Device for measuring water depth of complex terrain and use method thereof

Abstract

The invention provides a device for measuring water depth in complex terrains and a using method thereof, and the device comprises a connecting frame, line rotating devices are arranged at four corners of the connecting frame, the line rotating devices are connected with an unmanned ship, blocking mechanisms are arranged at two ends of the connecting frame, a clamping mechanism is arranged on one side of each line rotating device, rails are arranged on two sides of each line rotating device, a position control mechanism is arranged on each rail, and a measuring mechanism is arranged on the connecting frame. The bottom of the measuring mechanism is provided with a dip angle corrector. The overall structure is in driving connection with the position control mechanisms on the two sides of the river bank through the multiple unmanned ships, the positions of the unmanned ships are kept fixed through the line rotating devices and the position control mechanisms, the river depth is measured through the measuring mechanism, the river depth is repeatedly measured by moving the position control mechanisms, the overall structure is simple, the automation precision is high, and repeated time-consuming and labor-consuming manual measurement is avoided; manpower and material resources are saved, the overall structure measurement precision is high, and the popularization value is high.

Description

Technical Field

[0001] The invention relates to the field of river surveying, and in particular to a device for measuring water depth in complex terrain and a use method thereof. Background Art

[0002] In the process of underwater topographic measurement, it is necessary to obtain the underwater topographic map covered by the water body through the water depth measurement method. In the case of a small water area and a complex and changeable environment with strong winds and waves, the water depth is generally measured by unmanned boats or traditional water-beating weights, bamboo poles, measuring ropes and other tools. Traditional measuring tools such as water-beating weights, bamboo poles, and measuring ropes have poor accuracy, uneven measurement point density, and cannot accurately measure the plane position corresponding to the water depth. The measured results are not referenceable and have no guiding significance for construction. The performance of unmanned boats is still affected by environmental factors such as wind and waves and water currents. Unmanned boats can achieve high-precision measurement under the conditions of 0-0.3 meter waves and 0-2 winds. Complex and changeable environments with strong winds and waves are prone to capsizing. Exceeding this threshold may cause the path tracking accuracy to decrease, affecting the measurement quality. At the same time, unmanned measurement boats need to be powered by electricity, so their endurance is limited by battery capacity and charging facilities. When working for a long time in an area far away from the power supply, it is difficult to solve the problem of power supply. For this reason, we propose a device for measuring water depth in complex terrain and its use method to solve the above problems. Summary of the invention

[0003] The present invention provides a device for measuring water depth in complex terrain and a method for using the device, which solves the problem of measuring water depth using traditional water-beating weights, bamboo poles, measuring ropes and other tools. Traditional measuring tools such as water-beating weights, bamboo poles, measuring ropes and other tools have poor accuracy and uneven density of measuring points. The unmanned boats in complex and changeable environments with strong winds and waves lead to reduced path tracking accuracy, which affects the measurement quality.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a device for measuring water depth in complex terrain and a method of using the device, including a connecting frame, a cable switch is provided at the four corners of the connecting frame, the cable switch is connected to the unmanned boat, blocking mechanisms are provided at both ends of the connecting frame, a clamping mechanism is provided on one side of the cable switch, tracks are provided on both sides, a position control mechanism is provided on the track, a measuring mechanism is provided on the connecting frame, and an inclination corrector is provided at the bottom of the measuring mechanism.

[0005] In the preferred solution, the connecting frame includes a bracket, on which an RTK and multiple floats are provided, a cable converter and an unmanned boat are installed on the bracket, the cable converter includes a rotating drum, on which a first motor is provided, a cable is wound around the rotating drum, one end of the cable is provided with a hook, the hook is connected to the unmanned boat, a level is provided on the hook, and a filter is provided at the bottom of the bracket.

[0006] In a preferred embodiment, the blocking mechanism includes a blocking plate, which slides against the bracket, is provided with a first rack, is provided with a meshing first gear on the first rack, is provided with a second motor mounted on the bracket, and is provided with a plurality of arc grooves on the blocking plate.

[0007] In the preferred scheme, the clamping mechanism includes an upper clamping plate, the upper clamping plate includes an arc-shaped sleeve, a lower clamping plate is provided at the bottom of the upper clamping plate, a rotating plate is provided on the upper clamping plate, the rotating plate is rotatably connected to the lower clamping plate, a rotatably connected arc-shaped sliding rod is provided on the rotating plate, the arc-shaped sliding rod rests on the arc-shaped sleeve, a cylinder is provided at one end of the arc-shaped sliding rod, and the upper clamping plate and the cylinder are installed on a connecting frame.

[0008] In the preferred embodiment, the measuring mechanism includes a winch with a rope wound around it, a box is provided at the bottom of the rope, a sliding trigger rod and multiple counterweight rings are provided on the box, a spring and an electromagnetic valve are provided between the trigger rod and the top of the box, and a laser emitter is provided on the top of the box.

[0009] In the preferred embodiment, the inclination corrector includes a transverse frame, a first screw rod is provided on the transverse frame, a first slide is provided on the first screw rod, a third motor is provided on the top of the first screw rod, a second screw rod and a fourth motor are provided on the first slide, a second screw rod is provided with a second slide, a through hole is provided on the second slide, and a deflection disk is provided at the bottom of the inclination corrector.

[0010] In a preferred embodiment, a first guide rod is provided on the transverse frame, the first slide is slidably connected to the first slide, a second guide rod is provided on the first slide, the second guide rod is slidably connected to the first slide, a second through hole is provided on the deflection disk, and a rope passes through the through hole and the second through hole.

[0011] In the preferred solution, the position control mechanism includes a slide, which slides against a track, and a sliding transverse slide is provided on the slide, and a second rack is provided on the transverse slide, and a meshing second gear is provided on the second rack, and a fourth motor is provided on the second gear. A vertical frame is provided at one end of the transverse slide, and a lifting hook frame is provided on the vertical frame.

[0012] In the preferred solution, a third screw rod and a third guide rod are provided on the vertical frame, the third screw rod is threadedly connected to the connecting hook frame, the connecting hook frame is slidably connected to the third guide rod, a U-shaped rod is provided on the connecting hook frame, a fifth motor is provided on the top of the third screw rod, and the fifth motor is installed at the end of the transverse slide; The U-shaped rod is used to connect with the hook-type buckle.

[0013] A method for using a device for measuring water depth in complex terrain, characterized by: S1, measuring equipment: a connecting frame is placed in a river, a track is installed on the river bank, and a plurality of position control mechanisms are installed on the track; S2, opening the blocking mechanism to release multiple unmanned boats, controlling the unmanned boats to swim to the shore, manually removing the hook buckles on the unmanned boats, driving multiple clamping mechanisms, clamping the cables, installing the hook buckles on the hook racks, and retrieving the unmanned boats; S3, opening the clamping mechanism to loosen the cables, driving multiple cable converters, and adjusting the position of the connecting frame through RTK; S4, driving the position control mechanism to make the vertical frame extend out of the river bank, driving the position control mechanism and multiple cable converters, and controlling the cable level through a level meter; S5, driving the measuring mechanism to lower the rope, adjusting the inclination corrector to make the rope vertical, and when the solenoid valve is closed, the laser transmitter irradiates the laser onto the deflection disk; S6. Record the distance from the deflection plate to the box body and measure the water depth at the connecting frame; S7, open the clamping mechanism, move the position of the control mechanism, and repeat S1 to S6 until the water depth of the required river position is measured.

[0014] The beneficial effects of the present invention are as follows: tracks are laid on both sides of the river bank, and multiple movable position control mechanisms are installed on the tracks. When it is necessary to measure a turbulent river, the connecting frame is placed in the river, the blocking mechanism is driven, and the small unmanned boat on the connecting frame is released, so that the unmanned boat brings the hook-shaped buckle to the position control mechanisms on both sides, so that the hook-shaped buckle is hooked on the position control mechanism, and multiple cable turners are wound up to adjust the position of the connecting frame in the river, and multiple position control mechanisms are driven to adjust the height of the connecting hook frame of the position control mechanism so that the height of the connecting hook frame is level with the height of the connecting frame, and the cable turners are driven to straighten multiple cables so that the connecting frame is straightened by the position control mechanisms at the four corners to avoid the connection frame floating up and down due to the action of water waves, thereby affecting the measurement accuracy.

[0015] When measuring the river depth through the measuring mechanism, the rope is tilted due to the turbulent river water and wind and waves, and the inclination corrector is driven to keep the rope vertical to ensure the accuracy of the river height. The connecting hook frame of the control mechanism can be adjusted in height to make the connecting frame and the connecting hook frame at the same height, so as to measure the height difference between the connecting frame and the steady water flow on the shore, further ensuring the accuracy of the measured river depth data. When the trigger rod touches the river bottom, the solenoid valve closes and records the distance of the rope reeled out by the winch. The laser transmitter measures the distance from the box to the deflection disk, thereby measuring the river depth here. When the position needs to be moved, the control mechanism on the track is driven to measure multiple river depth data.

[0016] The overall structure uses multiple unmanned boats to drive the control mechanism on both sides of the river bank, and the unmanned boats are fixed in position through the line converter and the control mechanism. The river depth is measured through the measuring mechanism, and the river depth is repeatedly measured by moving the control mechanism. The overall structure is simple and the automation precision is high. It avoids the time-consuming and laborious multiple manual measurements, saving manpower and material resources. The overall structure has high measurement precision, avoiding the poor precision of traditional measurement tools such as water weights, bamboo poles, and measuring ropes, and the uneven density of measurement points. The connecting frame is fixed by cables to avoid the use of large unmanned boats to measure rollovers and the influence of wind, waves, and water currents, which leads to inaccurate measurements. It has great promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments; Figure 1 It is a top view of the overall structure of the present invention; Figure 2 It is a top view of the local structure of the present invention; Figure 3 The present invention Figure 2 A magnified view of center A; Figure 4 is a front view of the blocking mechanism of the present invention; Figure 5 is a schematic diagram of the unmanned boat of the present invention; Figure 6 is a front view of the clamping mechanism of the present invention; Figure 7 is a front view of the upper splint of the present invention; Figure 8 is a front view of the measuring mechanism of the present invention; Fig. 9 is a top view of the deflection disk of the present invention; Fig.10 The present invention Figure 8 Magnified view of middle B; Fig.11 is a front cross-sectional view of the inclination corrector of the present invention; Fig.12 is a top view of the position control mechanism of the present invention; Fig.13 The present invention Fig.12 Enlarged view of middle C; Fig.14 It is a front view of the position control mechanism of the present invention; Fig.15 The present invention Fig.14 Enlarged view of middle D; In the figure: connecting frame 1; bracket 101; buoy 102; unmanned boat 2; cable turner 3; rotating drum 301; first motor 302; hook buckle 303; cable 304; track 4; blocking mechanism 5; blocking plate 501; first rack 502; first gear 503; second motor 504; arc groove 505; clamping mechanism 6; upper clamping plate 601; arc sleeve 6011; lower clamping plate 602; rotating piece 603; arc slide rod 604; cylinder 605; measuring mechanism 7; rope 701; box 702; solenoid valve 703; laser emitter 704; trigger rod 705; spring 706; counterweight ring 707; winch 708; inclination corrector 8; horizontal frame 801; first screw rod 802; third motor 803; first slide 804; second screw rod 805; fourth motor 806; second slide 807; through hole 808; position control mechanism 9; slide seat 901; transverse slide 902; second rack 9021; second gear 903; fourth motor 904; vertical frame 905; third screw rod 906; fifth motor 907; connecting hook frame 908; U-shaped rod 9081; level 10; deflection plate 11; second through hole 1101; filter 12. DETAILED DESCRIPTION

[0018] Embodiment 1: like Figure 1-15 A device for measuring water depth in complex terrain and a method for using the device include a connecting frame 1, a connecting frame 1 with a swivel 3 at four corners, the swivel 3 is connected to an unmanned boat 2, blocking mechanisms 5 are provided at both ends of the connecting frame 1, a clamping mechanism 6 is provided on one side of the swivel 3, tracks 4 are provided on both sides, a position control mechanism 9 is provided on the track 4, a measuring mechanism 7 is provided on the connecting frame 1, and an inclination corrector 8 is provided at the bottom of the measuring mechanism 7. According to this structure, tracks 4 are laid on both sides of the river bank, and multiple movable control mechanisms 9 are installed on the tracks 4. When it is necessary to measure a turbulent river, the connecting frame 1 is placed in the river, the blocking mechanism 5 is driven, and the small unmanned boat 2 on the connecting frame 1 is released, so that the unmanned boat 2 brings the hook-shaped buckle 303 to the control mechanisms 9 on both sides, so that the hook-shaped buckle 303 is hooked on the control mechanism 9, and multiple cable turners 3 are reeled in to adjust the position of the connecting frame 1 in the river, and multiple control mechanisms 9 are driven to adjust the height of the connecting hook frame 908 of the control mechanism 9 so that the height of the connecting hook frame 908 is flush with the height of the connecting frame 1, and the cable turners 3 are driven to straighten the multiple cables 304 so that the connecting frame 1 is straightened through the control mechanisms 9 at the four corners to prevent the connecting frame 1 from floating up and down due to the action of waves, thereby affecting the measurement accuracy.

[0019] When measuring the river depth through the measuring mechanism 7, the rope 701 is tilted due to the turbulent river water and wind and waves, and the inclination corrector 8 is driven to keep the rope 701 vertical to ensure the accuracy of the river height. The connecting hook frame 908 of the control mechanism 9 can be adjusted in height to make the connecting frame 1 and the connecting hook frame 908 at the same height, so as to measure the height difference between the connecting frame 1 and the steady water flow on the shore, further ensuring the accuracy of the measured river depth data. When the trigger rod 705 touches the river bottom, the solenoid valve 703 is closed to record the distance of the rope wound by the winch 708. The laser transmitter 704 measures the distance from the box 702 to the deflection disk 11, thereby measuring the river depth here. When the position needs to be moved, the control mechanism 9 on the track 4 is driven to measure multiple river depth data.

[0020] The overall structure drives the position control mechanism 9 connecting the two sides of the river bank through multiple unmanned boats 2, keeps the position of the unmanned boat 2 fixed through the line converter 3 and the position control mechanism 9, measures the river depth through the measuring mechanism 7, and repeatedly measures the river depth by moving the position control mechanism 9. The overall structure is simple and the automation precision is high, avoiding the time-consuming and laborious multiple manual measurements, saving manpower and material resources, and the overall structure has high measurement precision, avoiding the poor precision of traditional measurement tools such as water weights, bamboo poles, and measuring ropes, and the uneven density of measurement points. The connecting frame 1 is kept fixed by the cable 304, avoiding the use of large unmanned boats to measure rollover and the influence of wind, waves, and water currents, which leads to inaccurate measurement.

[0021] The unmanned boat 2 only starts to pull the cable 304 and swims to the shore before being retracted. It is used less frequently and uses less power. After all measurement locations are measured, it is put back on the connection frame 1, avoiding the problem of battery capacity and charging facilities being limited when using a large unmanned boat for measurement. It can solve the problem of power supply when performing long-term operations in areas far away from power sources.

[0022] In the preferred solution, the connecting frame 1 includes a bracket 101, on which an RTK and a plurality of buoys 102 are arranged, the swivel 3 and the unmanned boat 2 are mounted on the bracket 101, the swivel 3 includes a rotating drum 301, on which a first motor 302 is arranged, a cable 304 is wound around the rotating drum 301, one end of the cable 304 is provided with a hook-shaped buckle 303, the hook-shaped buckle 303 is connected to the unmanned boat 2, a level 10 is arranged on the hook-shaped buckle 303, and a filter 12 is arranged at the bottom of the bracket 101. With this structure, the level 10 on the hook-shaped buckle 303 and the driving position control mechanism 9 are used to keep the connecting hook frame 908 of the position control mechanism 9 and the cable 304 level, so as to ensure the accuracy of the overall structure.

[0023] In a preferred solution, the blocking mechanism 5 includes a blocking plate 501, which slides against the bracket 101, and is provided with a first rack 502, and a meshing first gear 503 is provided on the first rack 502, and a second motor 504 installed on the bracket 101 is provided on the first gear 503, and a plurality of arc grooves 505 are provided on the blocking plate 501. According to this structure, the second motor 504 is driven to rotate the first gear 503, so that the first rack 502 is raised and lowered, so that the blocking plate 501 is raised and lowered, so that a plurality of unmanned boats 2 can be released from the connecting frame 1, and the unmanned boats 2 are pressed against the arc grooves 505, so that the blocking plate 501 can clamp the unmanned boats 2.

[0024] In a preferred solution, the clamping mechanism 6 includes an upper clamping plate 601, the upper clamping plate 601 includes an arc sleeve 6011, a lower clamping plate 602 is provided at the bottom of the upper clamping plate 601, a rotating rotating piece 603 is provided on the upper clamping plate 601, the rotating piece 603 is rotatably connected to the lower clamping plate 602, a rotating arc sliding rod 604 is provided on the rotating piece 603, the arc sliding rod 604 abuts against the arc sleeve 6011, a cylinder 605 is provided at one end of the arc sliding rod 604, and the upper clamping plate 601 and the cylinder 605 are installed on the connecting frame 1. According to this structure, the cylinder 605 is driven to slide the arc sliding rod 604 relative to the arc sleeve 6011, so that the rotating piece 603 rotates, so that the lower clamping plate 602 moves relative to the upper clamping plate 601, so that the top of the lower clamping plate 602 and the bottom of the upper clamping plate 601 clamp the cable 304 to prevent the cable 304 from moving.

[0025] In the preferred solution, the measuring mechanism 7 includes a winch 708, a rope 701 is wound on the winch 708, a box 702 is provided at the bottom of the rope 701, a sliding trigger rod 705 and a plurality of counterweight rings 707 are provided on the box 702, a spring 706 and a solenoid valve 703 are provided between the trigger rod 705 and the top of the box 702, and a laser transmitter 704 is provided on the top of the box 702. With this structure, a vertical level is installed on the rope 701. The flow velocity in the middle and upper part of the turbulent river is faster, which has a greater impact on the deflection of the rope 701. The flow velocity in the middle and lower part of the river is slower, which has a smaller impact on the deflection of the rope 701. The inclination corrector 8 is located at the bottom of the connecting frame 1, in the middle and upper part of the river, to adjust the deflection of the rope 701. A counter is provided on the winch 708.

[0026] The winch 708 is driven to move the box 702 downward. When the box 702 touches the river bottom, the trigger rod 705 slides relative to the box 702, compressing the spring 706, closing the solenoid valve 703, and the laser transmitter 704 immediately emits the laser. The deflection disk 11 receives the laser and measures the distance from the deflection disk 11 to the box 702.

[0027] In a preferred embodiment, the inclination corrector 8 includes a transverse frame 801, a first screw rod 802 is provided on the transverse frame 801, a first slide 804 is provided on the first screw rod 802, a third motor 803 is provided on the top of the first screw rod 802, a second screw rod 805 and a fourth motor 806 are provided on the first slide 804, a second slide 807 is provided on the second screw rod 805, a through hole 808 is provided on the second slide 807, and a deflection disk 11 is provided at the bottom of the inclination corrector 8. According to this structure, the third motor 803 is driven to rotate the first screw rod 802 to move the first slide 804 to move the through hole 808 longitudinally, and the fourth motor 806 is driven to rotate the second screw rod 805 to move the second slide 807 to move the through hole 808 transversely to adjust the displacement of the rope 701.

[0028] In a preferred solution, a first guide rod is provided on the transverse frame 801, the first slide 804 is slidably connected to the first slide 804, a second guide rod is provided on the first slide 804, the second guide rod is slidably connected to the first slide 804, a second through hole 1101 is provided on the deflection disk 11, and the rope 701 passes through the through hole 808 and the second through hole 1101. With this structure, a laser receiver is provided on the deflection disk 11, and a deflection coordinate system is provided on the deflection disk 11. The deflection angle of the box 702 is obtained by the position irradiated by the laser transmitter 704, and the height from the box 702 to the deflection disk 11 is calculated by the cosine theorem. The origin of the deflection coordinate system on the deflection disk 11 is offset from the second through hole 1101, and the distance from the second through hole 1101 to the origin of the deflection coordinate system is equal to the distance from the laser transmitter 704 to the center point of the box 702.

[0029] In the preferred solution, the position control mechanism 9 includes a slide 901, the slide 901 slides against the track 4, a sliding transverse slide 902 is provided on the slide 901, a second rack 9021 is provided on the transverse slide 902, a second gear 903 is meshed on the second rack 9021, a fourth motor 904 is provided on the second gear 903, a vertical frame 905 is provided at one end of the transverse slide 902, and a lifting connecting hook frame 908 is provided on the vertical frame 905. According to this structure, bolt holes are provided on the slide 901, the slide 901 is fastened to the ground by bolts, the fourth motor 904 is driven to extend the vertical frame 905, so that the vertical frame 905 extends out of the river bank, and the fifth motor 907 is driven to rotate the third screw rod 906 to move the connecting hook frame 908 to adjust the height of the connecting hook frame 908, and the U-shaped rod 9081 of the connecting hook frame 908 is used to install the hook buckle 303.

[0030] In the preferred solution, a third screw rod 906 and a third guide rod are provided on the vertical frame 905, the third screw rod 906 is threadedly connected to the connecting hook frame 908, the connecting hook frame 908 is slidably connected to the third guide rod, a U-shaped rod 9081 is provided on the connecting hook frame 908, a fifth motor 907 is provided on the top of the third screw rod 906, and the fifth motor 907 is installed at the end of the transverse slide 902; The U-shaped rod 9081 is used to connect with the hook buckle 303.

[0031] Embodiment 2: Further explanation in conjunction with Example 1: A method for using a device for measuring water depth in complex terrain, characterized by: S1, measuring equipment: a connecting frame 1 is placed in a river, a track 4 is installed on the river bank, and a plurality of position control mechanisms 9 are installed on the track 4; S2, open the blocking mechanism 5 to release multiple unmanned boats 2, control the unmanned boats 2 to swim to the shore, manually remove the hook buckle 303 on the unmanned boat 2, drive multiple clamping mechanisms 6, clamp the cable 304, install the hook buckle 303 on the hook frame 908, and retrieve the unmanned boat 2; S3, opening the clamping mechanism 6 to loosen the cable 304, driving the plurality of cable converters 3, and adjusting the position of the connecting frame 1 by RTK; S4, drive the position control mechanism 9 to make the vertical frame 905 extend out of the river bank, drive the position control mechanism 9 and the multiple cable converters 3, and control the cable 304 to be level through the level meter 10; S5, drive the measuring mechanism 7 to lower the rope 701, adjust the inclination corrector 8 to make the rope 701 vertical, and when the solenoid valve 703 is closed, the laser emitter 704 irradiates the laser onto the deflection disk 11; S6, record the distance from the deflection plate 11 to the box 702, and measure the water depth at the connecting frame 1; S7, open the clamping mechanism 6, move the position of the control mechanism 9, and repeat S1 to S6 until the water depth of the required river position is measured. With this structure, when the calculation and measurement mechanism 7 measures the depth of the river position, the deflection angle of the box 702 is obtained by the position irradiated by the laser transmitter 704, and the height h1 from the box 702 to the deflection plate 11, the height h2 from the deflection plate 11 to the rotating drum 301 of the line turner 3, and the height difference h3 between the hook frame 908 and the shore water surface are calculated by the cosine theorem. Here, the depth of the river position is h1+h2-h3.

[0032] The inclination corrector 8 can make the rope 701 vertical, as a first-level precision device to ensure measurement, to ensure the accuracy of river data. The laser emitter 704 and the deflection disk 11 structure of the measuring mechanism 7, as a second-level precision device to ensure measurement, can ensure accuracy when the rope 701 is affected by the water flow and the rope 701 is deflected. The hook frame 908 can be adjusted up and down, and the hook frame 908 is kept horizontal with the cable 304, as a third-level precision device to ensure measurement, to further ensure the accuracy of measurement. The overall structure of the multi-level measurement precision device greatly ensures the accurate measurement of the water depth in the turbulent river.

[0033] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A device for measuring water depth in complex terrain and a method for using the same, characterized in that: The invention comprises a connecting frame (1), wherein four corners of the connecting frame (1) are provided with a swivel (3), the swivel (3) is connected to an unmanned boat (2), blocking mechanisms (5) are provided at both ends of the connecting frame (1), a clamping mechanism (6) is provided on one side of the swivel (3), tracks (4) are provided on both sides, a position control mechanism (9) is provided on the track (4), a measuring mechanism (7) is provided on the connecting frame (1), and an inclination corrector (8) is provided at the bottom of the measuring mechanism (7).

2. The device for measuring water depth in complex terrain and the method for using the device according to claim 1 are characterized by: The connecting frame (1) comprises a bracket (101), an RTK and a plurality of buoys (102) are provided on the bracket (101), a translator (3) and an unmanned boat (2) are mounted on the bracket (101), the translator (3) comprises a rotating drum (301), a first motor (302) is provided on the rotating drum (301), a cable (304) is wound around the rotating drum (301), a hook-shaped buckle (303) is provided at one end of the cable (304), the hook-shaped buckle (303) is connected to the unmanned boat (2), a level meter (10) is provided on the hook-shaped buckle (303), and a filter net (12) is provided at the bottom of the bracket (101).

3. The device for measuring water depth in complex terrain and the method for using the device according to claim 1 are characterized by: The blocking mechanism (5) comprises a blocking plate (501), the blocking plate (501) being slidably pressed against the bracket (101), a first rack (502) being provided on the blocking plate (501), a first gear (503) being meshed with the first rack (502), a second motor (504) being mounted on the bracket (101) being provided on the first gear (503), and a plurality of arc-shaped grooves (505) being provided on the blocking plate (501).

4. The device for measuring water depth in complex terrain and the method for using the device according to claim 1 are characterized by: The clamping mechanism (6) comprises an upper clamping plate (601), the upper clamping plate (601) comprises an arc-shaped sleeve (6011), a lower clamping plate (602) is provided at the bottom of the upper clamping plate (601), a rotating plate (603) is provided on the upper clamping plate (601), the rotating plate (603) is rotatably connected to the lower clamping plate (602), a rotatably connected arc-shaped sliding rod (604) is provided on the rotating plate (603), the arc-shaped sliding rod (604) abuts against the arc-shaped sleeve (6011), a cylinder (605) is provided at one end of the arc-shaped sliding rod (604), and the upper clamping plate (601) and the cylinder (605) are mounted on a connecting frame (1).

5. The device for measuring water depth in complex terrain and the method for using the device according to claim 1 are characterized by: The measuring mechanism (7) comprises a winch (708), a rope (701) is wound around the winch (708), a box (702) is provided at the bottom of the rope (701), a sliding trigger rod (705) and a plurality of counterweight rings (707) are provided on the box (702), a spring (706) and a solenoid valve (703) are provided between the trigger rod (705) and the top of the box (702), and a laser emitter (704) is provided at the top of the box (702).

6. The device for measuring water depth in complex terrain and the method for using the device according to claim 1 are characterized by: The inclination corrector (8) comprises a transverse frame (801), a first screw rod (802) is provided on the transverse frame (801), a first slide (804) is provided on the first screw rod (802), a third motor (803) is provided on the top of the first screw rod (802), a second screw rod (805) and a fourth motor (806) are provided on the first slide (804), a second slide (807) is provided on the second screw rod (805), a through hole (808) is provided on the second slide (807), and a deflection disk (11) is provided at the bottom of the inclination corrector (8).

7. The device for measuring water depth in complex terrain and the method for using the device according to claim 6 are characterized by: A first guide rod is provided on the transverse frame (801), the first slide (804) is slidably connected to the first slide (804), a second guide rod is provided on the first slide (804), the second guide rod is slidably connected to the first slide (804), a second through hole (1101) is provided on the deflection plate (11), and the rope (701) passes through the through hole (808) and the second through hole (1101).

8. The device for measuring water depth in complex terrain and the method for using the device according to claim 1 are characterized by: The position control mechanism (9) comprises a slide seat (901), the slide seat (901) slides against the track (4), a sliding transverse slide frame (902) is provided on the slide seat (901), a second rack (9021) is provided on the transverse slide frame (902), a meshing second gear (903) is provided on the second rack (9021), a fourth motor (904) is provided on the second gear (903), a vertical frame (905) is provided at one end of the transverse slide frame (902), and a lifting connecting hook frame (908) is provided on the vertical frame (905).

9. The device for measuring water depth in complex terrain and the method for using the device according to claim 8, characterized in that: A third screw rod (906) and a third guide rod are provided on the vertical frame (905); the third screw rod (906) is threadedly connected to the connecting hook frame (908); the connecting hook frame (908) is slidably connected to the third guide rod; a U-shaped rod (9081) is provided on the connecting hook frame (908); a fifth motor (907) is provided on the top of the third screw rod (906); and the fifth motor (907) is installed at the end of the transverse sliding frame (902); The U-shaped rod (9081) is used to connect with the hook-shaped buckle (303).

10. A method for using a device for measuring water depth in complex terrain according to any one of claims 1 to 9, characterized in that: S1. Measuring equipment: a connecting frame (1) is placed in a river, a track (4) is installed on the river bank, and a plurality of position control mechanisms (9) are installed on the track (4); S2, opening the blocking mechanism (5) to release the multiple unmanned boats (2), controlling the unmanned boats (2) to swim to the shore, manually removing the hook buckle (303) on the unmanned boats (2), driving the multiple clamping mechanisms (6), clamping the cables (304), installing the hook buckle (303) on the connecting hook frame (908), and retrieving the unmanned boats (2); S3, opening the clamping mechanism (6) to loosen the cable (304), driving the plurality of cable converters (3), and adjusting the position of the connecting frame (1) through RTK; S4, driving the position control mechanism (9) to make the vertical frame (905) extend out of the river bank, driving the position control mechanism (9) and the plurality of cable turners (3), and controlling the cable (304) to be horizontal through the level meter (10); S5, driving the measuring mechanism (7) to lower the rope (701), adjusting the inclination corrector (8) to make the rope (701) vertical, and when the solenoid valve (703) is closed, the laser emitter (704) irradiates the laser onto the deflection disk (11); S6, recording the distance from the deflection plate (11) to the box (702), and measuring the water depth at the connecting frame (1); S7, open the clamping mechanism (6), move the position of the control mechanism (9), and repeat S1 to S6 until the water depth at the required river location is measured.

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