Underwater target point anti-interference obstacle removing equipment and method for underwater positioning

Abstract

This invention relates to the field of underwater positioning technology and discloses an underwater target point anti-interference and obstacle clearing device and method for underwater positioning. The device includes a suspension plate connected to a motion box via a connecting assembly. The bottom of the motion box has an adjustment groove, and a connecting frame is connected to the adjustment groove via a direction adjustment mechanism. This allows for the trimming and removal of seaweed and other debris entangled on the outer surface of the target point, as well as the removal of adhering materials, ensuring the cleanliness of the target point surface and preventing interference with signal transmission. Furthermore, it allows for the pressing of the target point during obstacle clearing to prevent damage. The device is angle-adjustable to adapt to target points at different locations and angles, and can move in water, covering a wide range of obstacles. Moreover, the device can monitor the movement path during obstacle clearing, facilitating timely obstacle avoidance.

Description

Technical Field

[0001] This invention belongs to the field of underwater positioning technology, specifically an underwater target point anti-interference and obstacle clearing device and method for underwater positioning. Background Technology

[0002] my country is a major maritime power, and conducting marine surveys is an important way to develop the ocean and the marine economy. Among these, marine surveying is the foundation of all marine survey work, and underwater positioning technology is the foundation and an important means of conducting high-precision underwater operations. Therefore, it has wide applications in seabed geological exploration, marine engineering, underwater structure construction, underwater operations for divers, underwater archaeology, and marine national defense construction.

[0003] When performing underwater positioning measurements, it is necessary to set up some target points underwater. These target points are usually composed of signal transmitters. However, the target points deployed on the seabed are used repeatedly. After long-term use, the surface of the target points becomes entangled with a large amount of seaweed and other debris that is difficult to remove, which affects the transmission of the target point signal and underwater positioning. It is also difficult to remove the debris from the target points. Summary of the Invention

[0004] In view of the above situation and to overcome the defects of the prior art, the present invention provides an underwater positioning device and method for preventing interference and clearing obstacles using underwater target points, which effectively solves the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an underwater positioning device for clearing obstacles and preventing interference with underwater target points, comprising a suspension plate, wherein the suspension plate is connected to a motion box via a connecting assembly, the bottom of the motion box is provided with an adjustment groove, a connecting frame is connected to the adjustment groove via a direction adjustment mechanism, and an obstacle clearing mechanism is provided on the connecting frame, wherein the obstacle clearing mechanism includes a clearing shaft symmetrically rotatably connected to the inner surface of the connecting frame, one of the clearing shafts is powered by a motor, the motor is fixedly installed inside the connecting frame, a disc is fixedly connected to one end of the clearing shaft, and height-adjustable electric pushers are fixedly installed in a circumferential array on the bottom wall of the disc. The height-adjustable electric push rod has a ring frame fixedly connected to its end away from the disc. The ring frame has a gear cavity, and a gear shaft is rotatably connected between the end walls of the gear cavity. The gear shaft is powered by a cleaning motor, which is fixedly mounted on the upper part of the ring frame. A gear is fixedly mounted on the outer surface of the gear shaft, and the gear meshes with a ring rack. The ring rack is rotatably connected to the inner wall of the ring frame. A cleaning electric push rod is fixedly connected to the inner surface of the ring rack in a circumferential array. A cleaning cutter is fixedly connected to the end of the cleaning electric push rod away from the ring rack, and a protective sleeve is fixedly connected to the outer surface of the cleaning cutter.

[0006] Preferably, the bottom wall of the motion box is provided with multiple sets of stabilizing components. The stabilizing components include a stabilizing electric push rod rotatably connected to the bottom wall of the motion box. The stabilizing electric push rod is poweredly connected to a stabilizing motor. The stabilizing motor is fixedly installed inside the motion box. A stabilizing drill bit is fixedly connected to the end of the stabilizing electric push rod on the side away from the motion box.

[0007] Preferably, the end wall of the exercise box is provided with two sets of motion components. Each motion component includes a motion shaft symmetrically rotatably connected to the end wall of the exercise box. One of the motion shafts is poweredly connected to a motion motor. The motion motor is fixedly installed inside the exercise box. The end of the motion shaft away from the exercise box is fixedly connected to a motion wheel. The motion wheels are connected to each other by a motion belt. Water-spraying plates are uniformly fixedly installed on the outer surface of the motion belt.

[0008] Preferably, a sampling assembly is provided on the front end wall of the exercise box. The sampling assembly includes a fixed plate fixedly connected to the front end wall of the exercise box, a water suction pipe fixedly installed on the bottom wall of the fixed plate, a sampling chamber provided inside the exercise box, a discharge pipe fixedly connected to the end wall of the sampling chamber, the discharge pipe fixedly connected to a pump, the pump fixedly installed inside the exercise box, a flexible tube connecting the pump and the water suction pipe, a sampling shaft rotatably connected to the bottom wall of the sampling chamber, the sampling shaft being poweredly connected to a sampling motor, the sampling motor being fixedly installed inside the exercise box, an mounting plate fixedly connected to the upper end of the sampling shaft, and a collection cylinder uniformly and detachably connected to the upper surface of the mounting plate.

[0009] Preferably, the direction adjustment mechanism includes a rotating shaft rotatably connected to the adjustment groove, the rotating shaft being poweredly connected to a rotating motor, the rotating motor being fixedly installed inside the motion box, a rotating block being fixedly connected to the lower end of the rotating shaft, an adjustment rotating shaft being rotatably connected to the end wall of the rotating block, the adjustment rotating shaft being poweredly connected to an adjustment motor, the adjustment motor being fixedly installed inside the rotating block, an adjustment frame being fixedly connected to the end of the adjustment rotating shaft away from the rotating block, an adjustment electric push rod being fixedly connected to the end wall of the adjustment frame, and a connecting frame being fixedly connected to the end of the adjustment electric push rod away from the adjustment frame.

[0010] Preferably, the disc is provided with a clamping assembly, which includes a fixing block uniformly fixedly connected to the end wall of the disc, a clamping electric push rod fixedly connected to the bottom wall of the fixing block, and a clamping block fixedly connected to the end of the clamping electric push rod away from the fixing block.

[0011] Preferably, the suspension plate is provided with a suspension component, the suspension component includes a groove frame uniformly fixedly connected to the bottom wall of the suspension plate, a connecting plate is inserted into the groove frame, a suspension airbag is fixedly connected to the bottom wall of the connecting plate, a through hole is machined on the connecting plate, the groove frame and the connecting plate are connected by bolts and nuts, and the bolts pass through the through hole.

[0012] Preferably, the connecting assembly includes a connecting rod fixedly connected to the bottom wall of the suspension plate, a connecting wire connecting the connecting rod and the connecting column, a photovoltaic panel fixedly connected to the upper surface of the suspension plate, the photovoltaic panel and the battery connected by a wire, the battery and the photovoltaic inverter connected by a wire, the battery being fixedly installed inside the suspension plate, and the photovoltaic inverter being fixedly installed inside the suspension plate.

[0013] Preferably, a monitoring camera is fixedly connected to the front end wall of the motion box.

[0014] This invention provides a method for underwater positioning using underwater target points to prevent interference and clear obstacles. Based on the above-mentioned underwater positioning using underwater target points to prevent interference and clear obstacles, the steps include:

[0015] Step 1: Connect the suspension plate to the motion box using the connecting assembly;

[0016] Step 2: Place the suspension plate and the exercise box into the water. The suspension plate is suspended on the water surface by the suspension component, and the exercise box sinks to the bottom.

[0017] Step 3: The monitoring camera detects the underwater environment, and the motion component drives the motion box to avoid obstacles in the motion path;

[0018] Step 4: The direction adjustment mechanism adjusts the direction so that the obstacle clearing mechanism moves to the corresponding position;

[0019] Step 5: The obstacle removal mechanism moves to remove debris from the surface of the target frame. During obstacle removal, the clamping component clamps the target frame to prevent slippage and movement of the target frame.

[0020] Step Six: During obstacle removal, the stabilizing component moves to fix the motion box on the bottom of the water, preventing the motion box from moving during obstacle removal and causing the obstacle removal to fail;

[0021] Step 7: The sampling component takes a sample to facilitate water quality research, enabling water quality sampling during obstacle removal.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. The present invention provides an underwater positioning device for clearing obstructions and preventing interference with underwater target points. It can cut and remove seaweed and other debris wrapped around the outer surface of the target point, and remove any adhering materials to the target point, ensuring the cleanliness of the target point surface so as not to affect signal transmission. It can also press the target point firmly during the clearing process to prevent damage to the target point.

[0024] 2. The underwater positioning device for underwater target point anti-interference and obstacle clearing provided by the present invention can be angled and can adapt to target points in different positions and at different angles. It can also move in water and clear a wide range of obstacles. Moreover, it can monitor the movement path during obstacle clearing, which makes it easy to avoid obstacles in time.

[0025] 3. The underwater positioning and target point anti-interference and obstacle clearing device provided by the present invention can be powered autonomously and is easy to recover. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0027] In the attached diagram:

[0028] Figure 1 This is a schematic diagram of the first direction structure of an underwater positioning and anti-interference obstacle clearing device using underwater target points according to the present invention;

[0029] Figure 2 This is a schematic diagram of the second direction structure of an underwater positioning and anti-interference obstacle clearing device using underwater target points in this invention;

[0030] Figure 3 This is a third-dimensional structural diagram of an underwater positioning and anti-interference obstacle clearing device using underwater target points according to the present invention;

[0031] Figure 4 This is a schematic diagram of the fourth direction structure of an underwater positioning and anti-interference obstacle clearing device using underwater target points in this invention;

[0032] Figure 5 This is a schematic diagram of the suspension mechanism in an underwater positioning and anti-interference obstacle clearing device according to the present invention, taken from one direction.

[0033] Figure 6 This is a schematic diagram of the suspension mechanism in an underwater positioning and anti-interference obstacle clearing device of the present invention from another direction;

[0034] Figure 7This is a schematic diagram of the obstacle clearing mechanism in an underwater positioning and anti-interference obstacle clearing device using underwater target points according to the present invention;

[0035] Figure 8 This is a schematic diagram of the steering mechanism in an underwater positioning and anti-interference obstacle clearing device using underwater target points according to the present invention;

[0036] Figure 9 This is a schematic diagram of the suspended airbag structure in an underwater positioning and anti-interference obstacle clearing device for underwater target points according to the present invention;

[0037] Figure 10 This is a schematic diagram of the target frame structure in an underwater positioning anti-interference and obstacle clearing device of the present invention;

[0038] Figure 11 This is a schematic diagram of the combined structure of the connecting frame, motor, clearing shaft and disc in an underwater positioning and anti-interference obstacle clearing device for underwater target points according to the present invention;

[0039] Figure 12 This is a schematic diagram of the sampling mechanism in an underwater positioning and anti-interference obstacle clearing device for underwater target points according to the present invention.

[0040] In the diagram: 1-Suspension plate, 2-Photovoltaic panel, 3-Suspension airbag, 4-Groove frame, 5-Bolt, 6-Nut, 7-Connecting insert plate, 8-Connecting rod, 9-Connecting wire, 10-Motion wheel, 11-Water-dispensing plate, 12-Motion box, 13-Connecting column, 14-Flexible tube, 15-Fixing plate, 16-Water suction pipe, 17-Stabilizing drill bit, 18-Stabilizing electric push rod, 19-Motion belt, 20-Rotating shaft, 21-Rotating block, 23-Adjusting frame, 24-Adjusting groove, 25-Adjusting electric push rod, 26-Connecting frame, 27-Ring frame, 28-Pressure electric push rod, 29-Pressure 30-Monitoring camera, 31-Height adjustment electric push rod, 32-Fixing block, 33-Motion shaft, 34-Clearing tool, 35-Protective cover, 37-Adjusting shaft, 38-Clearing electric push rod, 39-Clearing shaft, 40-Gear cavity, 41-Gear, 42-Gear shaft, 43-Ring rack, 44-Rotating motor, 45-Adjusting motor, 49-Motor, 50-Sampling chamber, 51-Collection cylinder, 52-Mounting plate, 53-Sampling shaft, 54-Sampling motor, 55-Discharge pipe, 56-Extraction pump, 57-Disc, 58-Target frame, 59-Through hole. Detailed Implementation

[0041] 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. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] like Figure 1-12As shown, this invention provides an underwater positioning device for clearing obstacles and preventing interference with underwater target points, including a suspension plate 1. The suspension plate 1 is made of lightweight metal material, and its outer surface is covered with an anti-corrosion material. The suspension plate 1 is connected to a motion box 12 via a connecting assembly. The connecting assembly is used to connect the suspension plate 1 and the motion box 12. The motion box 12 is made of metal material, and its outer surface is covered with an anti-corrosion material. An adjustment groove 24 is provided at the bottom of the motion box 12, and its outer surface is covered with an anti-corrosion material. A connecting frame 26 is connected to the adjustment groove 24 via a direction adjustment mechanism. The direction adjustment mechanism is used to adjust the direction of the connecting frame 26. The connecting frame 26 is made of metal, and its outer surface is covered with an anti-corrosion material. A clearing mechanism is provided on the connecting frame 26 to remove debris from the surface of the target frame 58. The clearing mechanism includes clearing shafts 39 symmetrically rotatably connected to the inner surface of the connecting frame 26. These clearing shafts 39 are made of metal, and their outer surface is covered with an anti-corrosion material. One of the clearing shafts 39 is poweredly connected to a motor 49, which is sealed and waterproof. The motor 49 is fixedly installed inside the connecting frame 26. A disc 57, made of metal, is fixedly connected to the end of the clearing shaft 39 away from the connecting frame 26. The outer surface of the disc 57... The disc 57 has a corrosion-resistant material on its surface. A height-adjustable electric push rod 31 is fixedly mounted in a circumferential array on the bottom wall of the disc 57. The height-adjustable electric push rod 31 is made of metal and its outer surface is covered with a corrosion-resistant material. The height-adjustable electric push rod 31 is sealed and waterproofed. A ring frame 27, also made of metal, is fixedly connected to the end of the height-adjustable electric push rod 31 away from the disc 57. The ring frame 27 has a corrosion-resistant material on its outer surface. A gear cavity 40 is provided inside the ring frame 27. A gear shaft 42, made of metal, is rotatably connected between the end walls of the gear cavity 40 and is powered by a cleaning motor. The cleaning motor is sealed and waterproofed. Its outer surface is covered with an anti-corrosion material. The cleaning motor is fixedly mounted on the upper part of the annular frame 27. A gear 41, made of metal, is fixedly mounted on the outer surface of the gear shaft 42. The gear 41 has an anti-wear material on its outer surface. The gear 41 meshes with an annular rack 43, which is sealed to the gear cavity 40. The annular rack 43 is also made of metal, with an anti-wear and anti-corrosion material on its outer surface. The annular rack 43 is rotatably connected to the inner wall of the annular frame 27. A cleaning electric push rod 38 is fixedly connected in a circumferential array to the inner surface of the annular rack 43.The cleaning electric push rod 38 is made of metal, and its outer surface is sealed and waterproofed. The outer surface of the cleaning electric push rod 38 is also covered with an anti-corrosion material. A cleaning blade 34, also made of metal, is fixedly connected to the end of the cleaning electric push rod 38 away from the annular rack 43. The cleaning blade 34 is also covered with an anti-corrosion material, and a protective sleeve 35, made of rubber, is fixedly connected to its outer surface.

[0043] This starts the motor 49, which drives the cleaning shaft 39 to rotate, which in turn drives the disc 57 to rotate, which in turn drives the height-adjusting electric push rod 31 to rotate, which in turn drives the ring frame 27 to rotate to the corresponding position. Power is then supplied to the height-adjusting electric push rod 31, causing it to move, which in turn drives the ring frame 27 to move, which in turn drives the protective sleeve 35 to move to the outer surface of the target frame 58. When it is necessary to cut the entanglement on the outer surface of the target frame 58, power is supplied to the cleaning electric push rod 38, which in turn drives the cleaning blade 34 to move, thereby driving the protective sleeve 35 to move to the outer surface of the target frame 58. The protective sleeve 35 reciprocates to cut the entangled material on the surface of the target frame 58. When it is necessary to remove the adhesive material on the surface of the target frame 58, the protective sleeve 35 is attached to the outer surface of the target frame 58, the cleaning motor is started, thereby driving the gear shaft 42 to rotate, which in turn drives the gear 41 to rotate. The gear 41 meshes with the annular rack 43, thereby driving the annular rack 43 to rotate, which in turn drives the cleaning electric push rod 38 to rotate, which in turn drives the cleaning cutter 34 to rotate, which in turn drives the protective sleeve 35 to rotate to remove the adhesive material on the outer surface of the target frame 58.

[0044] Advantageously, the bottom wall of the motion box 12 is provided with multiple sets of stabilizing components. The stabilizing components are used to stabilize the motion box 12 and prevent shaking during obstacle clearing. The stabilizing components include a stabilizing electric push rod 18 rotatably connected to the bottom wall of the motion box 12. The stabilizing electric push rod 18 is made of metal material and has an anti-corrosion material on its outer surface. The stabilizing electric push rod 18 is poweredly connected to a stabilizing motor, which is sealed and waterproof. The stabilizing motor is fixedly installed inside the motion box 12. A stabilizing drill bit 17 is fixedly connected to the end of the stabilizing electric push rod 18 away from the motion box 12. The stabilizing drill bit 17 is made of metal material and has an anti-wear material and an anti-corrosion material on its outer surface.

[0045] This starts the stabilizing motor and simultaneously energizes the stabilizing electric push rod 18, causing it to extend downwards. This causes the stabilizing electric push rod 18 to rotate downwards, thereby driving the stabilizing drill bit 17 to rotate downwards. This allows the stabilizing drill bit 17 to enter the seabed for fixation and stabilization, preventing the motion box 12 from shaking during obstacle removal.

[0046] Advantageously, two sets of motion components are provided on the end wall of the motion box 12. These motion components drive the motion box 12 to move. Each motion component includes a symmetrically rotatably connected motion shaft 33 on the end wall of the motion box 12. The motion shaft 33 is made of metal, and its outer surface is provided with an anti-corrosion material and an anti-wear material. One of the motion shafts 33 is poweredly connected to a motion motor. The motion motor is sealed and waterproof, and is fixedly installed inside the motion box 12. A motion wheel 10 is fixedly connected to the end of shaft 33 away from the motion box 12. The motion wheel 10 is made of metal and has a wear-resistant material and an anti-corrosion material on its outer surface. The motion wheels 10 are connected by a motion belt 19. The motion belt 19 is made of flexible material and has a wear-resistant material on its outer surface. Water-dispelling plates 11 are uniformly fixedly installed on the outer surface of the motion belt 19. The water-dispelling plates 11 are made of lightweight metal and have an anti-corrosion material on their outer surface.

[0047] This starts the motion motor, which drives the motion shaft 33 to rotate, which in turn drives the motion wheel 10 to rotate, which in turn drives the motion belt 19 to rotate, which in turn drives the water-spreading plate 11 to move and splash water, thereby making the motion box 12 move in the water.

[0048] Advantageously, a sampling assembly is provided on the front end wall of the exercise tank 12. The sampling assembly is used to sample seawater. The sampling assembly includes a fixing plate 15 fixedly connected to the front end wall of the exercise tank 12. The fixing plate 15 is made of metal and its outer surface is covered with an anti-corrosion material. A water suction pipe 16 is fixedly installed on the bottom wall of the fixing plate 15. The water suction pipe 16 is made of metal and its outer surface is covered with an anti-corrosion material. A sampling chamber 50 is provided inside the exercise tank 12. A discharge pipe 55 is fixedly connected to the end wall of the sampling chamber 50. The discharge pipe 55 is made of metal and is fixedly connected to a pump 56. The pump 56 is used to pump water and is fixedly installed inside the exercise tank 12. A flexible tube 14 is connected between the extraction pump 56 and the water extraction pipe 16. The flexible tube 14 is made of flexible material and has an anti-corrosion material on its outer surface. A sampling shaft 53 is rotatably connected to the bottom wall of the sampling chamber 50. The sampling shaft 53 is made of metal and has an anti-wear material on its outer surface. The sampling shaft 53 is powered by a sampling motor 54, which is fixedly installed inside the motion box 12. An installation plate 52 is fixedly connected to the upper end of the sampling shaft 53. The installation plate 52 is made of metal and has a collection cylinder 51 detachably connected to its upper surface. The collection cylinder 51 is made of lightweight metal and has an anti-corrosion material on its outer surface.

[0049] When sampling is required, the extraction pump 56 is started to pump water, so that the water flows through the extraction pipe 16, the flexible pipe 14, the discharge pipe 55 and enters the collection cylinder 51 for collection. After the extraction pump 56 completes one extraction, the sampling motor 54 is started once, driving the sampling shaft 53 to rotate a certain angle, thereby driving the mounting plate 52 to rotate a certain angle, thereby driving the collection cylinder 51 to rotate, so that the empty collection cylinder 51 moves to the lower side of the discharge pipe 55.

[0050] Advantageously, the direction adjustment mechanism includes a rotating shaft 20 rotatably connected to the adjustment groove 24. The rotating shaft 20 is made of metal, and its outer surface is provided with wear-resistant material and corrosion-resistant material. The rotating shaft 20 is poweredly connected to a rotating motor 44, which drives the rotating shaft 20 to rotate. The rotating motor 44 is sealed and waterproofed. The rotating motor 44 is fixedly installed inside the motion box 12. A rotating block 21 is fixedly connected to the lower end of the rotating shaft 20. The rotating block 21 is made of metal, and its outer surface is provided with corrosion-resistant material. An adjustment shaft 37 is rotatably connected to the end wall of the rotating block 21. The adjustment shaft 37 is made of metal, and its outer surface is provided with wear-resistant material and corrosion-resistant material. The device is equipped with anti-corrosion material. The adjusting shaft 37 is poweredly connected to the adjusting motor 45. The adjusting motor 45 is sealed and waterproofed. The adjusting motor 45 is fixedly installed inside the rotating block 21. An adjusting frame 23 is fixedly connected to the end of the adjusting shaft 37 away from the rotating block 21. The adjusting frame 23 is made of metal and has an anti-corrosion material on its outer surface. An adjusting electric push rod 25 is fixedly connected to the end wall of the adjusting frame 23. The adjusting electric push rod 25 is made of metal and has an anti-corrosion material on its outer surface. The outer surface of the adjusting electric push rod 25 is sealed and waterproofed. A connecting frame 26 is fixedly connected to the end of the adjusting electric push rod 25 away from the adjusting frame 23. The connecting frame 26 is made of metal and has an anti-corrosion material on its outer surface.

[0051] The rotating motor 44 is then activated, causing the rotating shaft 20 to rotate, which in turn causes the rotating block 21 to rotate, which in turn causes the adjusting electric push rod 25 to rotate, which in turn causes the connecting frame 26 to rotate to the corresponding position. Once the connecting frame 26 has rotated to the corresponding position, the adjusting motor 45 is activated, causing the adjusting shaft 37 to rotate, which in turn causes the adjusting frame 23 to rotate, which in turn causes the adjusting electric push rod 25 to move, thereby moving the connecting frame 26. This allows the target frame 58 to be easily cleared from different positions.

[0052] Advantageously, the disc 57 is provided with a clamping assembly, and multiple sets of clamping assemblies are provided. The clamping assembly is used to clamp the target frame 58. The clamping assembly includes a fixing block 32 uniformly fixedly connected to the end wall of the disc 57. The fixing block 32 is made of metal material, and the outer surface of the fixing block 32 is provided with an anti-corrosion material. A clamping electric push rod 28 is fixedly connected to the bottom wall of the fixing block 32. The clamping electric push rod 28 is made of metal material, and the outer surface of the clamping electric push rod 28 is provided with an anti-corrosion material. The outer surface of the clamping electric push rod 28 is sealed and waterproofed. A clamping block 29 is fixedly connected to the end of the clamping electric push rod 28 away from the fixing block 32. The clamping block 29 is made of metal material, and the outer surface of the clamping block 29 is provided with an anti-corrosion material.

[0053] When the connecting frame 26 moves to the position, the clamping electric push rod 28 is energized, thereby driving the clamping block 29 to move and clamp the target frame 58, preventing the target frame 58 from shaking during obstacle clearing and causing obstacle clearing failure.

[0054] Advantageously, the suspension plate 1 is provided with a suspension assembly for suspending the suspension plate 1. The suspension assembly includes a grooved frame 4 uniformly fixedly connected to the bottom wall of the suspension plate 1. The grooved frame 4 is made of metal and has an anti-corrosion material on its outer surface. A connecting plate 7 is inserted into the grooved frame 4. The connecting plate 7 is made of the same material as the grooved frame 4. A suspension airbag 3 is fixedly connected to the bottom wall of the connecting plate 7. The suspension airbag 3 is made of flexible material. A through hole 59 is machined on the connecting plate 7. The grooved frame 4 and the connecting plate 7 are connected by bolts 5 and nuts 6. The bolts 5 and nuts 6 are made of metal and have an anti-corrosion material on their outer surfaces. The bolts 5 pass through the through hole 59.

[0055] This allows the suspension airbag 3 to be inflated, causing the suspension plate 1 to float on the sea surface, making it easier to retrieve and position the motion box 12.

[0056] Advantageously, the connecting assembly includes a connecting rod 8 fixedly connected to the bottom wall of the suspension plate 1. The connecting rod 8 is made of metal and has an anti-corrosion material on its outer surface. A connecting wire 9 connects the connecting rod 8 and the connecting column 13. The connection between the connecting wire 9 and the connecting rod 8 and the connecting column 13 is sealed and waterproofed. The connecting column 13 is fixedly installed on the upper part of the motion box 12 and is made of the same material as the connecting rod 8. The connecting wire 9 is made of flexible material. A photovoltaic panel 2 is fixedly connected to the upper surface of the suspension plate 1. The photovoltaic panel 2 is connected to the battery via a wire. The battery is connected to the photovoltaic inverter via a wire. The battery is fixedly installed inside the suspension plate 1. The photovoltaic inverter is fixedly installed inside the suspension plate 1.

[0057] The electrical energy generated by the photovoltaic panel 2 is stored in the battery, and the electrical energy in the battery is inverted by the photovoltaic inverter and then transmitted to the electrical components on the motion box 12 through the connecting wire 9 to supply power.

[0058] Advantageously, a monitoring camera 30 is fixedly connected to the front end wall of the motion box 12. The monitoring camera 30 is used to detect the movement path of the motion box 12 to facilitate obstacle avoidance, and to detect the position of the target frame 58. The motion box 12 is signal-connected to a control processor, which has a corresponding control processing program. The control processor is fixedly installed inside the motion box 12. The control processor is signal-connected to the adjusting electric push rod 25, the pressing electric push rod 28, the stabilizing electric push rod 18, the clearing electric push rod 38, the rotating motor 44, the adjusting motor 45, the motor 49, the sampling motor 54, the extraction pump 56, the clearing motor, the motion motor, and the stabilizing motor. The monitoring camera 30 is signal-connected to the control processor.

[0059] The monitoring camera 30 sends a signal to the control processor, which in turn sends signals to the adjusting electric push rod 25, the pressing electric push rod 28, the stabilizing electric push rod 18, the clearing electric push rod 38, the rotating motor 44, the adjusting motor 45, the motor 49, the sampling motor 54, the extraction pump 56, the clearing motor, the motion motor, and the stabilizing motor, thereby causing the adjusting electric push rod 25, the pressing electric push rod 28, the stabilizing electric push rod 18, the clearing electric push rod 38, the rotating motor 44, the adjusting motor 45, the motor 49, the sampling motor 54, the extraction pump 56, the clearing motor, the motion motor, and the stabilizing motor to move.

[0060] This invention provides a method for underwater positioning using underwater target points to prevent interference and clear obstacles. Based on the above-mentioned underwater positioning using underwater target points to prevent interference and clear obstacles, the steps include:

[0061] Step 1: Connect the suspension plate 1 to the motion box 12 using the connecting assembly;

[0062] Step 2: Place the suspension plate 1 and the exercise box 12 into the water. The suspension plate 1 is suspended on the water surface by the suspension component, and the exercise box 12 sinks to the bottom of the water.

[0063] Step 3: The monitoring camera 30 detects the underwater environment, and the motion component drives the motion box 12 to avoid obstacles on the motion path;

[0064] Step 4: The direction adjustment mechanism adjusts the direction so that the obstacle clearing mechanism moves to the corresponding position;

[0065] Step 5: The obstacle removal mechanism moves to remove debris from the surface of the target frame 58. During obstacle removal, the clamping component clamps the target frame 58 to prevent slippage and movement of the target frame 58.

[0066] Step Six: During obstacle removal, the stabilizing component moves to fix the motion box 12 to the bottom of the water, preventing the motion box 12 from moving during obstacle removal and causing obstacle removal failure;

[0067] Step 7: The sampling component takes a sample to facilitate water quality research, enabling water quality sampling during obstacle removal.

[0068] The working process of this invention involves placing the suspension plate 1 into water and the motion box 12 into water, causing the motion box 12 to sink underwater. When the monitoring camera 30 detects an obstacle on the position of the target frame 58 or on its movement path, the monitoring camera 30 sends a signal to the control processor. The control processor then sends signals to the adjusting electric push rod 25, the pressing electric push rod 28, the stabilizing electric push rod 18, the clearing electric push rod 38, the rotating motor 44, the adjusting motor 45, the motor 49, the sampling motor 54, the extraction pump 56, the clearing motor, the motion motor, and the stabilizing motor, thereby causing the adjusting electric push rod 25, the pressing electric push rod 28, the stabilizing electric push rod 18, the clearing electric push rod 38, the rotating motor 44, the adjusting motor 45, the motor 49, the sampling motor 54, the extraction pump 56, the clearing motor, the motion motor, and the stabilizing motor to... The electric push rod 28, the stabilizing electric push rod 18, the clearing electric push rod 38, the rotating motor 44, the adjusting motor 45, the motor 49, the sampling motor 54, the extraction pump 56, the clearing motor, the moving motor, and the stabilizing motor move to inflate the suspension airbag 3, thereby suspending the suspension plate 1 on the sea surface, facilitating the recovery and positioning of the motion box 12. The electrical energy generated by the photovoltaic panel 2 is stored in the battery, and the electrical energy in the battery is inverted by the photovoltaic inverter and then transmitted to the electrical components on the motion box 12 through the connecting wire 9 to power them. The monitoring camera 30 detects the position of the target frame 58 or its movement path. When an obstacle is encountered, the monitoring camera 30 sends a signal to the control processor, which in turn sends a signal to the motion motor to start it. This causes the motion shaft 33 to rotate, which in turn causes the motion wheel 10 to rotate, which in turn causes the motion belt 19 to rotate, which in turn causes the water-dispelling plate 11 to move and dissipate water, thus allowing the motion box 12 to move in the water. During this movement, the motion box 12 avoids obstacles. When the motion box 12 reaches the appropriate position, the stabilizing motor is activated, and the stabilizing electric push rod 18 is simultaneously energized, causing it to extend downwards. This causes the stabilizing electric push rod 18 to rotate downwards, thereby rotating the stabilizing drill bit 17. The device moves downwards, allowing the stabilizing drill bit 17 to enter the seabed for fixation and stabilization, preventing the moving box 12 from shaking during obstacle clearing. Then, the rotating motor 44 is activated, driving the rotating shaft 20 to rotate, which in turn drives the rotating block 21 to rotate, which in turn drives the adjusting electric push rod 25 to rotate, thereby rotating the connecting frame 26 to the corresponding position. Once the connecting frame 26 is in the correct position, the adjusting motor 45 is activated, driving the adjusting shaft 37 to rotate, which in turn drives the adjusting frame 23 to rotate, which in turn drives the adjusting electric push rod 25 to move, thus moving the connecting frame 26. This allows for easy adaptation to different positions of the target frame 58 for obstacle clearing. Finally, the motor 49 is activated.This causes the cleaning shaft 39 to rotate, which in turn causes the disc 57 to rotate, which in turn causes the height-adjusting electric push rod 31 to rotate, which in turn causes the ring frame 27 to rotate to the corresponding position. When the height-adjusting electric push rod 31 is energized, it moves, causing the ring frame 27 to move, which in turn causes the protective sleeve 35 to move to the outer surface of the target frame 58. When it is necessary to cut the wrapped material on the outer surface of the target frame 58, the cleaning electric push rod 38 is energized, which causes the cleaning blade 34 to move, which in turn causes the protective sleeve 35 to reciprocate to cut the wrapped material on the surface of the target frame 58. When it is necessary to remove the adhesive material on the surface of the target frame 58... During cleaning, the protective sleeve 35 is attached to the outer surface of the target frame 58. The cleaning motor is activated, which drives the gear shaft 42 to rotate, thereby driving the gear 41 to rotate. The gear 41 meshes with the annular rack 43, thereby driving the annular rack 43 to rotate, which in turn drives the cleaning electric push rod 38 to rotate, which in turn drives the cleaning blade 34 to rotate, which in turn drives the protective sleeve 35 to rotate and remove the adhesive on the outer surface of the target frame 58. During obstacle removal, after the connecting frame 26 moves to its position, the clamping electric push rod 28 is energized, which drives the clamping block 29 to move and clamp the target frame 58, preventing the target frame 58 from shaking during obstacle removal and causing obstacle removal failure.

[0069] During sampling, the extraction pump 56 is started to pump water, so that the water flows through the extraction pipe 16, the flexible pipe 14, the discharge pipe 55 and enters the collection cylinder 51 for collection. After the extraction pump 56 completes one extraction, the sampling motor 54 is started once, driving the sampling shaft 53 to rotate at a certain angle, thereby driving the mounting plate 52 to rotate at a certain angle, thereby driving the collection cylinder 51 to rotate, so that the empty collection cylinder 51 moves to the lower side of the discharge pipe 55.

[0070] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0071] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An underwater positioning and anti-interference obstacle clearing device using underwater target points, characterized in that: The system includes a suspension plate (1), which is connected to a motion box (12) via a connecting assembly. The bottom of the motion box (12) is provided with an adjustment groove (24), and a connecting frame (26) is connected to the adjustment groove (24) via a direction adjustment mechanism. The connecting frame (26) is provided with a clearing mechanism, which includes a clearing shaft (39) symmetrically rotatably connected to the inner surface of the connecting frame (26). One of the clearing shafts (39) is poweredly connected to a motor (49), which is fixedly installed inside the connecting frame (26). A disc (57) is fixedly connected to one end of the clearing shaft (39), and a height-adjusting electric push rod (31) is fixedly installed in a circumferential array on the bottom wall of the disc (57). The height-adjusting electric push rod (31) is located away from the disc (57). A ring frame (27) is fixedly connected to the end of the ring frame (27), and a gear cavity (40) is provided inside the ring frame (27). A gear shaft (42) is rotatably connected between the end walls of the gear cavity (40). The gear shaft (42) is poweredly connected to the cleaning motor. The cleaning motor is fixedly installed on the upper part of the ring frame (27). A gear (41) is fixedly installed on the outer surface of the gear shaft (42). The gear (41) meshes with a ring rack (43). The ring rack (43) is rotatably connected to the inner wall of the ring frame (27). A cleaning electric push rod (38) is fixedly connected in a circular array on the inner surface of the ring rack (43). A cleaning knife (34) is fixedly connected to the end of the cleaning electric push rod (38) away from the ring rack (43). A protective sleeve (35) is fixedly connected to the outer surface of the cleaning knife (34). The disc (57) is provided with a pressing assembly, which includes a fixing block (32) uniformly fixedly connected to the end wall of the disc (57), a pressing electric push rod (28) fixedly connected to the bottom wall of the fixing block (32), and a pressing block (29) fixedly connected to the end of the pressing electric push rod (28) on the side away from the fixing block (32).

2. The underwater positioning and anti-interference obstacle clearing device using underwater target points according to claim 1, characterized in that: The bottom wall of the motion box (12) is provided with multiple sets of stabilizing components. The stabilizing components include a stabilizing electric push rod (18) rotatably connected to the bottom wall of the motion box (12). The stabilizing electric push rod (18) is powered by a stabilizing motor. The stabilizing motor is fixedly installed inside the motion box (12). A stabilizing drill bit (17) is fixedly connected to the end of the stabilizing electric push rod (18) away from the motion box (12).

3. The underwater positioning and anti-interference obstacle clearing device using underwater target points according to claim 2, characterized in that: Two sets of motion components are provided on the end wall of the motion box (12). The motion components include motion shafts (33) symmetrically rotatably connected to the end wall of the motion box (12). One of the motion shafts (33) is powered by a motion motor. The motion motor is fixedly installed inside the motion box (12). The end of the motion shaft (33) away from the motion box (12) is fixedly connected to a motion wheel (10). The motion wheels (10) are connected to each other by a motion belt (19). Water-spraying plates (11) are uniformly fixedly installed on the outer surface of the motion belt (19).

4. The underwater positioning and anti-interference obstacle clearing device using underwater target points according to claim 3, characterized in that: A sampling assembly is provided on the front end wall of the exercise box (12). The sampling assembly includes a fixed plate (15) fixedly connected to the front end wall of the exercise box (12). A water suction pipe (16) is fixedly installed on the bottom wall of the fixed plate (15). A sampling chamber (50) is provided inside the exercise box (12). A discharge pipe (55) is fixedly connected to the end wall of the sampling chamber (50). The discharge pipe (55) is fixedly connected to a pump (56). The pump (56) is fixedly installed in the exercise box (12). 2) Inside, a flexible tube (14) is connected between the extraction pump (56) and the water pumping pipe (16). A sampling shaft (53) is rotatably connected to the bottom wall of the sampling chamber (50). The sampling shaft (53) is poweredly connected to the sampling motor (54). The sampling motor (54) is fixedly installed inside the motion box (12). An installation plate (52) is fixedly connected to the upper end of the sampling shaft (53). A collection cylinder (51) is detachably connected to the upper surface of the installation plate (52).

5. The underwater positioning and anti-interference obstacle clearing device using underwater target points according to claim 4, characterized in that: The direction adjustment mechanism includes a rotating shaft (20) rotatably connected to the adjustment groove (24), the rotating shaft (20) being poweredly connected to a rotating motor (44), the rotating motor (44) being fixedly installed inside the motion box (12), a rotating block (21) being fixedly connected to the lower end of the rotating shaft (20), an adjustment shaft (37) being rotatably connected to the end wall of the rotating block (21), the adjustment shaft (37) being poweredly connected to an adjustment motor (45), the adjustment motor (45) being fixedly installed inside the rotating block (21), an adjustment frame (23) being fixedly connected to the end of the adjustment shaft (37) away from the rotating block (21), an adjustment electric push rod (25) being fixedly connected to the end wall of the adjustment frame (23), and a connecting frame (26) being fixedly connected to the end of the adjustment electric push rod (25) away from the adjustment frame (23).

6. The underwater positioning and anti-interference obstacle clearing device using underwater target points according to claim 5, characterized in that: The suspension plate (1) is provided with a suspension component, which includes a groove frame (4) uniformly fixedly connected to the bottom wall of the suspension plate (1), a connecting plate (7) inserted into the groove frame (4), a suspension airbag (3) fixedly connected to the bottom wall of the connecting plate (7), and a through hole (59) processed on the connecting plate (7). The groove frame (4) and the connecting plate (7) are connected by bolts (5) and nuts (6), and the bolts (5) pass through the through hole (59).

7. The underwater positioning and anti-interference obstacle clearing device using underwater target points according to claim 6, characterized in that: The connecting assembly includes a connecting rod (8) fixedly connected to the bottom wall of the suspension plate (1), a connecting wire (9) connecting the connecting rod (8) and the connecting column (13), a photovoltaic panel (2) fixedly connected to the upper surface of the suspension plate (1), the photovoltaic panel (2) being connected to the battery via a wire, the battery being connected to the photovoltaic inverter via a wire, the battery being fixedly installed inside the suspension plate (1), and the photovoltaic inverter being fixedly installed inside the suspension plate (1).

8. The underwater positioning and anti-interference obstacle clearing device using underwater target points according to claim 7, characterized in that: A monitoring camera (30) is fixedly connected to the front end wall of the motion box (12).

9. A method for underwater positioning using underwater target points to prevent interference and clear obstacles, based on the underwater positioning using underwater target points to prevent interference and clear obstacles device described in claim 8, characterized in that the steps include... include: Step 1: Connect the suspension plate (1) to the motion box (12) using the connecting assembly; Step 2: Place the suspension plate (1) and the motion box (12) into the water. The suspension plate (1) is suspended on the water surface by the suspension component, and the motion box (12) sinks to the bottom of the water. Step 3: The monitoring camera (30) detects the underwater environment, and the motion component drives the motion box (12) to move and avoid obstacles on the motion path; Step 4: The direction adjustment mechanism adjusts the direction so that the obstacle clearing mechanism moves to the corresponding position; Step 5: The obstacle removal mechanism moves to remove debris from the surface of the target frame (58). When the obstacle removal mechanism removes obstacles, the clamping component clamps the target frame (58) to prevent slippage and movement of the target frame (58) during obstacle removal. Step 6: During obstacle clearing, the stabilizing component moves to fix the motion box (12) at the bottom of the water to prevent the motion box (12) from moving during obstacle clearing and causing obstacle clearing failure; Step 7: The sampling component takes a sample to facilitate water quality research, enabling water quality sampling during obstacle removal.

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