Urban inland inundation water level monitor

Abstract

The invention provides an urban inland inundation water level monitor which comprises an underwater robot and an intelligent pontoon, a wheel carrier of a pipe retracting and releasing mechanism is fixed in the wheel carrier, a pipe wheel is mounted on the upper side of the wheel carrier, a traction pipe is wound on the pipe wheel, and a pipe wheel retracting and releasing motor is mounted on one side of the wheel carrier; an exhaust pipe is led out of one end of a wheel carrier of the inflation and exhaust mechanism, the tail end of the exhaust pipe is connected to an air inlet of a fan, an exhaust port is formed in a fan sealing cover, and the exhaust port is communicated with an exhaust port of the fan; the intelligent floating pontoon and the underwater robot are mounted on the vehicle body, the water and air channels are mounted on the front section and the rear section of the vehicle body respectively, the sealing sliding blocks are sleeved with the water and air channels in a sealed mode, and the electromagnetic wave receiving and transmitting modules are mounted on the intelligent floating pontoon and the underwater robot respectively. The GPS positioning data of the intelligent floating pontoon and the positioning data of the underwater robot are combined and transmitted to a ground station through the wireless communication module; gIS software is used for converting measurement data into a visual map, accurate urban underwater environment monitoring information is provided, and urban planning and environment monitoring are supported.

Description

Technical Field

[0001] The invention belongs to the technical field of liquid level flow monitoring instruments, and in particular relates to an urban waterlogging water level monitoring instrument. Background Art

[0002] The urban waterlogging water level monitor is a device used to monitor the water level and its changes in urban waterlogging. Its main purpose is to provide scientific data support for urban waterlogging prevention and control, ensure timely response measures, and reduce the impact of waterlogging on urban life and transportation. At present, urban waterlogging water level monitoring mainly relies on fixed-point distributed water level monitors and intelligent floating boats with bottom sonar devices. Fixed-point distributed water level monitors are usually installed at fixed locations and measure water level data through sensors. However, this method has the problem of limited distribution density, cannot be dynamically moved for monitoring, and can only provide water level information at specific points, which is difficult to fully reflect the waterlogging situation. The method of intelligent floating boats with bottom sonar devices is mainly used for water level monitoring in rivers or lakes. The intelligent floating boat floats on the water surface and measures the water depth through the sonar device at the bottom. However, this method is only applicable to environments with stable water surfaces and cannot be effectively applied to urban waterlogging monitoring. When urban waterlogging occurs, the intelligent floating boat is easily affected by the waves caused by driving and pedestrian factors, causing the intelligent floating boat to drift with the waves, unable to monitor at fixed points, and with poor detection accuracy. In addition, the intelligent floating boat is small in size and easy to lose, resulting in a significant increase in monitoring costs.

[0003] Common problems and deficiencies of existing technologies. Limited distribution density: The distribution density of fixed-point water level monitors is limited, and dynamic mobile monitoring is not possible. They can only provide water level information at fixed points and cannot fully reflect the waterlogging situation. Insufficient dynamic monitoring capabilities: Existing technologies cannot perform real-time monitoring at sudden accident points and lack dynamic monitoring capabilities. Insufficient detection of water flow speed and direction: Most existing technologies can only measure water levels, but cannot detect water flow speed and direction at the same time, resulting in incomplete monitoring data. Applicable environmental restrictions: The method of using smart floating boats in conjunction with bottom sonar devices is only applicable to areas with stable water surfaces such as rivers or lakes, and is not suitable for urban waterlogging monitoring. Smart floating boats are prone to drifting with the flow during urban waterlogging, resulting in the inability to monitor at fixed points and poor detection accuracy. High monitoring costs: Smart floating boats are easy to lose, resulting in a significant increase in monitoring costs. Because ordinary depth sensors are not sensitive enough when the depth of urban waterlogging is limited, the monitoring effect is poor.

[0004] To solve the above problems, there is an urgent need for a high-precision water level monitor that can realize dynamic mobile monitoring, real-time detection of water flow speed and direction, and is suitable for urban waterlogging environments, so as to improve the comprehensiveness and accuracy of urban waterlogging monitoring. Summary of the invention

[0005] In view of the defects and problems existing in the prior art, the purpose of the present invention is to provide a high-precision and high-stability urban water level monitoring instrument to achieve real-time monitoring and data visualization, and provide a scientific basis for urban planning and waterlogging prevention and control.

[0006] The solution of the present invention to solve the technical problem is: adopt an urban waterlogging water level monitor, including an underwater robot, an intelligent floating boat, a retractable pipe mechanism, an air charging and exhaust mechanism and a positioning and wireless transceiver. The underwater robot and the intelligent floating boat are connected together through the retractable pipe mechanism. The retractable pipe mechanism includes a wheel frame, a pipe wheel, a pipe wheel retractable motor and a traction pipe. The wheel frame is fixed to the bottom plate inside the wheel frame, a pipe wheel is installed on the upper side of the wheel frame, a traction pipe is wound around the pipe wheel, and a pipe wheel retractable motor is installed on one side of the wheel frame for driving the pipe wheel to rotate or lock; the air charging and exhaust mechanism includes a fan sealing cover, a fan, an exhaust pipe and an exhaust port, and a fan is fixed in the fan sealing cover. A fan is fixedly installed, an exhaust pipe is led out from one end of the wheel frame, the end of the exhaust pipe is connected to the air inlet of the fan, an exhaust port is arranged on the fan sealing cover, and the exhaust port is connected to the exhaust port of the fan; water vapor channels are respectively installed at the front and rear ends of the vehicle body, and a sealing slider is provided in the sealing sleeve of the water vapor channel, and the sealing slider divides the inner cavity of the water vapor channel into an inner air cavity and an outer water cavity; the positioning and wireless transceiver includes a GPS positioning module and a protective cover, and the GPS positioning module establishes a data transmission relationship with the module server through wireless communication; an electromagnetic wave transceiver module is respectively installed on the intelligent floating boat and the underwater robot to ensure that the signal can be transmitted in both directions.

[0007] Preferably, a three-way pipe is installed on the exhaust port, one branch of the three-way pipe is connected to the air cavity, the other branch of the three-way pipe is connected to the outside of the fan sealing cover, and an exhaust solenoid valve is installed on the branch.

[0008] Preferably, the underwater robot includes a body, a sprocket group and a support platform, the sprocket groups are installed on the left and right sides of the body, a travel drive motor for driving the sprocket group to rotate is installed in the inner cavity of the body, and a support platform is arranged on the middle upper side of the body; the intelligent floating boat includes a bottom plate, an annular airbag and a compressed air walking mechanism, an annular airbag is fixed around the periphery of the bottom plate, and a compressed air walking mechanism is installed on the left and right sides of the bottom plate.

[0009] Preferably, a rotation adjustment mechanism is fixed on the top of the platform, and the rotation adjustment mechanism includes a fixed cylinder seat, a rotating platform, a rotation drive motor and a sealing cover plate. The bottom of the fixed cylinder seat is fixed to the platform through a connecting seat, and the upper part of the fixed cylinder seat is equipped with a rotating platform through a sealing bearing. A sealing cover plate is fixedly installed on the upper side of the rotating platform. A rotation drive motor is fixed in the inner cavity of the fixed cylinder seat, and a driving gear is installed on the rotating shaft of the rotation drive motor. A driving gear is installed on the inner wall of the rotating platform, and the driving gear is meshed with a gear ring.

[0010] Preferably, a spherical docking mechanism is fixedly installed in the middle of the intelligent floating boat, and the spherical docking mechanism includes a cover shell, which is fixed to the center of the bottom plate, a ball groove is arranged at the bottom center of the cover shell, and an air pipe joint is installed at the top center of the ball groove. At the same time, a convex ball is arranged at the top center of the sealing cover plate, and a sealing tube is installed through the center of the convex ball. After the traction tube is led out from the sealing tube, the top of the traction tube is connected to the air pipe joint.

[0011] Preferably, an installation groove is provided at the front end and / or rear end of the base plate, a ship-borne electromagnetic transmitting module is inserted into the installation groove, a vehicle-borne electromagnetic receiving antenna is installed on the upper side of the water vapor channel, and a communication relationship is established between the ship-borne electromagnetic transmitting module and the vehicle-borne electromagnetic receiving antenna through electromagnetic waves.

[0012] Preferably, at least two antennas are installed on the underwater robot with a known spacing between the antennas. The antenna array determines the direction of the signal source by the phase difference of the received signals. The phase difference measurement is used to determine the direction between the intelligent floating vessel and the underwater robot. The electromagnetic wave phase difference measurement utilizes the phase change of the signal when it arrives at the receiver at different positions. The direction of the signal source is determined by comparing the phase of the signal received by the receiver.

[0013] Preferably, a demagnetizing electromagnet is installed at the bottom of the sealing cover plate, and a stainless steel ring is fixed around the bottom of the cover shell. When the underwater robot and the intelligent floating boat approach each other, the demagnetizing electromagnet attracts the stainless steel ring, or the demagnetizing electromagnet is controlled by a controller so that the demagnetizing electromagnet and the stainless steel ring lose their attraction.

[0014] Beneficial effects of the present invention: The present invention connects an underwater robot and an intelligent floating boat through a retractable tube mechanism to form a complete monitoring system. The intelligent floating boat provides buoyancy and position information, while the underwater robot is responsible for moving underwater and collecting data. Positioning and wireless transceiver modules are installed on the intelligent floating boat and the underwater robot, and electromagnetic wave phase difference measurement technology is used to achieve high-precision relative position and direction measurement, ensuring the system's real-time monitoring capability in a dynamic environment. Combined with the GPS positioning data of the intelligent floating boat and the positioning data of the underwater robot, they are transmitted to the ground station through the wireless communication module, and the measurement data is converted into a visual map using GIS software to provide accurate urban underwater environment monitoring information and support urban planning and environmental monitoring.

[0015] The electromagnetic wave phase difference measurement technology is used to effectively overcome the interference factors of water turbidity and impurities in the water collected by ultrasonic and laser detectors. High-precision relative position and direction measurement between the intelligent floating ship and the underwater robot is achieved to ensure the real-time monitoring accuracy in a dynamic environment. The electromagnetic wave transceiver module and multi-antenna array are used to achieve two-way signal transmission and direction calculation, ensuring that the system can perform real-time monitoring in a dynamic environment and provide continuous and reliable data support.

[0016] The design of the inflation and exhaust mechanism enables the underwater robot to flexibly adjust its position and buoyancy, adapt to changes in water depth and flow rate, and improve the stability of the system. The combined design of the underwater robot and the intelligent floating boat integrates the walking drive, gas control and data acquisition functions to form a complete monitoring system, simplifying the operation and improving the overall performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of a three-dimensional structure of an embodiment of the present invention; Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure of the intelligent floating ship; Figure 3 It is a schematic diagram of the state of the underwater robot and the intelligent floating boat being connected; Figure 4 It is a schematic diagram of the installation relationship between the inflator and the exhaust machine and the rotary adjustment mechanism; Figure 5 yes Figure 4 Schematic diagram of the internal structure of the central rotation adjustment mechanism; Figure 6 It is a schematic diagram of the internal structure of the positioning and wireless transceiver; Figure 7 It is a structural schematic diagram of a spherical surface docking mechanism; Figure 8 is located in Figure 7 Schematic diagram of the structure of the auxiliary detection mechanism; Fig. 9 It is a three-dimensional structural schematic diagram of another embodiment of the present invention.

[0018] Reference numerals in the figure: underwater robot 1; intelligent floating boat 2; rotation adjustment mechanism 3; tube retracting and releasing mechanism 4; inflation and exhaust mechanism 5; spherical surface docking mechanism 6; positioning and wireless transceiver 7; electromagnetic wave transceiver module 8; auxiliary detection mechanism 9; vehicle body 11; sprocket set 12; support platform 13; guide slot 14; bottom plate 21; annular airbag 22; compressed air walking mechanism 23; card plate 24; fixed cylinder seat 31; rotating support platform 32; sealed bearing 33; rotating drive motor 34; driving gear 35; gear ring 36; sealing cover plate 37; wheel frame 41; tube wheel 42 ; Pipe wheel retractable electric motor 43; traction pipe 44; fan sealing cover 51; fan 52; exhaust pipe 53; exhaust port 54; water vapor channel 55; sealing slider 56; cover 61; ball groove 62; air pipe joint 63; convex ball 64; sealing tube 65; GPS positioning module 71; protective cover 72; installation groove 81; ship-borne electromagnetic transmitting module 82; vehicle-mounted electromagnetic receiving antenna 83; horizontal angle meter 91; diameter groove 92; diameter tube 93; sealing sleeve 94; horizontal axis 95; vertical angle meter 96; demagnetized electromagnet 101; stainless steel ring 102. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments. Example

[0020] An urban water level monitoring instrument can comprehensively monitor the underwater environment of the city and obtain data such as water depth, water flow speed and direction in a timely manner, which is helpful to predict and prevent urban waterlogging disasters and protect urban safety. Figure 1 As shown, the detector mainly includes an underwater robot 1 and an intelligent floating boat 2, which are connected together through a retractable tube mechanism 4. It also includes a rotation adjustment mechanism 3, an inflation and exhaust mechanism 5, a spherical docking mechanism 6 and a positioning and wireless transceiver 7.

[0021] Specifically, Figure 3 As shown, the underwater robot 1 includes a body 11, a sprocket group 12 and a support platform 13. The sprocket group 12 is installed on the left and right sides of the body 11. A travel drive motor for driving the sprocket group 12 to rotate is installed in the inner cavity of the body 11. The support platform 13 is set on the upper side of the middle part of the body 11.

[0022] like Figure 2 and 3 As shown, the intelligent floating ship 2 comprises a bottom plate 21, an annular air bag 22 and a compressed air walking mechanism 23. The annular air bag 22 is fixed around the bottom plate 21, and the compressed air walking mechanism 23 is installed on the left and right sides of the bottom plate 21.

[0023] like Figure 3 and Figure 5 As shown, a rotation adjustment mechanism 3 is fixed on the top of the support 13, and the rotation adjustment mechanism 3 includes a fixed cylinder seat 31, a rotating support 32, a sealing bearing 33, a rotation drive motor 34, a driving gear 35, a gear ring 36 and a sealing cover plate 37. The bottom of the fixed cylinder seat 31 is fixed to the support 13 through a connecting seat, the upper part of the fixed cylinder seat 31 is installed with the rotating support 32 through a sealing bearing 33, and a sealing cover plate 37 is fixedly installed on the upper side of the rotating support 32. A rotation drive motor 34 is fixed in the inner cavity of the fixed cylinder seat 31, and a driving gear 35 is installed on the rotating shaft of the rotation drive motor 34. A driving gear 35 is installed on the inner wall of the rotating support 32, and the driving gear 35 is meshed with the gear ring 36.

[0024] A retractable tube mechanism 4 is installed inside the rotation adjustment mechanism 3. Figure 5 As shown, the tube retracting and releasing mechanism 4 includes a wheel frame 41, a tube wheel 42, a tube wheel retracting and releasing motor 43 and a traction tube 44. The wheel frame 41 is fixed to the bottom plate inside the wheel frame 41, the tube wheel 42 is installed on the upper side of the wheel frame 41, the traction tube 44 is wound around the tube wheel 42, and the tube wheel retracting and releasing motor 43 is installed on one side of the wheel frame 41 for driving the tube wheel 42 to rotate or lock.

[0025] A charging and discharging mechanism 5 is installed on one side of the fixed cylinder seat 31. Figure 4 As shown, the charging and exhaust mechanism 5 includes a fan sealing cover 51, a fan 52, an exhaust pipe 53 and an exhaust port 54. The fan 52 is fixedly installed in the fan sealing cover 51, and the exhaust pipe 53 is led out from one end of the wheel frame 41 (the inner end of the traction pipe 44 is connected to the axial inner cavity of the tube wheel 42, and the end of the axial inner cavity of the tube wheel is connected to the exhaust pipe 53 through a rotary joint), and the end of the exhaust pipe 53 is connected to the air inlet of the fan 52. The fan sealing cover 51 is provided with an exhaust port 54, and the exhaust port 54 is connected to the exhaust port of the fan 52.

[0026] A spherical docking mechanism 6 is fixedly installed in the middle of the intelligent floating ship 2. Figure 2 , Figure 5 and Figure 6 As shown, the spherical surface docking mechanism 6 includes a cover 61, a ball groove 62, an air pipe joint 63, a convex ball 64 and a sealing tube 65. The cover 61 is fixed at the center of the bottom plate 21, a ball groove 62 is provided at the bottom center of the cover 61, and an air pipe joint 63 is installed at the top center of the ball groove 62. At the same time, a convex ball 64 is provided at the top center of the sealing cover plate 37, and a sealing tube 65 is installed through the center of the convex ball 64. After the traction tube 44 is led out from the sealing tube 65, the top of the traction tube 44 is connected to the air pipe joint 63.

[0027] A positioning and wireless transceiver 7 is installed on the upper part of the spherical surface docking mechanism 6. Figure 6 As shown, the positioning and wireless transceiver 7 includes a GPS positioning module 71 and a protective cover 72. The GPS positioning module 71 establishes a data transmission relationship with the module server through wireless communication.

[0028] A water-gas channel 55 is installed at the front and rear ends of the vehicle body 11, and a sealing slider 56 is installed in the water-gas channel 55. The sealing slider 56 divides the inner cavity of the water-gas channel 55 into an inner air cavity and an outer water cavity. A three-way pipe is installed on the exhaust port 54, one branch of the three-way pipe is connected to the air cavity, and the other branch of the three-way pipe is connected to the outside of the fan sealing cover 51, and an exhaust solenoid valve is installed on the branch pipe.

[0029] like Figure 2 and 3 As shown, at the front end and / or the rear end of the bottom plate 21, a mounting groove 81 is provided, and a ship-borne electromagnetic transmitting module 82 is mounted in the mounting groove 81. Figure 3 As shown, a vehicle-mounted electromagnetic receiving antenna 83 is installed on the upper side of the water vapor channel 55, and a communication relationship is established between the ship-mounted electromagnetic transmitting module 82 and the vehicle-mounted electromagnetic receiving antenna 83 through electromagnetic waves.

[0030] An electromagnetic wave transceiver module 8 is installed on each of the intelligent floating boat 2 and the underwater robot to ensure that the signal can be transmitted bidirectionally. The intelligent floating boat 2 and the underwater robot transmit electromagnetic wave signals in turn and record the received data (signal strength, phase, arrival time, etc.). The direction of the intelligent floating boat 2 relative to the underwater robot is calculated by an algorithm using the phase difference, RSSI and arrival time difference of the received signal.

[0031] Transmitter and receiver: at least one electromagnetic wave transmitter is installed on the intelligent floating boat 2. At least one electromagnetic wave receiver is installed on the underwater robot. Multi-antenna array: a multi-antenna array (at least two antennas) is installed on the underwater robot, with a known spacing between the antennas. The antenna array can determine the direction of the signal source by the phase difference of the received signal. The direction between the intelligent floating boat 2 and the underwater robot is determined by phase difference measurement, which utilizes the phase change of the signal when it arrives at the receiver at different locations. By comparing the phase of the signal received by the receiver, the direction of the signal source can be determined.

[0032] Specifically, antenna array design: install two antennas with a distance d between them on the underwater robot, select a suitable signal frequency so that the wavelength λ and the antenna spacing d meet the measurement requirements. Phase measurement: the intelligent floating ship transmits a continuous wave signal, the two antennas of the underwater robot receive the signal, and measure the phase difference. Direction calculation: according to the measured phase difference △ϕ, the incident angle θ is calculated using the above formula. The measurement steps are as follows.

[0033] 1. Measurement process: Signal transmission: The transmitter on the smart floating boat transmits a continuous wave (CW) signal or a sine wave signal. Signal reception: Multiple antennas on the underwater robot simultaneously receive signals from the smart floating boat. Phase difference measurement: The receiver on the underwater robot measures the phase of the signal received by each antenna. The difference between the phases of the signals received by each antenna is calculated.

[0034] 2. Calculate the direction (1) Geometric relationship: Assume that the distance between the two antennas is d, the wavelength of the received signal is λ, and the signal incident angle is θ.

[0035] The phase difference is given by: Δϕ=λ2πdsin(θ) / λ By measuring the phase difference △ϕ, the signal incident angle θ can be calculated: θ=arcsin(λΔϕ / 2πd) (2) Direction calculation: The calculated incident angle θ is the direction angle of the intelligent floating ship relative to the underwater robot.

[0036] 3. Data processing: Signal processing: Filter the received signal to remove noise and interference. Average multiple measurements to reduce the impact of random errors. Direction calculation: Use a computer or embedded system to process the phase difference data and calculate the relative direction of the smart floating ship.

[0037] Through the above method, the phase difference measurement can be used to determine the direction of the intelligent floating ship relative to the underwater robot. This method has high measurement accuracy and is suitable for real-time direction measurement in a dynamic environment. Advantages: The phase difference measurement method has high accuracy and is particularly suitable for short-distance measurement. Real-time measurement and direction calculation can be achieved.

[0038] When the above solution is used, the underwater robot 1 and the intelligent floating boat 2 usually have a tilted angle phenomenon. In order to improve the accuracy of angle detection, an auxiliary detection mechanism 9 can be provided in the middle of the convex ball 64. Figure 7 and Figure 8 As shown, the auxiliary detection mechanism 9 includes a horizontal angle meter 91, a diameter groove 92, a diameter tube 93, a sealing sleeve 94 and a horizontal axis 95. The diameter groove 92 is provided in the middle of the convex ball 64, and the sealing sleeve 94 is provided at the bottom of the diameter groove 92 and at the center of the sealing cover plate 37. The horizontal axis 95 is sealed and installed in the sealing sleeve 94. The diameter tube 93 is fixed upward to the horizontal axis 95, and the traction tube 44 is sealed in the inner cavity of the diameter tube 93. At the same time, a vertical angle meter 96 is installed in the inner cavity on the left or right side of the convex ball 64, and the input shaft of the vertical angle meter 96 is connected to the end shaft of the horizontal axis 95. The controller determines the inclination angle between the underwater robot 1 and the intelligent floating ship 2 by detecting the rotation data of the vertical angle meter 96. A horizontal angle meter 91 is installed on the rotating shaft of the rotary drive motor 34, and the controller determines the relative direction of the underwater robot 1 and the intelligent floating ship 2 by detecting the data of the horizontal angle meter 91. The auxiliary detection mechanism improves the measurement accuracy of the system in an inclined environment through horizontal and vertical inclinometers, ensuring the stable operation of intelligent floating vessels and underwater robots in complex waters.

[0039] Based on the above scheme, the underwater robot 1 can be used to pull the intelligent floating boat 2 to prevent the intelligent floating boat 2 from being impacted by the water flow and moving randomly, which causes the intelligent floating boat 2 to fail to detect along the designated route, and ensures that the intelligent floating boat 2 will not be lost. After the air cavity in the water-gas channel 55 is inflated by the retractable tube mechanism 4, the water in the water-gas channel 55 is pressed out, so that the underwater robot 1 contains more gas. With the help of the pulling effect of the retractable tube mechanism 4, the underwater robot 1 moves toward the intelligent floating boat 2, and the intelligent floating boat 2 drives the underwater robot 1 to walk on the water surface until it moves to the target detection position, so as to avoid the underwater robot 1 encountering an obstacle or gap that cannot be crossed, which causes the detection to fail to be launched smoothly. A demagnetizing electromagnet 101 may also be installed at the bottom of the sealing cover plate 37, and a stainless steel ring 102 may be fixed around the bottom of the cover shell 61. When the underwater robot 1 and the intelligent floating boat 2 are close to each other, the demagnetizing electromagnet 101 attracts the stainless steel ring 102, or the demagnetizing electromagnet 101 is controlled by a controller so that the demagnetizing electromagnet 101 and the stainless steel ring 102 lose their attraction.

[0040] To install GPS on the smart floating boat and the positioning system on the underwater robot, and combine it with the positioning data of the smart floating boat on the water surface, calculate the water depth, water flow speed and direction of the specific location of the city, and mark it on the city map, you can follow the following steps: 1.GPS receiver: installed on the smart floating boat, used to obtain the precise geographic location (latitude, longitude and altitude) of the smart floating boat. Wireless communication module: used to transmit GPS data to the ground station or other equipment.

[0041] The position of the underwater robot is determined according to the above electromagnetic wave signals. The GPS receiver of the intelligent floating boat obtains the geographic location data in real time and transmits it to the ground station or storage device. The position information of the underwater robot relative to the intelligent floating boat, data integration: Integrate the GPS data of the intelligent floating boat and the positioning data of the underwater robot to determine the precise geographic location of the underwater robot in the specific location of the city, and record the data of water depth, water flow speed and direction. Data conversion and annotation: Convert the measured water depth, water flow speed and direction data into a format compatible with the geographic information system (GIS), and use GIS software to annotate these data on the city map to form a visual underwater environment map.

[0042] 2. Data import into GIS: Import the measured geographic location, water depth, water flow speed and direction data into GIS software, ensure data format compatibility, and perform necessary coordinate conversion. Data annotation: Mark the location of each measurement point on the map; use different colors or symbols to represent different water depths; use arrows or other symbols to represent the direction and speed of water flow. Generate visual maps: Generate visual maps of underwater environments according to requirements, which may include depth contour maps, water flow speed distribution maps, etc.; export the generated maps to common image formats (such as PNG, JPEG) or GIS formats (such as Shapefile, GeoJSON).

[0043] Advantages: GPS and sonar combined can provide high-precision location and depth measurement; can monitor and record data in real time, suitable for dynamic environments; using GIS software can intuitively display measurement results, which is helpful for analysis and decision-making. Through the above steps, comprehensive monitoring of the urban underwater environment can be achieved, and the measurement results can be intuitively displayed on the city map, providing important reference for urban planning, environmental monitoring, etc.

[0044] Based on the above scheme, when the urban flood water level monitor is used, the underwater robot and the intelligent floating boat are first installed, and the two are connected through the retractable tube mechanism to ensure that the components such as the rotation adjustment mechanism, the inflation and exhaust mechanism, and the spherical surface docking mechanism are intact and functional tests are performed. The GPS positioning module and the wireless transceiver module are installed and checked to ensure that the signal is normal. Then the GPS receiver is started to obtain the initial geographical location of the intelligent floating boat and transmit it to the ground station through the wireless communication module. The electromagnetic wave phase difference measurement technology is used to calibrate the initial direction and position of the intelligent floating boat and the underwater robot to ensure that the equipment starts monitoring in the correct position and direction. Then the walking drive motor is started to make the underwater robot enter the water along the specified path through the sprocket group, and the retractable tube mechanism is used to control the depth and position of the underwater robot to ensure that it operates stably in the target waters. Real-time monitoring and data collection: adjust the position and direction of the underwater robot according to environmental changes to improve the monitoring coverage. Start the inflation and exhaust mechanism to adjust the buoyancy of the underwater robot to adapt it to different areas for detection. Using the positioning and wireless transceiver modules, the real-time monitoring data is transmitted to the ground station, including information such as water depth, water flow speed and direction. The ground station receives and processes the data, and displays it visually through GIS software to generate a city underwater environment map to provide a basis for analysis and decision-making. You can choose to use auxiliary detection mechanisms, use horizontal angle meters and vertical angle meters to detect the inclination angle between the underwater robot and the intelligent floating boat to ensure the stability of the equipment in complex waters. According to the detection data, the position and direction of the underwater robot and the intelligent floating boat are adjusted in time to improve the monitoring accuracy. Continuous monitoring and data integration: Carry out continuous real-time monitoring to ensure the continuity and reliability of data, regularly integrate the GPS positioning data of the intelligent floating boat and the positioning data of the underwater robot, generate a comprehensive urban underwater environment monitoring report, and support urban planning and waterlogging prevention and control. After completing the monitoring task, the underwater robot and the intelligent floating boat are recovered to the ground for inspection and maintenance, and the necessary maintenance and calibration of the equipment are carried out to ensure performance and accuracy when used next time. Through the above specific implementation steps, the monitor can efficiently and stably monitor urban waterlogging, provide high-precision real-time data support, ensure the reliable operation of the equipment in various water environments, and provide a scientific basis for urban planning and waterlogging prevention and control.

[0045] Embodiment 2: In embodiment 1, an electromagnetic wave transmitter is installed on the intelligent floating boat 2, an electromagnetic wave receiver is installed on the underwater robot 1, and four groups of vehicle-mounted electromagnetic receiving antennas 83 are symmetrically arranged around the underwater robot 1 to further improve the accuracy of direction detection.

[0046] 1. Smart floating boat: GPS receiver: used to obtain the precise geographic location (latitude, longitude and altitude) of the floating vessel.

[0047] Electromagnetic wave transmitter: used to send electromagnetic wave signals to underwater robots.

[0048] Communication module: used to transmit GPS data and transmitter status information to ground stations or other devices.

[0049] 2. Underwater Robots: Electromagnetic wave receiver: used to receive electromagnetic wave signals from the floating ship. On-board electromagnetic receiving antenna: 4 groups are symmetrically arranged around the underwater robot to improve the accuracy of signal direction detection.

[0050] Communication module: used to communicate with the floating vessel and transmit positioning data to the floating vessel.

[0051] 3. Signal transmission and reception: The electromagnetic wave transmitter on the floating boat continuously sends electromagnetic wave signals. The receiver on the underwater robot and the four symmetrically arranged vehicle-mounted electromagnetic receiving antennas around it receive these signals.

[0052] 4. Phase difference measurement: When each set of antennas on the underwater robot receives a signal, the difference between the phases of the signals received by each pair of antennas is measured, and the phase information of each receiving antenna is recorded.

[0053] 5. Direction calculation: Based on the measured phase difference, use geometry and triangulation to calculate the incident angle of the electromagnetic wave signal. Combine the phase difference data of multiple groups of antennas and use weighted averaging or other algorithms to improve the accuracy of direction calculation.

[0054] 6. Position data integration: Integrate the positioning data of the underwater robot with the GPS data of the floating vessel.

[0055] 7. Data conversion and import: Convert position and direction data into GIS compatible format; import into GIS software for processing.

[0056] 8. Data annotation: Mark the precise location of the underwater robot on the city map; use different colors or symbols to indicate water depth, and use arrows to indicate water flow direction and speed.

[0057] 9. Visual map generation: Use GIS software to generate visual maps to show detailed information of the underwater environment; export to image format or GIS format for analysis and reference.

[0058] Through the above steps, the accuracy of direction detection can be effectively improved, and detailed underwater environmental information can be marked on the city map, providing important reference for urban planning and environmental monitoring.

[0059] The above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modification, equivalent substitution, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention.

Claims

1. An urban flood water level monitor, comprising an underwater robot (1), an intelligent floating boat (2), a tube retracting and releasing mechanism (4), an air filling and exhausting mechanism (5) and a positioning and wireless transceiver (7), characterized in that: The underwater robot (1) and the intelligent floating boat (2) are connected together via a retractable pipe mechanism (4), wherein the retractable pipe mechanism (4) comprises a wheel frame (41), a tube wheel (42), a tube wheel retractable motor (43) and a traction pipe (44); the wheel frame (41) is fixed to a bottom plate inside the wheel frame (41); a tube wheel (42) is mounted on the upper side of the wheel frame (41); a traction pipe (44) is wound around the tube wheel (42); a tube wheel retractable motor (43) is mounted on one side of the wheel frame (41) for driving the tube wheel (42) to rotate or lock; the inflation and exhaust mechanism (5) comprises a fan sealing cover (51), a fan (52), an exhaust pipe (53) and an exhaust port (54); a fan (52) is fixedly mounted inside the fan sealing cover (51); and the exhaust pipe (53) is led out from one end of the wheel frame (41). The end of the exhaust pipe (53) is connected to the air inlet of the fan (52); an exhaust port (54) is provided on the fan sealing cover (51); the exhaust port (54) is connected to the exhaust port of the fan (52); a water vapor channel (55) is installed at the front and rear ends of the vehicle body (11), and a sealing slider (56) is provided in the water vapor channel (55); the sealing slider (56) divides the inner cavity of the water vapor channel (55) into an inner air cavity and an outer water cavity; the positioning and wireless transceiver (7) includes a GPS positioning module (71) and a protective cover (72); the GPS positioning module (71) establishes a data transmission relationship with a module server through wireless communication; an electromagnetic wave transceiver module (8) is installed on each of the intelligent floating boat (2) and the underwater robot (1) to ensure that signals can be transmitted in both directions.

2. The urban flooding water level monitor according to claim 1, characterized in that: A three-way pipe is installed on the exhaust port (54), one branch of the three-way pipe is connected to the air cavity, the other branch of the three-way pipe is connected to the outside of the fan sealing cover (51), and an exhaust solenoid valve is installed on the branch.

3. The urban flooding water level monitor according to claim 1, characterized in that: The underwater robot (1) comprises a vehicle body (11), a sprocket group (12) and a support platform (13); the sprocket group (12) is installed on the left and right sides of the vehicle body (11); a travel drive motor for driving the sprocket group (12) to rotate is installed in the inner cavity of the vehicle body (11); and the support platform (13) is arranged on the upper middle side of the vehicle body (11); the intelligent floating ship (2) comprises a bottom plate (21), an annular air bag (22) and a compressed air travel mechanism (23); the annular air bag (22) is fixed on the periphery of the bottom plate (21); and the compressed air travel mechanism (23) is installed on the left and right sides of the bottom plate (21).

4. The urban flooding water level monitor according to claim 3, characterized in that: A rotation adjustment mechanism (3) is fixed on the top of the support platform (13). The rotation adjustment mechanism (3) comprises a fixed cylinder seat (31), a rotating support platform (3), a rotation drive motor (34) and a sealing cover plate (37). The bottom of the fixed cylinder seat (31) is fixed to the support platform (13) via a connecting seat. The upper part of the fixed cylinder seat (31) is mounted with a rotating support platform (32) via a sealing bearing (33). The sealing cover plate (37) is fixedly mounted on the upper side of the rotating support platform (32). The rotation drive motor (34) is fixed in the inner cavity of the fixed cylinder seat (31). A driving gear (35) is mounted on the rotating shaft of the rotation drive motor (34). The driving gear (35) is mounted on the inner wall of the rotating support platform (32). The driving gear (35) is meshed with a gear ring (36).

5. The urban flooding water level monitor according to claim 1, characterized in that: A spherical docking mechanism (6) is fixedly installed in the middle of the intelligent floating boat (2). The spherical docking mechanism (6) comprises a cover shell (61). The cover shell (61) is fixed at the center of the bottom plate (21). A ball groove (62) is provided at the center of the bottom of the cover shell (61). An air pipe joint (63) is installed at the center of the top of the ball groove (62). At the same time, a convex ball (64) is provided at the center of the top of the sealing cover plate (37). A sealing tube (65) is installed through the center of the convex ball (64). After the traction tube (44) is led out from the sealing tube (65), the top of the traction tube (44) is connected to the air pipe joint (63).

6. The urban flooding water level monitor according to claim 3, characterized in that: A mounting groove (81) is provided at the front end and / or the rear end of the bottom plate (21), a ship-borne electromagnetic transmitting module (82) is mounted in the mounting groove (81), and a vehicle-borne electromagnetic receiving antenna (83) is mounted on the upper side of the water vapor channel (55), and a communication relationship is established between the ship-borne electromagnetic transmitting module (82) and the vehicle-borne electromagnetic receiving antenna (83) via electromagnetic waves.

7. The urban flooding water level monitor according to claim 1, characterized in that: At least two antennas are installed on the underwater robot, with a known spacing between the antennas. The antenna array determines the direction of the signal source by the phase difference of the received signals. The phase difference measurement is used to determine the direction between the intelligent floating boat (2) and the underwater robot (1). The electromagnetic wave phase difference measurement utilizes the phase change of the signal when it reaches the receiver at different positions. The direction of the signal source is determined by comparing the phase of the signal received by the receiver.

8. The urban flooding water level monitor according to claim 1, characterized in that: A demagnetizing electromagnet (101) is installed at the bottom of the sealing cover plate (37), and a stainless steel ring (102) is fixed around the bottom of the cover shell (61); when the underwater robot (1) and the intelligent floating boat (2) are close to each other, the demagnetizing electromagnet (101) attracts the stainless steel ring (102), or the demagnetizing electromagnet (101) is controlled by a controller so that the demagnetizing electromagnet (101) and the stainless steel ring (102) lose their attractive force.

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