An unmanned ship with an online sediment grading monitoring device

Abstract

The present invention relates to the technical field of unmanned ships, and specifically to an unmanned ship with an on-line sediment grading monitoring device, including: an unmanned ship hull, a cleaning housing, a monitoring device, and a cleaning component; the beneficial effects are: by driving the cleaning housing and the monitoring device to move on the water surface through the unmanned ship hull, the monitoring device can be used to conduct on-line monitoring at different locations, and the monitoring device is located under the water surface to prevent interference from particles in the air to its monitoring results. And when sundries adhere to the surface of the monitoring device and affect the monitoring, the cleaning component can be used to clean the outer surface of the monitoring device, thereby removing the sundries on the surface of the monitoring device, reducing the interference of underwater sundries to the monitoring, and improving the accuracy of the monitoring by the monitoring device.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boats, and particularly to an unmanned boat with an on-line sediment grading monitoring device. Background Art

[0002] The sediment particle grading is an important factor affecting the sediment movement form. In the design and management of water conservancy projects, the prediction of reservoir siltation sites, the analysis of the generation conditions and sediment discharge capacity of density currents, river regulation and flood control, irrigation, channel erosion and deposition balance, ship lock shipping design, and the anti-wear research of hydraulic machinery, it is necessary to understand the sediment particle grading. The analysis of sediment particle grading refers to determining the percentage of the sediment quantity in each particle size group in the sediment sample accounting for the total sample quantity.

[0003] Many existing hydrological stations have been using traditional methods to measure sediment particle grading, that is, by manually taking water samples, after a certain period of sedimentation, and then through filtration, drying, and weighing to obtain the measurement results. Although this method has high accuracy, the analysis time is long and the workload is large, and it cannot achieve on-line monitoring of sediment grading. There are also some hydrological stations that use infrared monitoring devices to conduct on-line monitoring of sediment particle grading, and a fixed platform needs to be built in advance, and then the infrared monitoring device needs to be fixed on the fixed platform. At this time, the infrared monitoring device is located on the water surface and can only conduct on-line monitoring of fixed locations, and the particles in the air will also have a certain interference on its monitoring results. Summary of the Invention

[0004] The purpose of the present invention is to provide an unmanned boat with an on-line sediment grading monitoring device to solve the problem that the particles in the air will interfere with the monitoring results of sediment grading.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] An unmanned boat with an on-line sediment grading monitoring device, comprising:

[0007] An unmanned boat hull;

[0008] A cleaning housing, arranged at the bottom of the unmanned boat hull;

[0009] A monitoring device, arranged in the cleaning housing and capable of extending out of the cleaning housing;

[0010] A cleaning component, arranged in the cleaning housing for cleaning the sundries on the outer surface of the monitoring device.

[0011] Preferably, the cleaning component includes a storage cavity, a telescopic unit, a cleaning ring, and a first transmission member. The storage cavity is formed inside the cleaning housing. The fixed end of the telescopic unit is arranged inside the cleaning housing. The telescopic end of the telescopic unit enters the interior of the storage cavity and is connected to the monitoring device. The side of the storage cavity away from the telescopic unit is in sealing cooperation with the monitoring device. The cleaning ring is arranged outside the cleaning housing. One end of the monitoring device can extend outwards through the cleaning ring. A cleaning brush is arranged inside the cleaning ring. The first transmission member is arranged inside the cleaning housing. One end of the first transmission member is connected to the cleaning ring and is used to drive the cleaning ring to rotate. The telescopic unit can be an electric telescopic rod.

[0012] Preferably, the first transmission member includes a first rotating rod, a rotating groove, and a fixed rod. The first rotating rod is rotatably arranged in the storage cavity. The rotating groove is formed on the first rotating rod. The fixed rod is arranged at the position of the monitoring device corresponding to the rotating groove. One end of the fixed rod is in sliding cooperation with the rotating groove;

[0013] The rotating groove includes a first rotating groove and a second rotating groove. The first rotating groove is vertical and connected to the second rotating groove. The second rotating groove is spiral. When the fixed rod is located in the first rotating groove, the bottom of the monitoring device is located inside the cleaning housing. When the fixed rod is located in the second rotating groove, the bottom of the monitoring device extends out of the unmanned hull;

[0014] The first transmission member further includes a movable block, a fixed groove, teeth, a gear, and a connecting block. The movable block is rotatably arranged at the bottom of the cleaning housing. The fixed groove is formed on the side wall of the movable block. The teeth are arranged around the fixed groove. The gear is arranged at the position of the first rotating rod corresponding to the fixed groove. The gear meshes with the teeth. One end of the connecting block is connected to the movable block, and the other end is connected to the cleaning ring.

[0015] Preferably, the cleaning component further includes a cleaning plate and a second transmission member. The cleaning plate is rotatably arranged on the movable block and is located between the cleaning ring and the movable block. A brush is arranged on the top of the cleaning plate. The movement track of the cleaning plate does not contact the connecting block. The second transmission member is arranged inside the cleaning housing and is used to drive the cleaning plate to rotate.

[0016] Preferably, the second transmission member includes a second rotating rod, a guiding groove, a guiding rod, a linkage member, and an adjusting member. The second rotating rod is rotatably arranged in the storage cavity. The guiding groove is formed on the second rotating rod. The guiding rod is arranged at the position of the monitoring device corresponding to the guiding groove. One end of the guiding rod is slidably arranged in the guiding groove;

[0017] The guiding groove includes a first guiding groove, a second guiding groove and a third guiding groove. The first guiding groove and the third guiding groove are arranged in parallel. The second guiding groove is spiral. One end of the second guiding groove is connected to the first guiding groove, and the other end is connected to the third guiding groove;

[0018] The linkage is used to drive the cleaning plate to rotate together with the second rotating rod, and the adjusting member is used to adjust the linkage to drive the cleaning plate to rotate when the linkage does not rotate in the rotating groove.

[0019] Preferably, the linkage includes a first abutting groove, an abutting rod, a linkage block, a rotating shaft, a linkage limiting groove and a linkage limiting block. The first abutting groove is opened at the bottom of the second rotating rod. The abutting rod is slidably arranged in the first abutting groove. A third elastic member is arranged between the first abutting groove and the abutting rod for pushing one end of the abutting rod to extend out of the first abutting groove. The linkage block is fixed to the side of the abutting rod away from the first abutting groove and is frustum-shaped. The rotating shaft is rotatably arranged in the moving block. The bottom of the rotating shaft is connected to the cleaning plate. The linkage limiting groove is opened at the top of the rotating shaft. The linkage limiting block is arranged at the position of the linkage block corresponding to the linkage limiting groove. The cross-sections of the linkage limiting groove and the linkage limiting block are both regular polygons.

[0020] Preferably, the adjusting member includes a second abutting groove and a stop block. The second abutting groove is opened in the cleaning housing. The stop block is slidably arranged in the second abutting groove. A fifth elastic member is arranged between the second abutting groove and the fifth elastic member for pushing one end of the fifth elastic member to extend out of the second abutting groove and contact the linkage block;

[0021] It further includes a third abutting groove, a pushing block, a pushing groove, a pushing rod and a pressing member. The third abutting groove is opened in the cleaning housing. The pushing block is slidably arranged in the third abutting groove. A fourth elastic member is arranged between the pushing block and the third abutting groove. The pushing groove is opened on the stop block. The pushing groove includes a pressing groove and a clamping groove. The pressing groove and the clamping groove are communicated. The pressing groove is an open groove with an inclined surface, and its open end faces the direction of the pushing block. The clamping groove is rectangular. The pushing rod is arranged at the position of the pushing block corresponding to the pushing groove. One end of the pushing rod can extend into the pushing groove; the pressing member is arranged in the cleaning housing for limiting the pushing block and canceling the limit on the pushing block when the fixed rod is located in the first rotating groove.

[0022] Preferably, the pressing member includes a fourth abutting groove, a pressing block, a traction rope, and a pressing block. The fourth abutting groove is formed in the storage cavity. The pressing block is slidably disposed in the fourth abutting groove. A pressing block inclined surface is formed on the pressing block. A first elastic member is disposed between the pressing block and the fourth abutting groove. The elastic force of the first elastic member is greater than the elastic force of the fourth elastic member. One end of the traction rope is connected to the pressing block, and the other end passes through the cleaning housing and is connected to one side of the pushing block close to the fourth elastic member. The pressing block is disposed on the monitoring device. The pressing block is located on the movement track of the pressing block. When the fixing rod is located in the first rotating groove, the pressing block contacts the pressing block.

[0023] Preferably, a sliding groove is formed in the storage cavity. A linkage rod is slidably disposed in the sliding groove. One end of the linkage rod extends out of the cleaning housing. A first scraper is disposed at the end of the linkage rod extending out of the cleaning housing. The first scraper can enter the cleaning ring. A clamping block is disposed at the position of the monitoring device corresponding to the linkage rod. The clamping block is clamped with the linkage rod.

[0024] Preferably, a fixed housing is disposed at the bottom of the cleaning housing. A fifth abutting groove is formed at the bottom of the fixed housing. A second scraper is slidably disposed in the fifth abutting groove. A second elastic member is disposed between the second scraper and the fifth abutting groove for pushing the second scraper to always contact the cleaning plate.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] The present invention drives the cleaning housing and the monitoring device to move on the water surface through the unmanned hull, can use the monitoring device to perform on-line monitoring of different locations, and the monitoring device is located under the water surface to prevent the interference of particles in the air on its monitoring results. And when the surface of the monitoring device adheres to sundries and affects the monitoring, the cleaning component can be used to clean the outer surface of the monitoring device, thereby removing the sundries on the surface of the monitoring device, reducing the interference of water sundries on the monitoring, and improving the monitoring accuracy of the monitoring device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a three-dimensional structural diagram of the present invention;

[0028] Figure 2 is a three-dimensional structural diagram of the cleaning housing;

[0029] Figure 3 is a sectional structural diagram of the cleaning housing;

[0030] Figure 4 is Figure 3 an enlarged schematic diagram of the structure at A;

[0031] Figure 5is Figure 3 An enlarged schematic view of the structure at B;

[0032] Figure 6 is Figure 5 An enlarged schematic view of the structure at C;

[0033] Figure 7 A sectional structure schematic view of the cleaning housing and the linkage rod;

[0034] Figure 8 A three-dimensional structure schematic view of the monitoring device;

[0035] Figure 9 A three-dimensional structure schematic view of the traction rope and the stopper;

[0036] Figure 10 A three-dimensional structure schematic view of the movable block and the first rotating rod;

[0037] Figure 11 A sectional structure schematic view of the movable block and the gear.

[0038] In the figure: 1, unmanned hull; 2, cleaning housing; 3, cleaning plate; 4, cleaning ring; 5, monitoring device; 6, linkage rod; 601, first scraper; 7, cleaning brush; 8, telescopic unit; 9, storage cavity; 10, second rotating rod; 11, guide groove; 1101, first guide groove; 1102, second guide groove; 1103, third guide groove; 12, guide rod; 13, pressing block; 14, first rotating rod; 15, rotating groove; 1501, first rotating groove; 1502, second rotating groove; 16, fixed rod; 17, pressing block; 1701, pressing block inclined surface; 18, fourth holding groove; 19, first elastic member; 20, traction rope; 21, connecting block; 22, movable block; 23, gear; 24, fixed groove; 25, teeth; 26, rotating shaft; 27, fixed housing; 28, fifth holding groove; 29, second elastic member; 30, second scraper; 31, linkage limiting groove; 32, first holding groove; 33, third elastic member; 34, holding rod; 35, linkage block; 36, linkage limiting block; 37, third holding groove; 38, fourth elastic member; 39, pushing block; 40, push rod; 41, second holding groove; 42, fifth elastic member; 43, stopper; 44, pushing groove; 45, sliding groove; 46, clamping block. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] Example 1:

[0041] Please refer to Figures 1 to 11 , the present invention provides a technical solution: an unmanned ship with an on-line sediment gradation monitoring device, including: an unmanned ship hull 1; a cleaning housing 2, arranged at the bottom of the unmanned ship hull 1; a monitoring device 5, arranged inside the cleaning housing 2 and capable of extending out of the cleaning housing 2; a cleaning component, arranged inside the cleaning housing 2, for cleaning the sundries on the outer surface of the monitoring device 5.

[0042] Driven by the unmanned ship hull 1, the cleaning housing 2 and the monitoring device 5 move on the water surface, enabling the monitoring device 5 to conduct on-line monitoring at different locations. Moreover, the monitoring device 5 is located below the water surface to prevent the interference of airborne particles on its monitoring results. And when sundries adhere to the surface of the monitoring device 5 and affect the monitoring, the cleaning component can clean the outer surface of the monitoring device 5, thereby removing the sundries on the surface of the monitoring device 5, reducing the interference of underwater sundries on the monitoring, and improving the accuracy of the monitoring device 5.

[0043] Example 2:

[0044] As shown in Figures 2 - 3 Figures 10-11, the unmanned ship with an on-line sediment gradation monitoring device disclosed in the second embodiment of the present invention has basically the same structure as that in the first embodiment, and the difference lies in cleaning the side surface of the monitoring device 5. The cleaning component includes a storage cavity 9, a telescopic unit 8, a cleaning ring 4 and a first transmission member. The storage cavity 9 is opened inside the cleaning housing 2. The fixed end of the telescopic unit 8 is arranged inside the cleaning housing 2, and the telescopic end of the telescopic unit 8 enters the inside of the storage cavity 9 and is connected to the monitoring device 5. The side of the storage cavity 9 away from the telescopic unit 8 is in sealing cooperation with the monitoring device 5. The cleaning ring 4 is arranged outside the cleaning housing 2. One end of the monitoring device 5 can extend out through the cleaning ring 4. A cleaning brush 7 is arranged inside the cleaning ring 4. The first transmission member is arranged inside the cleaning housing 2. One end of the first transmission member is connected to the cleaning ring 4, for driving the cleaning ring 4 to rotate. The telescopic unit 8 can be an electric telescopic rod.

[0045] The first transmission member includes a first rotating rod 14, a rotating groove 15, and a fixed rod 16. The first rotating rod 14 is rotatably arranged in the storage cavity 9. The rotating groove 15 is formed on the first rotating rod 14. The fixed rod 16 is arranged at the position of the monitoring device 5 corresponding to the rotating groove 15. One end of the fixed rod 16 is slidably engaged with the rotating groove 15. The rotating groove 15 includes a first rotating groove 1501 and a second rotating groove 1502. The first rotating groove 1501 is vertical and connected to the second rotating groove 1502. The second rotating groove 1502 is spiral. When the fixed rod 16 is located in the first rotating groove 1501, the bottom of the monitoring device 5 is located inside the cleaning housing 2. When the fixed rod 16 is located in the second rotating groove 1502, the bottom of the monitoring device 5 extends out of the unmanned hull 1. The first transmission member further includes a movable block 22, a fixed groove 24, teeth 25, a gear 23, and a connecting block 21. The movable block 22 is rotatably arranged at the bottom of the cleaning housing 2. The fixed groove 24 is formed on the side wall of the movable block 22. The teeth 25 are arranged around the fixed groove 24. The gear 23 is arranged at the position of the first rotating rod 14 corresponding to the fixed groove 24. The gear 23 meshes with the teeth 25. One end of the connecting block 21 is connected to the movable block 22, and the other end is connected to the cleaning ring 4.

[0046] When the telescopic unit 8 drives the monitoring device 5 to extend out of the cleaning housing 2, the monitoring device 5 drives the fixed rod 16 to enter the second rotating groove 1502 through the first rotating groove 1501. When the fixed rod 16 slides in the second rotating groove 1502, it drives the first rotating rod 14 to rotate, and then drives the gear 23 to rotate. The gear 23 cooperates with the teeth 25 to drive the movable block 22 to rotate, and then drives the cleaning ring 4 to rotate through the connecting block 21. The cleaning brush 7 in the cleaning ring 4 cleans the side surface of the monitoring device 5. Conversely, when the telescopic unit 8 drives the monitoring device 5 to retract into the cleaning housing 2, the side surface of the monitoring device 5 is also cleaned.

[0047] Embodiment Three:

[0048] As Figures 3 - 4 shown in FIGS. 6 and 9, the unmanned ship with an on-line sediment grading monitoring device disclosed in Embodiment Three of the present invention has basically the same structure as that in Embodiment Two. The difference lies in cleaning the bottom of the monitoring device 5. The cleaning component further includes a cleaning plate 3 and a second transmission member. A brush is arranged on the top of the cleaning plate 3. The cleaning plate 3 is rotatably arranged on the movable block 22 and is located between the cleaning ring 4 and the movable block 22. The movement track of the cleaning plate 3 does not contact the connecting block 21. The second transmission member is arranged in the cleaning housing 2 and is used to drive the cleaning plate 3 to rotate.

[0049] The second transmission member includes a second rotating rod 10, a guiding groove 11, a guiding rod 12, a linkage member, and an adjusting member. The second rotating rod 10 is rotatably arranged in the storage cavity 9. The guiding groove 11 is formed on the second rotating rod 10. The guiding rod 12 is arranged at a position of the monitoring device 5 corresponding to the guiding groove 11. One end of the guiding rod 12 is slidably arranged in the guiding groove 11. The guiding groove 11 includes a first guiding groove 1101, a second guiding groove 1102, and a third guiding groove 1103. The first guiding groove 1101 and the third guiding groove 1103 are arranged in parallel. The second guiding groove 1102 is spiral. One end of the second guiding groove 1102 is connected to the first guiding groove 1101, and the other end is connected to the third guiding groove 1103. The linkage member is used to drive the cleaning plate 3 to rotate together with the second rotating rod 10, and the adjusting member is used to adjust the linkage member to drive the cleaning plate 3 to rotate when the rotating groove 15 does not rotate.

[0050] The linkage member includes a first abutting groove 32, an abutting rod 34, a linkage block 35, a rotating shaft 26, a linkage limiting groove 31, and a linkage limiting block 36. The first abutting groove 32 is formed at the bottom of the second rotating rod 10. The abutting rod 34 is slidably arranged in the first abutting groove 32. A third elastic member 33 is arranged between the first abutting groove 32 and the abutting rod 34 for pushing one end of the abutting rod 34 to extend out of the first abutting groove 32. The linkage block 35 is fixed to the side of the abutting rod 34 away from the first abutting groove 32 and is frustum-shaped. The rotating shaft 26 is rotatably arranged in the movable block 22. The bottom of the rotating shaft 26 is connected to the cleaning plate 3. The linkage limiting groove 31 is formed at the top of the rotating shaft 26. The linkage limiting block 36 is arranged at a position of the linkage block 35 corresponding to the linkage limiting groove 31. The cross-sections of the linkage limiting groove 31 and the linkage limiting block 36 are both regular polygons.

[0051] The adjusting member includes a second abutting groove 41 and a stop block 43. The second abutting groove 41 is formed in the cleaning housing 2. The stop block 43 is slidably arranged in the second abutting groove 41. A fifth elastic member 42 is arranged between the second abutting groove 41 and the fifth elastic member 42 for pushing one end of the fifth elastic member 42 to extend out of the second abutting groove 41 and contact the linkage block 35. It further includes a third abutting groove 37, a pushing block 39, a pushing groove 44, a push rod 40, and a pressing member. The third abutting groove 37 is formed in the cleaning housing 2. The pushing block 39 is slidably arranged in the third abutting groove 37. A fourth elastic member 38 is arranged between the pushing block 39 and the third abutting groove 37. The pushing groove 44 is formed on the stop block 43. The pushing groove 44 includes a pressing groove and a clamping groove. The pressing groove and the clamping groove are communicated. The pressing groove is an open groove with an inclined surface, and its open end faces the direction of the pushing block 39. The clamping groove is rectangular. The push rod 40 is arranged at a position of the pushing block 39 corresponding to the pushing groove 44. One end of the push rod 40 can extend into the pushing groove 44. The pressing member is arranged in the cleaning housing 2 for limiting the pushing block 39 and canceling the limit on the pushing block 39 when the fixed rod 16 is located in the first rotating groove 1501.

[0052] The pressing member includes a fourth holding groove 18, a pressing block 17, a traction rope 20, and a pressing piece 13. The fourth holding groove 18 is formed in the storage cavity 9. The pressing block 17 is slidably disposed in the fourth holding groove 18. A pressing block inclined surface 1701 is formed on the pressing block 17. A first elastic member 19 is disposed between the pressing block 17 and the fourth holding groove 18. The elastic force of the first elastic member 19 is greater than the elastic force of the fourth elastic member 38. One end of the traction rope 20 is connected to the pressing block 17, and the other end passes through the cleaning housing 2 and is connected to one side of the pushing block 39 close to the fourth elastic member 38. The pressing piece 13 is disposed on the monitoring device 5. The pressing block 17 is located on the movement track of the pressing piece 13. When the fixing rod 16 is located in the first rotating groove 1501, the pressing piece 13 contacts the pressing block 17.

[0053] When the telescopic unit 8 drives the monitoring device 5 to retract into the cleaning housing 2, the monitoring device 5 slowly rises. At this time, the fixed rod 16 slides in the second rotating groove 1502 and drives the first rotating rod 14 and the movable block 22 to rotate. At this time, the cleaning plate 3 rotates together with the movable block 22. At this time, the first elastic member 19 abuts against the pressing block 17 to extend out of the fourth abutting groove 18 and drives the fourth elastic member 38 to compress through the traction rope 20, so that the push rod 40 disengages from the push groove 44. The fifth elastic member 42 abuts against the blocking block 43 to extend out of the second abutting groove 41 and pushes the linkage block 35 towards the second rotating rod 10 through the side slope of the linkage block 35, so that the linkage limiting block 36 disengages from the linkage limiting groove 31. At this time, the cleaning plate 3 rotates together with the movable block 22. When the monitoring device 5 drives the fixed rod 16 to enter the first rotating groove 1501 through the second rotating groove 1502, the movable block 22 rotates, and the pressing block 13 contacts the pressing block 17. Then, the pressing block 17 is pressed into the fourth abutting groove 18 through the pressing block slope 1701, so that the traction rope 20 is relaxed. Then, the fourth elastic member 38 abuts against the fourth elastic member 38 to drive the push rod 40 into the push groove 44, and drives the blocking block 43 into the second abutting groove 41. At this time, the third elastic member 33 abuts against the abutting rod 34 to drive the linkage limiting block 36 into the linkage limiting groove 31. Then, when the monitoring device 5 continues to rise, the monitoring device 5 drives the guide rod 12 to enter the second guide groove 1102 through the third guide groove 1103. When the guide rod 12 slides in the second guide groove 1102, it drives the second rotating rod 10 to rotate and drives the rotating shaft 26 to rotate through the cooperation of the linkage limiting block 36 and the linkage limiting groove 31, thereby driving the cleaning plate 3 to rotate. At this time, the bottom of the monitoring device 5 just retracts into the cleaning housing 2. Then, the cleaning plate 3 rotates to clean the bottom of the monitoring device 5. Then, when the monitoring device 5 drives the guide rod 12 to enter the first guide groove 1101 through the second guide groove 1102, the cleaning plate 3 covers the bottom of the cleaning housing 2, and the cleaning plate 3 does not rotate, thereby protecting the monitoring device 5 in the cleaning housing 2, so that the side of the monitoring device 5 is cleaned first and then the bottom of the monitoring device 5 is cleaned. On the contrary, when the telescopic unit 8 drives the monitoring device 5 to extend out of the cleaning housing 2, the bottom of the monitoring device 5 is cleaned first, and then the side of the monitoring device 5 is cleaned.

[0054] Embodiment 4:

[0055] As Figure 5 、 7As shown in Fig. -8, the unmanned ship with an on-line sediment gradation monitoring device disclosed in the fourth embodiment of the present invention has basically the same structure as that in the third embodiment. The difference lies in cleaning the cleaning ring 4 and the cleaning plate 3. A chute 45 is provided in the storage cavity 9. A linkage rod 6 is slidably arranged in the chute 45. One end of the linkage rod 6 extends out of the cleaning housing 2. A first scraper 601 is arranged at the end of the linkage rod 6 extending out of the cleaning housing 2. The first scraper 601 can enter the cleaning ring 4. A clamping block 46 is arranged at the position of the monitoring device 5 corresponding to the linkage rod 6. The clamping block 46 is clamped with the linkage rod 6. A fixed housing 27 is arranged at the bottom of the cleaning housing 2. A fifth holding groove 28 is opened at the bottom of the fixed housing 27. A second scraper 30 is slidably arranged in the fifth holding groove 28. A second elastic member 29 is arranged between the second scraper 30 and the fifth holding groove 28 for pushing the second scraper 30 to always contact the cleaning plate 3.

[0056] When the monitoring device 5 extends out of or retracts into the cleaning housing 2, the clamping block 46 drives the linkage rod 6 to move, so that the first scraper 601 enters the cleaning ring 4. At this time, the cleaning ring 4 rotates, and the first scraper 601 cleans the cleaning brush 7 in the cleaning ring 4, improving the service life of the cleaning brush 7. When the cleaning plate 3 rotates or rotates self-rotatingly following the movable block 22, the second elastic member 29 pushes the second scraper 30 to always contact the cleaning plate 3, thereby cleaning the brush on the top of the cleaning plate 3, and further improving the service life of the cleaning plate 3.

[0057] The specific solution of this scheme is as follows: The unmanned ship hull 1 drives the cleaning housing 2 and the monitoring device 5 to move on the water surface, enabling the monitoring device 5 to conduct on-line monitoring at different locations. And the monitoring device 5 is located under the water surface to prevent the particles in the air from interfering with its monitoring results. And when sundries adhere to the surface of the monitoring device 5 and affect the monitoring, the cleaning components can be used to clean the outer surface of the monitoring device 5, thereby removing the sundries on the surface of the monitoring device 5, reducing the interference of the sundries in the water on the monitoring, and improving the monitoring accuracy of the monitoring device 5.

[0058] When the telescopic unit 8 drives the monitoring device 5 to extend out of the cleaning housing 2, the monitoring device 5 drives the fixed rod 16 to enter the second rotating groove 1502 through the first rotating groove 1501. When the fixed rod 16 slides in the second rotating groove 1502, it drives the first rotating rod 14 to rotate, thereby driving the gear 23 to rotate. The gear 23 cooperates with the tooth 25 to drive the movable block 22 to rotate, and then drives the cleaning ring 4 to rotate through the connecting block 21. The cleaning brush 7 in the cleaning ring 4 cleans the side surface of the monitoring device 5. On the contrary, when the telescopic unit 8 drives the monitoring device 5 to retract into the cleaning housing 2, the side surface of the monitoring device 5 is also cleaned.

[0059] When the telescopic unit 8 drives the monitoring device 5 to be retracted into the cleaning housing 2, the monitoring device 5 slowly rises. At this time, the fixed rod 16 slides in the second rotating groove 1502 and drives the first rotating rod 14 and the movable block 22 to rotate. At this time, the cleaning plate 3 rotates together with the movable block 22. At this time, the first elastic member 19 pushes the pressing block 17 to protrude from the fourth holding groove 18 and drives the fourth elastic member 38 to be compressed through the traction rope 20, so that the push rod 40 disengages from the push groove 44. The fifth elastic member 42 pushes the stopper 43 to protrude from the second holding groove 41 and pushes the linkage block 35 towards the second rotating rod 10 through the side slope of the linkage block 35, so that the linkage limiting block 36 disengages from the linkage limiting groove 31. At this time, the cleaning plate 3 rotates together with the movable block 22. When the monitoring device 5 drives the fixed rod 16 to enter the first rotating groove 1501 through the second rotating groove 1502, the movable block 22 rotates, and the pressing block 13 contacts the pressing block 17, and then presses the pressing block 17 into the fourth holding groove 18 through the pressing block slope 1701, so that the traction rope 20 is relaxed. Then, the fourth elastic member 38 pushes the fourth elastic member 38 to drive the push rod 40 into the inside of the push groove 44, and drives the stopper 43 into the second holding groove 41. At this time, the third elastic member 33 pushes the holding rod 34 to drive the linkage limiting block 36 into the linkage limiting groove 31. Then, when the monitoring device 5 continues to rise, the monitoring device 5 drives the guide rod 12 to enter the second guide groove 1102 through the third guide groove 1103. When the guide rod 12 slides in the second guide groove 1102, it drives the second rotating rod 10 to rotate and drives the rotating shaft 26 to rotate through the cooperation of the linkage limiting block 36 and the linkage limiting groove 31, and then drives the cleaning plate 3 to rotate. At this time, the bottom of the monitoring device 5 just enters the cleaning housing 2, and then the cleaning plate 3 rotates to clean the bottom of the monitoring device 5. Then, when the monitoring device 5 drives the guide rod 12 to enter the first guide groove 1101 through the second guide groove 1102, the cleaning plate 3 covers the bottom of the cleaning housing 2, and the cleaning plate 3 does not rotate, so as to protect the monitoring device 5 in the cleaning housing 2, so that the side of the monitoring device 5 is cleaned first and then the bottom of the monitoring device 5 is cleaned. On the contrary, when the telescopic unit 8 drives the monitoring device 5 to extend out of the cleaning housing 2, the bottom of the monitoring device 5 is cleaned first, and then the side of the monitoring device 5 is cleaned.

[0060] When the monitoring device 5 extends or retracts into the cleaning housing 2, the linkage rod 6 is driven to move through the block 46, so that the first scraper 601 will enter the cleaning ring 4. At this time, the cleaning ring 4 rotates, and the first scraper 601 cleans the cleaning brush 7 in the cleaning ring 4, improving the service life of the cleaning brush 7. When the cleaning plate 3 rotates or rotates self with the movable block 22, the second elastic member 29 pushes the second scraper 30 to always contact the cleaning plate 3, so as to clean the brush on the top of the cleaning plate 3, thereby improving the service life of the cleaning plate 3.

[0061] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned ship with an on-line monitoring device for sediment grading, characterized in that, Comprising: An unmanned hull (1); A cleaning housing (2), arranged at the bottom of the unmanned hull (1); A monitoring device (5), arranged inside the cleaning housing (2) and capable of extending out of the cleaning housing (2); A cleaning component, arranged inside the cleaning housing (2) for cleaning debris on the outer surface of the monitoring device (5); The cleaning component includes a storage cavity (9), a telescopic unit (8), a cleaning ring (4) and a first transmission member. The storage cavity (9) is opened inside the cleaning housing (2). The fixed end of the telescopic unit (8) is arranged inside the cleaning housing (2). The telescopic end of the telescopic unit (8) enters the inside of the storage cavity (9) and is connected to the monitoring device (5). One side of the storage cavity (9) away from the telescopic unit (8) is in sliding and sealing cooperation with the monitoring device (5). The cleaning ring (4) is arranged outside the cleaning housing (2). One end of the monitoring device (5) can extend outwards through the cleaning ring (4). A cleaning brush (7) is arranged inside the cleaning ring (4). The first transmission member is arranged inside the cleaning housing (2). One end of the first transmission member is connected to the cleaning ring (4) for driving the cleaning ring (4) to rotate; The first transmission member includes a first rotating rod (14), a rotating groove (15) and a fixing rod (16). The first rotating rod (14) is rotatably arranged inside the storage cavity (9). The rotating groove (15) is opened on the first rotating rod (14). The fixing rod (16) is arranged at the position of the monitoring device (5) corresponding to the rotating groove (15). One end of the fixing rod (16) is in sliding cooperation with the rotating groove (15); The rotating groove (15) includes a first rotating groove (1501) and a second rotating groove (1502). The first rotating groove (1501) is vertical and connected to the second rotating groove (1502). The second rotating groove (1502) is spiral. When the fixing rod (16) is located in the first rotating groove (1501), the bottom of the monitoring device (5) is inside the cleaning housing (2). When the fixing rod (16) is located in the second rotating groove (1502), the bottom of the monitoring device (5) extends out of the unmanned hull (1); The first transmission member further includes a movable block (22), a fixing groove (24), teeth (25), a gear (23) and a connecting block (21). The movable block (22) is rotatably arranged at the bottom of the cleaning housing (2). The fixing groove (24) is opened on the side wall of the movable block (22). The teeth (25) are arranged around the fixing groove (24). The gear (23) is arranged at the position of the first rotating rod (14) corresponding to the fixing groove (24). The gear (23) meshes with the teeth (25). One end of the connecting block (21) is connected to the movable block (22), and the other end is connected to the cleaning ring (4).

2. The unmanned ship with an on-line sediment gradation monitoring device according to claim 1, characterized in that, The cleaning component further includes a cleaning plate (3) and a second transmission member. The cleaning plate (3) is rotatably arranged on the movable block (22) and is located between the cleaning ring (4) and the movable block (22). A brush is arranged on the top of the cleaning plate (3). The movement track of the cleaning plate (3) does not contact the connecting block (21). The second transmission member is arranged in the cleaning housing (2) and is used to drive the cleaning plate (3) to rotate.

3. The unmanned ship with an on-line sediment grading monitoring device according to claim 2, characterized in that, The second transmission member includes a second rotating rod (10), a guiding groove (11), a guiding rod (12), a linkage member and an adjusting member. The second rotating rod (10) is rotatably arranged in the storage cavity (9). The guiding groove (11) is formed on the second rotating rod (10). The guiding rod (12) is arranged at a position of the monitoring device (5) corresponding to the guiding groove (11). One end of the guiding rod (12) is slidably arranged in the guiding groove (11). The guiding groove (11) includes a first guiding groove (1101), a second guiding groove (1102) and a third guiding groove (1103). The first guiding groove (1101) and the third guiding groove (1103) are arranged in parallel. The second guiding groove (1102) is spiral. One end of the second guiding groove (1102) is connected to the first guiding groove (1101), and the other end is connected to the third guiding groove (1103). The linkage member is used to drive the cleaning plate (3) to rotate together with the second rotating rod (10). The adjusting member is used to adjust the linkage member to drive the cleaning plate (3) to rotate when the rotating groove (15) does not rotate.

4. The unmanned ship with an on-line sediment gradation monitoring device according to claim 3, characterized in that, The linkage member includes a first abutting groove (32), an abutting rod (34), a linkage block (35), a rotating shaft (26), a linkage limiting groove (31) and a linkage limiting block (36). The first abutting groove (32) is formed at the bottom of the second rotating rod (10). The abutting rod (34) is slidably arranged in the first abutting groove (32). A third elastic member (33) is arranged between the first abutting groove (32) and the abutting rod (34) and is used to push one end of the abutting rod (34) to extend out of the first abutting groove (32). The linkage block (35) is fixed on a side of the abutting rod (34) away from the first abutting groove (32) and is frustum-shaped. The rotating shaft (26) is rotatably arranged in the movable block (22). The bottom of the rotating shaft (26) is connected to the cleaning plate (3). The linkage limiting groove (31) is formed at the top of the rotating shaft (26). The linkage limiting block (36) is arranged at a position of the linkage block (35) corresponding to the linkage limiting groove (31). The cross-sections of the linkage limiting groove (31) and the linkage limiting block (36) are both regular polygons.

5. The unmanned ship with an online sediment grading monitoring device according to claim 4, characterized in that, The adjusting member includes a second abutting groove (41) and a stopper (43). The second abutting groove (41) is formed in the cleaning housing (2). The stopper (43) is slidably disposed in the second abutting groove (41). A fifth elastic member (42) is disposed between the second abutting groove (41) and the fifth elastic member (42) for pushing one end of the fifth elastic member (42) to extend out of the second abutting groove (41) and contact the linkage block (35). It further includes a third abutting groove (37), a pushing block (39), a pushing groove (44), a push rod (40) and a pressing member. The third abutting groove (37) is formed in the cleaning housing (2). The pushing block (39) is slidably disposed in the third abutting groove (37). A fourth elastic member (38) is disposed between the pushing block (39) and the third abutting groove (37). The pushing groove (44) is formed in the stopper (43). The pushing groove (44) includes a pressing groove and a clamping groove. The pressing groove and the clamping groove are communicated. The pressing groove is an open groove with an inclined surface, and its open end faces the direction of the pushing block (39). The clamping groove is rectangular. The push rod (40) is disposed at a position corresponding to the pushing groove (44) of the pushing block (39), and one end of the push rod (40) can extend into the pushing groove (44). The pressing member is disposed in the cleaning housing (2) for limiting the pushing block (39) and canceling the limit on the pushing block (39) when the fixing rod (16) is located in the first rotating groove (1501).

6. The unmanned ship with an online sediment grading monitoring device according to claim 5, characterized in that, The pressing member includes a fourth abutting groove (18), a pressing block (17), a traction rope (20) and a pressing block (13). The fourth abutting groove (18) is formed in the storage cavity (9). The pressing block (17) is slidably disposed in the fourth abutting groove (18). A pressing block inclined surface (1701) is formed on the pressing block (17). A first elastic member (19) is disposed between the pressing block (17) and the fourth abutting groove (18). The elastic force of the first elastic member (19) is greater than the elastic force of the fourth elastic member (38). One end of the traction rope (20) is connected to the pressing block (17), and the other end passes through the cleaning housing (2) and is connected to a side of the pushing block (39) close to the fourth elastic member (38). The pressing block (13) is disposed on the monitoring device (5). The pressing block (17) is located on the movement track of the pressing block (13), and the pressing block (13) contacts the pressing block (17) when the fixing rod (16) is located in the first rotating groove (1501).

7. The unmanned ship with an on-line sediment grading monitoring device according to claim 1, characterized in that, A sliding groove (45) is formed in the storage cavity (9). A linkage rod (6) is slidably disposed in the sliding groove (45). One end of the linkage rod (6) extends out of the cleaning housing (2). A first scraper (601) is disposed at the end of the linkage rod (6) extending out of the cleaning housing (2). The first scraper (601) can enter the cleaning ring (4). A clamping block (46) is disposed at a position corresponding to the linkage rod (6) of the monitoring device (5). The clamping block (46) is clamped with the linkage rod (6).

8. The unmanned ship with an online sediment gradation monitoring device according to claim 2, characterized in that A fixed housing (27) is provided at the bottom of the cleaning housing (2). A fifth abutting groove (28) is formed in the bottom of the fixed housing (27). A second scraper (30) is slidably arranged in the fifth abutting groove (28). A second elastic member (29) is arranged between the second scraper (30) and the fifth abutting groove (28) for pushing the second scraper (30) to always contact the cleaning plate (3).

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