Fixing device for self-balancing wind-wave-resistant depth sounding positioning system

Abstract

The invention discloses a self-balancing anti-wind-wave type depth sounding positioning system fixing device which comprises a fixing module provided with a bearing height adjusting fixing rod. The rotatable module comprises a bearing sleeve, a sounding positioning mounting rod and a buoy connecting rod, the bearing sleeve comprises a bearing and a bearing sleeve main body which are fixed into a whole, and the bearing is mounted at the lower end of a bearing height adjusting fixing rod and located under the water surface; a bearing sleeve sounding positioning mounting rod sleeve hole is formed in the bearing sleeve main body, a sounding positioning mounting rod penetrates through the bearing sleeve sounding positioning mounting rod sleeve hole and is fixedly connected with the bearing sleeve sounding positioning mounting rod sleeve hole, the top end of the sounding positioning mounting rod is used for mounting a positioner, and the bottom end of the sounding positioning mounting rod is used for mounting a sounding device; one end of the buoy connecting rod is connected with the buoy, and the other end is connected with the sounding positioning mounting rod; the rotatable module can integrally rotate in a one-dimensional plane through the bearing to reach a balance state. By adopting the device, the attitude of the sounding positioning system can be automatically adjusted to reach a balance state, and sounding positioning errors caused by wind wave impact are reduced.

Description

Technical Field

[0001] The invention relates to the field of underwater topography measurement, and in particular to a self-balancing wind and wave resistant depth sounding positioning system fixing device. Background Art

[0002] In underwater topography measurement in waters such as rivers, reservoirs, and ponds, single-beam echo sounders or multi-beam echo sounders combined with positioning systems (echo sounding and positioning systems) are often used for underwater topography measurement. The echo sounding and positioning systems need to be installed on the survey ship, and the ship is used as a carrier for mobile operations. During the operation, due to the influence of wind, waves and water flow, the hull will inevitably shake, which will cause the echo sounding and positioning system to tilt frequently, resulting in deviations in the echo sounding and positioning data, especially in areas with large changes in water depth, causing large errors. Multi-beam echo sounding systems are generally equipped with an attitude system (inertial navigation system), which can measure the attitude of the echo sounding and positioning system in real time to correct the deviation, while single-beam echo sounding systems are generally not equipped with an attitude system. The impact of wind and waves during the operation seriously affects the measurement accuracy. Summary of the invention

[0003] In view of the defects and shortcomings in the prior art, the present invention proposes a self-balancing wind and wave resistant bathymetric positioning system fixing device to solve the problem that a single-beam bathymetric system that is not equipped with an attitude fixing system is impacted by wind, waves and water flow during operation, and cannot automatically adjust the attitude of the bathymetric positioning system to achieve a vertical balance state, resulting in bathymetric positioning errors and affecting measurement accuracy.

[0004] The above-mentioned purpose of the present invention is achieved through the following technical solutions:

[0005] A self-balancing wind and wave resistant depth sounding positioning system fixing device, comprising:

[0006] A fixing module, used for installation on the side of the survey ship, wherein a detachable vertically installed bearing height adjustment fixing rod is provided;

[0007] The rotatable module includes a bearing sleeve, a sounding positioning mounting rod and a buoy connecting rod. The bearing sleeve includes a bearing and a bearing sleeve body fixed as one, and the axes of the two are perpendicular to each other. The bearing can be detachably mounted on the lower end of the bearing height adjustment fixing rod and is arranged to be located below the water surface, and the axis of the bearing is perpendicular to the axis of the bearing height adjustment fixing rod; the bearing sleeve body is formed with a bearing sleeve sounding positioning mounting rod sleeve hole, and the sounding positioning mounting rod passes through the bearing sleeve sounding positioning mounting rod sleeve hole and is detachably fixedly connected thereto, the top end of the sounding positioning mounting rod is used to install a locator, and the bottom end is used to install a depth sounder; one end of the buoy connecting rod is detachably connected to the buoy, and the other end is detachably connected to the sounding positioning mounting rod, and the two are perpendicular to each other; the rotatable module can be rotated as a whole in a one-dimensional plane through the bearing to reach a vertical balance state.

[0008] Preferably, the fixing module comprises a cross bar detachably mounted across the sides of the survey ship and a longitudinal bar mounted along one side of the ship, one end of the cross bar close to the longitudinal bar is fixed to one side of the ship through a longitudinal and transverse bar connecting fixture, and the longitudinal bar passes through the longitudinal and transverse bar connecting fixture and is fixedly connected thereto;

[0009] The bearing height adjustment fixing rod is installed through the longitudinal and transverse rod connection fixer, and the transverse rod, the longitudinal rod and the bearing height adjustment fixing rod are perpendicular to each other.

[0010] Preferably, the longitudinal and transverse bar connecting fixture comprises a longitudinal and transverse bar connecting fixture body, the longitudinal and transverse bar connecting fixture body is formed with a longitudinal and transverse bar connecting fixture cross bar sleeve hole and a longitudinal and transverse bar connecting fixture longitudinal bar sleeve hole, and the longitudinal and transverse bar connecting fixture cross bar sleeve hole is closed at one end close to the longitudinal and transverse bar connecting fixture longitudinal bar sleeve hole; a longitudinal and transverse bar connecting fixture bearing height adjustment fixing rod sleeve hole is also provided on one side of the longitudinal and transverse bar connecting fixture body; the central axes of the longitudinal and transverse bar connecting fixture cross bar sleeve hole, the longitudinal and transverse bar connecting fixture longitudinal bar sleeve hole, and the longitudinal and transverse bar connecting fixture bearing height adjustment fixing rod sleeve hole are perpendicular to each other in pairs;

[0011] One end of the cross bar close to the longitudinal bar is inserted into the cross bar sleeve hole of the longitudinal and transverse bar connecting fixer and is locked by a locking screw; the longitudinal bar passes through the longitudinal bar sleeve hole of the longitudinal and transverse bar connecting fixer and is locked by a locking screw; the bearing height adjustment fixing rod includes a bearing height adjustment fixing rod body, and the bearing height adjustment fixing rod body passes through the bearing height adjustment fixing rod sleeve hole of the longitudinal and transverse bar connecting fixer from bottom to top and is locked by a locking screw;

[0012] The longitudinal and transverse rod connection and fixing device body is also formed with longitudinal and transverse rod connection and fixing device ship side clamping openings, which are used for clamping the ship side with clearance fit and locking it through locking screws.

[0013] Preferably, both ends of the longitudinal rod are also installed and fixed by longitudinal rod fixers respectively, and the longitudinal rod fixer is formed with a longitudinal rod sleeve hole of the longitudinal rod fixer and a longitudinal rod fixer ship side clamp, the longitudinal rod sleeve hole of the longitudinal rod fixer is for the longitudinal rod to pass through and be locked by a locking screw, and the longitudinal rod fixer ship side clamp is used to clamp the ship side with clearance fit and be locked by a locking screw.

[0014] Preferably, the end of the cross bar away from the longitudinal bar is installed and fixed by a cross bar fixer, and the cross bar fixer is formed with a cross bar fixer cross bar sleeve hole and a cross bar fixer ship's side clamp, the cross bar fixer cross bar sleeve hole is for the cross bar to pass through and is locked by a locking screw, and the cross bar fixer ship's side clamp is used to clamp the ship's side with clearance fit and is locked by a locking screw.

[0015] Preferably, the depth measuring positioning installation rod comprises a positioner connecting rod and a depth sounder connecting rod, and the depth sounder connecting rod passes through the depth measuring positioning installation rod sleeve hole of the bearing sleeve and is locked by a locking screw;

[0016] The end of the buoy connecting rod away from the buoy is provided with a buoy connecting rod depth measurement positioning installation rod sleeve hole, and the portion of the depth sounder connecting rod located above the bearing sleeve passes through the buoy connecting rod depth measurement positioning installation rod sleeve hole and is locked by a locking screw;

[0017] The positioner connecting rod is detachably fixed to the top end of the depth sounder connecting rod.

[0018] Preferably, the buoy connecting rod comprises a buoy connecting rod sleeve section and a buoy connecting rod buoy section which are detachably fixedly connected, and the buoy connecting rod depth measurement and positioning installation rod sleeve hole is arranged at one end of the buoy connecting rod sleeve section;

[0019] The buoy is detachably connected to the free end of the buoy section of the buoy connecting rod.

[0020] Preferably, the buoy connecting rod further comprises at least one buoy connecting rod extension section which is detachably fixedly connected between the buoy connecting rod sleeve section and the buoy connecting rod buoy section.

[0021] Preferably, the installation height of the depth measurement and positioning installation rod satisfies formula (2): F s ·L s =F x ·L x , wherein the bearing is the mounting fulcrum O of the depth measurement positioning system, F s The water flow resistance of the depth measurement and positioning installation rod above the fulcrum O is measured, and the lever arm is L s ; F x The water flow resistance of the depth measurement and positioning installation rod below the fulcrum O is measured, and the lever arm is L x ; and based on

[0022] The force analysis formula (4) of the rotatable module when it leaves the vertical equilibrium state clockwise is:

[0023] M′ o =(F′·L f -G f ·L f -G g ·L g )·Cosθ+(G s ·L gs -G x ·L gx )·Sinθ-F′ n ·L′ n ,and

[0024] The force analysis formula (6) of the rotatable module when it is out of the vertical equilibrium state counterclockwise is:

[0025] M″ O =(F″·L f -G f ·L f -G g ·L g )·Cosθ+(G x ·L gx -G s ·L gs )·Sinθ-F″ n ·L″ n The depth measurement and positioning installation rod is configured as follows: the part above the fulcrum O is light in weight, and the part below the fulcrum O is heavy in weight or has a bottom counterweight; the buoy connecting rod is configured as a long rod, and the buoy is equipped with a counterweight;

[0026] Among them, M' O / M″ O are the moments when the rotatable module deviates from the vertical equilibrium state clockwise / counterclockwise; θ is the corresponding tilt angle of the rotatable module; F' / F" is the buoyancy generated by the buoy, and the lever arm when in equilibrium is L f ; G f is the gravity of the buoy, and the lever arm is L when in equilibrium f ; F′ n / F″ n is the water flow resistance of the buoy, and the corresponding lever arm is L′ n / L″ n ; G g is the gravity of the buoy connecting rod, and the lever arm when balanced is L g ; G s To measure the gravity of the part of the positioning rod above the fulcrum O, the distance between the center of gravity and the fulcrum O is L. gs ; G x To measure the gravity of the part of the mounting rod below the fulcrum O, the distance between the center of gravity and the fulcrum O is L. gx .

[0027] Preferably, the buoy is configured to be streamlined with a narrow front end and a wide rear end, and is overall wide, thin and flat.

[0028] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0029] (1) The device of the present invention arranges the installation fulcrum of the depth sounding and positioning system below the water surface, and the height of the depth sounding and positioning system can be adjusted to achieve the mutual offset of the torques of the upper and lower parts of the fulcrum subjected to the water flow resistance, thereby eliminating the influence of the water flow resistance on the posture of the depth sounding and positioning system.

[0030] (2) The device of the present invention can resist the impact of wind and wave impacts and can automatically adjust the posture of the depth measurement and positioning system to keep it in a vertical state at all times, so as to minimize the error of the depth measurement and positioning data and ensure the quality of the underwater terrain data.

[0031] (3) The device of the present invention adopts a modular design. Most of the components of the entire device are detachable and easy to install. The size is adjustable, which greatly improves the portability and adaptability of the device and meets the installation and use requirements of work boats of different sizes in different occasions.

[0032] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A three-dimensional view of a fixing device of a self-balancing wind and wave resistant bathymetric positioning system according to an exemplary embodiment of the present invention;

[0034] Figure 2 for Figure 1 The front view of the fixing device of the self-balancing wind and wave resistant depth sounding and positioning system shown;

[0035] Figure 3 for Figure 1 A top view of the fixing device of the self-balancing wind and wave resistant depth sounding and positioning system shown;

[0036] Figure 4 for Figure 1 The left side view of the fixing device of the self-balancing wind and wave resistant depth sounding and positioning system shown;

[0037] Figure 5 It is a three-dimensional view of the crossbar;

[0038] Figure 6 A three-dimensional view of the crossbar holder;

[0039] Figure 7 It is a three-dimensional view of the longitudinal rod holder;

[0040] Figure 8 A three-dimensional view of the vertical and horizontal bars connecting the fixers;

[0041] Fig. 9 A three-dimensional view of the bearing height adjustment fixing rod;

[0042] Fig.10 A three-dimensional view of the bearing sleeve;

[0043] Fig.11 A three-dimensional view of the installation rod for depth measurement and positioning;

[0044] Fig.12 A three-dimensional view of the buoy connecting rod;

[0045] Fig.13 A three-dimensional view of the buoy;

[0046] Fig.14 For application Figure 1 The three-dimensional view of the self-balancing wind and wave resistant bathymetric positioning system fixing device installed on the survey ship;

[0047] Fig.15 for Fig.14 The force analysis diagram of the installed depth sounding and positioning system in equilibrium state (the depth sounding and positioning installation rod is vertical);

[0048] Fig.16 for Fig.14 One of the force analysis diagrams of the installed depth sounding and positioning system out of balance state (the depth sounding and positioning installation rod tilts forward);

[0049] Fig.17 for Fig.14 The second force analysis diagram of the installed depth sounding and positioning system out of balance state (the depth sounding and positioning installation rod tilts backward);

[0050] Description of reference numerals:

[0051] Crossbar 1, crossbar A11, crossbar B12;

[0052] Crossbar fixer 2, crossbar fixer ship side clamp 21, crossbar fixer crossbar locking screw 22, crossbar fixer ship side locking screw 23, crossbar fixer crossbar sleeve hole 24;

[0053] Joystick 3;

[0054] A longitudinal rod fixer 4, a longitudinal rod fixer side clamp 41, a longitudinal rod fixing screw 42, a longitudinal rod fixer side locking screw 43, and a longitudinal rod fixing hole 44;

[0055] The longitudinal and transverse rod connection fixer 5, the longitudinal and transverse rod connection fixer body 51, the longitudinal and transverse rod connection fixer longitudinal and transverse rod locking screws 52, the longitudinal and transverse rod connection fixer ship side locking screws 53, the longitudinal and transverse rod connection fixer bearing height adjustment fixing rod locking screws 54, the longitudinal and transverse rod connection fixer crossbar sleeve hole 55, the longitudinal and transverse rod connection fixer longitudinal rod sleeve hole 56, the longitudinal and transverse rod connection fixer ship side clamp 57, the longitudinal and transverse rod connection fixer bearing height adjustment fixing rod sleeve hole 58;

[0056] A bearing height adjustment fixing rod 6, a bearing height adjustment fixing rod body 61, and a bearing mounting portion 62;

[0057] Bearing sleeve 7, bearing sleeve body 71, bearing sleeve depth measurement positioning mounting rod locking screw 72, bearing sleeve mounting screw 73, bearing 74, bearing sleeve depth measurement positioning mounting rod sleeve hole 75;

[0058] Sounding positioning mounting rod 8, positioner connecting rod 81, sounder connecting rod 82, positioner connecting head 83, wire hole 84, sounder locking screw 85, sounder sleeve hole 86;

[0059] The buoy connecting rod 9, the buoy connecting rod sleeve section 91, the buoy connecting rod extension section 92, the buoy connecting rod buoy section 93, the buoy connecting rod depth measurement positioning installation rod locking screw 94, the buoy connecting rod depth measurement positioning installation rod sleeve hole 95;

[0060] Buoy 10 and buoy mounting hole 101. DETAILED DESCRIPTION

[0061] The drawings are for illustrative purposes only and should not be construed as limiting the present patent;

[0062] In order to better illustrate the present embodiment, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product;

[0063] It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings;

[0064] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "set" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be said that the internal connection of two elements is connected. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", etc. is based on the orientation or position relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0065] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0066] like Figure 1 to Figure 4 The figure shows a self-balancing wind and wave resistant depth sounding and positioning system fixing device according to an exemplary embodiment of the present invention, which includes a fixing module and a rotatable module.

[0067] The fixed module is used to be installed on the side of the survey ship so as to install the rotatable module. The fixed module is provided with a detachable vertically installed bearing height adjustment fixing rod 6.

[0068] The rotatable module includes a bearing sleeve 7, a depth measurement and positioning mounting rod 8 and a buoy connecting rod 9. Fig.10 As shown, the bearing sleeve 7 includes a bearing 74 and a bearing sleeve body 71 fixed as one, and the axial directions of the two are perpendicular to each other. The bearing 74 is detachably mounted on the lower end of the bearing height adjustment fixing rod 6 and is arranged to be located below the water surface, and after installation, the axial direction of the bearing 74 is perpendicular to the axial direction of the bearing height adjustment fixing rod 6. The bearing sleeve body 71 is formed with a bearing sleeve depth measurement positioning installation rod sleeve hole 75 along its axial direction, and the depth measurement positioning installation rod 8 passes through the bearing sleeve depth measurement positioning installation rod sleeve hole 75, and is locked by the bearing sleeve depth measurement positioning installation rod locking screw 72 after the height adjustment is appropriate. The top end of the depth measurement positioning installation rod 8 is used to install a locator, and the bottom end is used to install a depth sounder. One end of the buoy connecting rod 9 is detachably connected to the buoy 10, and the other end is detachably connected to the depth measurement positioning installation rod 8, and the two are perpendicular to each other. The rotatable module can be rotated as a whole in a one-dimensional plane through the bearing 74 to reach a vertical equilibrium state (that is, the central axes of the positioner, the depth measurement positioning mounting rod 8, and the depth measurement device are a vertical straight line).

[0069] In some embodiments, the fixing module can be configured as follows: comprising a crossbar 1 detachably mounted across the sides of the survey ship and a longitudinal bar 3 mounted along one side of the ship, the end of the crossbar 1 close to the longitudinal bar 3 is fixed to one side of the ship through a longitudinal and transverse bar connection fixture 5, the longitudinal bar 3 passes through the longitudinal and transverse bar connection fixture 5 and is fixedly connected thereto; and the above-mentioned bearing height adjustment fixing rod 6 is also installed through the longitudinal and transverse bar connection fixture 5, and the crossbar 1, the longitudinal bar 3, and the bearing height adjustment fixing rod 6 are mutually perpendicular. In this way, the crossbar 1, the longitudinal bar 3, and the bearing height adjustment fixing rod 6 are fixedly connected as a whole through the longitudinal and transverse bar connection fixture 5 to form the main body of the fixing module, and the fixing module is fixed relative to the hull after being installed on the survey ship.

[0070] like Figure 8 As shown, further, the longitudinal and transverse bar connecting and fixing device 5 comprises a longitudinal and transverse bar connecting and fixing device body 51, and the longitudinal and transverse bar connecting and fixing device transverse bar sleeve hole 55 and the longitudinal and transverse bar connecting and fixing device longitudinal bar sleeve hole 56 are formed on the longitudinal and transverse bar connecting and fixing device body 51, and the longitudinal and transverse bar connecting and fixing device transverse bar sleeve hole 55 is sealed at one end close to the longitudinal and transverse bar connecting and fixing device longitudinal bar sleeve hole 56. In addition, a longitudinal and transverse bar connecting and fixing device bearing height adjustment fixing rod sleeve hole 58 is also provided on one side of the longitudinal and transverse bar connecting and fixing device body 51, and the central axes of the longitudinal and transverse bar connecting and fixing device transverse bar sleeve hole 55, the longitudinal and transverse bar connecting and fixing device longitudinal bar sleeve hole 56, and the longitudinal and transverse bar connecting and fixing device bearing height adjustment fixing rod sleeve hole 58 are perpendicular to each other.

[0071] Based on this, the end of the cross bar 1 close to the longitudinal bar 3 can be inserted into the end of the cross bar sleeve hole 55 of the longitudinal and transverse bar connection fixture, and then locked with the longitudinal and transverse bar locking screws 52 of the longitudinal and transverse bar connection fixture, and the longitudinal bar 3 is passed through the longitudinal bar sleeve hole 56 of the longitudinal and transverse bar connection fixture (generally until the longitudinal and transverse bar connection fixture 5 is sleeved on the longitudinal middle of the longitudinal bar 3), and then locked with the longitudinal and transverse bar locking screws 52 of the longitudinal and transverse bar connection fixture. In addition, if Fig. 9 As shown, the bearing height adjustment fixing rod 6 includes a bearing height adjustment fixing rod body 61, through which the bearing height adjustment fixing rod sleeve hole 58 of the longitudinal and transverse rod connection fixer can be passed from bottom to top to a suitable height position (to adjust the height of the depth measurement and positioning system), and then locked using the longitudinal and transverse rod connection fixer bearing height adjustment fixing rod locking screws 54.

[0072] The longitudinal and transverse bar connecting fixture body 51 is also formed with longitudinal and transverse bar connecting fixture ship side clamping openings 57 so as to clamp the ship side and lock it through the longitudinal and transverse bar connecting fixture ship side locking screws 53, so as to fix the longitudinal and transverse bar connecting fixture 5 on one side of the ship side.

[0073] To ensure the stability of the installation, both ends of the longitudinal rod 3 are also installed and fixed by longitudinal rod fixers 4. Figure 7 As shown, the longitudinal rod holder 4 is formed with a longitudinal rod sleeve hole 44 of the longitudinal rod holder and a longitudinal rod holder ship side clamp 41. After the longitudinal rod 3 passes through the longitudinal rod sleeve hole 56 of the longitudinal and transverse rod connecting holder, both ends thereof pass through the corresponding longitudinal rod sleeve holes 44 of the longitudinal rod holder, and can be locked by the longitudinal rod locking screw 42 of the longitudinal rod holder. By clamping the longitudinal rod holder ship side clamp 41 to the ship side (the ship side where the longitudinal and transverse rod connecting holder 5 is installed), and locking it with the longitudinal rod holder ship side locking screw 43, the longitudinal rod holder 4 can be fixedly installed on the ship side.

[0074] The end of the cross bar 1 away from the longitudinal bar 3 is installed and fixed by the cross bar fixer 2. Figure 6 As shown, the crossbar holder 2 is formed with a crossbar holder crossbar sleeve hole 24 and a crossbar holder ship side clamp 21. The end of the crossbar 1 away from the longitudinal bar 3 passes through the crossbar holder crossbar sleeve hole 24 and can be locked by the crossbar holder crossbar locking screw 22. By clamping the crossbar holder ship side clamp 21 to the other side of the ship (away from the longitudinal bar 3) and locking it with the crossbar holder ship side locking screw 23, the crossbar holder 2 can be fixedly installed on the side of the ship.

[0075] It should be noted that the widths of the above-mentioned crossbar fixture ship's side clamp 21, longitudinal bar fixture ship's side clamp 41, and longitudinal and crossbar connection fixture ship's side clamp 57 are slightly larger than the ship's side thickness of commonly used survey ships, so that the device can be applicable to survey ships of different specifications and improve its adaptability.

[0076] like Figure 5As shown, it can be further preferred that the crossbar 1 is formed by connecting the crossbar A11 and the crossbar B12. Specifically, the two sections of the rod body can be connected and disassembled through the threaded fit at the interface, or through the fit of the slot and the protrusion at the interface, so that the crossbar 1 can be ensured to have a sufficient length (greater than the width of a common survey ship) and can be conveniently carried and transported after disassembly.

[0077] like Fig. 9 As shown, a bearing mounting portion 62 is provided near the bottom end of the bearing height adjustment fixing rod body 61, and the bearing mounting portion 62 has two screw holes. Fig.10 As shown, the bearing seat of the bearing 74 is correspondingly provided with two screw holes, the bearing seat of the bearing 74 is attached to the bearing mounting portion 62, and the two screw holes are aligned one by one, and then the two can be firmly connected together through the bearing sleeve mounting screw 73, so that the bearing sleeve 7 is firmly mounted on the bearing height adjustment fixing rod 6. It can be understood that the bearing sleeve body 71 can rotate in a one-dimensional plane through the bearing 74.

[0078] like Fig.11 As shown, in some embodiments, the depth sounding positioning installation rod 8 includes a positioner connecting rod 81 and a depth sounder connecting rod 82. Among them, the top end of the positioner connecting rod 81 can be threadedly installed with a positioner connector 83, and the top end is provided with a wire hole 84 to serve as a depth sounder wire outlet, and the positioner can be threadedly installed on the positioner connector 83. The bottom end of the depth sounder connecting rod 82 is provided with a depth sounder sleeve hole 86, and the depth sounder can be inserted into the depth sounder sleeve hole 86 and locked by the depth sounder locking screw 85. The bottom end of the positioner connecting rod 81 and the top end of the depth sounder connecting rod 82 can be connected and disassembled through the thread at the interface. The installation of the depth sounder positioning installation rod 8 is achieved by the depth sounder connecting rod 82. Specifically, the depth sounder connecting rod 82 passes through the bearing sleeve depth sounding positioning installation rod sleeve hole 75 and is locked by the bearing sleeve depth sounding positioning installation rod locking screw 72.

[0079] like Fig.12 As shown, a buoy connecting rod 9 is provided with a buoy connecting rod depth measurement positioning installation rod sleeve hole 95 at one end away from the buoy 10. The portion of the depth sounder connecting rod 82 located above the bearing sleeve can pass through the buoy connecting rod depth measurement positioning installation rod sleeve hole 95 and be locked by the buoy connecting rod depth measurement positioning installation rod locking screw 94. In this way, the buoy connecting rod 9 can be sleeved and installed on the depth measurement positioning installation rod 8 through the buoy connecting rod depth measurement positioning installation rod sleeve hole 95.

[0080] In some embodiments, the buoy connecting rod 9 is formed by connecting a buoy connecting rod sleeve section 91 and a buoy connecting rod buoy section 93. Specifically, the two sections of the rod body can be connected and disassembled by threaded cooperation at the interface, or connected and disassembled by cooperation between the slot and the protrusion at the interface. In this way, it can ensure that the buoy connecting rod 9 has a sufficient length and can be conveniently carried and transported after disassembly. The buoy connecting rod sounding and positioning mounting rod sleeve hole 95 is vertically arranged at one end of the buoy connecting rod sleeve section 91, so that the buoy connecting rod 9 is perpendicular to the sounding and positioning mounting rod 8 after installation. The free end of the buoy connecting rod buoy section 93 is in an L-shape that is bent downward to facilitate the connection of the buoy 10. Specifically, as Fig.13 As shown, a buoy mounting hole 101 is opened on the upper surface of the buoy 10, and the L-shaped end of the buoy section 93 of the buoy connecting rod can be threadedly connected to the buoy mounting hole 101, so that the buoy 10 is installed on the buoy connecting rod 9.

[0081] It should be noted that the function of the buoy 10 is to provide sufficient upward buoyancy for the end of the buoy connecting rod 9 to ensure that the upper part of the depth measuring positioning installation rod 8 does not tilt too much backward and lose balance; at the same time, the buoy connecting rod 9 and the buoy 10 need to have a certain weight to ensure that the upper part of the depth measuring positioning installation rod 8 does not tilt too much forward and lose balance.

[0082] Furthermore, a plurality of buoy connecting rod extension sections 92 may be provided between the buoy connecting rod sleeve section 91 and the buoy connecting rod buoy section 93 to facilitate adjustment of the length of the buoy connecting rod 9 to meet a greater length requirement.

[0083] like Fig.14 The figure shows a depth measurement positioning system using the device installed on a survey ship, wherein the fixed module is fixed relative to the hull, and the rotatable module can rotate as a whole in a one-dimensional plane (the plane is parallel to the longitudinal rod 3 and perpendicular to the cross rod 1) through the bearing 74.

[0084] It can be understood that when the ship moves forward, the underwater part of the rotatable module will be subject to water flow resistance. In order to weaken or even eliminate the torque generated by the resistance, the installation fulcrum O (i.e., bearing 74) of the depth measurement and positioning system should be below the water surface. Then, the water flow resistance of the part of the depth measurement and positioning installation rod above the fulcrum O is F s , the force arm is L s The water flow resistance of the depth measurement positioning installation rod below the fulcrum O is F x , the force arm is L x ,like Fig.15 As shown in the figure, the torques of the water flow resistance in the upper and lower parts are in opposite directions and can cancel each other out. Then the torque of the water flow resistance on the rotatable module is:

[0085] M 水 =F s ·L s-F x ·L x Formula (1)

[0086] It should be noted that the above analysis temporarily ignores the water flow resistance of the buoy; and the depth sounder and the part of the depth sounding positioning mounting rod below the fulcrum O are regarded as one.

[0087] According to formula (1), the magnitude of water flow resistance is positively correlated with the force-bearing surface, and the magnitude of the force-bearing surface is positively correlated with its lever arm, that is, the magnitude of the moment is positively correlated with the lever arm. Therefore, M can be achieved by adjusting the height of the depth measurement positioning installation rod. 水 =0, at this time

[0088] F s ·L s =F x ·L x Formula (2)

[0089] From the above analysis, it can be seen that by setting the bearing 74 below the water surface and adjusting the installation height of the depth measurement positioning mounting rod to satisfy formula (2), the rotational torque brought by the water flow resistance on the depth measurement positioning mounting rod can be eliminated, thereby eliminating the influence of the water flow resistance on the posture of the depth measurement positioning system.

[0090] When the rotatable module is tilted by external forces (such as wind and waves) during operation, and the rotatable module is out of the vertical equilibrium state clockwise (that is, the positioner tilts forward, assuming the angle is θ), its force analysis is as follows: Fig.16 As shown. Relative to the fulcrum O, the buoyancy generated by the buoy is F', and the lever arm when in equilibrium is L f ; The gravity of the buoy is G f , the force arm at equilibrium is L f ; The water flow resistance to the buoy is F′ n , the force arm is L′ n ; The gravity of the buoy connecting rod is G g , the force arm at equilibrium is L g ; The gravity of the part of the depth measurement positioning installation rod above the fulcrum O is G s , the distance between the center of gravity and the fulcrum O is L gs ; The gravity of the depth measurement positioning installation rod below the fulcrum O is G x , the distance between the center of gravity and the fulcrum O is L gx ; and the aforementioned F s (The force arm when balanced is L s ), F x (The force arm when balanced is L x ), among which F', G produce clockwise torque s 、F x , the counterclockwise torque is G f , G g , Gx 、F s , F′ n , at this time, the torque M' on the rotatable module O for:

[0091] M′ O =F′·L f ·Cosθ+F x ·L x ·Cosθ+G s ·L gs Sinθ-G f ·L f ·Cosθ-G g ·L g ·Cosθ-F s ·L s ·Cosθ-F′ n ·L′ n -G x ·L gx ·Sinθ formula (3)

[0092] Combined with formula (2), it becomes

[0093] M′ O =(F′·L f -G f ·L f -G g ·L g )·Cosθ+(G s ·L gs -G x ·L gx )·Sinθ-F′ n ·L′ n Formula (4)

[0094] Therefore, if the rotatable module is to rotate counterclockwise to restore the equilibrium state, M′ should be satisfied. O <0, and M′ O The smaller the value of is, the greater the counterclockwise torque on the rotatable module is, and the greater the energy for restoring balance is. From the analysis of formula (4), it can be concluded that (G s ·L gs -G x ·L gx ) should be as small as possible, (F'·L f -G f ·L f -G g ·L g ) should be as small as possible, because F′ n It is useless resistance and should be as small as possible, that is, F′ n ·L′ n Should be as small as possible.

[0095] When the rotatable module is tilted by external forces (such as wind and waves) during operation, and the rotatable module deviates from the vertical equilibrium state counterclockwise (that is, the positioner tilts backward, assuming the angle is θ), its force analysis is as follows: Fig.17 As shown. Relative to the fulcrum O, the buoyancy generated by the buoy is F", and the lever arm when balanced is L f ; The gravity of the buoy is G f , the force arm at equilibrium is L f ; The water flow resistance to the buoy is F″ n , the lever arm is L″ n ; The gravity of the buoy connecting rod is G g , the force arm at equilibrium is L g ; The gravity of the part of the depth measurement positioning installation rod above the fulcrum O is G s , the distance between the center of gravity and the fulcrum O is L gs ; The gravity of the depth measurement positioning installation rod below the fulcrum O is G x , the distance between the center of gravity and the fulcrum O is L gx ; and the aforementioned F s (The force arm when balanced is L s ), F x (The force arm when balanced is L x ), among which F”, G x 、F x , the counterclockwise torque is G f , G g , G s 、F s , F″ n , at this time, the torque M″ on the rotatable module O for:

[0096] M″ O =F”·L f ·Cosθ+F x ·L x ·Cosθ+G x ·L gx Sinθ-G f ·L f ·Cosθ-G g ·L g ·Cosθ-F s ·L s ·Cosθ-F″ n ·L″ n -G s ·L gs ·Sinθ formula (5)

[0097] Combined with formula (2), it becomes

[0098] M″ O =(F″·L f -G f ·L f -G g ·L g )·Cosθ+(G x ·L gx -G s ·L gs )·Sinθ-F″ n ·L″ n Formula (6)

[0099] Therefore, if the rotatable module is to rotate clockwise to restore the equilibrium state, M″ should be satisfied. O >0, and M″ O The larger the value of is, the greater the clockwise torque on the rotatable module is, and the greater the energy for restoring balance is. From formula (6), it can be concluded that (G x ·L gx -G s ·L gs ) should be as large as possible, (F”·L f -G f ·L f -G g ·L g ) should be as large as possible, because F″ n It is useless resistance and should be as small as possible, that is, F″ n ·L″ n Should be as small as possible.

[0100] According to the above analysis, on the one hand, (G s ·L gs -G x ·L gx ) should be as small as possible, (G x ·L gx -G s ·L gs ) should be as large as possible, that is, to reduce G s ·L gs The increase of G x ·L gx Based on this, when designing the depth measurement positioning installation rod, the part above the fulcrum O should be as light as possible and reduced in size to reduce G. s , the length should be as short as possible (without affecting the positioning device to receive satellite signals) to reduce L gs The length and diameter of the rod above the fulcrum O can be shortened, and it can be made of light and hard materials. The weight of the part below the fulcrum O can be appropriately increased, but considering that the increase in volume will bring greater water flow resistance, the rod cannot be thickened or lengthened. Instead, the rod can be made of high-density materials or the bottom can be appropriately weighted.

[0101] On the other hand, (F'·L f -G f ·L f -G g ·L g ) should be as small as possible, (F”·L f -G f ·L f -G g ·L g ) should be as large as possible, then we need to increase G first. f ·L f and G g ·L g , and then reduce F'·L f And increase F"·L f Based on this, the length of the buoy connecting rod should be increased as much as possible during design to increase L f and L g , and at the same time increase the weight of the buoy and the buoy connecting rod, and because L f >L g Obviously, increasing the weight of the buoy is more effective than increasing the weight of the buoy connecting rod, so priority is given to increasing the weight of the buoy, and appropriate weight can be added to the buoy to achieve this goal. In addition, under the premise that θ is constant, that is, the floating distance of the buoy is constant, in order to make F' as small as possible and F" as large as possible, the buoy displacement should be large enough, and the buoy should be designed to be wide, thin and flat. In this way, the buoy buoyancy is highly sensitive to its draft, that is, a smaller draft change can bring a larger buoyancy change.

[0102] Because F n ', F n " is useless resistance and should be as small as possible. Based on the fact that the buoy should be designed to be wide, thin and flat, the buoy cannot reduce resistance by reducing its volume, but it can be designed into a streamlined shape with a better streamline shape. For example, the buoy is designed to be streamlined with a narrow front end and a wide rear end, and the lower surface is retracted. Fig.13 In addition, materials with less friction with water, such as high-density polyethylene or polyethylene, can be used to make the buoy, so that F n ', F n “As small as possible.

[0103] The above description is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the technical scope disclosed by the present invention, and they should be covered by the protection scope of the present invention.

Claims

1. A self-balancing wind and wave resistant depth sounding and positioning system fixing device, characterized in that: include: A fixing module, used for installation on the side of the survey ship, wherein a detachable vertically installed bearing height adjustment fixing rod is provided; The rotatable module includes a bearing sleeve, a sounding positioning mounting rod and a buoy connecting rod. The bearing sleeve includes a bearing and a bearing sleeve body fixed as one, and the axes of the two are perpendicular to each other. The bearing can be detachably mounted on the lower end of the bearing height adjustment fixing rod and is arranged to be located below the water surface, and the axis of the bearing is perpendicular to the axis of the bearing height adjustment fixing rod; the bearing sleeve body is formed with a bearing sleeve sounding positioning mounting rod sleeve hole, and the sounding positioning mounting rod passes through the bearing sleeve sounding positioning mounting rod sleeve hole and is detachably fixedly connected thereto, the top end of the sounding positioning mounting rod is used to install a locator, and the bottom end is used to install a depth sounder; one end of the buoy connecting rod is detachably connected to the buoy, and the other end is detachably connected to the sounding positioning mounting rod, and the two are perpendicular to each other; the rotatable module can be rotated as a whole in a one-dimensional plane through the bearing to reach a vertical balance state.

2. The self-balancing wind and wave resistant depth sounding and positioning system fixing device according to claim 1 is characterized in that: The fixing module comprises a cross bar detachably mounted across the sides of the survey ship and a longitudinal bar mounted along one side of the ship, one end of the cross bar close to the longitudinal bar is fixed to one side of the ship through a longitudinal and transverse bar connecting fixture, and the longitudinal bar passes through the longitudinal and transverse bar connecting fixture and is fixedly connected thereto; The bearing height adjustment fixing rod is installed through the longitudinal and transverse rod connection fixer, and the transverse rod, the longitudinal rod and the bearing height adjustment fixing rod are perpendicular to each other.

3. The self-balancing wind and wave resistant depth sounding and positioning system fixing device according to claim 2 is characterized in that: The longitudinal and transverse bar connecting and fixing device comprises a longitudinal and transverse bar connecting and fixing device body, wherein the longitudinal and transverse bar connecting and fixing device body is formed with a longitudinal and transverse bar connecting and fixing device cross bar sleeve hole and a longitudinal and transverse bar connecting and fixing device longitudinal bar sleeve hole, and the longitudinal and transverse bar connecting and fixing device cross bar sleeve hole is sealed at one end close to the longitudinal and transverse bar connecting and fixing device longitudinal bar sleeve hole; a longitudinal and transverse bar connecting and fixing device bearing height adjustment fixing rod sleeve hole is also provided on one side of the longitudinal and transverse bar connecting and fixing device body; the central axes of the longitudinal and transverse bar connecting and fixing device cross bar sleeve hole, the longitudinal and transverse bar connecting and fixing device longitudinal bar sleeve hole, and the longitudinal and transverse bar connecting and fixing device bearing height adjustment fixing rod sleeve hole are mutually perpendicular in pairs; One end of the cross bar close to the longitudinal bar is inserted into the cross bar sleeve hole of the longitudinal and transverse bar connecting fixer and is locked by a locking screw; the longitudinal bar passes through the longitudinal bar sleeve hole of the longitudinal and transverse bar connecting fixer and is locked by a locking screw; the bearing height adjustment fixing rod includes a bearing height adjustment fixing rod body, and the bearing height adjustment fixing rod body passes through the bearing height adjustment fixing rod sleeve hole of the longitudinal and transverse bar connecting fixer from bottom to top and is locked by a locking screw; The longitudinal and transverse rod connection and fixing device body is also formed with longitudinal and transverse rod connection and fixing device ship side clamping openings, which are used for clamping the ship side with clearance fit and locking it through locking screws.

4. The self-balancing wind and wave resistant depth sounding and positioning system fixing device according to claim 3 is characterized in that: The two ends of the longitudinal rod are also installed and fixed by longitudinal rod fixers respectively. The longitudinal rod fixer is formed with a longitudinal rod sleeve hole of the longitudinal rod fixer and a longitudinal rod fixer ship side clamp. The longitudinal rod sleeve hole of the longitudinal rod fixer is used for the longitudinal rod to pass through and is locked by a locking screw, and the longitudinal rod fixer ship side clamp is used for clamping the ship side with clearance fit and is locked by a locking screw.

5. The self-balancing wind and wave resistant depth sounding and positioning system fixing device according to claim 3 is characterized in that: The end of the cross bar away from the longitudinal bar is installed and fixed by a cross bar fixer, and the cross bar fixer is formed with a cross bar fixer cross bar sleeve hole and a cross bar fixer ship side clamp. The cross bar fixer cross bar sleeve hole is used for the cross bar to pass through and is locked by a locking screw, and the cross bar fixer ship side clamp is used for clamping the ship side with clearance fit and is locked by a locking screw.

6. The self-balancing wind and wave resistant depth sounding and positioning system fixing device according to claim 1 is characterized in that: The depth measuring positioning installation rod comprises a positioner connecting rod and a depth sounder connecting rod, and the depth sounder connecting rod passes through the depth measuring positioning installation rod sleeve hole of the bearing sleeve and is locked by a locking screw; The end of the buoy connecting rod away from the buoy is provided with a buoy connecting rod depth measurement positioning installation rod sleeve hole, and the portion of the depth sounder connecting rod located above the bearing sleeve passes through the buoy connecting rod depth measurement positioning installation rod sleeve hole and is locked by a locking screw; The positioner connecting rod is detachably fixed to the top end of the depth sounder connecting rod.

7. The self-balancing wind and wave resistant depth sounding and positioning system fixing device according to claim 6 is characterized in that: The buoy connecting rod comprises a buoy connecting rod sleeve section and a buoy connecting rod buoy section which are detachably fixedly connected, and the buoy connecting rod depth measurement positioning installation rod sleeve hole is arranged at one end of the buoy connecting rod sleeve section; The buoy is detachably connected to the free end of the buoy section of the buoy connecting rod.

8. The self-balancing wind and wave resistant depth sounding and positioning system fixing device according to claim 7 is characterized in that: The buoy connecting rod also includes at least one buoy connecting rod extension section which is detachably fixedly connected between the buoy connecting rod sleeve section and the buoy connecting rod buoy section.

9. The self-balancing wind and wave resistant depth sounding and positioning system fixing device according to any one of claims 1 to 8, characterized in that: The installation height of the depth measurement positioning installation rod satisfies formula (2): F s ·L s =F x ·L x , wherein the bearing is the mounting fulcrum O of the depth measurement positioning system, F s The water flow resistance of the depth measurement and positioning installation rod above the fulcrum O is measured, and the lever arm is L s ; F x The water flow resistance of the depth measurement and positioning installation rod below the fulcrum O is measured, and the lever arm is L x ; and based on The force analysis formula (4) of the rotatable module when it leaves the vertical equilibrium state clockwise is: M’ O = (F’·L f - G f ·L f - G g ·L g )·Cosθ + (G s ·L gs - G x ·L gx )·Sinθ - F n ’·L’ n , and The force analysis formula (6) of the rotatable module when it is out of the vertical equilibrium state counterclockwise is: M” O =(F·L f -G f ·L f -G g ·L g )·Cosθ+(G x ·L gx -G s ·L gs )·Sinθ-F n ·L n The depth measurement and positioning installation rod is configured as follows: the part above the fulcrum O is light in weight, and the part below the fulcrum O is heavy in weight or has a bottom counterweight; the buoy connecting rod is configured as a long rod, and the buoy is equipped with a counterweight; Among them, M′ O / M″ O are the moments when the rotatable module deviates from the vertical equilibrium state clockwise / counterclockwise; θ is the corresponding tilt angle of the rotatable module; F′ / F″ is the buoyancy generated by the buoy, and the lever arm when in equilibrium is L f ; G f is the gravity of the buoy, and the lever arm is L when in equilibrium f ; F n ′ / F n ″ is the water flow resistance of the buoy, and the lever arm is L n ′ / L″ n ; G g is the gravity of the buoy connecting rod, and the lever arm when balanced is L g ; G s To measure the gravity of the part of the mounting rod above the fulcrum O, the distance between the center of gravity and the fulcrum 0 is L. gs ; G x To measure the gravity of the part of the mounting rod below the fulcrum O, the distance between the center of gravity and the fulcrum O is L. gx .

10. The self-balancing wind and wave resistant depth sounding and positioning system fixing device according to claim 9, characterized in that: The buoy is configured to be streamlined with a narrow front end and a wide rear end, and is overall wide, thin and flat.

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