An unmanned ship remote sensing monitoring device

Abstract

The present application discloses an unmanned boat remote sensing monitoring device, characterized in that it includes a hull, a groove with a downward opening provided in the middle of the hull, a cross-axis structure movably connected to the bottom of the groove, a suspension plate movably connected to the cross-axis structure, and a beam transceiver connected to the suspension plate; the height of the lower end of the beam transceiver relative to the water surface is greater than the height of the groove opening relative to the water surface; the height from the bottom of the groove to the opening is greater than the diameter of the groove opening; and the surface of the groove in contact with water is provided with a sound-absorbing material veneer. The beneficial effects of this solution can be understood from the description of the above solution. It has a simple structure and a reasonable design. When the unmanned boat is operating in lake water or near the coast and waves cause the unmanned boat to bump, the onboard beam transceiver can maintain its angle and horizontal height as much as possible, thereby making it easier to obtain clear collected data.

Description

Technical Field

[0001] The present invention relates to the field of epidemic prevention, and in particular to an unmanned ship remote sensing monitoring device. Background Art

[0002] Unmanned vessel remote sensing utilizes advanced unmanned vessel navigation technology, remote sensing sensor technology, telemetry and remote control technology, communications technology, GPS differential positioning technology, and remote sensing application technology to achieve automated, intelligent, and specialized rapid acquisition of remote sensing information such as the ocean environment, underwater topography, and water quality. This technology also enables remote sensing data processing, modeling, and application analysis. In recent years, with the development of new concepts such as big data, cloud computing, and artificial intelligence, the degree of automation of unmanned vessels has continued to increase, providing technological support for unmanned vessel remote sensing technology. Unmanned vessel remote sensing technology has found widespread application in marine environmental protection, hydrographic surveying, marine search and rescue, and water quality monitoring.

[0003] For example, topography and landforms are crucial reference data for oceanographic surveys, port construction, and oil pipeline inspections. Unmanned vessel remote sensing systems offer significant advantages in acquiring underwater topographic data. Equipped with GNSS, single-beam echo sounders, side-scan sonar, and synthetic aperture radar, these vessels capture depth data, sonar images of the terrain, and 3D radar graphics. This provides a direct understanding of the underwater topography and is used for tasks such as seabed object detection and sedimentation surveys. By processing and analyzing these images, they can inspect submarine oil pipelines, submarine cables, and other facilities, providing data assurance for the safe transportation of oil and submarine cable projects.

[0004] Furthermore, water conservancy projects can provide tap water and irrigation water to nearby areas, and the hydroelectric generators on their dams can also generate electricity. Water conservancy projects also have flood control benefits. The natural accumulation of sludge brought by the water flow greatly affects the water storage capacity of the reservoir, which will reduce the reservoir storage capacity and cause reservoir flood disasters. Workers need to survey the terrain and siltation under the reservoir. Manual measurement methods are time-consuming and labor-intensive, and it is difficult to obtain an accurate spatial distribution of underwater terrain. Unmanned boats can detect underwater silt conditions by carrying multi-frequency depth sounders, multi-beam sonars and other equipment. This can make up for the limitations of traditional mapping and surveying in complex and harsh water environments, and presents huge advantages in silt monitoring.

[0005] The bathymetry system is a core component of unmanned vessel surveying systems. Currently, single-beam and multi-beam bathymetry systems are widely used. Both single-beam and multi-beam bathymetry essentially utilize the principle of reflecting sound waves emitted vertically downward by a transducer upon underwater features to measure underwater topography. However, due to the difficulty of maintaining calm waters over vast expanses and the relatively small size of unmanned vessels, they experience significant turbulence and shaking while operating on the water, compromising data clarity. Summary of the Invention

[0006] The present invention aims at the deficiencies existing in the prior art, and provides an unmanned ship remote sensing monitoring device with a simple structure and reasonable design. When the unmanned ship is working in lakes or near the sea and is jolted by waves, the shipborne beam transceiver can keep the angle and horizontal height as much as possible, so that it is easier to obtain clear acquisition data.

[0007] To achieve the above object, the present invention provides an unmanned ship remote sensing monitoring device, including a hull. A groove with an opening downward is arranged in the middle of the hull. A cross-axis structure is movably connected to the bottom of the groove. The cross-axis structure is movably connected to a suspension plate, and the suspension plate is connected to a beam transceiver.

[0008] The height of the lower end of the beam transceiver relative to the water surface is greater than the height of the opening of the groove relative to the water surface.

[0009] The height from the bottom to the opening of the groove is greater than the diameter of the opening of the groove.

[0010] Sound-absorbing material facings are provided on the surfaces in contact with water in the groove.

[0011] Further, the cross-axis structure includes suspension ears arranged at the bottom of the groove. The suspension ears are movably connected to a cross-shaped shaft member. The cross-shaped shaft member is provided with four extending half shafts with uniformly distributed angles. The four half shafts are respectively located on two straight lines.

[0012] The shaft ends of two of the half shafts located on the same straight line are movably connected to the suspension ears.

[0013] Lifting lugs are arranged on the upper side of the suspension plate. The shaft ends of the remaining two half shafts located on the same straight line are movably connected to the lifting lugs.

[0014] The suspension plate is in a horizontal state when only affected by gravity.

[0015] The distance between the suspension ears and the distance between the lifting lugs are greater than a set value.

[0016] Further, an airbag is arranged between the beam transceiver and the bottom of the groove. The suspension ears, the cross-shaped shaft member and the suspension plate are located inside the cavity of the airbag.

[0017] The pressure inside the cavity of the airbag is greater than the water pressure at the same level.

[0018] Further, a water wave response mechanism is arranged at the bottom of the hull. The water wave response mechanism includes a first water-facing plate, and the first water-facing plate is located at the bottom of the hull.

[0019] A first piston rod is provided on the top of the first water-facing plate, the first piston rod is connected to a first piston, a first piston cylinder is provided on the hull above the first water-facing plate, and the first piston slides in the first piston cylinder;

[0020] The first piston cylinder is connected to the airbag through a first air pipe and a second air pipe;

[0021] The first air pipe is provided with a first one-way valve;

[0022] The second air pipe is provided with a second one-way valve.

[0023] Furthermore, the hull bow and both sides are provided with a lateral force response mechanism, the lateral force response mechanism includes a second water-facing plate, and the second water-facing plate is located at the hull bow and both sides;

[0024] A second piston rod is provided on the top of the second water-facing plate, the second piston rod is connected to a second piston, a second piston cylinder is provided on the inner side of the second water-facing plate of the hull, and the second piston slides in the second piston cylinder;

[0025] The second piston cylinder is connected to a position-correcting cylinder through a third air pipe. The position-correcting cylinder is hinged to the suspension plate, and the hinge point is located on a side of the suspension plate away from the second piston cylinder to which it is connected.

[0026] Furthermore, the beam transceiver is suspended under the suspension plate, and a first guide rod structure is connected between the suspension plate and the beam transceiver. The first guide rod structure includes a first outer rod, the first outer rod is sleeved with a first inner rod, and the first inner rod is slidably connected to the first outer rod.

[0027] Furthermore, a tension spring is connected between the suspension plate and the beam transceiver.

[0028] Furthermore, springs are provided between the first piston and the top and bottom of the first piston cylinder, and the spring located below the first piston surrounds the first piston rod;

[0029] A second guide rod structure is connected between the top of the first piston and the first piston top. The spring located above the first piston surrounds the second guide rod structure. The second guide rod structure includes a second outer rod. The second outer rod is sleeved with a second inner rod. The second inner rod is slidably connected to the second outer rod.

[0030] Furthermore, a sealing outer skin is provided on the outer side of the first water-facing plate and the second water-facing plate. The sealing outer skin is made of a flexible material and wraps the first water-facing plate or the second water-facing plate and the gap between it and the hull.

[0031] Further, the first water-facing plate is connected to at least two of the first piston rods.

[0032] Further, a thrust fan is provided at the top of the hull.

[0033] Further, bearings are provided between the cross-shaped shaft member, the lifting lugs and the suspension lugs.

[0034] In use, the transducer of the beam transceiver continuously emits sound waves, receives the reflected waves, and then converts the data into optoelectronic data and transmits it to the processing device.

[0035] Driven by the water waves, the hull will sway back and forth. Since the suspension plate is movably connected to the hull by a cross-axis structure, the center of the suspension plate will be directly below the cross-axis structure. Therefore, the swaying of the hull generally does not affect the level of the suspension plate.

[0036] However, due to the certain height of the lifting lugs, the horizontal force will generate a certain torque that will affect the level of the suspension plate, but the influence is limited.

[0037] When the water wave pushes the hull upward, although it is not easy to affect the angle of the suspension plate, it will affect the up and down movement of the suspension plate. At this time, when the water wave pushes the first water-facing plate upward, the first piston will push the gas in the first piston cylinder into the airbag, so that the beam transceiver moves downward relative to the suspension plate. When the hull begins to fall, the spring drives the first piston to reset, and the gas in the airbag begins to enter the first piston, so that the beam transceiver moves upward relative to the suspension plate. By setting the aperture of the first one-way valve and the second one-way valve, as well as the spring modulus, the response speed corresponding to the water wave and gravity can be coordinated.

[0038] The beneficial effects of this solution can be known from the description of the above solution. The structure is simple and the design is reasonable. When the unmanned boat works in lakes or near the sea and is jolted by waves, the beam transceiver carried by the boat can keep the angle and horizontal height as much as possible, making it easier to obtain clear acquisition data. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic structural diagram of the present invention;

[0040] Figure 2 is a schematic structural diagram of the lateral force response mechanism of the present invention;

[0041] Figure 3 is a schematic structural diagram of the connection between the second water-facing plate and the second piston rod of the present invention;

[0042] Figure 4 is a schematic structural diagram of the cross-shaped shaft member of the present invention;

[0043] In the figure, 1 is the hull; 2 is the groove; 3 is the suspension plate; 4 is the beam transceiver; 5 is the suspension ear; 6 is the cross-shaped shaft member; 7 is the lifting lug; 8 is the airbag; 9 is the first water-facing plate; 10 is the first piston rod; 11 is the first piston; 12 is the first piston cylinder; 13 is the first air pipe; 14 is the second air pipe; 15 is the first one-way valve; 16 is the second one-way valve; 17 is the first outer rod; 18 is the first inner rod; 19 is the tension spring; 20 is the spring; 21 is the second outer rod; 22 is the second inner rod; 23 is the sealing outer skin; 24 is the thrust fan; 25 is the second water-facing plate; 26 is the second piston rod; 27 is the second piston; 28 is the second piston cylinder; 29 is the third air pipe; 30 is the alignment cylinder; 31 is the bearing. Detailed implementation mode

[0044] To clearly illustrate the technical features of this solution, the following elaborates on this solution through specific implementation modes.

[0045] As Figure 1-2 shown, this embodiment is a remote sensing monitoring device for an unmanned ship, including a hull 1. A groove 2 with an opening facing downwards is provided in the middle of the hull 1. A cross-axis structure is movably connected to the bottom of the groove 2. The cross-axis structure is movably connected to a suspension plate 3, and the suspension plate 3 is connected to a beam transceiver 4;

[0046] The height of the lower end of the beam transceiver 4 relative to the water surface is greater than the height of the opening of the groove 2 relative to the water surface;

[0047] The height from the bottom of the groove 2 to the opening is greater than the opening diameter of the groove 2;

[0048] Sound-absorbing material facings are provided on all the water-contact surfaces in the groove 2.

[0049] Further, the cross-axis structure includes suspension ears 5 provided at the bottom of the groove 2. The suspension ears 5 are movably connected to a cross-shaped shaft member 6. The cross-shaped shaft member 6 is provided with four protruding half shafts with evenly distributed angles. The four half shafts are respectively located on two straight lines;

[0050] The shaft ends of two of the half shafts located on the same straight line are movably connected to the suspension ears 5;

[0051] Lifting lugs 7 are provided on the upper side of the suspension plate 3, and the shaft ends of the remaining two half shafts located on the same straight line are movably connected to the lifting lugs 7;

[0052] The suspension plate 3 is in a horizontal state when only affected by gravity;

[0053] The distance between the suspension ears 5 and the distance between the lifting lugs 7 are greater than a set value.

[0054] Further, an airbag 8 is provided between the beam transceiver 4 and the bottom of the groove 2. The suspension ears 5, the cross-shaped shaft member 6, and the suspension plate 3 are located inside the cavity of the airbag;

[0055] The pressure in the inner cavity of the airbag 8 is greater than the water pressure at the same level.

[0056] Furthermore, a water wave response mechanism is provided at the bottom of the hull 1, and the water wave response mechanism includes a first water-facing plate 9, and the first water-facing plate 9 is located at the bottom of the hull 1;

[0057] A first piston rod 10 is provided on the top of the first water-facing plate 9, and the first piston rod 10 is connected to a first piston 11. A first piston cylinder 12 is provided on the hull 1 above the first water-facing plate 9, and the first piston 11 slides in the first piston cylinder 12;

[0058] The first piston cylinder 12 is connected to the airbag 8 through the first air pipe 13 and the second air pipe 14;

[0059] The first air pipe 13 is provided with a first one-way valve 15;

[0060] The second air pipe 14 is provided with a second one-way valve 16 .

[0061] Furthermore, the hull 1 is provided with a lateral force response mechanism at the head and both sides thereof, and the lateral force response mechanism includes a second water-facing plate 25, and the second water-facing plate is located at the head and both sides of the hull 1;

[0062] A second piston rod 26 is provided on the top of the second water-facing plate 25, and the second piston rod 26 is connected to a second piston 27. A second piston cylinder 28 is provided on the inner side of the second water-facing plate 25 of the hull 1, and the second piston 27 slides in the second piston cylinder 28;

[0063] The second piston cylinder 28 is connected to a position-correcting cylinder 30 through a third air pipe 29 . The position-correcting cylinder 30 is hinged to the suspension plate 3 , and the hinge point is located on the side of the suspension plate 3 away from the second piston cylinder 28 .

[0064] Furthermore, the beam transceiver 4 is suspended under the suspension plate 3, and a first guide rod structure is connected between the suspension plate 3 and the beam transceiver 4. The first guide rod structure includes a first outer rod 17, and the first outer rod 17 is sleeved with a first inner rod 18, and the first inner rod 18 is slidably connected to the first outer rod 17.

[0065] Furthermore, a tension spring 19 is connected between the suspension plate 3 and the beam transceiver 4 .

[0066] Furthermore, springs 20 are provided between the first piston 11 and the top and bottom of the first piston cylinder 12. The spring 20 located below the first piston 11 surrounds the first piston rod 10.

[0067] A second guide rod structure is connected between the upper part of the first piston 11 and the top of the first piston 11. The spring 20 located above the first piston 11 surrounds the second guide rod structure. The second guide rod structure includes a second outer rod 21, and a second inner rod 22 is sleeved on the second outer rod 21. The second inner rod 22 is slidably connected to the second outer rod 21.

[0068] Furthermore, a sealing outer skin 23 is provided on the outer sides of the first water-facing plate 9 and the second water-facing plate 25. The sealing outer skin 23 is made of a flexible material, and the sealing outer skin 23 wraps the first water-facing plate 9 or the second water-facing plate 25 and the gap between it and the hull 1.

[0069] Furthermore, the first water-facing plate 9 is connected to at least two first piston rods 10.

[0070] Furthermore, a thrust fan 24 is provided on the top of the hull 1.

[0071] Furthermore, a bearing 31 is provided between the cross-shaped shaft member 6, the lifting lug 7 and the hanging lug 5.

[0072] In use, the transducer of the beam transceiver 4 continuously emits sound waves and receives reflected waves, and then converts the data into optoelectronic data and transmits it to the processing device.

[0073] Driven by the water waves, the hull 1 will sway back and forth. Since the suspension plate 3 and the hull 1 are movably connected by a cross-axis structure, the center of the suspension plate 3 will be directly below the cross-axis structure. Therefore, the swaying of the hull generally does not affect the level of the suspension plate.

[0074] However, due to the certain height of the lifting lug 7, the horizontal force will generate a certain torque that will affect the level of the suspension plate 3, but the influence is limited.

[0075] When the water wave pushes the hull 1 upwards, although it is not easy to affect the angle of the suspension plate 3, it will affect the up and down movement of the suspension plate 3. At this time, when the water wave pushes the first water-facing plate 9 upwards, the first piston 11 will push the gas in the first piston cylinder 12 into the airbag 8, so that the beam transceiver 4 moves downward relative to the suspension plate. When the hull 1 starts to fall, the spring 20 drives the first piston 11 to reset, and the gas in the airbag 8 starts to enter the first piston 11, so that the beam transceiver 4 moves upward relative to the suspension plate 3. By setting the aperture of the first one-way valve 15 and the second one-way valve 16, as well as the spring modulus, the response speed corresponding to the water wave and gravity can be coordinated.

[0076] The technical features not described in the present invention can be achieved by or adopted from the prior art, and will not be elaborated here. Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those of ordinary skill in the art within the scope of the essence of the present invention should also fall within the protection scope of the present invention.

Claims

1. An unmanned ship remote sensing monitoring device, characterized in that, The hull comprises a hull, wherein a groove opening downward is provided in the middle of the hull, a cross-axis structure is movably connected to the bottom of the groove, the cross-axis structure is movably connected to a suspension plate, and the suspension plate is connected to a beam transceiver; The height of the lower end of the beam transceiver relative to the water surface is greater than the height of the opening of the groove relative to the water surface; The height from the bottom of the groove to the opening is greater than the diameter of the groove opening; The surface in contact with water in the groove is provided with a sound-absorbing material veneer; The cross-axis structure includes a cantilever provided at the bottom of the groove, the cantilever being movably connected to a cross-shaped shaft, the cross-shaped shaft being provided with four protruding half-axes evenly distributed in angles, the four half-axes being respectively located in two straight lines; The ends of two of the semi-axles located in the same straight line are movably connected to the cantilever; A lifting lug is provided on the upper side of the suspension plate, and the shaft ends of the other two half shafts located in the same straight line are movably connected to the lifting lug; The suspension plate is in a horizontal state when only gravity affects it; The distance between the hanging ears and the distance between the hanging ears are greater than the set value; An airbag is provided at the bottom of the beam transceiver and the groove, and the cantilever, cross-shaped shaft and suspension plate are located in the inner cavity of the airbag; The pressure in the airbag cavity is greater than the water pressure at the same level; The bottom of the hull is provided with a ship bottom water wave response mechanism, and the ship bottom water wave response mechanism includes a first water-facing plate, and the first water-facing plate is located at the bottom of the hull; A first piston rod is provided on the top of the first water-facing plate, the first piston rod is connected to a first piston, a first piston cylinder is provided on the hull above the first water-facing plate, and the first piston slides in the first piston cylinder; The first piston cylinder is connected to the airbag through a first air pipe and a second air pipe; The first air pipe is provided with a first one-way valve; The second air pipe is provided with a second one-way valve; The beam transceiver is suspended under the suspension plate, and a first guide rod structure is connected between the suspension plate and the beam transceiver, wherein the first guide rod structure includes a first outer rod, the first outer rod is sleeved with a first inner rod, and the first inner rod is slidably connected to the first outer rod; A tension spring is connected between the suspension plate and the beam transceiver.

2. The remote sensing monitoring device for unmanned ship according to claim 1, wherein The hull bow and both sides are provided with a lateral force response mechanism, the lateral force response mechanism includes a second water-facing plate, and the second water-facing plate is located at the hull bow and both sides; A second piston rod is provided on the top of the second water-facing plate, the second piston rod is connected to a second piston, a second piston cylinder is provided on the inner side of the second water-facing plate of the hull, and the second piston slides in the second piston cylinder; The second piston cylinder is connected to a position-correcting cylinder through a third air pipe. The position-correcting cylinder is hinged to the suspension plate, and a hinge point is located on a side of the suspension plate away from the second piston cylinder to which it is connected.

3. The remote sensing monitoring device for unmanned ship according to claim 1, characterized in that, A spring is provided between the first piston and the top and bottom of the first piston cylinder, and the spring below the first piston surrounds the first piston rod; A second guide rod structure is connected between the upper part of the first piston and the top of the first piston. A spring located above the first piston surrounds the second guide rod structure. The second guide rod structure includes a second outer rod, and a second inner rod is sleeved on the second outer rod. The second inner rod is slidably connected to the second outer rod.

4. The remote sensing monitoring device for unmanned ship according to claim 2, wherein, A sealing outer skin is arranged on the outer sides of the first water-facing plate and the second water-facing plate. The sealing outer skin is made of a flexible material and wraps the first water-facing plate or the second water-facing plate and the gap between it and the hull.

5. The remote sensing monitoring device for unmanned ship according to claim 1, characterized in that, The first water-facing plate is connected to at least two of the first piston rods.

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