A self-balancing wind and wave resistant depth sounding positioning system fixing device

Abstract

This invention discloses a self-balancing, wave-resistant, and fixed device for a sounding system, comprising a fixed module with a bearing height adjustment fixing rod; and a rotatable module including 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 together, with the bearing mounted on the lower end of the bearing height adjustment fixing rod and located below the water surface. The bearing sleeve body has a hole formed for the sounding positioning mounting rod, through which the sounding positioning mounting rod passes and is fixedly connected. 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 connected to a buoy, and the other end is connected to the sounding positioning mounting rod, with the two perpendicular to each other. The rotatable module can rotate as a whole in a one-dimensional plane to achieve a balanced state via the bearing. Using this device, the attitude of the sounding system can be automatically adjusted to achieve a balanced state, reducing sounding positioning errors caused by wind and waves.

Description

Technical Field

[0001] This invention relates to the field of underwater topographic surveying, and more particularly to a fixing device for a self-balancing, wave-resistant depth sounding and positioning system. Background Technology

[0002] In underwater topographic surveying of rivers, reservoirs, and ponds, single-beam echo sounders or multi-beam echo sounders combined with a positioning system (echo-positioning system) are commonly used. These systems are typically mounted on a survey vessel for mobile operation. During operation, the vessel inevitably rolls due to wind, waves, and currents, causing the echo-positioning system to tilt and resulting in deviations in depth and positioning data, particularly in areas with significant depth variations. Multi-beam echo sounders are generally equipped with an attitude determination system (inertial navigation system) to measure the system's attitude in real time and correct for deviations. Single-beam echo sounders, on the other hand, generally lack an attitude determination system, and the impact of wind and waves during operation severely affects measurement accuracy. Summary of the Invention

[0003] To address the shortcomings and deficiencies in existing technologies, this invention proposes a self-balancing, wave-resistant, and fixed device for a sounding and positioning system. This device solves the problem that single-beam sounding systems without an attitude-fixing system cannot automatically adjust their attitude to achieve vertical balance when subjected to wind, waves, and water flow during operation, resulting in sounding and positioning errors and affecting measurement accuracy.

[0004] The above-mentioned objective of this invention is achieved through the following technical solution:

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

[0006] A fixed module for installation on the hull of the survey vessel, which includes a detachable, vertically mounted bearing height adjustment fixing rod;

[0007] The rotatable module includes a bearing sleeve, a depth sounding positioning rod, and a buoy connecting rod. The bearing sleeve comprises a bearing and a bearing sleeve body fixed as one piece, with their axes perpendicular to each other. The bearing is detachably mounted on the lower end of the bearing height adjustment fixing rod and is positioned below the water surface. The axis of the bearing is perpendicular to the axis of the bearing height adjustment fixing rod. The bearing sleeve body has a bearing sleeve depth sounding positioning rod sleeve hole. The depth sounding positioning rod passes through the bearing sleeve depth sounding positioning rod sleeve hole and is detachably fixed to it. The top end of the depth sounding positioning 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 a buoy, and the other end is detachably connected to the depth sounding positioning rod, with the two being perpendicular to each other. The rotatable module can rotate as a whole in a one-dimensional plane to achieve a vertically balanced state via the bearing.

[0008] Preferably, the fixing module includes a horizontal bar that is detachably installed across the two sides of the measuring vessel and a longitudinal bar installed along one side of the vessel. The end of the horizontal bar near the longitudinal bar is fixed to one side of the vessel by a longitudinal-horizontal bar connecting fastener, and the longitudinal bar passes through the longitudinal-horizontal bar connecting fastener and is fixedly connected to it.

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

[0010] Preferably, the longitudinal and transverse bar connecting fastener includes a longitudinal and transverse bar connecting fastener body, the longitudinal and transverse bar connecting fastener body having a transverse bar sleeve hole and a longitudinal bar sleeve hole, and the end of the transverse bar sleeve hole near the longitudinal bar sleeve hole is sealed; one side of the longitudinal and transverse bar connecting fastener body is also provided with a longitudinal and transverse bar connecting fastener bearing height adjustment fixing rod sleeve hole; the central axes of the transverse bar sleeve hole, the longitudinal bar sleeve hole, and the longitudinal and transverse bar connecting fastener bearing height adjustment fixing rod sleeve hole are perpendicular to each other.

[0011] The end of the crossbar near the longitudinal bar is inserted into the crossbar sleeve hole of the longitudinal and transverse bar connecting and fixing device and locked with a locking screw; the longitudinal bar passes through the longitudinal bar sleeve hole of the longitudinal and transverse bar connecting and fixing device and is locked with a locking screw; the bearing height adjustment fixing rod includes a bearing height adjustment fixing rod body, which passes through the bearing height adjustment fixing rod sleeve hole of the longitudinal and transverse bar connecting and fixing device from bottom to top and is locked with a locking screw;

[0012] The main body of the longitudinal and transverse bar connecting fastener also has a longitudinal and transverse bar connecting fastener hull clamp, which is used to clamp the hull with clearance fit and lock it in place with locking screws.

[0013] Preferably, both ends of the longitudinal rod are also installed and fixed by longitudinal rod retainers. The longitudinal rod retainer is formed with a longitudinal rod sleeve hole and a longitudinal rod hull clamp. The longitudinal rod sleeve hole allows the longitudinal rod to pass through and be locked with a locking screw. The longitudinal rod hull clamp is used to clamp the hull with clearance fit and be locked with a locking screw.

[0014] Preferably, the end of the crossbar away from the longitudinal bar is installed and fixed by a crossbar fixer. The crossbar fixer is formed with a crossbar sleeve hole and a hull clamp. The crossbar sleeve hole allows the crossbar to pass through and be locked with a locking screw. The hull clamp is used to clamp the hull with clearance fit and be locked with a locking screw.

[0015] Preferably, the depth sounding positioning mounting rod includes a locator connecting rod and a depth sounder connecting rod, wherein the depth sounder connecting rod passes through the bearing sleeve depth sounding positioning mounting rod sleeve hole and is locked by a locking screw;

[0016] The buoy connecting rod is provided with a buoy connecting rod depth measuring and positioning installation rod sleeve hole at the end away from the buoy. The part of the depth measuring rod above the bearing sleeve passes through the buoy connecting rod depth measuring and positioning installation rod sleeve hole and is locked by a locking screw.

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

[0018] Preferably, the buoy connecting rod includes a detachably fixedly connected buoy connecting rod sleeve section and buoy connecting rod buoy section, and the buoy connecting rod depth measuring and positioning mounting sleeve hole is provided 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 includes at least one detachably fixedly connected buoy connecting rod extension section between the buoy connecting rod sleeve section and the buoy section of the buoy connecting rod.

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

[0022] Force analysis formula (4) for the rotatable module when it moves clockwise out of vertical equilibrium:

[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] Force analysis formula (6) for the rotatable module when it deviates from the vertical equilibrium state counterclockwise:

[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 sounding and positioning mounting rod is configured such that the part above the fulcrum O has a small weight, and the part below the fulcrum O has a large weight or 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 These represent the torques experienced by the rotatable module when it deviates from its vertical equilibrium state clockwise and counterclockwise, respectively; θ is the corresponding tilt angle of the rotatable module; F' / F” is the buoyancy force generated by the buoy, and the lever arm at equilibrium is L. f G f The buoy's weight is the lever arm at equilibrium, and the lever arm is L. f ;F′ n / F″ n The corresponding water flow resistance experienced by the buoy is given by the lever arm L′. n / L″ n G g The weight of the buoy connecting rod is L, and the lever arm is L when in equilibrium. g G s The weight of the depth sounding positioning rod above fulcrum O is measured by the distance L from fulcrum O to its center of gravity. gs G x The weight of the depth sounding positioning rod below the fulcrum O is measured by the distance L from the fulcrum O. gx .

[0027] Preferably, the buoy is configured as a streamlined shape with a narrow front end and a wide rear end, and is generally wide and thin and flat.

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

[0029] (1) The device of the present invention arranges the installation support point of the depth sounding positioning system below the water surface and can adjust the height of the depth sounding positioning system so that the torque of the upper and lower parts of the support point subjected to water flow resistance cancels each other out, thereby eliminating the influence of water flow resistance on the attitude of the depth sounding positioning system.

[0030] (2) The device of the present invention can resist the impact of wind and waves, and can automatically adjust the attitude of the depth sounding and positioning system to keep it in a vertical state, so as to minimize the error of depth sounding and positioning data and ensure the quality of underwater topographic data.

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

[0032] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0033] Figure 1 A three-dimensional view of the fixing device of the self-balancing, wave-resistant depth sounding and positioning system, which is an exemplary embodiment of the present invention;

[0034] Figure 2 for Figure 1 The image shows a front view of the fixing device for a self-balancing, wave-resistant depth sounding and positioning system.

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

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

[0037] Figure 5 This is a 3D view of one of the horizontal bars;

[0038] Figure 6 This is a 3D view of the crossbar fixation device.

[0039] Figure 7 This is a 3D view of the longitudinal bar fixation device;

[0040] Figure 8 A 3D view of the longitudinal and transverse bar connecting fasteners;

[0041] Figure 9 This is a three-dimensional view of the bearing height adjustment fixing rod.

[0042] Figure 10 This is a three-dimensional view of the bearing sleeve.

[0043] Figure 11 Here is a three-dimensional view of the depth sounding and positioning installation rod;

[0044] Figure 12 This is a three-dimensional view of the buoy connecting rod;

[0045] Figure 13 This is a 3D view of one of the buoys;

[0046] Figure 14 For application Figure 1 The image shows a three-dimensional view of the self-balancing, wave-resistant sounding and positioning system fixing device installed on the survey vessel.

[0047] Figure 15 for Figure 14 The diagram shows the force analysis of the equilibrium state of the installed depth sounding positioning system (the depth sounding positioning mounting rod is vertical);

[0048] Figure 16 for Figure 14 One of the force analysis diagrams of the installed depth sounding positioning system out of equilibrium (depth sounding positioning mounting rod tilted forward);

[0049] Figure 17 for Figure 14 The second diagram shows the force analysis of the installed depth sounding positioning system out of equilibrium (depth sounding positioning mounting rod tilted backward).

[0050] Explanation of reference numerals in the attached figures:

[0051] Horizontal bar 1, horizontal bar A11, horizontal bar B12;

[0052] 2. Horizontal bar fastener, 21. Horizontal bar fastener side clamp, 22. Horizontal bar fastener horizontal bar locking screw, 23. Horizontal bar fastener side locking screw, 24. Horizontal bar fastener horizontal bar sleeve hole;

[0053] Longitudinal bar 3;

[0054] Longitudinal bar retainer 4, longitudinal bar retainer side clamp 41, longitudinal bar retainer longitudinal bar locking screw 42, longitudinal bar retainer side locking screw 43, longitudinal bar retainer longitudinal bar sleeve hole 44;

[0055] 5. Longitudinal and transverse bar connecting fastener; 51. Longitudinal and transverse bar connecting fastener body; 52. Longitudinal and transverse bar connecting fastener longitudinal and transverse bar locking screw; 53. Longitudinal and transverse bar connecting fastener hull locking screw; 54. Longitudinal and transverse bar connecting fastener bearing height adjustment fixing rod locking screw; 55. Longitudinal and transverse bar connecting fastener transverse bar sleeve hole; 56. Longitudinal and transverse bar connecting fastener longitudinal bar sleeve hole; 57. Longitudinal and transverse bar connecting fastener hull clamp; 58. Longitudinal and transverse bar connecting fastener bearing height adjustment fixing rod sleeve hole.

[0056] Bearing height adjustment fixing rod 6, bearing height adjustment fixing rod body 61, bearing mounting part 62;

[0057] 7. Bearing sleeve; 71. Bearing sleeve body; 72. Bearing sleeve depth measuring and positioning mounting rod locking screw; 73. Bearing sleeve mounting screw; 74. Bearing sleeve depth measuring and positioning mounting rod sleeve hole; 75.

[0058] 8. Depth measuring positioning mounting rod, 81. Positioner connecting rod, 82. Depth measuring connecting rod, 83. Positioner connector, 84. Wire hole, 85. Depth measuring locking screw, 86. Depth measuring sleeve hole;

[0059] 9. Buoy connecting rod; 91. Buoy connecting rod sleeve section; 92. Buoy connecting rod extension section; 93. Buoy connecting rod buoy section; 94. Buoy connecting rod depth measuring and positioning installation rod locking screw; 95. Buoy connecting rod depth measuring and positioning installation rod sleeve hole.

[0060] Buoy 10, Buoy mounting hole 101. Detailed Implementation

[0061] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent.

[0062] To better illustrate this embodiment, some parts in the accompanying drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions;

[0063] It will be understood by those skilled in the art that certain well-known structures and their descriptions may be omitted in the accompanying drawings;

[0064] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The terms "upper," "lower," "left," "right," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0065] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0066] like Figures 1-4 The image shows a self-balancing, 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 install on the hull of the survey vessel so that the rotatable module can be installed. The fixed module is equipped with a detachable, vertically mounted bearing height adjustment fixing rod 6.

[0068] The rotatable module includes a bearing sleeve 7, a depth-sensing positioning mounting rod 8, and a buoy connecting rod 9. For example... Figure 10 As shown, the bearing sleeve 7 includes a bearing 74 and a bearing sleeve body 71 fixed as one piece, with their axes perpendicular to each other. The bearing 74 is detachably installed at the lower end of the bearing height adjustment fixing rod 6 and is positioned below the water surface, with the axis of the bearing 74 perpendicular to the axis of the bearing height adjustment fixing rod 6 after installation. The bearing sleeve body 71 has a bearing sleeve depth-sensing positioning mounting rod hole 75 formed along its axis. The depth-sensing positioning mounting rod 8 passes through the bearing sleeve depth-sensing positioning mounting rod hole 75 and is locked using the bearing sleeve depth-sensing positioning mounting rod locking screw 72 after the height adjustment is appropriate. The top end of the depth-sensing positioning mounting 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-sensing positioning mounting rod 8, with the two perpendicular to each other. The rotatable module can rotate as a whole in a one-dimensional plane to achieve a vertical balance state through bearing 74 (that is, the central axis of the locator, the depth sounding positioning rod 8, and the depth sounder is a vertical straight line).

[0069] In some embodiments, the fixing module may be configured as follows: it includes a transverse bar 1 detachably mounted across both sides of the survey vessel's hull and a longitudinal bar 3 mounted along one side of the hull. The end of the transverse bar 1 near the longitudinal bar 3 is fixed to one side of the hull via a transverse-longitudinal bar connector 5. The longitudinal bar 3 passes through and is fixedly connected to the transverse-longitudinal bar connector 5. Furthermore, the aforementioned bearing height adjustment fixing rod 6 is also installed via the transverse-longitudinal bar connector 5, and the transverse bar 1, longitudinal bar 3, and bearing height adjustment fixing rod 6 are all perpendicular to each other. Thus, the transverse bar 1, longitudinal bar 3, and bearing height adjustment fixing rod 6 are fixedly connected as a whole via the transverse-longitudinal bar connector 5, forming the main body of the fixing module. After the fixing module is installed on the survey vessel, it is fixed relative to the hull.

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

[0071] Based on this, the end of the crossbar 1 closest to the longitudinal bar 3 can be inserted into the end of the crossbar sleeve hole 55 of the crossbar connecting fastener, and then tightened using the crossbar locking screws 52 of the crossbar connecting fastener. The longitudinal bar 3 is then passed through the longitudinal sleeve hole 56 of the crossbar connecting fastener (generally until the crossbar connecting fastener 5 is fitted onto the longitudinal middle of the longitudinal bar 3), and then tightened using the crossbar locking screws 52 of the crossbar connecting fastener. Furthermore, as... Figure 9 As shown, the bearing height adjustment fixing rod 6 includes a bearing height adjustment fixing rod body 61. The bearing height adjustment fixing rod body 61 can be passed from bottom to top through the bearing height adjustment fixing rod sleeve hole 58 of the longitudinal and transverse rod connecting fixture to a suitable height position (adjusting the height of the depth measuring positioning system), and then locked using the bearing height adjustment fixing rod locking screw 54 of the longitudinal and transverse rod connecting fixture.

[0072] The main body 51 of the longitudinal and transverse bar connecting fastener also has a longitudinal and transverse bar connecting fastener hull clamp 57, so as to clamp the hull and lock it by the longitudinal and transverse bar connecting fastener hull locking screw 53, thereby fixing the longitudinal and transverse bar connecting fastener 5 on one side of the hull.

[0073] To ensure the stability of the installation, both ends of the longitudinal rod 3 are also fixed in place using longitudinal rod retainers 4. Figure 7 As shown, the longitudinal rod retainer 4 has longitudinal rod sleeve holes 44 and longitudinal rod retainer hull clamps 41. After the longitudinal rod 3 passes through the longitudinal rod sleeve holes 56 of the longitudinal and transverse rod connecting retainer, its two ends pass through the corresponding longitudinal rod sleeve holes 44 and can be locked by the longitudinal rod locking screws 42. By clamping the longitudinal rod retainer hull clamps 41 onto the hull (the hull where the longitudinal and transverse rod connecting retainer 5 is installed) and locking it with the longitudinal rod retainer hull locking screws 43, the longitudinal rod retainer 4 can be fixedly installed on the hull.

[0074] The end of the crossbar 1 furthest from the longitudinal bar 3 is installed and fixed using the crossbar fastener 2. For example... Figure 6 As shown, the crossbar fastener 2 has a crossbar sleeve hole 24 and a crossbar fastener side clamp 21. The end of the crossbar 1 away from the longitudinal bar 3 passes through the crossbar sleeve hole 24 and can be locked by the crossbar locking screw 22. By clamping the other side of the ship's side (away from the longitudinal bar 3) with the crossbar fastener side clamp 21 and locking it with the crossbar fastener side clamping screw 23, the crossbar fastener 2 can be fixedly installed on that side of the ship's side.

[0075] It should be noted that the widths of the above-mentioned horizontal bar fixing device hull clamp 21, longitudinal bar fixing device hull clamp 41, and longitudinal and horizontal bar connecting fixing device hull clamp 57 are all slightly larger than the hull thickness of commonly used surveying vessels, so that the device can be adapted to surveying vessels 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 bar can be connected and disassembled by threaded engagement at the interface, or by engagement of a slot and a protrusion at the interface. In this way, it can be ensured that the crossbar 1 has sufficient length (greater than the width of commonly used surveying vessels), and can be easily carried and transported after disassembly.

[0077] like Figure 9 As shown, a bearing mounting part 62 is provided near the bottom end of the bearing height adjustment fixing rod body 61, and this bearing mounting part 62 has two screw holes. Figure 10 As shown, the bearing housing of bearing 74 has two corresponding screw holes. The bearing housing of bearing 74 is attached to the bearing mounting part 62, and the two screw holes are aligned with the two screw prongs. Then, the two are securely connected together using the bearing sleeve mounting screws 73, thus firmly installing the bearing sleeve 7 onto the bearing height adjustment fixing rod 6. It can be understood that the bearing sleeve body 71 can rotate in a one-dimensional plane via bearing 74.

[0078] like Figure 11 As shown, in some embodiments, the depth sounding positioning mounting rod 8 includes a locator connecting rod 81 and a depth sounder connecting rod 82. The top end of the locator connecting rod 81 can be threaded onto a locator connector 83, and this top end has a wire hole 84 as a depth sounder outlet. The locator can be threaded onto the locator connector 83. The bottom end of the depth sounder connecting rod 82 has a depth sounder sleeve hole 86, into which the depth sounder can be inserted and locked by a depth sounder locking screw 85. The bottom end of the locator connecting rod 81 and the top end of the depth sounder connecting rod 82 can be connected and disconnected via threads at the interface. The installation of the depth sounding positioning mounting rod 8 is achieved through the depth sounder connecting rod 82. Specifically, the depth sounder connecting rod 82 passes through the bearing sleeve depth sounding positioning mounting rod sleeve hole 75 and is locked by the bearing sleeve depth sounding positioning mounting rod locking screw 72.

[0079] like Figure 12 As shown, the end of the buoy connecting rod 9 furthest from the buoy 10 is provided with a buoy connecting rod depth sounding positioning mounting sleeve hole 95. The portion of the aforementioned depth sounder connecting rod 82 above the bearing sleeve can pass through the buoy connecting rod depth sounding positioning mounting sleeve hole 95 and be locked using the buoy connecting rod depth sounding positioning mounting screw 94. In this way, the buoy connecting rod 9 can be sleeved and mounted on the depth sounding positioning mounting rod 8 through the buoy connecting rod depth sounding positioning mounting 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 rod sections can be connected and disassembled through a threaded fit at the interface, or through a slot and protrusion fit at the interface. This ensures that the buoy connecting rod 9 has sufficient length and is easy to carry and transport after disassembly. The buoy connecting rod depth-sensing positioning mounting rod sleeve hole 95 is vertically set at one end of the buoy connecting rod sleeve section 91, so that the buoy connecting rod 9 is perpendicular to the depth-sensing positioning mounting rod 8 after installation. The free end of the buoy connecting rod buoy section 93 is L-shaped with a downward bend to connect the buoy 10. Specifically, as shown... Figure 13 As shown, the upper surface of the buoy 10 has a buoy mounting hole 101. The L-shaped end of the buoy section 93 of the buoy connecting rod can be threaded into the buoy mounting hole 101, thereby mounting the buoy 10 onto the buoy connecting rod 9.

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

[0082] Furthermore, multiple buoy connecting rod extension sections 92 can 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 and meet greater length requirements.

[0083] like Figure 14 The image shows a depth sounding and positioning system installed on a survey vessel using this device. The fixed module is fixed relative to the hull, while the rotatable module can rotate as a whole within a one-dimensional plane (parallel to the longitudinal bar 3 and perpendicular to the transverse bar 1) via bearing 74.

[0084] It is understandable that when the ship moves forward, the underwater part of the rotatable module will experience water flow resistance. In order to weaken or even eliminate the torque generated by this resistance, the mounting fulcrum O (i.e., bearing 74) of the depth sounding positioning system should be below the water surface. Therefore, the water flow resistance experienced by the part of the depth sounding positioning mounting rod above the fulcrum O is F. s The lever arm is L s The water flow resistance experienced by the depth sounding positioning rod below the fulcrum O is F. x The lever arm is L x ,like Figure 15 As shown, the torques of the water flow resistance in the upper and lower parts are in opposite directions and can cancel each other out. Therefore, 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 experienced by the buoy; and the part of the depth sounder and the depth sounding positioning rod located below the fulcrum O is regarded as a single unit.

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

[0088] F s ·L s =F x ·L x Formula (2)

[0089] As can be seen from the above analysis, by placing the bearing 74 below the water surface and adjusting the installation height of the depth sounding positioning rod to meet the formula (2), the rotational torque caused by the water flow resistance on the depth sounding positioning rod can be eliminated, thereby eliminating the influence of the water flow resistance on the attitude of the depth sounding positioning system.

[0090] When the rotatable module tilts due to external forces (such as wind and waves) during operation, and the rotatable module deviates from its vertical equilibrium state clockwise (i.e., the positioner tilts forward, assuming an angle of θ), the force analysis is as follows: Figure 16 As shown. The buoyancy force generated by the buoy relative to the fulcrum O is F', and the lever arm at equilibrium is L. f The buoy's weight is G. f The lever arm at equilibrium is L. f The water resistance experienced by the buoy is F′. n The lever arm is L′ n The weight of the buoy connecting rod is G. g The lever arm at equilibrium is L. g The weight of the portion of the depth sounding positioning rod above the fulcrum O is G. s The distance from the center of gravity to the fulcrum O is L. gs The weight of the portion of the depth sounding positioning rod below the fulcrum O is G. x The distance from the center of gravity to the fulcrum O is L. gx ; and the aforementioned F s (The lever arm is L at equilibrium) s ), F x (The lever arm is L at equilibrium) x Of these, F' and G generate clockwise torque. s F x G generates a counterclockwise torque. 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] Combining formula (2), it transforms into

[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, for the rotatable module to rotate counterclockwise to restore its equilibrium state, M′ must be satisfied. O <0, and M′ O The smaller the value of , the greater the counterclockwise torque on the rotatable module, and the greater the energy required to restore balance. From the analysis of formula (4), we can conclude that (G s ·L gs -G x ·L gx (F'·L) should be as small as possible f -G f ·L f -G g ·L g ) should be as small as possible, because F′ n It is a useless resistance and should be as small as possible, i.e., F′ n ·L′ n It should be as small as possible.

[0095] When the rotatable module tilts due to external forces (such as wind and waves) during operation, and the rotatable module deviates from its vertical equilibrium state counterclockwise (i.e., the positioner tilts backward, assuming an angle of θ), the force analysis is as follows: Figure 17 As shown. The buoyancy force generated by the buoy relative to the fulcrum O is F", and the lever arm at equilibrium is L. f The buoy's weight is G. f The lever arm at equilibrium is L. f The water resistance experienced by the buoy is F″. n The lever arm is L″ n The weight of the buoy connecting rod is G. g The lever arm at equilibrium is L. g The weight of the portion of the depth sounding positioning rod above the fulcrum O is G. s The distance from the center of gravity to the fulcrum O is L. gs The weight of the portion of the depth sounding positioning rod below the fulcrum O is G. x The distance from the center of gravity to the fulcrum O is L. gx ; and the aforementioned F s (The lever arm is L at equilibrium) s ), F x (The lever arm is L at equilibrium) x Of these, F” and G” generate clockwise torque. x F x G generates a counterclockwise torque. f G g G s F s 、F″ n At this time, the torque M″ experienced by 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] Combining formula (2), it transforms into

[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, for the rotatable module to rotate clockwise to restore its balance, M″ must be satisfied. O >0, and M″ O The larger the value of , the greater the clockwise torque on the rotatable module, and the greater the energy required to restore balance. From the analysis of formula (6), we can deduce that (G x ·L gx -G s ·L gs It should be as large as possible (F”·L) f -G f ·L f -G g ·L g It should be as large as possible, because F″ n It is a useless resistance and should be as small as possible, i.e., F″ n ·L″ n It should be as small as possible.

[0100] Based on the above analysis, on the one hand, (G s ·L gs -G x ·L gx (G) should be as small as possible. x ·L gx -G s ·L gs The value of G should be as large as possible, i.e., reduce G. s ·L gs And increase G x ·L gx Therefore, when designing the depth sounding positioning rod, the portion above the fulcrum O should be made as lightweight and dimensional as possible to reduce G. s The length should be as short as possible (without affecting the locator's reception of 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 lightweight and hard materials. The weight of the part below the fulcrum O can be increased appropriately. However, considering that the increase in volume will lead to greater water flow resistance, it is not possible to thicken or lengthen the rod. Instead, high-density materials can be used to make the rod or appropriate weight can be added to the bottom.

[0101] On the other hand, (F'·L f -G f ·L f -G g ·L g (F”·L) should be as small as possible. f -G f ·L f -G g ·L g To make G as large as possible, we first need to increase G. f ·L f and G g ·L g Secondly, reduce F'·L f And increase F”·L f Therefore, the length of the buoy connecting rod should be increased as much as possible during the design phase to increase L. f and L g This can also increase the weight of the buoy and buoy connecting rod, while due to L f >L g Obviously, increasing the weight of the buoy is more effective than increasing the weight of the buoy connecting rod. Therefore, increasing the weight of the buoy should be prioritized, and appropriate counterweights can be added to the buoy to achieve this. Furthermore, given a fixed θ (i.e., a fixed distance the buoy rises), to minimize F' and maximize F”, the buoy's displacement should be sufficiently large. Simultaneously, the buoy should be designed to be wide, thin, and flat. This ensures high sensitivity of the buoy's buoyancy relative to its draft; that is, a small change in draft can result in a large change in buoyancy.

[0102] Due to F n '、F n "Drag is unhelpful and should be minimized. Since buoys should be designed to be wide, thin, and flat, drag cannot be reduced by decreasing volume, but it can be designed with a more streamlined shape. For example, a buoy can be designed as a streamlined shape with a narrow front and a wide rear, and a concave lower surface, as specifically..." Figure 13 As shown in the figure. Alternatively, materials with low water friction, such as high-density polyethylene or polyethylene, can be considered for buoy production to allow F... n '、F n "As small as possible."

[0103] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A fixing device for a self-balancing, wave-resistant depth sounding and positioning system, characterized in that, include: A fixed module for installation on the hull of the survey vessel, which includes a detachable, vertically mounted bearing height adjustment fixing rod; The rotatable module includes a bearing sleeve, a depth sounding positioning rod, and a buoy connecting rod. The bearing sleeve comprises a bearing and a bearing sleeve body fixed as one piece, with their axes perpendicular to each other. The bearing is detachably mounted on the lower end of the bearing height adjustment fixing rod and is positioned below the water surface. The axis of the bearing is perpendicular to the axis of the bearing height adjustment fixing rod. The bearing sleeve body has a hole formed for the bearing sleeve depth sounding positioning rod. The depth sounding positioning rod passes through the hole and is detachably fixed to it. The top end of the depth sounding positioning 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 a buoy, and the other end is detachably connected to the depth sounding positioning rod, with the two being perpendicular to each other. The rotatable module can rotate as a whole in a one-dimensional plane to achieve a vertically balanced state via the bearing. The fixing module includes a horizontal bar that is detachably installed across the two sides of the measuring vessel and a longitudinal bar installed along one side of the vessel. The end of the horizontal bar near the longitudinal bar is fixed to one side of the vessel by a longitudinal-horizontal bar connecting fastener, and the longitudinal bar passes through the longitudinal-horizontal bar connecting fastener and is fixedly connected to it. The bearing height adjustment fixing rod is installed through the longitudinal and transverse rod connecting fixing device, and the transverse rod, longitudinal rod and bearing height adjustment fixing rod are perpendicular to each other. The longitudinal and transverse bar connecting fastener includes a main body, which has a transverse bar sleeve hole and a longitudinal bar sleeve hole, with the transverse bar sleeve hole being sealed at the end near the longitudinal bar sleeve hole. A bearing height adjustment fixing rod sleeve hole is also provided on one side of the main body. The central axes of the transverse bar sleeve hole, the longitudinal bar sleeve hole, and the bearing height adjustment fixing rod sleeve hole are all perpendicular to each other. The end of the crossbar near the longitudinal bar is inserted into the crossbar sleeve hole of the longitudinal and transverse bar connecting and fixing device and locked with a locking screw; the longitudinal bar passes through the longitudinal bar sleeve hole of the longitudinal and transverse bar connecting and fixing device and is locked with a locking screw; the bearing height adjustment fixing rod includes a bearing height adjustment fixing rod body, which passes through the bearing height adjustment fixing rod sleeve hole of the longitudinal and transverse bar connecting and fixing device from bottom to top and is locked with a locking screw; The main body of the longitudinal and transverse bar connecting fastener also has a longitudinal and transverse bar connecting fastener hull clamp, which is used to clamp the hull with clearance fit and lock it in place with locking screws.

2. The fixing device for the self-balancing, wave-resistant depth sounding and positioning system according to claim 1, characterized in that, Both ends of the longitudinal rod are also installed and fixed by longitudinal rod retainers. The longitudinal rod retainer is formed with a longitudinal rod sleeve hole and a longitudinal rod hull clamp. The longitudinal rod sleeve hole allows the longitudinal rod to pass through and be locked with a locking screw. The longitudinal rod hull clamp is used to clamp the hull with clearance fit and be locked with a locking screw.

3. The fixing device for the self-balancing, wave-resistant depth sounding and positioning system according to claim 1, characterized in that, The end of the crossbar away from the longitudinal bar is installed and fixed by a crossbar fixer. The crossbar fixer is formed with a crossbar sleeve hole and a hull clamp. The crossbar sleeve hole allows the crossbar to pass through and be locked with a locking screw. The hull clamp is used to clamp the hull with clearance fit and be locked with a locking screw.

4. The fixing device for the self-balancing, wave-resistant depth sounding and positioning system according to claim 1, characterized in that, The depth sounding positioning mounting rod includes a locator connecting rod and a depth sounder connecting rod. The depth sounder connecting rod passes through the bearing sleeve depth sounding positioning mounting rod sleeve hole and is locked by a locking screw. The buoy connecting rod is provided with a buoy connecting rod depth measuring and positioning installation rod sleeve hole at the end away from the buoy. The part of the depth measuring rod above the bearing sleeve passes through the buoy connecting rod depth measuring and positioning installation rod sleeve hole and is locked by a locking screw. The positioner connecting rod is detachably fixed to the top of the depth sounder connecting rod.

5. The fixing device for the self-balancing, wave-resistant depth sounding and positioning system according to claim 4, characterized in that, The buoy connecting rod includes a detachably fixedly connected buoy connecting rod sleeve section and buoy connecting rod buoy section, and the buoy connecting rod depth measuring and positioning mounting sleeve hole is provided 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.

6. The fixing device for the self-balancing, wave-resistant depth sounding and positioning system according to claim 5, characterized in that, The buoy connecting rod also includes at least one detachably fixedly connected buoy connecting rod extension section between the buoy connecting rod sleeve section and the buoy section of the buoy connecting rod.

7. The fixing device for the self-balancing, wave-resistant depth sounding and positioning system according to any one of claims 1 to 6, characterized in that, The installation height of the depth sounding positioning rod satisfies formula (2): The bearing serves as the mounting fulcrum O and F of the depth sounding positioning system. s The water flow resistance experienced by the depth sounding positioning rod above the fulcrum O is measured by a lever arm of L. s ;F x The water flow resistance experienced by the depth sounding positioning rod below the fulcrum O is measured by a lever arm of L. x ; and based on Force analysis formula (4) for the rotatable module when it moves clockwise out of vertical equilibrium: ,and Force analysis formula (6) for the rotatable module when it deviates from the vertical equilibrium state counterclockwise: The depth sounding and positioning mounting rod is configured such that the part above the fulcrum O has a small weight, and the part below the fulcrum O has a large weight or a bottom counterweight; the buoy connecting rod is configured as a long rod, and the buoy is equipped with a counterweight; in, / These represent the torques experienced by the rotatable module when it deviates from its vertical equilibrium state clockwise and counterclockwise, respectively; θ represents the corresponding tilt angle of the rotatable module. / The buoyancy generated by the buoy has a lever arm of L at equilibrium. f G f The buoy's weight is the lever arm at equilibrium, and the lever arm is L. f ; / The corresponding water flow resistance experienced by the buoy, the corresponding lever arm is... / G g The weight of the buoy connecting rod is L, and the lever arm is L when in equilibrium. g G s The weight of the depth sounding positioning rod above fulcrum O is measured by the distance L from fulcrum O to its center of gravity. gs G x The weight of the depth sounding positioning rod below the fulcrum O is measured by the distance L from the fulcrum O. gx .

8. The fixing device for the self-balancing, wave-resistant depth sounding and positioning system according to claim 7, characterized in that, The buoy is configured as a streamlined shape with a narrow front end and a wide rear end, and is generally wide and thin and flat.

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