A method for realizing automatic control of an underwater unmanned survey vessel and an underwater unmanned survey vessel

Abstract

The present invention discloses an underwater unmanned surveying vessel, comprising a surveying hull, an anti-collision body moving block and a mounting plate, a plurality of anti-collision seats are arranged on the outer wall of the surveying hull, and a buffer block is slidably connected inside the anti-collision seat, a buffer spring 1 connected to the buffer block is arranged on the inner walls on both sides of the anti-collision seat, a buffer spring 2 is arranged on the outer walls facing each other of the two buffer blocks, and the buffer spring 1 and the buffer spring 2 are both sleeved on the outside of the guide rod, and a rotating seat 1 is arranged on the outer wall of the buffer block. The present invention has the beneficial effect that when the surveying hull is collided by an obstacle during its movement, the anti-collision body will squeeze the rotating seat 2, the rotating seat 2 will push the rotating rod to move, the rotating rod will push the rotating seat 1 and the buffer block to move, the buffer block will squeeze the buffer spring 1, at which time the buffer spring 2 will be stretched by the two buffer blocks, and the elastic force of the buffer spring 1 and the buffer spring 2 will buffer the force received by the buffer block, which can have a buffering effect on the anti-collision body.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned survey vessels, and in particular to an automatic control implementation method of an underwater unmanned survey vessel and the underwater unmanned survey vessel. Background Art

[0002] More and more underwater detection tasks are completed by unmanned ships. The unmanned ship includes a hull body and a detection device installed on the hull body. During detection, the unmanned ship is parked on the surface of the inspected waters, and then the detection device is used to conduct multiple detections on the same area in the waters to obtain the detection results.

[0003] For example, an underwater unmanned surveying vessel with application number CN209023075U and announcement date 2019.06.25 includes a surveying vessel, an antenna pole is installed on the left side of the top of the surveying vessel, a measuring head is installed on the right side of the top of the surveying vessel, a propeller is installed on the bottom of the left side of the surveying vessel, an isolation plate is fixedly connected to the left side of the propeller surface along the circumference, two electric telescopic rods are transversely fixed to the bottom of the surveying vessel, and two electric telescopic rods extend longitudinally along the bottom of the surveying vessel. The electric telescopic rods are fixedly connected to each other by connecting rods, and four grabbing nails are fixedly connected to the bottom of the electric telescopic rod from left to right. A layer of rubber sheet is fixedly sleeved on the outer surface of the hull of the surveying vessel.

[0004] The above and the prior art do not have the function of anti-collision. When the side of the survey ship collides with an obstacle, it is easy to cause damage to the measuring device on the survey ship. Therefore, it is urgent to design an automatic control method for an underwater unmanned survey ship and an underwater unmanned survey ship to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a method for realizing automatic control of an underwater unmanned survey vessel and an underwater unmanned survey vessel, so as to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The cam is an underwater unmanned surveying vessel, comprising a surveying hull, an anti-collision body moving block and a mounting plate, wherein a plurality of anti-collision seats are arranged on the outer wall of the surveying hull, and a buffer block is slidably connected inside the anti-collision seat, a buffer spring 1 connected to the buffer block is arranged on the inner walls on both sides of the anti-collision seat, a buffer spring 2 is arranged on the outer walls facing each other of the two buffer blocks, and the buffer spring 1 and the buffer spring 2 are both sleeved on the outside of the guide rod, a rotating seat 1 is arranged on the outer wall of the buffer block, and a rotating seat 2 is arranged on the outer wall of the anti-collision body, a rotating rod is rotatably connected to the inner wall of the rotating seat 1 through a rotating shaft, and the other end of the rotating rod away from the rotating seat 1 is rotatably connected to the inside of the rotating seat 2 through a rotating shaft, a buffer box is arranged on the outer wall of the anti-collision body close to the rotating seat 2, and an anti-extrusion block is slidably connected inside the buffer box, a rubber pad is arranged on the outer wall of the anti-extrusion block located outside the buffer box, and an anti-extrusion spring connected to the anti-extrusion block is arranged on the inner wall of the buffer box.

[0008] Furthermore, a screw is rotatably connected to the inner wall of the measuring hull through a bearing, and the moving block is threadedly sleeved on the outside of the screw, limit rods are arranged on the inner walls on both sides of the measuring hull, and the moving block is slidably sleeved on the outside of the limit rods, a motor 1 is fixed to the inner wall of one side of the measuring hull by bolts, and transmission gears are arranged on the output shaft of the motor 1 and the outer wall of the screw, and a transmission chain is meshedly sleeved on the outsides of the two transmission gears.

[0009] Furthermore, a connecting block 1 is fixed to the outer wall of the top of the moving block by bolts, and an adjusting rod is rotatably connected to the inner wall of the connecting block 1 by a rotating shaft.

[0010] Furthermore, a connecting block 2 is fixed to the outer wall of the bottom of the mounting plate by bolts, and the top of the adjusting rod is rotatably connected to the inside of the connecting block 2 by a rotating shaft, and a water measuring instrument is fixed to the outer wall of the top of the mounting plate by bolts.

[0011] Furthermore, a cover plate is movably connected to the outer wall of the top of the measuring hull via a hinge, and a fixing screw is inserted into the internal thread of the cover plate. A threaded hole is opened on the top of the measuring hull, and the fixing screw thread penetrates the cover plate and is threadedly inserted into the inside of the threaded hole.

[0012] Furthermore, a cylinder is provided on the outer wall of the bottom of the measuring hull, and a long rod is rotatably connected to the inner wall of the cylinder through a bearing, an outer shell is provided at one end of the cylinder, and a paddle is provided on the outer wall of the long rod located inside the outer shell, and a cutting knife is provided at one end of the long rod close to the outer shell, and the cutting knife surrounds the outside of the outer shell.

[0013] Furthermore, a second motor is fixed to the inner wall of the bottom of the measuring hull by bolts, and a shaft is provided on the output shaft of the second motor, and mutual transmission gears are provided on the outer walls of the shaft and the long rod, and a driving chain is connected to the external meshing sleeves of the two mutual transmission gears.

[0014] Furthermore, a roller is rotatably connected to the bottom of the measuring hull via a bearing, and a motor three is fixed to the inner wall of the measuring hull via bolts, one end of the roller is arranged on the output shaft of the motor three, a rope body is arranged on the outer wall of the roller, and the rope body is wound around the outside of the roller, a counterweight waterproof shell is arranged at the bottom end of the rope body, and an underwater measuring instrument and a battery two are arranged inside the counterweight waterproof shell, and a bottom cover is movably connected to the outer wall of the bottom of the measuring hull via a hinge.

[0015] Furthermore, a controller and a battery 1 are fixed to the inner wall of the top of the measuring hull by bolts, and the above-water measuring instrument, motor 1, motor 2, motor 3 and underwater measuring instrument are all electrically connected to the controller through wires, the above-water measuring instrument, motor 1, motor 2, motor 3, controller and are all connected to battery 1 through wires, the underwater measuring instrument is electrically connected to battery 2 through wires, and the controller is connected to an external control device.

[0016] A method for realizing automatic control of an underwater unmanned survey vessel comprises the following steps:

[0017] S1: Remove the fixing screw from the inner thread of the threaded hole, rotate and open the cover plate, and also open the bottom cover, put the measuring hull in the water, turn on the second motor through the controller, the second motor drives the shaft to rotate, the mutual transmission gear on the shaft can drive another mutual transmission gear and the long rod to rotate by meshing with the drive chain, the long rod will drive the blade and the cutting knife to rotate, the rotation of the blade can drive the measuring hull to move in the water, the cutting knife cuts the water grass near the blade, and realizes the automatic movement of the measuring hull and the cutting of the water grass;

[0018] S2: The controller turns on the motor 1 to drive one of the transmission gears to rotate. The transmission gear can drive the other transmission gear and the lead screw to rotate by meshing with the transmission chain. The rotation of the lead screw will engage with the moving block thread, which can make the two moving blocks move in similar directions. Through the action of the rotating seat 1, the rotating rod and the rotating seat 2, the mounting plate can drive the water measuring instrument to automatically rise to the top of the measuring hull to measure the water;

[0019] S3: The controller turns on motor 3 to drive the reel to rotate and automatically unwind the reel, so that the counterweight waterproof housing and the underwater measuring instrument go deeper into the water to measure underwater.

[0020] In the above technical scheme, the present invention provides an underwater unmanned survey ship automatic control implementation method and underwater unmanned survey ship, (1) by setting the anti-collision seat, anti-collision body, buffer block, guide rod, buffer spring 1, buffer spring 2, rotating seat 1, rotating seat 2, rotating rod, buffer box, anti-extrusion block, rubber pad and anti-extrusion spring, when the measuring ship body is hit by an obstacle during movement, the anti-collision body squeezes the rotating seat 2, the rotating seat 2 will push the rotating rod to move, the rotating rod will push the rotating seat 1 and the buffer block to move, the buffer block will squeeze the buffer spring 1, at this time the buffer spring 2 will be squeezed by the two buffers The punch block is stretched, and the elastic force of the buffer spring 1 and the buffer spring 2 will buffer the force exerted on the buffer block, which can have a buffering effect on the anti-collision body, and can prevent the water measuring instrument from being damaged after the measuring hull is hit by an obstacle, thus playing a role in protecting and preventing the measuring hull; (2) by setting the moving block, the screw rod, the motor 1, the transmission gear, the transmission chain, the connecting block 1, the mounting plate, the connecting block 2, the adjustment rod, the water measuring instrument, the cover plate, the fixing screws and the threaded holes, the motor 1 is started to drive one of the transmission gears to rotate, and the transmission gear can drive the other by meshing with the transmission chain. The outer transmission gear and the screw rotate, and the screw rotates and engages with the moving block thread, which can make the two moving blocks move away from each other. Through the action of the rotating seat 1, the rotating rod and the rotating seat 2, the mounting plate can drive the water measuring instrument to descend to the inside of the measuring hull, so as to store and protect the water measuring instrument; (3) through the provided paddle blades, cutting knife, motor 2, shaft rod, mutual transmission gear and driving chain, motor 2 drives the shaft rod to rotate, and the mutual transmission gear on the shaft rod can drive another mutual transmission gear and the long rod to rotate by meshing with the driving chain, and the long rod will drive the paddle blades and the cutting knife. The rotation of the paddle blades can drive the measuring hull to move in the water. When the cutting blades rotate, they will cut the water plants near the paddle blades, which can prevent the water plants from being entangled on the paddle blades and causing the paddle blades to rotate too slowly or stop rotating. (4) Through the arrangement of the winding roller, motor three, rope body, counterweight waterproof shell and underwater measuring instrument, motor three can drive the winding roller to rotate and unwind the rope body, so that the counterweight waterproof shell and the underwater measuring instrument fall deep into the water, which is convenient for the underwater measuring instrument to measure the situation in the water. Because the counterweight waterproof shell is equipped with a counterweight, the counterweight waterproof shell will not float when the measuring hull moves. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0022] Figure 1 A three-dimensional structural schematic diagram of an underwater unmanned survey vessel automatic control implementation method and an underwater unmanned survey vessel embodiment provided by the present invention.

[0023] Figure 2 The present invention provides a method for realizing self-control of an underwater unmanned survey vessel and an internal front view structure diagram of an embodiment of the underwater unmanned survey vessel.

[0024] Figure 3 The present invention provides a method for realizing self-control of an underwater unmanned survey vessel and an internal top-view structure schematic diagram of an underwater unmanned survey vessel embodiment.

[0025] Figure 4 A schematic diagram of a propeller transmission structure provided for an automatic control implementation method of an underwater unmanned survey vessel and an embodiment of an underwater unmanned survey vessel of the present invention.

[0026] Figure 5 A schematic diagram of the structure of an underwater measuring instrument provided for an automatic control implementation method of an underwater unmanned measuring vessel and an embodiment of an underwater unmanned measuring vessel of the present invention.

[0027] Figure 6 A schematic diagram of an anti-collision structure provided for a method for realizing self-control of an underwater unmanned survey vessel and an embodiment of an underwater unmanned survey vessel of the present invention.

[0028] Description of reference numerals:

[0029] 1. Measuring hull; 2. Anti-collision seat; 3. Anti-collision body; 4. Buffer block; 5. Guide rod; 6. Buffer spring 1; 7. Buffer spring 2; 8. Rotating seat 1; 9. Rotating seat 2; 10. Rotating rod; 11. Buffer box; 12. Anti-extrusion block; 13. Rubber pad; 14. Anti-extrusion spring; 15. Moving block; 16. Screw rod; 17. Motor 1; 18. Transmission gear; 19. Transmission chain; 20. Connecting block 1; 21. Mounting plate; 22. Connecting block 2; 23. Adjusting rod; 2 4. Water measuring instrument; 25. Cover plate; 26. Fixing screw; 27. Limit rod; 28. Cylinder; 29. ​​Casing; 30. Paddle; 31. Cutting knife; 32. Motor 2; 33. Shaft; 34. Mutual transmission gear; 35. Drive chain; 36. Roller; 37. Motor 3; 38. Rope; 39. Counterweight waterproof shell; 40. Underwater measuring instrument; 41. Bottom cover; 42. Controller; 43. Long rod; 44. Battery 1; 45. Threaded hole; 46. Battery 2. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0031] like Figure 1-6As shown, an underwater unmanned survey ship provided by an embodiment of the present invention comprises a survey hull 1, a collision avoidance body 3, a moving block 15 and a mounting plate 21, a plurality of collision avoidance seats 2 are arranged on the outer wall of the survey hull 1, and a buffer block 4 is slidably connected to the inside of the collision avoidance seat 2, a buffer spring 1 6 connected to the buffer block 4 is arranged on the inner walls on both sides of the collision avoidance seat 2, a buffer spring 2 7 is arranged on the outer walls facing each other of the two buffer blocks 4, and the buffer spring 1 6 and the buffer spring 2 7 are both sleeved on the outside of the guide rod 5, and a rotating seat 8 is arranged on the outer wall of the buffer block 4 A rotating seat 29 is arranged on the outer wall of the anti-collision body 3, a rotating rod 10 is rotatably connected to the inner wall of the rotating seat 18 through a rotating shaft, and the other end of the rotating rod 10 away from the rotating seat 18 is rotatably connected to the inside of the rotating seat 29 through a rotating shaft, a buffer box 11 is arranged on the outer wall of the anti-collision body 3 close to the rotating seat 29, and an anti-extrusion block 12 is slidably connected to the inside of the buffer box 11, a rubber pad 13 is arranged on the outer wall of the anti-extrusion block 12 located outside the buffer box 11, and an anti-extrusion spring 14 connected to the anti-extrusion block 12 is arranged on the inner wall of the buffer box 11.

[0032] The present invention provides an underwater unmanned surveying vessel, comprising a surveying hull 1, a collision avoider 3, a moving block 15 and a mounting plate 21. A plurality of collision avoider seats 2 are arranged on the outer wall of the surveying hull 1, and a buffer block 4 is slidably connected to the inside of the collision avoider seat 2. Buffer springs 1 6 connected to the buffer block 4 are arranged on the inner walls on both sides of the collision avoider seat 2. Buffer springs 2 7 are arranged on the outer walls facing each other of the two buffer blocks 4, and the buffer springs 1 6 and the buffer springs 2 7 are both sleeved on the outside of the guide rod 5. A rotating seat 1 8 is arranged on the outer wall of the buffer block 4, and a rotating seat 2 9 is arranged on the outer wall of the collision avoider 3. A rotating rod 10 is rotatably connected to the inner wall of the rotating seat 1 8 through a rotating shaft, and the other end of the rotating rod 10 away from the rotating seat 1 8 is rotatably connected to the inside of the rotating seat 2 9 through a rotating shaft. The outer wall of the collision avoider 3 close to the rotating seat 2 9 A buffer box 11 is arranged on the wall, and an anti-extrusion block 12 is slidably connected inside the buffer box 11. A rubber pad 13 is arranged on the outer wall of the anti-extrusion block 12 outside the buffer box 11. An anti-extrusion spring 14 connected to the anti-extrusion block 12 is arranged on the inner wall of the buffer box 11. When the measuring hull 1 is hit by an obstacle during movement, the anti-collision body 3 will squeeze the rotating seat 29, the rotating seat 29 will push the rotating rod 10 to move, the rotating rod 10 will push the rotating seat 18 and the buffer block 4 to move, the buffer block 4 will squeeze the buffer spring 16, and at this time the buffer spring 27 will be stretched by the two buffer blocks 4, and the elastic force of the buffer spring 16 and the buffer spring 27 will buffer the force exerted on the buffer block 4, and will have a buffering effect on the anti-collision body 3, so as to prevent the water measuring instrument 24 from being damaged after the measuring hull 1 is hit by an obstacle.

[0033] In one embodiment of the present invention, a screw rod 16 is rotatably connected to the inner wall of the measuring hull 1 through a bearing, and a moving block 15 is threadedly sleeved on the outside of the screw rod 16, and a limit rod 27 is arranged on the inner walls on both sides of the measuring hull 1, and the moving block 15 is slidably sleeved on the outside of the limit rod 27, and a motor 17 is fixed to the inner wall of one side of the measuring hull 1 by bolts, and a transmission gear 18 is arranged on the output shaft of the motor 17 and on the outer wall of the screw rod 16, and a transmission chain 19 is meshed and sleeved on the outside of the two transmission gears 18, and the motor 17 can drive one of the transmission gears 18 to mesh with the transmission chain 19 to drive the other transmission gear 18 and the screw rod 16 to rotate.

[0034] In another embodiment provided by the present invention, a connecting block 20 is fixed to the outer wall at the top of the moving block 15 by bolts, and an adjusting rod 23 is rotatably connected to the inner wall of the connecting block 20 by a rotating shaft, and when the connecting block 20 moves, the adjusting rod 23 is driven to rotate.

[0035] In another embodiment provided by the present invention, a connecting block 22 is fixed to the outer wall at the bottom of the mounting plate 21 by bolts, and the top end of the adjusting rod 23 is rotatably connected to the inside of the connecting block 22 by a rotating shaft, and a water measuring instrument 24 is fixed to the outer wall at the top of the mounting plate 21 by bolts, and the water measuring instrument 24 is used for water measurement.

[0036] In one embodiment provided by the present invention, a cover plate 25 is movably connected to the outer wall of the top of the measuring hull 1 through a hinge, and a fixing screw 26 is inserted into the internal thread of the cover plate 25. A threaded hole 45 is opened on the top of the measuring hull 1, and the fixing screw 26 is threadedly inserted into the inside of the threaded hole 45 after threading through the cover plate 25, so as to fix the cover plate 25.

[0037] In another embodiment provided by the present invention, a cylinder 28 is provided on the outer wall of the bottom of the measuring hull 1, and a long rod 43 is rotatably connected to the inner wall of the cylinder 28 through a bearing, an outer shell 29 is provided at one end of the cylinder 28, and a paddle blade 30 is provided on the outer wall of the long rod 43 located inside the outer shell 29, a cutting knife 31 is provided at one end of the long rod 43 close to the outer shell 29, and the cutting knife 31 surrounds the outside of the outer shell 29, and the cutting knife 31 can cut the aquatic plants outside the outer shell 29.

[0038] In another embodiment provided by the present invention, a second motor 32 is fixed to the inner wall of the bottom of the measuring hull 1 by bolts, and a shaft 33 is provided on the output shaft of the second motor 32, and mutual transmission gears 34 are provided on the outer walls of the shaft 33 and the long rod 43, and the external meshing sleeves of the two mutual transmission gears 34 are connected with a drive chain 35. The second motor 32 can drive the shaft 33 to rotate, and can make the mutual transmission gear 34 on the shaft 33 drive another mutual transmission gear 34 and the long rod 43 to rotate by meshing with the drive chain 35.

[0039] In one embodiment provided by the present invention, a roller 36 is rotatably connected to the bottom of the measuring hull 1 through a bearing, and a motor three 37 is fixed to the inner wall of the measuring hull 1 through bolts, one end of the roller 36 is arranged on the output shaft of the motor three 37, a rope body 38 is arranged on the outer wall of the roller 36, and the rope body 38 is wound around the outside of the roller 36, a counterweight waterproof shell 39 is arranged at the bottom end of the rope body 38, and an underwater measuring instrument 40 and a battery two 46 are arranged inside the counterweight waterproof shell 39, a bottom cover 41 is movably connected to the outer wall of the bottom of the measuring hull 1 through a hinge, and the counterweight waterproof shell 39 is composed of two parts, which are sealed and threaded together and can be separated to charge the battery two 46.

[0040] In another embodiment provided by the present invention, a controller 42 and a battery 44 are fixed to the inner wall of the top of the measuring hull 1 by bolts, respectively, and the surface measuring instrument 24, motor 1 17, motor 2 32, motor 3 37 and underwater measuring instrument 40 are all electrically connected to the controller 42 through wires, the surface measuring instrument 24, motor 1 17, motor 2 32, motor 3 37, controller 42 and are all connected to battery 1 44 through wires, the underwater measuring instrument 40 is electrically connected to battery 1 44 through wires, the controller 42 is connected to an external control device, and battery 2 46 is used to power the underwater measuring instrument 40.

[0041] A method for realizing automatic control of an underwater unmanned survey vessel comprises the following steps:

[0042] S1: Remove the fixing screw 26 from the inner thread of the threaded hole 45, rotate and open the cover plate 25, and also open the bottom cover 41, put the measuring hull 1 in the water, turn on the motor 2 32 through the controller 42, the motor 2 32 drives the shaft 33 to rotate, and the mutual transmission gear 34 on the shaft 33 can drive another mutual transmission gear 34 and the long rod 43 to rotate by meshing with the drive chain 35, and the long rod 43 will drive the blade 30 and the cutting knife 31 to rotate, and the rotation of the blade 30 can drive the measuring hull 1 to move in the water, and the cutting knife 31 cuts the water grass near the blade 30, so as to realize the automatic movement of the measuring hull 1 and the cutting of the water grass;

[0043] S2: The controller 42 turns on the motor 17 to drive one of the transmission gears 18 to rotate. The transmission gear 18 can drive another transmission gear 18 and the screw 16 to rotate by meshing with the transmission chain 19. The screw 16 rotates and threads with the moving block 15, so that the two moving blocks 15 can move in similar directions. Through the action of the rotating seat 1 8, the rotating rod 10 and the rotating seat 2 9, the mounting plate 21 can drive the water measuring instrument 24 to automatically rise to the top of the measuring hull 1 to measure the water.

[0044] S3: The controller 42 turns on the motor 37 to drive the winding roller 36 to rotate and automatically unwind the winding roller 36, so that the counterweight waterproof shell 39 and the underwater measuring instrument 40 go deeper into the water to measure underwater.

[0045] Working principle: remove the fixing screw 26 from the internal thread of the threaded hole 45, rotate and open the cover 25, and also open the bottom cover 41, put the measuring hull 1 in the water, connect the controller 42 with the external control device, and the external control device controls the controller 42, and turn on the motor 2 32 through the controller 42, and the motor 2 32 drives the shaft 33 to rotate, and the mutual transmission gear 34 on the shaft 33 can drive another mutual transmission gear 34 and the long rod 43 to rotate by meshing with the drive chain 35, and the long rod 43 will drive the blade 30 and the cutting knife 31 to rotate, and the rotation of the blade 30 can drive the measuring hull 1 to move in the water, and the cutting knife 31 cuts the water grass near the blade 30, so as to realize the automatic movement of the measuring hull 1 and the cutting of the water grass; the controller 42 turns on the motor 17 to drive one of the transmission gears 18 to rotate, and the transmission gear 18 can drive another transmission gear 18 and the screw 16 to rotate by meshing with the transmission chain 19, and the rotation of the screw 16 will engage with the moving block 1 5 threads, which can make the two moving blocks 15 move in similar directions. Through the action of the rotating seat 1 8, the rotating rod 10 and the rotating seat 2 9, the mounting plate 21 can drive the water measuring instrument 24 to automatically rise to the top of the measuring hull 1 to measure the water. The controller 42 turns on the motor 3 37 to drive the winding roller 36 to rotate and automatically unwind the winding roller 36, so that the counterweight waterproof shell 39 and the underwater measuring instrument 40 go deeper into the water to measure the underwater. When the measuring hull 1 is hit by an obstacle during movement, the anti-collision body 3 will squeeze the rotating seat 2 9, the rotating seat 2 9 will push the rotating rod 10 to move, the rotating rod 10 will push the rotating seat 1 8 and the buffer block 4 to move, and the buffer block 4 will squeeze the buffer spring 1 6. At this time, the buffer spring 2 7 will be stretched by the two buffer blocks 4, and the elastic force of the buffer spring 1 6 and the buffer spring 2 7 will buffer the force on the buffer block 4, which will have a buffering effect on the anti-collision body 3, and can prevent the water measuring instrument 24 from being damaged after the measuring hull 1 is hit by an obstacle.

[0046] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An underwater unmanned survey vessel, comprising a survey hull (1), an anti-collision body (3), a moving block (15) and a mounting plate (21), characterized in that: The outer wall of the measuring hull (1) is provided with a plurality of anti-collision seats (2), and the interior of the anti-collision seats (2) is slidably connected with a buffer block (4), and the inner walls on both sides of the anti-collision seats (2) are provided with a buffer spring (6) connected to the buffer block (4), and the outer walls of the two buffer blocks (4) facing each other are provided with a buffer spring (7), and the buffer spring (6) and the buffer spring (7) are both sleeved on the outside of the guide rod (5), and the outer wall of the buffer block (4) is provided with a rotating seat (8), and the outer wall of the anti-collision body (3) is provided with a rotating seat (9), and the rotating seat (9) is provided. A rotating rod (10) is rotatably connected to the inner wall of the first rotating seat (8) via a rotating shaft, and the other end of the rotating rod (10) away from the first rotating seat (8) is rotatably connected to the inside of the second rotating seat (9) via a rotating shaft, a buffer box (11) is arranged on the outer wall of the anti-collision body (3) close to the second rotating seat (9), and an anti-extrusion block (12) is slidably connected to the inside of the buffer box (11), a rubber pad (13) is arranged on the outer wall of the anti-extrusion block (12) located outside the buffer box (11), and an anti-extrusion spring (14) connected to the anti-extrusion block (12) is arranged on the inner wall of the buffer box (11); A screw (16) is rotatably connected to the inner wall of the measuring hull (1) via a bearing, and the moving block (15) is threadedly sleeved on the outside of the screw (16); limit rods (27) are provided on the inner walls of both sides of the measuring hull (1), and the moving block (15) is slidably sleeved on the outside of the limit rods (27); a motor (17) is fixed to the inner wall of one side of the measuring hull (1) via bolts, and a transmission gear (18) is provided on the output shaft of the motor (17) and on the outer wall of the screw (16); and a transmission chain (19) is meshedly sleeved on the outside of the two transmission gears (18); A connecting block 1 (20) is fixed to the outer wall of the top of the moving block (15) by means of bolts, and an adjusting rod (23) is rotatably connected to the inner wall of the connecting block 1 (20) by means of a rotating shaft; A second connecting block (22) is fixed to the outer wall of the bottom of the mounting plate (21) by means of bolts, and the top end of the adjusting rod (23) is rotatably connected to the inside of the second connecting block (22) by means of a rotating shaft, and a water measuring instrument (24) is fixed to the outer wall of the top of the mounting plate (21) by means of bolts; A cover plate (25) is movably connected to the outer wall of the top of the measuring hull (1) via a hinge, and a fixing screw (26) is inserted into the inner thread of the cover plate (25). A threaded hole (45) is provided on the top of the measuring hull (1), and the fixing screw (26) is threadedly inserted into the inner part of the threaded hole (45) after the thread passes through the cover plate (25).

2. The underwater unmanned survey vessel according to claim 1, characterized in that: A cylinder (28) is arranged on the outer wall of the bottom of the measuring hull (1), and a long rod (43) is rotatably connected to the inner wall of the cylinder (28) via a bearing; an outer shell (29) is arranged at one end of the cylinder (28), and a paddle (30) is arranged on the outer wall of the long rod (43) located inside the outer shell (29); a cutting knife (31) is arranged at one end of the long rod (43) close to the outer shell (29), and the cutting knife (31) surrounds the outside of the outer shell (29).

3. The underwater unmanned survey vessel according to claim 2, characterized in that: A second motor (32) is fixed to the inner wall of the bottom of the measuring hull (1) by means of bolts, and a shaft (33) is arranged on the output shaft of the second motor (32), and mutual transmission gears (34) are arranged on the outer walls of the shaft (33) and the long rod (43), and a driving chain (35) is connected to the outer meshing sleeves of the two mutual transmission gears (34).

4. The underwater unmanned survey vessel according to claim 3, characterized in that: The bottom of the measuring hull (1) is rotatably connected to a roller (36) via a bearing, and a motor three (37) is fixed to the inner wall of the measuring hull (1) via bolts, one end of the roller (36) is arranged on the output shaft of the motor three (37), a rope body (38) is arranged on the outer wall of the roller (36), and the rope body (38) is wound around the outside of the roller (36), a counterweight waterproof shell (39) is arranged at the bottom end of the rope body (38), and an underwater measuring instrument (40) and a second battery (46) are arranged inside the counterweight waterproof shell (39), and a bottom cover (41) is movably connected to the outer wall of the bottom of the measuring hull (1) via a hinge.

5. The underwater unmanned survey vessel according to claim 4, characterized in that: A controller (42) and a first battery (44) are fixed to the inner wall of the top of the measuring hull (1) by bolts, respectively. The above-water measuring instrument (24), the first motor (17), the second motor (32), the third motor (37) and the underwater measuring instrument (40) are all electrically connected to the controller (42) by wires. The above-water measuring instrument (24), the first motor (17), the second motor (32), the third motor (37) and the controller (42) are all connected to the first battery (44) by wires. The underwater measuring instrument (40) is electrically connected to the second battery (46) by wires. The controller (42) is connected to an external control device.

6. The method for realizing automatic control of an underwater unmanned survey vessel according to claim 5, characterized in that: The following steps are involved: S1: Remove the fixing screw (26) from the inner thread of the threaded hole (45), rotate and open the cover plate (25), and also open the bottom cover (41), place the measuring hull (1) in water, and turn on the second motor (32) through the controller (42), so that the second motor (32) drives the shaft (33) to rotate, and the mutual transmission gear (34) on the shaft (33) can drive another mutual transmission gear (34) and the long rod (43) to rotate by meshing with the drive chain (35), and the long rod (43) can drive the blade (30) and the cutting knife (31) to rotate, and the rotation of the blade (30) can drive the measuring hull (1) to move in the water, and the cutting knife (31) cuts the water grass near the blade (30), so as to realize the automatic movement of the measuring hull (1) and the cutting of the water grass; S2: The controller (42) turns on the motor 1 (17) to drive one of the transmission gears (18) to rotate. The transmission gear (18) can drive another transmission gear (18) and the screw (16) to rotate by meshing with the transmission chain (19). The screw (16) rotates and engages with the thread of the moving block (15), so that the two moving blocks (15) can move in similar directions. Through the action of the rotating seat 1 (8), the rotating rod (10) and the rotating seat 2 (9), the mounting plate (21) can drive the water measuring instrument (24) to automatically rise to the top of the measuring hull (1) to measure the water. S3: The controller (42) turns on the motor 3 (37) to drive the winding roller (36) to rotate and automatically unwind the winding roller (36), so that the counterweight waterproof housing (39) and the underwater measuring instrument (40) go deeper into the water to perform underwater measurement.

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