Unmanned ship for surveying hydrology and water resources and surveying method

Abstract

The invention discloses an unmanned ship for surveying hydrology and water resources and a surveying method, and relates to the technical field of water resource surveying. The unmanned ship comprises a ship body and further comprises two surveying sampling assemblies; a balance assembly is installed on the ship body, two electric push rods are rotatably installed on the balance assembly, recovery assemblies are installed at the telescopic ends of the two electric push rods, and the two recovery assemblies are connected with the corresponding surveying and sampling assemblies; the balance assembly is used for maintaining the stability of the surveying and sampling assembly during sampling, and the electric push rod is used for adjusting the position of the surveying and sampling assembly. The underwater sediment sampling device has the advantages that the underwater sediment is sampled by adopting a full-automatic drilling sampling survey mode, the stability is high, the sampling depth and accuracy are controllable, the probability of sludge suspension is reduced in the sampling process, the sampling integrity is improved, in addition, the counter-acting force during drilling can be offset, and the sampling accuracy is improved. Drilling sampling can be completed without fixing equipment, moving operation is convenient, and the sampling efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of water resource surveying, and in particular to an unmanned boat and a surveying method for hydrological and water resource surveying. Background Art

[0002] Silt is a component of water sediments. It generally refers to the part distributed in the upper layer of sediments, which has a high content of various nutrients and toxic and harmful substances. The surface silt is easily suspended under the disturbance of wind and waves, causing the transparency of the water body to decrease and affecting the growth of submerged plants. Therefore, it is necessary to survey the silt in the water area.

[0003] Existing survey methods include the rod method, geological drilling method, ultrasonic measurement method and static penetration method, among which the rod method requires operators to cooperate with a survey ship to conduct sampling surveys, which has large human errors. Therefore, the announcement number CN111879205B discloses a survey ship for detecting silt and a method for detecting silt using the survey ship, which includes a hull, a positioning system and a control system are arranged on the hull, the positioning system is communicatively connected with the control system, and the positioning system transmits the position signal to the control system and compares it with the position signal set in the control system, a measuring device is arranged on the hull, the measuring device includes a depth sounding probe and a depth sounding rope, the depth sounding probe is communicatively connected with the control system; the depth sounding rope is movably raised and lowered on the hull, and a metering assembly is arranged on the hull, one end of the depth sounding rope extends into the water, and a weight is arranged on the end of the depth sounding rope extending into the water.

[0004] When the above-mentioned survey ship is measuring, the driving member will drive the first drum to rotate, so as to realize the lifting and lowering of the sounding rope. At the same time, due to the action of the connecting rod, it will drive the vibrating block to move back and forth, so that the vibrating block can vibrate the sounding rope, reducing the influence of some floating objects in the water on the descent of the sounding rope, and the situation where the heavy objects do not sink into the bottom silt and cause deviations in the measurement results. At the same time, the synchronous start and stop of the lifting and vibration of the sounding rope can be realized, that is, when the first drum drives the sounding rope to lift and lower, the vibrating block will drive the sounding rope to vibrate, and when the first drum stops rotating, the vibrating block will also stop moving. The combination of the two has a more significant use effect and can be better controlled.

[0005] The above-mentioned survey ship uses anchor claws to fix the hull to the bottom of the water to maintain the stability of the hull. Since the survey requires multi-point sampling and detection, the use of anchor claws to maintain the stability of the hull is more frequent. At the same time, the anchor claws will cause the silt to float, affecting the detection of the silt. In addition, the anchor claw fixation cannot effectively stabilize the hull, and the survey ship will still shake under the push of wind and waves, affecting the accuracy of the survey.

[0006] Another announcement number CN113607464B discloses a river and lake system bottom sediment sampler, which includes a driving unit and a sampling unit fixedly connected to the movable end of the driving unit, and the driving unit is used to drive the sampling unit to move so that the sampling unit can extend into the sampling area for sampling.

[0007] The above-mentioned sampler is used to fix the sampler by inserting a fixing cone into the mud layer at the bottom of the water when sampling, and then sampling is carried out. However, for thicker mud layers at the bottom of the water, the length of the fixing cone is limited, so it cannot have a good fixing effect. When drilling and sampling, the sampler cannot drill in due to poor fixing effect, and its use has certain limitations.

[0008] Therefore, a new type of unmanned boat and survey method for hydrological and water resources survey can be used to solve the shortcomings of the existing technology. Summary of the invention

[0009] The purpose of the present invention is to solve the problems in the prior art of survey error caused by poor stability of the survey hull and poor sampling drilling fixation effect, and to propose an unmanned boat and survey method for hydrological and water resources survey.

[0010] In order to achieve the above object, the present invention adopts the following technical solutions: An unmanned boat for hydrological and water resources survey, comprising a hull and two sets of survey and sampling components; A balancing component is installed on the hull, and two electric push rods are rotatably installed on the balancing component. Recovery components are installed at the telescopic ends of the two electric push rods, and the two recovery components are connected to the corresponding survey and sampling components; The balancing assembly is used to maintain the stability of the survey and sampling assembly during sampling. The electric push rod is used to adjust the position of the survey and sampling assembly to ensure that the survey and sampling assembly accurately reaches the sampling area. The recovery assembly is used to lower and recover the survey and sampling assembly. The recovery assembly includes a bottoming sensor mechanism and keeps the survey and sampling assembly vertical to ensure normal sampling of the survey and sampling assembly. The survey and sampling assembly includes a survey and sampling cylinder, a pressure applicator, a steering mechanism and an anti-tilt mechanism.

[0011] Preferably, the balancing assembly includes a vibration-damping base fixedly mounted on the hull, a balancing bracket rotatably mounted on the vibration-damping base, an angle adjustment motor fixedly mounted on the vibration-damping base, a driving end of the angle adjustment motor is fixedly connected to the balancing bracket, and a central axis of the balancing bracket and a driving axis of the angle adjustment motor are located on the same straight line, a balancing motor is fixedly mounted on the side of the balancing bracket, a pillar is rotatably mounted on the balancing bracket, a horizontal sensing bracket is fixedly mounted on the pillar, the driving end of the balancing motor is fixedly connected to the pillar, a damping hinge is rotatably mounted on the electric push rod, and the damping hinge and the horizontal sensing bracket are fixedly connected.

[0012] Preferably, the recovery component includes a fixed disk, which is fixedly connected to the telescopic end of the electric push rod, a support frame is fixedly mounted on the fixed disk, a wire-taking drum is rotatably mounted on the support frame, two steel ropes, a conducting wire and an air pipe are wound around the wire-taking drum, a wire-taking motor is fixedly mounted on the support frame, and a driving end of the wire-taking motor is fixedly connected to the wire-taking drum.

[0013] Preferably, the bottoming sensing mechanism comprises a pressure sensor fixedly mounted on a support frame, a support rod fixedly mounted on the pressure sensor, a pressure roller rotatably mounted on the support rod, and a steering roller cooperating with the steel wire rope rotatably mounted on the support frame.

[0014] Preferably, the survey and sampling assembly includes a frame, a control module is fixedly mounted on the frame, a protective cover matching the control module is fixedly mounted on the frame, the steel wire rope is fixedly connected to the protective cover, the conducting wire is connected to the control module, a rotary drilling motor is fixedly mounted on the frame, the survey and sampling barrel is fixedly connected to the driving end of the rotary drilling motor, and a limit plate is fixedly mounted on the outside of the survey and sampling barrel.

[0015] Preferably, the pressure mechanism comprises two first shafts fixedly mounted on the frame, a pressure motor is fixedly mounted on each of the two first shafts, and a pressure propeller is fixedly mounted on each of the driving ends of the two pressure motors.

[0016] Preferably, the steering mechanism comprises two second shafts rotatably mounted on the frame, a steering motor is fixedly mounted on each of the two second shafts, and a steering propeller is fixedly mounted on each of the two steering motor driving ends; A first bevel gear is fixedly mounted on the adjacent ends of the two second shafts, a disc motor is fixedly mounted on the frame, and a second bevel gear meshing with the two first bevel gears is fixedly mounted on the driving end of the disc motor.

[0017] Preferably, the anti-tilt mechanism comprises a plurality of floating and sinking balance water tanks fixedly mounted on a frame, two water pumps are fixedly mounted on the frame, and the two water pumps are respectively connected to the corresponding two floating and sinking balance water tanks through pipelines.

[0018] Preferably, a storage groove is provided at the bottom of the floating and sinking balance water tank, a telescopic air box is fixedly installed in the storage groove, and the air pipe is connected to the telescopic air box.

[0019] The present invention also provides a hydrological and water resources surveying method, comprising the unmanned boat for hydrological and water resources surveying, and further comprising the following steps: S1. First, the hull is driven to the survey waters through the remote control system, and then the recovery assembly is extended out of the hull through the electric push rod, so that the survey sampling assembly reaches directly above the surveyed waters, and then the angle of the electric push rod is locked; S2. Then, the survey and sampling component is placed in the water through the recovery component. As the survey and sampling component is lowered, the bottom-touching mechanism on the recovery component will transmit data about the position of the survey and sampling component through pressure sensing. Once the survey and sampling component touches the bottom, the bottom-touching mechanism will be triggered. At this time, the recovery component will slow down the lowering speed of the survey and sampling component, and at the same time, the position of the survey and sampling component will be controlled according to the pressure sensing to keep the survey and sampling component vertical. S3. When the survey sampling tube on the survey sampling assembly touches the bottom, the balancing mechanism will absorb water and increase weight, and the recovery assembly will continue to lower the survey sampling assembly. The weight of the survey sampling assembly after absorbing water and increasing weight increases, and the survey sampling tube will be pressed into a part of the silt layer. The silt layer below is relatively thick, and then the pressure mechanism will apply pressure to the survey sampling tube to press the survey sampling tube into the thick silt layer; S4. Since there is a soil layer or rock layer underneath the thick silt layer, the survey sampling tube needs to be rotated to collect samples. Therefore, the survey sampling tube will rotate around its own central axis. During the rotation, a compressive force will be generated between the survey sampling tube and the soil layer or rock layer. Since the force is mutual, the rotation of the survey sampling tube will drive the entire survey sampling assembly to rotate. At this time, the steering mechanism is used to offset the reaction force generated by the rotation to keep the survey sampling assembly stable.

[0020] Compared with the prior art, the present invention has the following advantages: 1. When the unmanned survey vessel is conducting underwater mud layer survey, a balance component is set to maintain the balance of the survey sampling component to ensure that the two sets of survey sampling components are located on the same horizontal line. Samples at the same height at different positions are taken to make the sample comparison more comparable. At the same time, the impact of the hull shaking due to wind and waves on the survey can be reduced, effectively improving the accuracy and stability of the survey.

[0021] 2. When the unmanned survey boat is surveying the underwater mud layer, by setting up a bottom-touching sensing mechanism, it can not only transmit data back to the survey sampling tube after touching the bottom, but also control the retraction and release of the wire rope according to the pressure between the wire rope and the pressure roller, to ensure that the survey sampling tube is always in a bottom-touching state, to avoid the situation where the survey sampling tube is separated from the bottom of the water due to the shaking of the hull, resulting in the suspension of underwater mud, to improve the integrity of the mud layer sampling, and thus improve the accuracy of sampling.

[0022] 3. When the unmanned survey boat is surveying the underwater mud layer, the anti-tilt mechanism can not only absorb water and increase weight to speed up the survey sampling tube entering the mud layer, but also keep the survey sampling tube in a vertical drilling state during the sampling process, avoiding the situation where the survey sampling tube is tilted and the drilling depth is insufficient, thereby improving the accuracy and stability of sampling.

[0023] 4. When the unmanned survey boat is surveying the underwater mud layer, a pressure-applying mechanism can be set up to apply drilling pressure to the survey sampling tube again after weight increase, to ensure that the survey sampling tube can drill into the soil or rock layer smoothly, and the downward pressure can be automatically adjusted according to the hardness of the soil or rock layer, which is more adaptable.

[0024] 5. When the unmanned survey boat is surveying the underwater silt layer, by setting a steering mechanism, the reaction force between the survey sampling tube and the soil layer or rock layer can be offset when the survey sampling tube is drilling, so as to prevent the survey sampling tube from being unable to drill and ensure the smooth drilling of the survey sampling tube. In addition, with the use of a telescopic air box, not only can the balance be adjusted, but also the contact area between the horizontal direction and the water body can be increased, thereby increasing the resistance of the reaction force, which is used to offset part of the reaction force and reduce the operating energy consumption of the steering mechanism.

[0025] In summary, the present invention adopts a fully automatic drilling sampling and surveying method to sample underwater deposits, which has high stability, controllable sampling depth and accuracy, and reduces the probability of silt suspension during the sampling process, thereby improving the integrity of the sampling. In addition, the reaction force during drilling can be offset, and drilling sampling can be completed without fixed equipment. The mobile operation is convenient and the sampling efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the structure of an unmanned boat for hydrological and water resources survey proposed by the present invention; Figure 2 for Figure 1 Detailed schematic diagram of the structure after being rotated to a certain angle; Figure 3 for Figure 1Detailed schematic diagram of the center balance assembly, survey and adoption assembly, recovery assembly, and the enlarged structure of the driving push rod; Figure 4 for Figure 3 A detailed diagram of the enlarged structure of the middle balance assembly after it is rotated to a certain angle; Figure 5 for Figure 3 A detailed diagram of the enlarged structure of the survey sampling assembly, recovery assembly and electric push rod; Figure 6 for Figure 5 A schematic detailed diagram of the enlarged structure of the recovery component; Figure 7 for Figure 6 Detailed schematic diagram of the structure after being rotated to a certain angle; Figure 8 for Figure 3 A detailed schematic diagram of the enlarged structure of the survey sampling assembly; Fig. 9 for Figure 8 Detailed schematic diagram of the structure after being rotated to a certain angle; Fig.10 for Figure 8 Detailed schematic diagram of the structure after removing the protective cover, wire rope, conductor and air pipe and rotating them to a certain angle; Fig.11 for Fig.10 A detailed schematic diagram of the enlarged structure of the control module; Fig.12 for Figure 8 Detailed schematic diagram of the operating structure of the survey and sampling assembly during the floating process; Fig.13 for Fig.12 Detailed schematic diagram of the structure after being rotated to a certain angle; Fig.14 for Figure 8 Detailed schematic diagram of the operating structure of the survey sampling assembly during the sampling process; Fig.15 for Fig.14 An enlarged structural schematic detail diagram of the two first shafts and their driving components.

[0027] In the figure: 1 hull, 2 balance component, 3 survey sampling component, 4 recovery component, 5 electric push rod, 6 vibration reduction base, 7 angle adjustment motor, 8 balance bracket, 9 balance motor, 10 horizontal sensor bracket, 11 support frame, 12 take-up reel, 13 take-up motor, 14 pressure sensor, 15 steering roller, 16 wire rope, 17 conductor, 18 air pipe, 19 pressure roller, 20 protective cover, 21 survey sampling cylinder, 22 limit plate, 23 floating balance water tank, 24 water pump, 25 pressure propeller, 26 first shaft rod, 27 second shaft rod, 28 steering propeller, 29 frame, 30 control module, 31 telescopic air box, 32 storage slot, 33 disc motor, 34 first bevel gear, 35 second bevel gear. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Example 1: Reference Figure 1-Figure 8 , an unmanned boat for hydrological and water resources survey, comprising a hull 1 and two sets of survey and sampling components 3; The hull 1 is self-propelled and can be controlled by a remote control system to achieve unmanned operation, which has high safety. The hull 1 is equipped with a data processor and a data return system for transmitting the surveyed data to the ground for processing and analysis, and for remote sampling and control based on the data.

[0030] A balancing component 2 is installed on the hull 1 , and two electric push rods 5 are rotatably installed on the balancing component 2 . Recovery components 4 are installed at the telescopic ends of the two electric push rods 5 , and the two recovery components 4 are connected to the corresponding surveying and sampling components 3 .

[0031] An anchor claw is provided at the bottom of the hull 1 just below the balancing assembly 2 for fixing the hull 1 .

[0032] The balance component 2 is used to maintain the stability of the survey and sampling component 3 during sampling, and the electric push rod 5 is used to adjust the position of the survey and sampling component 3 to ensure that the survey and sampling component 3 accurately reaches the sampling area.

[0033] The balancing assembly 2 includes a vibration-damping base 6 fixedly installed on the hull 1, a balancing bracket 8 is rotatably installed on the vibration-damping base 6, an angle adjustment motor 7 is fixedly installed on the vibration-damping base 6, a driving end of the angle adjustment motor 7 is fixedly connected to the balancing bracket 8, and the central axis of the balancing bracket 8 and the driving axis of the angle adjustment motor 7 are located on the same straight line, a balancing motor 9 is fixedly installed on the side of the balancing bracket 8, a pillar is rotatably installed on the balancing bracket 8, a horizontal sensing bracket 10 is fixedly installed on the pillar, the driving end of the balancing motor 9 is fixedly connected to the pillar, a damping hinge is rotatably installed on the electric push rod 5, and the damping hinge and the horizontal sensing bracket 10 are fixedly connected.

[0034] The horizontal sensing bracket 10 is an existing device, which consists of an angle sensor, a bracket and a controller. When the bracket tilts, the angle sensor detects the tilt and sends the information to the controller, which then controls the balancing motor 9 and the angle adjustment motor 7. When the hull 1 shakes under the action of wind and waves, the balancing motor 9 can be used to ensure that the two electric push rods 5 are in a horizontal state. At this time, the heights of the two groups of survey and sampling components 3 are consistent. Through the control variable method, the positions of the two groups of survey and sampling components 3 are different but the heights are the same. Therefore, the sample depths are consistent and the sample positions are different, so the comparison between the two groups of samples is more comparable.

[0035] The recovery component 4 is used to lower and recover the survey and sampling component 3 . The recovery component 4 includes a bottoming sensing mechanism and keeps the survey and sampling component 3 vertical to ensure normal sampling of the survey and sampling component 3 .

[0036] The recovery component 4 includes a fixed disk, which is fixedly connected to the telescopic end of the electric push rod 5. A support frame 11 is fixedly installed on the fixed disk, and a wire-receiving drum 12 is rotatably installed on the support frame 11. Two steel ropes 16, a conductor 17 and an air pipe 18 are wound around the wire-receiving drum 12. A wire-receiving motor 13 is fixedly installed on the support frame 11, and the driving end of the wire-receiving motor 13 is fixedly connected to the wire-receiving drum 12.

[0037] The rotation of the driving end of the take-up motor 13 will drive the take-up drum 12 fixedly connected thereto to rotate, thereby realizing the operation of taking up and releasing the wire. The take-up motor 13 adopts a bidirectional servo motor and can freely change the direction.

[0038] The steel wire rope 16 is fixed to the conductor 17 and the air pipe 18 by a wire clamp to ensure that only the steel wire rope 16 is subjected to force when the line is retracted and released, so as to protect the conductor 17 and the air pipe 18. By using two parallel steel wire ropes 16, the steel wire ropes 16 can be stacked on each other when the line is retracted to avoid the steel wire rope 16 from deviating and pressing on the conductor 17 or the air pipe 18 when winding.

[0039] The bottoming sensing mechanism includes a pressure sensor 14 fixedly mounted on a support frame 11 , a support rod fixedly mounted on the pressure sensor 14 , a pressure roller 19 rotatably mounted on the support rod, and a steering roller 15 matched with a steel wire rope 16 rotatably mounted on the support frame 11 .

[0040] The pressure sensor 14 is used to monitor the pressure of the wire rope 16 on the pressure roller 19. The support frame 11 is equipped with a controller. The pressure sensor 14 transmits the detected pressure to the controller through a signal, and then controls the operation of the take-up motor 13 through the controller. When the survey and sampling component 3 enters the water as a whole, the survey and sampling component 3 sinks at a uniform speed by controlling the take-up motor 13, so that the sinking of the survey and sampling component 3 is more stable.

[0041] When the survey and sampling assembly 3 sinks and touches the bottom, the tension of the survey and sampling assembly 3 on the wire rope 16 will decrease under the support of the silt, so the pressure on the pressure sensor 14 will decrease. At this time, it is necessary to control the take-up motor 13 to slow down the lowering speed of the survey and sampling assembly 3, which can effectively ensure that the survey and sampling assembly 3 is in a balanced state and avoid the situation where the survey and sampling assembly 3 tilts due to touching the bottom.

[0042] like Figure 7 As shown, the winding method of the wire rope 16, the function of the steering roller 15 is to change the direction of the wire rope 16, and it is used in conjunction with the pressure roller 19 so that the pressure sensor 14 detects the pressure between the wire rope 16 and the pressure roller 19.

[0043] Embodiment 2: This embodiment is different from the embodiment 1 in that: Figure 1-Figure 3 , Figure 8-Figure 15 The surveying and sampling assembly 3 includes a surveying and sampling tube 21, a pressure applying mechanism, a steering mechanism and an anti-tilt mechanism.

[0044] The survey and sampling assembly 3 includes a frame 29, on which a control module 30 is fixedly installed, on which a protective cover 20 matching the control module 30 is fixedly installed, the wire rope 16 is fixedly connected to the protective cover 20, the wire 17 is connected to the control module 30, a rotary drilling motor is fixedly installed on the frame 29, a survey and sampling tube 21 is fixedly connected to the driving end of the rotary drilling motor, and a limit plate 22 is fixedly installed on the outside of the survey and sampling tube 21.

[0045] The rotation of the driving end of the rotary drilling motor will drive the survey sampling tube 21 fixedly connected thereto to rotate so as to perform drilling of the survey sampling tube 21 .

[0046] Since the survey and sampling barrel 21 will generate resistance pressure with the soil or rock layer when drilling, and this resistance pressure will in turn act on the rotary drilling motor, if the rotary drilling motor is not restricted, the survey and sampling barrel 21 cannot rotate. At this time, the rotary drilling motor will drive the survey and sampling component 3 to rotate. Therefore, the rotary drilling motor on the survey and sampling component 3 is restricted by the steering mechanism.

[0047] The pressure mechanism includes two first shafts 26 fixedly mounted on the frame 29 , a pressure motor is fixedly mounted on each of the two first shafts 26 , and a pressure propeller 25 is fixedly mounted on each of the driving ends of the two pressure motors.

[0048] When the survey sampling tube 21 encounters a soil layer or a rock layer, the survey sampling component 3 cannot meet the drilling force requirement. At this time, the pressure motor is started to drive the pressure propeller 25 to rotate. The rotation of the pressure propeller 25 will push water upward, causing the survey sampling component 3 to generate downward pressure for drilling pressure compensation. The size of the compensation pressure is related to the rotation speed of the pressure motor and the size, shape and spiral angle of the pressure propeller 25. The faster the rotation speed, the greater the pressure.

[0049] The steering mechanism comprises two second shafts 27 rotatably mounted on a frame 29, a steering motor is fixedly mounted on each of the two second shafts 27, and a steering propeller 28 is fixedly mounted on each of the two steering motor driving ends; A first bevel gear 34 is fixedly mounted on the adjacent ends of the two second shafts 27 , a disc motor 33 is fixedly mounted on the frame 29 , and a second bevel gear 35 meshing with the two first bevel gears 34 is fixedly mounted on the driving end of the disc motor 33 .

[0050] When rotary drilling is performed, the second bevel gear 35 is driven to rotate by the disc motor 33 (the purpose of using the disc motor 33 is to reduce the volume, and it has high power density, compact design, high efficiency, low moment of inertia, good heat dissipation performance, low noise and less maintenance requirements). The rotation of the second bevel gear 35 will drive the two first bevel gears 34 to rotate, thereby driving the second shaft 27 to rotate. Since the two second shafts 27 are respectively located on both sides of the second bevel gear 35, the rotation directions of the two second shafts 27 are the same until the two second shafts 27 rotate to ninety degrees. At this time, the steering propellers 28 on the two second shafts 27 are in a horizontal state, and then the steering propellers 28 are driven to rotate by the steering motor. At this time, the steering propellers 28 will push water in the horizontal direction. Since the two steering propellers 28 are located in symmetrical positions, the simultaneous rotation of the two steering propellers 28 will cause the frame 29 to rotate around the central axis of the survey sampling tube 21, which is used to offset the reaction force of the survey sampling tube 21 during drilling. Drilling operations can be performed without fixing the survey sampling assembly 3.

[0051] The anti-tilt mechanism includes a plurality of floating and sinking balance water tanks 23 fixedly mounted on a frame 29 , on which two water pumps 24 are fixedly mounted. The two water pumps 24 are respectively connected to the corresponding two floating and sinking balance water tanks 23 through pipelines.

[0052] This part has two functions. First, water is injected into the floating and sinking balance water tank 23 through the water pump 24 to increase the weight of the survey sampling assembly 3, so as to facilitate pressing the survey sampling tube 21 into the relatively solid silt. The amount of water injected shall not exceed two-thirds of the floating and sinking balance water tank 23. Second: one third of the reserved space is used for water injection to change the weight on both sides of the frame 29 of the survey and sampling assembly 3 to balance the survey and sampling assembly 3.

[0053] A receiving groove 32 is provided at the bottom of the floating and sinking balance water tank 23 , a telescopic air box 31 is fixedly installed in the receiving groove 32 , and the air pipe 18 is connected to the telescopic air box 31 .

[0054] This part also has two functions. First, by ventilating the telescopic air box 31, the telescopic air box 31 is expanded to increase the contact area with the water body. At this time, a greater force is required to rotate the survey sampling assembly 3 to offset part of the reaction force during drilling. Second: After the telescopic gas box 31 is filled with gas, its volume increases, which will change the overall buoyancy of the survey and sampling assembly 3. Since there are four telescopic gas boxes 31, different volumes of gas can be injected into different telescopic gas boxes 31. In this way, the volume changes of the telescopic gas boxes 31 are different, and the increased buoyancy is also different. Therefore, different buoyancy will be generated in the four directions of the survey and sampling assembly 3 to maintain the balance of the survey and sampling assembly 3.

[0055] The specific operation steps of this device are as follows: First, the hull 1 is driven to the survey waters through the remote control system, and then the recovery component 4 is extended out of the hull 1 through the electric push rod 5, so that the survey sampling component 3 reaches directly above the surveyed waters, and then the angle of the electric push rod 5 is locked; Then, the survey and sampling component 3 is placed in the water through the recovery component 4. As the survey and sampling component 3 is lowered, the bottom-touching mechanism on the recovery component 4 will transmit data about the position of the survey and sampling component 3 through pressure sensing. Once the survey and sampling component 3 touches the bottom, the bottom-touching mechanism will be triggered. At this time, the recovery component 4 will slow down the lowering speed of the survey and sampling component 3, and at the same time control the position of the survey and sampling component 3 according to the pressure sensing to keep the survey and sampling component 3 vertical. When the survey sampling tube 21 on the survey sampling assembly 3 touches the bottom, the balancing mechanism will absorb water and increase weight, and the recovery assembly 4 will continue to lower the survey sampling assembly 3. The weight of the survey sampling assembly 3 after absorbing water and increasing weight increases, and the survey sampling tube 21 will be pressed into a part of the silt layer. The silt layer below is relatively thick. Then, the pressure motor is started to drive the pressure propeller 25 to rotate. The rotation of the pressure propeller 25 will push water upward, so that the survey sampling assembly 3 generates downward pressure, and the survey sampling tube 21 is pressed into the thick silt layer. Since there is a soil layer or rock layer below the thick silt layer, the survey sampling barrel 21 needs to be rotated to collect samples. Therefore, the survey sampling barrel 21 will rotate around its own central axis. During the rotation, a compressive force will be generated between the survey sampling barrel 21 and the soil layer or rock layer. Since the force is mutual, the rotation of the survey sampling barrel 21 will drive the entire survey sampling assembly 3 to rotate. At this time, the second bevel gear 35 is driven to rotate by the disc motor 33. The rotation of the second bevel gear 35 will drive the two first bevel gears 34 to rotate, thereby driving the second shaft rod 27 to rotate. Since the two second shaft rods 27 are respectively located at the second bevel gears 34, the second shaft rods 27 are respectively located at the second bevel gears 34. On both sides of the gear 35, the two second shafts 27 rotate in the same direction until the two second shafts 27 rotate to ninety degrees. At this time, the steering propellers 28 on the two second shafts 27 are in a horizontal state, and then the steering propellers 28 are driven to rotate by the steering motor. At this time, the steering propellers 28 will push water in the horizontal direction. Since the two steering propellers 28 are located in symmetrical positions, the simultaneous rotation of the two steering propellers 28 will cause the frame 29 to rotate around the central axis of the survey and sampling tube 21, which is used to offset the reaction force of the survey and sampling tube 21 during drilling and keep the survey and sampling assembly 3 stable.

[0056] During the drilling process, water entering the floating and sinking balance water tank 23 and air entering the telescopic air box 31 will maintain the balance of the survey and sampling assembly 3, ensuring that the survey and sampling assembly 3 maintains vertical drilling.

[0057] The above description is only a preferred specific implementation manner 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 scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An unmanned boat for hydrological and water resources survey, comprising a hull (1), characterized in that: Also included are two sets of survey sampling components (3); A balancing component (2) is installed on the hull (1), two electric push rods (5) are rotatably installed on the balancing component (2), and recovery components (4) are installed on the telescopic ends of the two electric push rods (5), and the two recovery components (4) are connected to the corresponding surveying and sampling components (3); The balancing component (2) is used to maintain the stability of the surveying and sampling component (3) during sampling. The electric push rod (5) is used to adjust the position of the surveying and sampling component (3) to ensure that the surveying and sampling component (3) accurately reaches the sampling area. The recovery component (4) is used to lower and recover the surveying and sampling component (3). The recovery component (4) includes a bottoming sensing mechanism and keeps the surveying and sampling component (3) vertical to ensure normal sampling of the surveying and sampling component (3). The surveying and sampling component (3) includes a surveying and sampling cylinder (21), a pressure mechanism, a steering mechanism, and an anti-tilt mechanism.

2. The unmanned boat for hydrological and water resources survey according to claim 1, characterized in that: The balancing assembly (2) comprises a vibration reduction base (6) fixedly mounted on the hull (1), a balancing bracket (8) rotatably mounted on the vibration reduction base (6), an angle adjustment motor (7) fixedly mounted on the vibration reduction base (6), a driving end of the angle adjustment motor (7) being fixedly connected to the balancing bracket (8), and a central axis of the balancing bracket (8) and a driving axis of the angle adjustment motor (7) being located on the same straight line, a balancing motor (9) being fixedly mounted on a side of the balancing bracket (8), a pillar being rotatably mounted on the balancing bracket (8), a horizontal sensing bracket (10) being fixedly mounted on the pillar, a driving end of the balancing motor (9) being fixedly connected to the pillar, and a damping hinge being rotatably mounted on the electric push rod (5), and a damping hinge being fixedly connected to the horizontal sensing bracket (10).

3. The unmanned boat for hydrological and water resources survey according to claim 1, characterized in that: The recovery component (4) comprises a fixed disk, the fixed disk being fixedly connected to the telescopic end of the electric push rod (5), a support frame (11) being fixedly mounted on the fixed disk, a wire take-up drum (12) being rotatably mounted on the support frame (11), two steel wire ropes (16), a conductor (17) and an air pipe (18) being wound around the wire take-up drum (12), a wire take-up motor (13) being fixedly mounted on the support frame (11), and a drive end of the wire take-up motor (13) being fixedly connected to the wire take-up drum (12).

4. The unmanned boat for hydrological and water resources survey according to claim 3 is characterized in that: The bottoming sensing mechanism comprises a pressure sensor (14) fixedly mounted on a support frame (11), a support rod fixedly mounted on the pressure sensor (14), a pressure roller (19) rotatably mounted on the support rod, and a steering roller (15) matched with a steel wire rope (16) rotatably mounted on the support frame (11).

5. The unmanned boat for hydrological and water resources survey according to claim 4 is characterized in that: The surveying and sampling assembly (3) comprises a frame (29), a control module (30) is fixedly mounted on the frame (29), a protective cover (20) matched with the control module (30) is fixedly mounted on the frame (29), the steel wire (16) is fixedly connected to the protective cover (20), the lead (17) is connected to the control module (30), a rotary drilling motor is fixedly mounted on the frame (29), the surveying and sampling barrel (21) is fixedly connected to the driving end of the rotary drilling motor, and a limit plate (22) is fixedly mounted on the outside of the surveying and sampling barrel (21).

6. The unmanned boat for hydrological and water resources survey according to claim 5, characterized in that: The pressure mechanism comprises two first shafts (26) fixedly mounted on a frame (29), a pressure motor being fixedly mounted on each of the two first shafts (26), and a pressure propeller (25) being fixedly mounted on each of the driving ends of the two pressure motors.

7. The unmanned boat for hydrological and water resources survey according to claim 5, characterized in that: The steering mechanism comprises two second shafts (27) rotatably mounted on a frame (29), a steering motor being fixedly mounted on each of the two second shafts (27), and a steering propeller (28) being fixedly mounted on each of the two steering motor drive ends; A first bevel gear (34) is fixedly mounted on the adjacent ends of the two second shaft rods (27), a disc motor (33) is fixedly mounted on the frame (29), and a second bevel gear (35) meshing with the two first bevel gears (34) is fixedly mounted on the drive end of the disc motor (33).

8. The unmanned boat for hydrological and water resources survey according to claim 7, characterized in that: The anti-tilt mechanism comprises a plurality of floating and sinking balance water tanks (23) fixedly mounted on a frame (29), two water pumps (24) fixedly mounted on the frame (29), and the two water pumps (24) are respectively connected to the corresponding two floating and sinking balance water tanks (23) via pipelines.

9. The unmanned boat for hydrological and water resources survey according to claim 8, characterized in that: A receiving groove (32) is provided at the bottom of the floating and sinking balance water tank (23), a telescopic air box (31) is fixedly installed in the receiving groove (32), and the air pipe (18) is in communication with the telescopic air box (31).

10. A method for hydrological and water resources surveying, used in the unmanned boat for hydrological and water resources surveying as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1. First, the hull (1) is driven to the survey waters by the remote control system, and then the recovery assembly (4) is extended out of the hull (1) by the electric push rod (5), so that the survey sampling assembly (3) reaches directly above the surveyed waters, and then the angle of the electric push rod (5) is locked; S2, then the survey and sampling component (3) is placed into the water through the recovery component (4). As the survey and sampling component (3) is lowered, the bottom-touching mechanism on the recovery component (4) transmits data about the position of the survey and sampling component (3) through pressure sensing. Once the survey and sampling component (3) touches the bottom, the bottom-touching mechanism is triggered. At this time, the recovery component (4) slows down the lowering speed of the survey and sampling component (3) and controls the position of the survey and sampling component (3) according to the pressure sensing so that the survey and sampling component (3) remains vertical. S3, when the survey sampling tube (21) on the survey sampling assembly (3) touches the bottom, the balancing mechanism will absorb water and increase weight, and at the same time, the recovery assembly (4) will continue to lower the survey sampling assembly (3). After absorbing water and increasing weight, the weight of the survey sampling assembly (3) increases, and the survey sampling tube (21) will be pressed into a part of the silt layer. The silt layer below is relatively thick. Subsequently, the pressure mechanism applies pressure to the survey sampling tube (21), and the survey sampling tube (21) is pressed into the thick silt layer; S4. Since there is a soil layer or rock layer below the thick silt layer, the survey sampling tube (21) needs to be rotated to collect samples. Therefore, the survey sampling tube (21) will rotate around its own central axis. During the rotation, a compressive force will be generated between the survey sampling tube (21) and the soil layer or rock layer. Since the force is mutual, the rotation of the survey sampling tube (21) will drive the entire survey sampling assembly (3) to rotate. At this time, the steering mechanism is used to offset the reaction force generated by the rotation, thereby keeping the survey sampling assembly (3) stable.

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