A cooperative mapping work device

Abstract

The application relates to the technical field of surveying equipment, and discloses a cooperative surveying and mapping operation equipment which comprises a ship body, a hoist cabin is arranged in the ship body and is in communication with the outside world, a hoisting mechanism and a surveying and mapping module are arranged at the top end of the hoist cabin, the surveying and mapping module is connected with the hoisting mechanism through a traction rope, at least two groups of adjusting mechanisms are arranged on the inner wall of the hoist cabin, and the adjusting mechanisms are fixed with the surveying and mapping module through fixed pipes, the position of the surveying and mapping module is limited through the fixed pipes, the surveying and mapping module always moves up and down along the plumb line direction of the ship body, the position drift range of the surveying and mapping module is reduced, and the surveying and mapping precision is improved.

Description

Technical Field

[0001] This invention relates to the field of surveying equipment technology, specifically to a collaborative surveying operation device. Background Technology

[0002] Surveying and mapping, literally understood as measurement and drawing, is a discipline based on computer technology, optoelectronic technology, network communication technology, space science, and information science. It utilizes Global Navigation Satellite System (GNSS), Remote Sensing (RS), and Geographic Information System (GIS) as its core technologies. It selects existing feature points and boundaries on the ground and obtains graphics and location data reflecting the current state of the ground, along with related information, for use in engineering construction, planning and design, and administrative management. Specifically, it focuses on ocean waters and the seabed, studying the geographical distribution of natural and social information such as ocean position, determining the ocean geoid and mean sea level, seabed and sea surface topography, ocean gravity and magnetism, and the marine environment, as well as the theoretical techniques for compiling various nautical charts. Surveying devices floating on the sea surface can drift due to ocean currents, affecting surveying accuracy. Furthermore, when marine surveying equipment floats for extended periods, marine flora and fauna can attach to it, causing continuous drift in some observational data, affecting the reliability of communication equipment, and also impacting heat dissipation, hydrodynamic flow fields, and causing additional corrosion to mechanical components. Summary of the Invention

[0003] The purpose of this invention is to provide a system surveying equipment that uses a fixed tube to limit the position of a surveying module, ensuring that it always moves up and down along the vertical line passing through the hull, thereby reducing the positional drift of the surveying module and improving surveying accuracy, thus solving the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a collaborative surveying and mapping equipment, comprising a hull and a battery module disposed therein, wherein a pod communicating with the outside world is provided inside the hull, a winch mechanism is provided at the top of the pod, a surveying module is provided inside the pod, the surveying module is connected to the winch mechanism via a traction rope, and multiple adjustment mechanisms are provided on the inner wall of the pod, the adjustment mechanisms being fixed to the surveying module via a fixed pipe.

[0005] Preferably, the fixed tube consists of a protective sleeve, a composite layer, and an electrorheological fluid bladder column from the outside to the inside. Multiple electrorheological fluid bladder columns are connected end to end inside the fixed tube. An insulating pad is provided between the electrorheological fluid bladder columns. A strip-shaped conductive strip is provided on the outer side of the electrorheological fluid bladder column. The conductive strip penetrates the composite layer and is symmetrically arranged along its center line. The protective sleeve has an elliptical cross-section. A set of wire grooves is symmetrically provided at both ends of the long axis of the protective sleeve. The wire grooves are coplanar with the conductive strip on the side near the conductive strip. Multiple contacts are provided on the side of the conductive strip near the wire groove. The tube also includes wires provided in the wire grooves. The wires are connected to the battery module inside the hull.

[0006] Preferably, the hull is also equipped with a hydraulic module; the fixed tube is equipped with a capillary network of multiple electrorheological fluid tank columns running along the axis, and the capillary network is connected to the hydraulic module; the inner wall of the conductor groove is coated with a hydrophobic layer, and a water-proof pad is provided on the outer side of the protective sleeve to wrap the conductor groove; the composite layer consists of a waterproof layer, an insulating layer, a pressure-resistant layer and a flexible layer from the outside to the inside, and the cross-section of the composite layer and the electrorheological fluid tank column is circular.

[0007] Preferably, the pod includes a hull, which includes an integrally connected top plate, inclined plate, and side plate. The top plate is a regular polygon, and the hull includes a regular polygonal top plate, preferably an octagonal one. It also includes an inclined plate integrally connected to the top plate, with the angle between the inclined plate and the top plate preferably being 135 degrees. It also includes a side plate extending downwards from one end of the inclined plate to the bottom plate of the hull. An adjustment mechanism for securing the fixing tube is provided in the middle of the inclined plate. The adjustment mechanism includes a fixing frame embedded in the inclined plate. The fixing frame is hollow and passes through both sides of the inclined plate. A set of extrusion wheels is provided on the inner side of the fixing frame. The extrusion wheels are rotatably connected to the fixing frame. An extrusion groove is provided on the outer side of the extrusion wheels. The extrusion groove is a semi-elliptical annular groove with the same major and minor axes as the fixing tube, which is formed around the axis of the extrusion wheel. The area enclosed between the extrusion grooves of the two extrusion wheels constitutes an extrusion cavity for pressing the wire into the wire groove. A secondary winch mechanism is provided on the outer side of the inclined plate, and the fixing tube is wound around the secondary winch mechanism.

[0008] Preferably, a wire extrusion roller is provided on the inner side of the fixed frame near the auxiliary hoisting mechanism. The wire extrusion roller includes a rotating shaft, which is perpendicular to the inner side of the fixed frame. The rotating shaft of the wire extrusion roller and the rotating shaft of the extrusion wheel are perpendicular to the two parallel outer sides of the inclined plate. An extrusion ellipsoid that is rolled and connected to the extrusion groove is provided in the middle of the rotating shaft. A wire limiting groove for limiting the wire is provided in the middle of the wall of the extrusion groove.

[0009] Preferably, a guide module is provided at the end of the fixed frame away from the auxiliary winch mechanism. The inlet end of the guide module is connected to the extrusion chamber. The guide module is rotatably connected to the fixed frame. Preferably, the auxiliary winch mechanism includes a fixed tube winch and a copper cable winch. The two copper cable winches are symmetrically arranged along the axis of the fixed tube winch. A main through hole for the traction rope to pass through is provided at the center of the top plate of the cabin.

[0010] Preferably, the guide module includes a base screwed to the inner end of the fixed frame, and a guide tube rotatably connected to the base. A limiting rod is provided circumferentially on the outer side of the guide tube, and the limiting rods are symmetrically distributed along the axis of the guide tube. The guide tube has a drying section and a cleaning section in sequence along the axial direction from the end close to the base. An air outlet is provided circumferentially on the inner side of the drying section, and an air inlet is provided on the outer side of the drying section. A water outlet is provided circumferentially on the inner side of the cleaning section, and a water inlet is provided on the outer side of the cleaning section. The inner diameter of the cleaning section gradually increases along the axial direction.

[0011] Preferably, power generation modules are provided on both sides of the hull, booms are provided on both sides of the hull, the output end of the booms is connected to the power generation modules, wave energy absorption modules are provided on the booms and connected to the battery modules, and the power generation modules are connected to the battery modules.

[0012] Preferably, the hull also includes an airtight compartment enclosing the pod, a gas generator is installed inside the hull and is connected to the airtight compartment via a multi-port valve, a communication module and a vision sensor connected to the battery module are installed at the upper end of the hull, a rudder connected to the battery module is installed at the stern of the hull, a seawater desalination module is connected to the hull, and the outlet and inlet of the seawater desalination module are connected; the outer surface of the hull bottom is coated with a nano antifouling layer and an organosiloxane anti-adhesion layer.

[0013] Preferably, the power generation module includes a solar panel, and a water tank is provided at the lower end of the solar panel. The water tank is connected to the gas generator and the seawater desalination module.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. By controlling the energization state of the electrorheological fluid bladder column in the fixed tube, the soft and hard states of the fixed tube can be controlled, thereby achieving precise position control and anti-disturbance capability of the mapping module during the diving process;

[0016] 2. The fixing tube is cleaned and dried through the cleaning and drying sections in the guide tube, and an anti-adhesion coating is applied to the surface of the fixing tube to improve the fixing tube's ability to resist biofouling and remove biofouling.

[0017] 3. By installing a water tank at the lower end of the power generation module, the power generation module can supply energy to the hull while also controlling the hull's buoyancy and submersion, and providing some protection to the hull during movement. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the hull of the present invention;

[0019] Figure 2 This is a front view of the hull of the present invention;

[0020] Figure 3 This is a bottom view of the pod of the present invention;

[0021] Figure 4 This is diagram AA of the pod of the present invention;

[0022] Figure 5 This is a schematic diagram of the fixing tube of the present invention;

[0023] Figure 6 This is a cross-sectional view of the fixed tube of the present invention;

[0024] Figure 7 This is a schematic diagram of the adjustment mechanism of the present invention;

[0025] Figure 8 This is a top view of the adjustment mechanism of the present invention;

[0026] Figure 9 BB diagram of the adjustment mechanism of this invention;

[0027] Figure 10 This is a schematic diagram of the guiding module of the present invention;

[0028] Figure 11 This is a cross-sectional view of the guide module of the present invention;

[0029] Figure 12 This is a schematic diagram of the power generation module of the present invention.

[0030] In the diagram: 1. Hull; 2. Power generation module; 201. Solar panel; 202. Water tank; 3. Boom; 4. Communication module; 5. Vision sensor; 6. Gas generator; 7. Rudder; 8. Battery module; 9. Winching mechanism; 10. Surveying module; 11. Pod; 12. Adjustment mechanism; 1201. Fixed frame; 1203. Extrusion wheel; 1204. Extrusion chamber; 1205. Wire extrusion roller; 13. Fixed pipe; 1301. Protective sleeve; 1302. Wire groove; 1303. Composite layer; 1304. Capillary network; 1305. Electrorheological fluid bladder column; 1306. Wire; 14. Inclined plate; 15. Main through hole; 16. Secondary winching mechanism; 17. Guide module; 1701. Base; 1702. Guide pipe; 1703. Limiting rod; 1704. Cleaning section; 1705. Drying section; 1706. Water inlet; 1707. Air inlet. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0032] like Figure 1 and Figure 2 As shown in the figure, this application embodiment provides a collaborative surveying and mapping operation equipment. The equipment includes a hull 1 and a battery module 8 installed therein to provide power to the hull 1. The hull 1 encapsulates and protects the battery module 8. The hull 1 has a pod 11 that communicates with the outside world. A winch mechanism 9 is installed at the top of the pod 11. A surveying module 10 is installed inside the pod 11. The surveying module 10 is connected to the winch mechanism 9 via a traction rope. Multiple adjustment mechanisms 12 are provided on the inner wall of the pod 11. The adjustment mechanisms 12 are fixed to the surveying module 10 via a fixed tube 13. The winch mechanism 9 controls the depth position of the surveying module 10 in the ocean via the traction rope, thereby realizing the control of the depth position of the surveying module 10.

[0033] It is understood that in this embodiment, multiple adjustment mechanisms 12 are provided on the inner wall of the gondola 11. The adjustment mechanisms 12 are fixed to the mapping module 10 through the fixed tubes 13. Under the above structure, multiple fixed tubes 13 are also provided on the mapping module 10. The other end of the fixed tubes 13 is connected to the adjustment mechanism 12. Thus, when viewed in the front-back and left-right directions, the lines connecting the multiple fixed tubes 13 form an isosceles triangle structure, so that the mapping module 10 moves along the perpendicular line of the triangle during the descent, improving the mapping module 10's ability to resist microcurrent disturbances. However, in strong ocean currents, the fixed tubes 13 may bend or drift, causing the mapping accuracy of the mapping module 10 to decrease.

[0034] like Figure 5 As shown, Figure 5 The diagram shows a fixed tube of the present invention. In one embodiment, the fixed tube 13 consists of a protective sleeve 1301, a composite layer 1303, and an electrorheological fluid reservoir 1305, arranged sequentially from the outside to the inside. Multiple electrorheological fluid reservoirs 1305 are connected end to end within the fixed tube 13. An insulating pad is provided between the electrorheological fluid reservoirs 1305. A strip-shaped conductive strip is provided on the outer side of the electrorheological fluid reservoir 1305. The conductive strip penetrates the composite layer 1303 and is symmetrically arranged along its center line. The protective sleeve 1301 has an elliptical cross-section. A set of wire grooves 1302 are symmetrically provided at both ends of the long axis of the protective sleeve 1301. The wire grooves 1302 are coplanar with the conductive strip on the side near the conductive strip. Multiple contacts are provided on the side of the conductive strip near the wire grooves 1302. The fixed tube 1306 is also provided in the wire grooves 1302 and is connected to the battery module 8 inside the hull 1.

[0035] Understandably, to improve the mapping module 10's resistance to strong ocean current disturbances, multiple unconnected and insulated electrorheological fluid reservoirs 1305 are sequentially connected end-to-end within the composite layer 1303. A conductive strip is installed on the composite layer 1303, penetrating both the inside and outside of the composite layer 1303 and electrically connected to the electrorheological fluid within the reservoirs 1305. The composite layer 1303 is then encased in a protective sleeve 1301, with a set of wire grooves 1302 symmetrically positioned at both ends of the long axis of the protective sleeve 1301. The electrorheological fluid capsule 1305 is energized by the wire 1306 located in the wire groove 1302. After being energized, the electrorheological fluid becomes solid, which makes the tube body of the fixed tube 13 harder. This prevents the fixed tube 13 from bending or drifting when it is in a strong ocean current. When viewed from multiple directions, the isosceles triangle structure formed by the lines connecting the fixed tube 13 is more stable and less prone to deformation. During the descent, the descent trajectory of the mapping module 10 moves along the perpendicular line of the triangle, improving the mapping module 10's ability to resist strong current disturbances.

[0036] like Figure 6 As shown, Figure 6The fixed tube of the present invention is shown in a cross-sectional view. In one embodiment, a hydraulic module is also provided inside the hull 1; the fixed tube 13 is provided with a plurality of capillary networks 1304 that run through the electrorheological fluid capsule column 1305 along the axis, and the capillary network 1304 is connected to the hydraulic module; a hydrophobic layer is coated on the inner wall of the wire groove 1302, and a water-proof pad is provided on the outer side of the protective sleeve 1301 to wrap the wire groove 1302; the composite layer 1303 consists of a waterproof layer, an insulating layer, a pressure-resistant layer and a flexible layer from the outside to the inside, and the cross-section of the composite layer 1303 and the electrorheological fluid capsule column 1305 is circular.

[0037] Understandably, in order to further improve the ability of the surveying module 10 to resist wind, waves and strong ocean current disturbances, there are multiple capillary networks 1304 with electrorheological fluid bladder columns 1305 running through the axis inside the fixed tube 13. The capillary network 1304 is connected to the hydraulic module, and the hydraulic module pressurizes the capillary network 1304, thereby further enhancing the strength of the fixed tube 13. When viewed from multiple directions, the isosceles triangle structure formed by the lines connecting the fixed tube 13 is more stable and less prone to deformation. During the diving process, the diving trajectory of the surveying module 10 moves along the perpendicular line of the triangle, improving the ability of the surveying module 10 to resist strong current disturbances.

[0038] like Figure 3 and 4 As shown, Figure 3 This is a bottom view of the pod of the present invention; Figure 4 The pod AA diagram of the present invention is shown. In one embodiment, the pod 11 includes a pod body, which includes an integrally connected top plate, inclined plate 14, and side plate. The top plate is a regular polygon, and the pod body includes a regular polygonal top plate, preferably an octagonal one. It also includes an inclined plate 14 integrally connected to the top plate. The angle between the inclined plate 14 and the top plate is preferably 135 degrees. It also includes a side plate extending downward from one end of the inclined plate 14 to the bottom plate of the hull 1. An adjustment mechanism 12 for securing the fixing tube 13 is provided in the middle of the inclined plate 14. A secondary winch mechanism 16 is provided on the outer side of the inclined plate 14. The fixing tube 13 is wound around the secondary winch mechanism 16.

[0039] It is understood that the pod 11 has eight inclined plates 14 of the same specifications, and the adjustment mechanisms 12 are all installed in the middle of the inclined plates 14. The adjustment mechanisms 12 are symmetrical about the axis of the pod 11. During the descent, the fixed tubes 13 of the surveying module 10 are symmetrical about the axis of the pod 11 and have the same extension length. This makes the perpendicular line of the isosceles triangle formed by the fixed tubes 13 pass through the axis of the pod 11. Under the above structure, each auxiliary winch mechanism 16 releases the fixed tubes 13 at the same rate and connects to the surveying module 10 after passing through each adjustment mechanism 12. The four sets of symmetrically arranged fixed tubes 13 limit the position of the surveying module 10, thereby making the surveying module 10 move downward along the axis of the pod 11 during the descent, improving the positional accuracy of the surveying module 10 during the descent, and thus improving the surveying accuracy.

[0040] Figure 8 As shown, Figure 8 This is a top view of the adjustment mechanism of the present invention. In one embodiment, the adjustment mechanism 12 includes a fixed frame 1201 embedded in the inclined plate 14. The fixed frame 1201 is hollow and passes through both sides of the inclined plate 14. A set of extrusion wheels 1203 are provided on the inner side of the fixed frame 1201. The extrusion wheels 1203 are rotatably connected to the fixed frame 1201. An extrusion groove is provided on the outer side of the extrusion wheel 1203. The extrusion groove is a semi-elliptical annular groove with the same major and minor axes as the fixed tube 13, which is obtained by circumferentially around the axis of the extrusion wheel 1203. The area enclosed between the extrusion grooves of the two extrusion wheels 1203 constitutes an extrusion cavity 1204 for pressing the wire 1306 into the wire groove 1302.

[0041] It is understandable that when the fixed tube 13 passes through the extrusion chamber 1204 of the adjustment mechanism 12, the extrusion wheel 1203 presses the wire 1306 into the wire groove 1302, thereby energizing the electrorheological fluid capsule 1305 passing through the extrusion chamber 1204. After being energized, the electrorheological fluid capsule 1305 becomes harder, thereby achieving the effect of hardening the fixed tube 13.

[0042] like Figure 7 and 9 As shown, Figure 7 This is a schematic diagram of the adjustment mechanism of the present invention; Figure 9 The diagram below shows the adjustment mechanism of the present invention. In one embodiment, a wire extrusion roller 1205 is provided on the inner side of the fixed frame 1201 near the auxiliary hoisting mechanism 16. The wire extrusion roller 1205 includes a rotating shaft, which is perpendicular to the inner side of the fixed frame 1201. The rotating shaft of the wire extrusion roller 1205 and the rotating shaft of the extrusion wheel 1203 are perpendicular to the two parallel outer sides of the inclined plate 14. An extrusion ellipsoid that is rolled and connected to the extrusion groove is provided in the middle of the rotating shaft. A wire limiting groove for limiting the wire is provided in the middle of the wall of the extrusion groove.

[0043] The auxiliary winch mechanism 16 includes a fixed tube winch and a copper cable winch, with the two copper cable winches arranged symmetrically along the axis of the fixed tube winch; a main through hole 15 for the traction rope to pass through is provided at the center of the top plate of the cabin.

[0044] Understandably, when the wire 1306 is passed through the wire limiting groove between the wire squeezing roller 1205 and the squeezing wheel 1203, and the surveying module 10 is retracted after surveying is completed, the wire is blocked by the wire squeezing roller 1205 and thus separated from the wire groove 1302, achieving the separation of the wire 1306 from the electrorheological fluid capsule column 1305. After the electrorheological fluid capsule column 1305 is de-energized, it softens. After the softened fixed tube 13 body passes through the area between the wire squeezing rollers 1205, it is rewound to the fixed tube winch of the auxiliary winch mechanism 16. The wire 1306 is rewound to the copper cable winch, thus achieving the effect of softening after the fixed tube 13 is retracted.

[0045] like Figure 10 and 11 As shown, Figure 10 This is a schematic diagram of the guiding module of the present invention; Figure 11 This is a cross-sectional view of the guide module of the present invention. In one embodiment, the fixed frame 1201 is provided with a guide module 17 at the end away from the auxiliary hoisting mechanism 16. The inlet end of the guide module 17 is connected to the extrusion chamber 1204, and the guide module 17 is rotatably connected to the fixed frame 1201.

[0046] The guide module 17 includes a base 1701, which is screwed to the inner end of the fixed frame 1201, and a guide tube 1702, which is rotatably connected to the base 1701. A limiting rod 1703 is provided on the outer circumference of the guide tube 1702, and the limiting rod 1703 is symmetrically distributed along the axis of the guide tube 1702.

[0047] Understandably, in order to adjust the angle of the fixed tube 13, a base 1701 is installed along the length of the fixed frame 1201. The axis of the rotating shaft installed on the base 1701 is along the width of the base 1701. That is, the guide tube 1702 can only swing vertically in the pod 11 and cannot swing horizontally, thereby reducing the degree of freedom of the fixed tube 13 and improving the positional accuracy of the surveying module 10 during the descent.

[0048] In one embodiment, the guide tube 1702 is arranged in two sections along the axial direction from the end near the base 1701: a drying section 1705 and a cleaning section 1704. An air outlet is provided circumferentially on the inner side of the drying section 1705, and an air inlet 1707 is provided on the outer side of the drying section 1705. A water outlet is provided circumferentially on the inner side of the cleaning section 1704, and a water inlet 1706 is provided on the outer side of the cleaning section 1704. The inner diameter of the cleaning section 1704 gradually increases along the axial direction.

[0049] It is understandable that when the fixed pipe 13 is recycled, the cleaning section 1704 and the drying section 1705 are working. The cleaning section 1704 uses fresh water under high pressure and high speed to clean the fixed pipe 13 through the outlet to remove the attached organisms. After being cleaned, the fixed pipe 13 passes through the drying section 1705 and is dried and heated by hot air, so that the fixed pipe 13 remains clean.

[0050] like Figure 1 , 2 As shown in Figure 12, in one embodiment, power generation modules 2 are provided on both sides of the hull 1, and booms 3 are provided on both sides of the hull. The output end of the booms 3 is connected to the power generation modules 2. Wave energy absorption modules are provided on the booms 3 and connected to the battery modules 8. The power generation modules 2 are connected to the battery modules 8.

[0051] The hull 1 also includes an airtight compartment that encloses the pod 11. A gas generator 6 is installed inside the hull 1 and is connected to the airtight compartment via a multi-port valve. A communication module 6 and a vision sensor 5 connected to the battery module 8 are installed at the upper end of the hull 1. A rudder 7 connected to the battery module 8 is installed at the stern of the hull 1. A seawater desalination module connected to the guidance module 17 is installed inside the hull 1. Specifically, the outlet and inlet of the seawater desalination module are connected. A nano antifouling layer and an organosiloxane anti-adhesion layer are coated on the outer side of the bottom of the hull 1.

[0052] The power generation module 2 includes a solar panel 201, and a water tank 202 is provided at the lower end of the solar panel 201. The water tank 202 is connected to the gas generator 6 and the seawater desalination module.

[0053] Understandably, to enable the opening and closing of the pod 11, a hydraulic hatch connected to the hydraulic module is provided at the bottom of the pod 11. A high-pressure nozzle is provided at the top inside the pod 11 for cleaning the mapping module 10. To improve the positional accuracy of the mapping module 10, an anchor and positioning module are provided on the hull 1. When the hull 1 floats on the sea surface, the boom 3 extends to deploy the connected power generation module 2 onto the sea surface. The solar charging panel 201 and wave energy absorption module of the power generation module 2 convert light energy and kinetic energy into electrical energy, which is stored in the battery module 8. When it is necessary to temporarily avoid wind and waves or to conduct mapping in deeper sea areas, the boom 3 can be used to deploy the power generation module 2. The vessel 1 is adjusted from a horizontal to a vertical position, and water is filled into the water tank 202 through the seawater desalination module, causing the hull 1 to begin to submerge. During the submersion, gas is injected into the pod 11 through the gas generator 6 to prevent the pod 11 from being submerged. During the submersion, the shallow-water organisms attached to the mapping module 10 will gradually detach from the mapping module 10 and the hull 1 as the depth increases. In order to enhance the ability of the mapping module 10 to prevent organism attachment, a superhydrophobic coating and an organosiloxane anti-attachment layer are provided on the surface of the mapping module 10 and the fixing tube 13. At the same time, a graphene filter membrane is provided at a distance of 1-10 mm from the surface of the mapping module 10, preferably 5 mm.

[0054] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A collaborative surveying and mapping operation device, comprising a hull and a battery module disposed therein, characterized in that: The hull is equipped with a pod that communicates with the outside world. A winch mechanism is located at the top of the pod. A mapping module is located inside the pod. The mapping module is connected to the winch mechanism via a traction rope. Multiple adjustment mechanisms are located on the inner wall of the pod. The adjustment mechanisms are fixed to the mapping module via fixed pipes. The fixed tube consists of a protective sleeve, a composite layer, and an electrorheological fluid tank column from the outside to the inside. Multiple electrorheological fluid tank columns are connected end to end inside the fixed tube. An insulating pad is provided between the electrorheological fluid tank columns. A strip-shaped conductive strip is provided on the outer side of the electrorheological fluid tank column. The conductive strip penetrates the composite layer and is symmetrically arranged along its center line. The protective sleeve has an elliptical cross-section. A set of wire grooves is symmetrically provided at both ends of the long axis of the protective sleeve. The wire grooves are coplanar with the conductive strip on the side near the conductive strip. Multiple contacts are provided on the side of the conductive strip near the wire groove. The tube also includes wires provided in the wire grooves. The wires are connected to the battery module inside the hull. The pod includes a body comprising an integrally connected top plate, inclined plate, and side plates. The top plate is a regular polygon. An adjustment mechanism for securing the fixing tube is provided in the middle of the inclined plate. The adjustment mechanism includes a fixing frame embedded in the inclined plate. The fixing frame is hollow and passes through both sides of the inclined plate. A set of extrusion wheels is provided on the inner side of the fixing frame. The extrusion wheels are rotatably connected to the fixing frame. An extrusion groove is provided on the outer side of the extrusion wheels. The extrusion groove is a semi-elliptical annular groove with the same major and minor axes as the fixing tube, which is formed by circumferentially around the axis of the extrusion wheel. The area enclosed between the extrusion grooves of two extrusion wheels constitutes an extrusion cavity. A secondary winch mechanism is provided on the outer side of the inclined plate, and the fixing tube is wound around the secondary winch mechanism. The inner side of the fixed frame near the auxiliary hoisting mechanism is provided with a wire extrusion roller. The wire extrusion roller includes a rotating shaft. The rotating shaft of the wire extrusion roller is perpendicular to the inner side of the fixed frame. The rotating shaft of the wire extrusion roller and the rotating shaft of the extrusion wheel are perpendicular to the two parallel outer sides of the inclined plate. An extrusion ellipsoid that is rolled and connected to the extrusion groove is provided in the middle of the rotating shaft of the wire extrusion roller. A wire limiting groove is provided in the middle of the wall of the extrusion groove. The fixed frame is provided with a guide module at the end away from the auxiliary winch mechanism. The inlet end of the guide module is connected to the extrusion chamber. The guide module is rotatably connected to the fixed frame. The auxiliary winch mechanism includes a fixed tube winch and a copper cable winch. The two copper cable winches are symmetrically arranged along the axis of the fixed tube winch. A main through hole for the traction rope to pass through is provided at the center of the top plate of the cabin. When the surveying module is lowered for surveying, the adjusting mechanism squeezes the conductor into the conductor groove. The conductor in the conductor groove energizes the electrorheological fluid capsule column, which becomes solid after being energized, causing the fixed tube to harden. After the surveying is completed and the surveying module is retracted, the conductor is blocked by the conductor squeezing roller and thus separated from the conductor groove, achieving separation of the conductor from the electrorheological fluid capsule column. After the electrorheological fluid capsule column is de-energized, it softens. The softened fixed tube passes through the area between the conductor squeezing rollers and is then wound back onto the fixed tube winch of the auxiliary winch mechanism. The conductor is wound back onto the copper cable winch, thus achieving the softening of the fixed tube after retrieval.

2. The collaborative surveying and mapping equipment according to claim 1, characterized in that: The hull is also equipped with a hydraulic module; the fixed tube is equipped with a capillary network of multiple electrorheological fluid tank columns running along the axis, and the capillary network is connected to the hydraulic module; a hydrophobic layer is coated on the inner wall of the wire groove, and a water-proof pad is provided on the outer side of the protective sleeve to wrap the wire groove; the composite layer consists of a waterproof layer, an insulating layer, a pressure-resistant layer and a flexible layer from the outside to the inside, and the cross-section of the composite layer and the electrorheological fluid tank column is circular.

3. The collaborative surveying and mapping equipment according to claim 2, characterized in that: The guide module includes a base screwed to the inner end of the fixed frame, and a guide tube rotatably connected to the base. A limiting rod is provided circumferentially on the outer side of the guide tube, and the limiting rods are symmetrically distributed along the axis of the guide tube. The guide tube has a drying section and a cleaning section in sequence along the axial direction from the end close to the base. An air outlet is provided circumferentially on the inner side of the drying section, and an air inlet is provided on the outer side of the drying section. A water outlet is provided circumferentially on the inner side of the cleaning section, and a water inlet is provided on the outer side of the cleaning section. The inner diameter of the cleaning section gradually increases along the axial direction.

4. The collaborative surveying and mapping equipment according to claim 3, characterized in that: The ship has power generation modules on both sides of the hull, booms on both sides of the hull, the output end of the booms is connected to the power generation modules, wave energy absorption modules are installed on the booms and connected to the battery modules, and the power generation modules are connected to the battery modules.

5. The collaborative surveying and mapping equipment according to claim 4, characterized in that: The hull also includes an airtight compartment that encloses the pods. A gas generator is installed inside the hull and is connected to the airtight compartment via a multi-port valve. A communication module and a vision sensor connected to the battery module are installed at the upper part of the hull. A rudder connected to the battery module is installed at the stern of the hull. A seawater desalination module is also installed on the hull. A nano antifouling layer and an organosiloxane anti-adhesion layer are coated on the outer side of the hull bottom.

6. The collaborative surveying and mapping equipment according to claim 5, characterized in that... The power generation module includes a solar panel, and a water tank is provided at the lower end of the solar panel. The water tank is connected to a gas generator and a seawater desalination module.

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