plate is in contact with the back of the bow.

[0013] Preferably, two groups of 900M bridge antennas arranged front and back are installed on the bottom wall of the slot, and a power control assembly box is installed on the bottom wall of the slot, and the power control assembly box is located on one side of the 900M bridge antenna.

[0014] Preferably, a controller is installed on the bottom wall of the slot, an MP radio antenna is installed on the top of the controller, and the controller is located on the side of the power control assembly box away from the 900M bridge antenna, and a mobile station is installed on the bottom wall of the slot.

[0015] Preferably, the working steps of the underwater terrain automatic detection device are as follows:

[0016] S1. The staff puts the device into the water, and then operates the driving mechanism to cause the internal power components to generate power, driving the entire device to move in the water. The device moves to a rapid water flow environment. Due to the mutual collision between the rapid and the device and the surge of the rapid itself, some water will splash into the space of the slot opened on the top of the detection vehicle, and gather inside the slot toward the side where the water immersion sensor is located. When the water splashed into the slot space gathers to a certain extent, the two-pole probe of the water immersion sensor is turned on in the submerged state, and the sensor outputs a dry contact signal. When the probe is immersed in water, the height exceeds the setting, and an alarm signal is generated to control the water pump, control valve and electric push rod electrically connected to it;

[0017] S2. After the water pump is running, it can draw the water inside the slot space into its own cavity through the suction pipe, and then discharge it outward through the outlet pipe to gradually reduce the water body accumulated inside the slot space;

[0018] S3. When the control valve is opened, the electric push rod synchronously performs an upward and downward extension operation, thereby driving the inflating end of the air pump to move up and down through the combination plate, so as to inject air into the spaces of the two groups of cylindrical air bags through the ventilation joints and the integrated pipe. At the same time, the gas inside the spaces of the two groups of cylindrical air bags can be shared to the spaces of the two groups of auxiliary air bags along the two groups of ventilation pipes, until the air pressure sensor inside the space of the cylindrical air bag detects that the air pressure inside the space reaches the set value, that is, the operation of the electric push rod is stopped;

[0019] S4. When the device needs to adjust its direction in water, the waterproof electric rod is operated to cause it to retract downward, thereby driving the protective cover to move downward through the integrated plate, so that the protective tube, waterproof motor, roller and impeller group can move downward accordingly. Then, the waterproof motor is operated to cause its output shaft to drive the roller to rotate in a set direction and at a set angle, and the impeller group rotates accordingly.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. In the present invention, when more waves splashed by the rapids themselves and the splashes splashed by the collision between the device and the rapids splash into the space inside the slot, more water will gather on the bottom wall at a lower position inside the slot space. At this time, when the probe in the water immersion sensor is immersed in water beyond the setting, an alarm signal is generated, and a water pump electrically connected to it is controlled. After the water pump is running, it can draw the water inside the slot space into its own cavity through the suction pipe, and then discharge it outward through the outlet pipe, so as to achieve the purpose of transferring the water inside the slot space, and then effectively avoid increasing the gravity of the detection device on the water surface, so as to reduce the probability of sinking due to detection in a deep-sea strong hydrodynamic environment. At the same time, when the water immersion sensor does not sense the water, the water pump is stopped to save electricity.

[0022] 2. In the present invention, when the probe of the water immersion sensor is immersed in water exceeding the set level, the electric push rod electrically connected to it is extended and retracted up and down, thereby driving the combined plate to move up and down, so that the inflating end of the air pump is pumped up and down, so as to inject air into the spaces of the two groups of cylindrical air bags through the ventilation joints and the integrated pipe. At the same time, since the control valve is open, the cylindrical air bags and the auxiliary air bags are in a connected state at this time, so the gas inside the spaces of the two groups of cylindrical air bags can continue to be shared to the spaces of the two groups of auxiliary air bags along the two groups of ventilation pipes, and then the buoyancy of the device on the water surface can be further improved, thereby further reducing the probability of sinking or capsizing in the strong hydrodynamic environment of the deep sea.

[0023] 3. In the present invention, by running the waterproof motor, its output shaft drives the roller to rotate in a set direction and at a set angle, and the impeller group follows the rotation, thereby rotating in the water body and swinging the water body to achieve the purpose of adjusting the direction of the entire device.

[0024] 4. In the present invention, when the waterproof electric pole is extended upward, it can exert an upward pushing force on the integrated plate, thereby driving the protective cover to move upward. At the same time, the protective cylinder, waterproof motor, roller and impeller assembly move upward and enter the space inside the bow to achieve the purpose of storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the installation structure of the detection vehicle and the ultrasonic depth sounder of the present invention;

[0027] Figure 3 For the present invention Figure 1 The structural diagram at A in the middle;

[0028] Figure 4 It is a schematic diagram of the structure of the detection vehicle, bow and driving mechanism of the present invention;

[0029] Figure 5 It is a schematic diagram of the installation structure of the bending plate and the air pump of the present invention;

[0030] Figure 6 It is a schematic diagram of the installation structure of the cylindrical air bag and the ventilation tube of the present invention;

[0031] Figure 7 It is a structural schematic diagram of the bow and the protective tube of the present invention;

[0032] Figure 8 It is a schematic diagram of the structure of the protective cover and the integrated plate of the present invention.

[0033] In the figure: 1. detection vehicle; 2. bow; 3. driving mechanism; 4. ultrasonic depth sounder; 5. notch; 6. water immersion sensor; 7. water pump; 8. water suction pipe; 9. outlet pipe; 10. snap-fitting piece; 11. connecting piece; 12. cylindrical air bag; 13. ventilation pipe; 14. control valve; 15. auxiliary air bag; 16. connecting strip; 17. integrated pipe; 18. ventilation joint; 19. bending plate; 20. air pump; 21. collar; 22. support plate; 23. electric push rod; 24. combination plate; 25. air pressure sensor; 26. protective tube; 27. waterproof motor; 28. through groove; 29. ​​roller; 30. impeller group; 31. protective cover; 32. integrated plate; 33. waterproof electric pole; 34. connecting plate; 35. 900M bridge antenna; 36. power control assembly box; 37. controller; 38. mobile station. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" 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.

[0037] See also Figure 1-Figure 8 , an embodiment provided by the present invention:

[0038] The invention discloses an automatic underwater terrain detection device suitable for use in a deep-sea strong hydrodynamic environment, comprising a detection vehicle 1, a bow 2 is fixedly mounted on an outer wall of one side of the detection vehicle 1, a driving mechanism 3 is fixedly mounted on the other side of the detection vehicle 1, an ultrasonic depth sounder 4 is fixedly mounted on the bottom of the detection vehicle 1, a slot 5 is provided on the top of the detection vehicle 1, and the bottom wall of the slot 5 gradually tilts downward from the side where the driving mechanism 3 is located to the side where the bow 2 is located, a water immersion sensor 6 is connected to the side of the slot 5 close to the bow 2, a water pump 7 is installed on the top of the bow 2, and the water pump 7 is electrically connected to the water immersion sensor 6, a water suction pipe 8 is fixedly connected to the input end of the water pump 7, and the bottom of the water suction pipe 8 extends into the interior of the slot 5 and close to the bottom wall of the slot 5, a derivation pipe 9 is fixedly connected to the output end of the water pump 7, a clamping piece 10 is sleeved on the outer surface of the water suction pipe 8, and an outer wall of one side of the clamping piece 10 is fitted with an inner wall of one side of the slot 5 by screws.

[0039] When the detection device enters a deep-sea strong hydrodynamic environment, due to the splashes of the rapids themselves and the water splashed by the collision between the rapids and the device, part of the water will splash into the space of the slot 5 opened on the top of the detection vehicle 1. When the water on the bottom wall at a lower position inside the slot 5 space gathers to a certain extent, the two-pole probe of the water immersion sensor 6 is connected in the submerged state, and the sensor outputs a dry contact signal. When the probe is immersed in water, the alarm signal is generated, and the water pump 7 electrically connected to it is controlled at the same time. After the water pump 7 is running, it can pump the water inside the slot 5 space into its own cavity through the suction pipe 8, and then discharge it outward through the outlet pipe 9, so as to achieve the purpose of transferring the water inside the slot 5 space, and then effectively avoid increasing the gravity of the detection device on the water surface, so as to reduce the probability of sinking due to detection in a deep-sea strong hydrodynamic environment;

[0040] The driving mechanism 3 is consistent with the driving structure in the prior art, wherein the impeller is driven to rotate by a motor to cause the impeller to swing the water body, thereby causing the device to move forward;

[0041] The ultrasonic depth sounder 4 is installed on the outer bottom surface of the detection vehicle 1. When in use, it transmits ultrasonic waves to the bottom of the water, receives reflected ultrasonic waves to determine the elevation of the bottom of the water, and transmits the data to a receiving mechanism electrically connected on the land surface.

[0042] Connectors 11 are fixedly installed on the front and back of the detection vehicle 1, and cylindrical air bags 12 are fixedly connected to the front of one group of connectors 11 and the back of another group of connectors 11, ventilation pipes 13 are fixedly connected to the outer walls on the opposite sides of the two groups of cylindrical air bags 12, control valves 14 are installed on the tops of the two groups of ventilation pipes 13, and the control valves 14 are electrically connected to the water immersion sensor 6, and auxiliary air bags 15 are fixedly connected to one end of the two groups of ventilation pipes 13, and connecting strips 16 are fixedly connected to the outer walls on the opposite sides of the cylindrical air bags 12, and one end of the two groups of connecting strips 16 is respectively fitted with the outer surfaces of the two groups of auxiliary air bags 15, and integrated pipes 17 are installed on the tops of the two groups of cylindrical air bags 12. A ventilation joint 18 is fixedly connected to the top of the integrated pipe 17, and a bending plate 19 is fixedly connected to the top of the driving mechanism 3 by screws. A limiting ring is fixedly installed on the outer wall of one side of the bending plate 19, and an air pump 20 is movably inserted on the top of the limiting ring, and the air outlet end of the air pump 20 extends into the interior of the ventilation joint 18. A collar 21 is fixedly connected to the outer surface of the air pump 20, and a support plate 22 is fixedly installed on the front of the collar 21. An electric push rod 23 is installed on the top of the support plate 22, and the electric push rod 23 is electrically connected to the water immersion sensor 6 and the control valve 14. A combination plate 24 is fixedly installed on the top of the electric push rod 23, and the bottom of the combination plate 24 fits with the pumping end of the air pump 20.

[0043] The connection piece 11 is set to fix the cylindrical airbag 12 and the detection vehicle 1. When the device is in use, the two groups of cylindrical airbags 12 are in a state of being full of air, which provides a certain buoyancy for the device to go into the water, so as to reduce the probability of its sinking or turning over. At the same time, when the probe of the water immersion sensor 6 is immersed in water exceeding the setting, the control valve 14 and the electric push rod 23 electrically connected thereto are started. After the control valve 14 is opened, the gas inside the space of the two groups of cylindrical airbags 12 can be shared to the space inside the two groups of auxiliary airbags 15 along the two groups of ventilation pipes 13, and the electric push rod 23 is synchronously used for upward movement. The combined plate 24 is retracted and extended downward to drive the upward and downward movement of the combined plate 24, so that the inflating end of the air pump 20 is pumped up and down, so as to inject air into the space inside the two groups of cylindrical air bags 12 through the ventilation joint 18 and the integrated pipe 17. Since the cylindrical air bags 12 and the auxiliary air bags 15 are in a connected state at this time, the gas inside the space of the two groups of cylindrical air bags 12 can continue to be shared along the two groups of ventilation pipes 13 to the space inside the two groups of auxiliary air bags 15, and then the buoyancy of the device on the water surface can be further improved, thereby further reducing the probability of sinking or capsizing in the strong hydrodynamic environment of the deep sea.

[0044] The bottom walls of the two groups of cylindrical airbags 12 are both installed with air pressure sensors 25 , and the air pressure sensors 25 are electrically connected to the electric push rods 23 .

[0045] By setting the air pressure sensor 25, the air pressure value inside the cylindrical airbag 12 can be monitored in real time. When the cylindrical airbag 12 and the auxiliary airbag 15 are in a connected state and air is injected into the space of the cylindrical airbag 12 through the air pump 20, the air pressure sensor 25 senses that the air pressure inside the cylindrical airbag 12 has reached the set value, and immediately stops the electric push rod 23 electrically connected to it to prevent the cylindrical airbag 12 from being full of air and bursting.

[0046] A protective tube 26 is installed through the top of the bow 2, and a waterproof motor 27 is installed on the bottom wall of the protective tube 26. A through groove 28 is opened on the bottom wall of the bow 2, and a roller 29 is installed at the output end of the waterproof motor 27. An impeller group 30 is fixedly sleeved on the outer surface of the roller 29, and the bottom of the impeller group 30 passes through the interior of the through groove 28. A protective cover 31 is threadedly connected to the top of the protective tube 26.

[0047] The setting of the protective cylinder 26 provides a relatively stable and safe assembly environment for the waterproof motor 27. With the operation of the driving mechanism 3, the device can move on the water surface, and then according to actual needs, by running the waterproof motor 27, its output shaft drives the roller 29 to rotate in a set direction and a set angle, and the impeller group 30 follows the rotation, thereby rotating in the water body and swinging the water body to achieve the purpose of adjusting the direction of the entire device;

[0048] At the same time, the protective cover 31 and the protective tube 26 are connected by threads, so the two are in a detachable assembly state, thereby facilitating the maintenance of the waterproof motor 27.

[0049] An integrated plate 32 is fixedly connected to the top of the protective cover 31 , a waterproof electric rod 33 is installed at the bottom of the integrated plate 32 , a connecting plate 34 is installed at the bottom of the waterproof electric rod 33 , and the front of the connecting plate 34 is in contact with the back of the bow 2 .

[0050] The integrated plate 32 is set to connect the protective cover 31 and the waterproof electric rod 33. When the waterproof electric rod 33 is extended upward, it can exert an upward pushing force on the integrated plate 32, thereby driving the protective cover 31 to move upward. At the same time, the protective tube 26, the waterproof motor 27, the roller 29 and the impeller group 30 follow and move upward into the space inside the bow 2 to achieve the purpose of storage. Conversely, when in use, the waterproof electric rod 33 is retracted downward to drive the protective cover 31, the protective tube 26, the waterproof motor 27, the roller 29 and the impeller group 30 to move downward through the integrated plate 32 until the roller 29 and the impeller group 30 move to the bottom of the through groove 28, that is, the waterproof motor 27 is started.

[0051] The bottom wall of the slot 5 is installed with two groups of 900M bridge antennas 35 arranged front and back, the bottom wall of the slot 5 is installed with a power control assembly box 36, and the power control assembly box 36 is located on one side of the 900M bridge antenna 35, the bottom wall of the slot 5 is installed with a controller 37, the top of the controller 37 is installed with an MP radio antenna, and the controller 37 is located on the side of the power control assembly box 36 away from the 900M bridge antenna 35, and the bottom wall of the slot 5 is installed with a mobile station 38.

[0052] The mobile station 38 can be used as both a mobile station and a base station. Its main body is installed in the working cabin of the detection vehicle 1. The assembly part of the 900M bridge antenna 35 and the MP radio antenna is wrapped with waterproof material. A rechargeable lithium battery pack is placed inside the power control assembly box 36 to ensure the normal operation of various electrical components in the device.

[0053] The working steps of the underwater terrain automatic detection device are as follows:

[0054] S1. The staff puts the device into the water, and then operates the driving mechanism 3 to cause the power components inside it to generate power, driving the entire device to move in the water. The device moves to a rapid water flow environment. Due to the mutual collision between the rapid water and the device and the surge of the rapid water itself, part of the water will splash into the space of the slot 5 opened on the top of the detection vehicle 1, and gather inside the slot 5 toward the side where the water immersion sensor 6 is located. When the water splashed into the space inside the slot 5 gathers to a certain extent, the two-pole probe of the water immersion sensor 6 is connected in the submerged state, and the sensor outputs a dry contact signal. When the probe is immersed in water, the height exceeds the setting, thereby generating an alarm signal, thereby controlling the water pump 7, the control valve 14 and the electric push rod 23 electrically connected thereto;

[0055] S2, after the water pump 7 is running, it can draw the water inside the slot 5 space into its own cavity through the water suction pipe 8, and then discharge it outward through the outlet pipe 9, so as to gradually reduce the water body accumulated inside the slot 5 space;

[0056] S3, while the control valve 14 is opened, the electric push rod 23 synchronously performs an upward and downward extension operation, thereby driving the inflating end of the air pump 20 to move upward and downward through the combination plate 24, so as to inject air into the spaces of the two groups of cylindrical air bags 12 through the ventilation joint 18 and the integrated pipe 17. At the same time, the gas inside the spaces of the two groups of cylindrical air bags 12 can be shared to the spaces of the two groups of auxiliary air bags 15 along the two groups of ventilation pipes 13, until the air pressure sensor 25 inside the space of the cylindrical air bag 12 detects that the air pressure inside the space reaches the set value, that is, the operation of the electric push rod 23 is stopped;

[0057] S4. When the device needs to adjust its direction in water, the waterproof electric rod 33 is operated to cause it to retract downward, thereby driving the protective cover 31 to move downward through the integrated plate 32, so that the protective tube 26, the waterproof motor 27, the roller 29 and the impeller group 30 can move downward accordingly. Then, the waterproof motor 27 is operated to cause its output shaft to drive the roller 29 to rotate in a set direction and at a set angle, and the impeller group 30 rotates accordingly.

[0058] Working principle: By running the water immersion sensor 6, it is monitored in real time whether there is water accumulated inside the slot 5 space. When there is a lot of water, the water immersion sensor 6 can sense it and prompt the water pump 7 electrically connected to it to draw the water inside the slot 5 space into its own cavity through the suction pipe 8, and then discharge it outward through the outlet pipe 9 to gradually reduce the water accumulated inside the slot 5 space. At the same time, the control valve 14 and the electric push rod 23 electrically connected to the water immersion sensor 6 are running, and the electric push rod 23 is extended and retracted up and down, thereby driving the air pump 20 through the combination plate 24. It moves up and down to inject air into the space of the two groups of cylindrical air bags 12 through the ventilation joint 18 and the integrated pipe 17. At the same time, the gas inside the space of the two groups of cylindrical air bags 12 can be shared to the space of the two groups of auxiliary air bags 15 along the two groups of ventilation pipes 13 until the air pressure sensor 25 inside the space of the cylindrical air bags 12 detects that the air pressure inside the space reaches the set value, that is, the operation of the electric push rod 23 is stopped, thereby effectively improving the buoyancy of the device on the water surface in the deep-sea strong hydrodynamic environment, and then further reducing the probability of sinking or capsizing in the deep-sea strong hydrodynamic environment.

[0059] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An automatic underwater terrain detection device suitable for use in a deep-sea strong hydrodynamic environment, comprising a detection vehicle (1), characterized in that: A bow (2) is fixedly mounted on an outer wall of one side of the detection vehicle (1); a driving mechanism (3) is fixedly mounted on the other side of the detection vehicle (1); an ultrasonic depth sounder (4) is fixedly mounted on the bottom of the detection vehicle (1); a notch (5) is provided on the top of the detection vehicle (1); and the bottom wall of the notch (5) gradually slopes downward from the side where the driving mechanism (3) is located to the side where the bow (2) is located; a water immersion sensor (6) is connected to the side of the notch (5) close to the bow (2); and the bow (2 ) is installed on the top of the water pump (7), and the water pump (7) is electrically connected to the water immersion sensor (6); the input end of the water pump (7) is fixedly connected to a water suction pipe (8), and the bottom of the water suction pipe (8) extends into the interior of the slot (5) and is close to the bottom wall of the slot (5); the output end of the water pump (7) is fixedly connected to a lead-out pipe (9); the outer surface of the water suction pipe (8) is sleeved with a clamping piece (10), and one side outer wall of the clamping piece (10) is fitted with one side inner wall of the slot (5) by means of screws.

2. The underwater terrain automatic detection device suitable for deep-sea strong hydrodynamic environment according to claim 1, characterized in that: Connecting parts (11) are fixedly installed on the front and back of the detection vehicle (1), wherein the front of one group of connecting parts (11) and the back of another group of connecting parts (11) are fixedly connected to cylindrical air bags (12), the outer walls of the two groups of cylindrical air bags (12) on opposite sides are fixedly connected to ventilation pipes (13), the tops of the two groups of ventilation pipes (13) are installed with control valves (14), and the control valves (14) are electrically connected to the water immersion sensors (6), one ends of the two groups of ventilation pipes (13) are fixedly connected to auxiliary air bags (15), the outer walls of the two groups of cylindrical air bags (12) on opposite sides are fixedly connected to connecting strips (16), and one ends of the two groups of connecting strips (16) are respectively in contact with the outer surfaces of the two groups of auxiliary air bags (15).

3. The underwater terrain automatic detection device suitable for deep-sea strong hydrodynamic environment according to claim 2 is characterized by: An integrated tube (17) is installed on the top of the two groups of cylindrical air bags (12), and a ventilation joint (18) is fixedly connected to the top of the integrated tube (17). A bending plate (19) is fixedly connected to the top of the driving mechanism (3) by screws. A limiting ring is fixedly installed on the outer wall of one side of the bending plate (19), and an air pump (20) is movably inserted on the top of the limiting ring, and the air outlet end of the air pump (20) extends into the interior of the ventilation joint (18). A sleeve (21) is fixedly connected to the outer surface of the air pump (20), and a support plate (22) is fixedly installed on the front of the sleeve (21). An electric push rod (23) is installed on the top of the support plate (22), and the electric push rod (23) is electrically connected to the water immersion sensor (6) and the control valve (14). A combination plate (24) is fixedly installed on the top of the electric push rod (23), and the bottom of the combination plate (24) fits the air pump end of the air pump (20).

4. The underwater terrain automatic detection device suitable for deep-sea strong hydrodynamic environment according to claim 3 is characterized by: The bottom walls of the two groups of cylindrical air bags (12) are both installed with air pressure sensors (25), and the air pressure sensors (25) are electrically connected to the electric push rod (23).

5. The underwater terrain automatic detection device suitable for deep-sea strong hydrodynamic environment according to claim 1 is characterized by: A protective tube (26) is installed through the top of the bow (2), a waterproof motor (27) is installed on the bottom wall of the protective tube (26), a through slot (28) is provided on the bottom wall of the bow (2), a roller (29) is installed at the output end of the waterproof motor (27), an impeller assembly (30) is fixedly sleeved on the outer surface of the roller (29), and the bottom of the impeller assembly (30) passes through the interior of the through slot (28), and a protective cover (31) is threadedly connected to the top of the protective tube (26).

6. The underwater terrain automatic detection device suitable for deep-sea strong hydrodynamic environment according to claim 5, characterized in that: An integrated plate (32) is fixedly connected to the top of the protective cover (31), a waterproof electric rod (33) is installed at the bottom of the integrated plate (32), a connecting plate (34) is installed at the bottom of the waterproof electric rod (33), and the front side of the connecting plate (34) is in contact with the back side of the bow (2).

7. The underwater terrain automatic detection device suitable for deep-sea strong hydrodynamic environment according to claim 1 is characterized by: The bottom wall of the slot (5) is installed with two groups of 900M bridge antennas (35) arranged front and back, and the bottom wall of the slot (5) is installed with a power control assembly box (36), and the power control assembly box (36) is located on one side of the 900M bridge antenna (35).

8. The underwater terrain automatic detection device suitable for deep-sea strong hydrodynamic environment according to claim 1 is characterized by: A controller (37) is installed on the bottom wall of the slot (5), an MP radio antenna is installed on the top of the controller (37), and the controller (37) is located on a side of the power control assembly box (36) away from the 900M bridge antenna (35), and a mobile station (38) is installed on the bottom wall of the slot (5).

9. An automatic underwater terrain detection device suitable for deep-sea strong hydrodynamic environment according to any one of claims 1 to 8, characterized in that: The working steps of the underwater terrain automatic detection device are as follows: S1. The staff puts the device into water, and then operates the driving mechanism (3) to cause the power components inside the device to generate power, thereby driving the entire device to move in the water. When the device moves to a rapid water flow environment, due to the mutual collision between the rapid water and the device and the surge of the rapid water itself, part of the water body will splash into the space inside the slot (5) opened on the top of the detection vehicle (1), and gather inside the slot (5) toward the side where the water immersion sensor (6) is located. When the water body splashed into the space inside the slot (5) gathers to a certain extent, the two-pole probe of the water immersion sensor (6) is connected in the immersed state, and the sensor outputs a dry contact signal. When the probe is immersed in water at a height exceeding the setting, an alarm signal is generated, thereby controlling the water pump (7) and the control valve (14) and the electric push rod (23) electrically connected thereto; S2. After the water pump (7) is in operation, it can draw water from the space inside the slot (5) into its own cavity through the water suction pipe (8), and then discharge the water to the outside through the outlet pipe (9), so as to gradually reduce the water accumulated in the space inside the slot (5); S3, when the control valve (14) is opened, the electric push rod (23) synchronously performs an upward and downward extension operation, thereby driving the inflating end of the air pump (20) to move upward and downward through the combination plate (24), so as to inject air into the spaces of the two groups of cylindrical air bags (12) through the ventilation joint (18) and the integrated pipe (17). At the same time, the gas inside the spaces of the two groups of cylindrical air bags (12) can be shared along the two groups of ventilation pipes (13) to the spaces of the two groups of auxiliary air bags (15), until the air pressure sensor (25) inside the spaces of the cylindrical air bags (12) detects that the air pressure inside the spaces reaches the set value, and the operation of the electric push rod (23) is stopped; S4. When the device needs to adjust its direction in water, the waterproof electric rod (33) is operated to cause it to retract downward, thereby driving the protective cover (31) to move downward through the integrated plate (32), so that the protective tube (26), the waterproof motor (27), the rotating roller (29) and the impeller group (30) can move downward accordingly. Then, the waterproof motor (27) is operated to cause its output shaft to drive the rotating roller (29) to rotate in a set direction at a set angle, and the impeller group (30) rotates accordingly.

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