Unmanned ship underwater survey unit and unmanned ship

Abstract

The invention relates to the technical field of underwater survey equipment, and discloses an unmanned ship underwater survey unit and an unmanned ship, the unmanned ship underwater survey unit comprises a ship body, the bottom of the ship body is fixedly connected with a shell used for installing the underwater survey equipment; the ship further comprises a steel cylinder fixed to the bottom of the shell, the bottom of the steel cylinder is rotationally connected with a scraping mechanism used for cleaning floating objects attached to the outer wall of the shell, a transmission mechanism is installed at the inner bottom of the shell, an unpowered driving mechanism is in transmission connection between the ship body and the transmission mechanism, and a driving mechanism is arranged in the steel cylinder. Through the designed scraping mechanism, the designed transmission mechanism and the designed unpowered driving mechanism, attachments on the outer wall of the shell of the underwater survey equipment are scraped, and through the designed extraction mechanism, the designed suction mechanism and the designed liquid cooling mechanism, the underwater survey equipment in the shell is synchronously cooled, so that the underwater survey equipment is cooled, and the service life of the underwater survey equipment is prolonged. And the heat dissipation effect of the underwater exploration equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater survey equipment, and in particular to an unmanned ship underwater survey unit and an unmanned ship. Background Art

[0002] Underwater topographic surveying is a specific type of surveying in engineering surveying. It measures the plane position and elevation of the sea bottom points in rivers, lakes, reservoirs, harbors and offshore waters, and is used for surveying and mapping underwater topographic maps. The main content is to establish a control network on land and conduct underwater topographic surveying and mapping. Underwater topographic surveying and mapping includes sounding point positioning, water depth measurement, water level observation and mapping. The methods for sounding point positioning include cross-section cable method, forward intersection method of theodolite or planar instrument, rear intersection method of sextant, polar coordinate method of total station tachometer, radio positioning method, underwater acoustic positioning and differential GPS positioning method. Sounding rods, sounding hammers and echo sounders are used for water depth measurement. The bottom elevation is calculated based on the results of water depth measurement and water level observation. Finally, isobaths are used to represent the bottom topography.

[0003] In current underwater survey technology, an echo sounder installed on the bottom of an unmanned boat is usually used for detection. This echo sounder emits sound waves, which pass through the liquid as the sound transmission medium and the casing of the equipment and enter the underwater environment. These sound waves will be reflected after encountering the bottom of the water, and then the receiving sound wave module on the echo sounder will capture these reflected sound wave signals. The captured sound wave information is then transmitted to the terminal device on the shore through the communication module of the unmanned boat. In the terminal device on the shore, the information processing module will analyze and process the sound wave information to generate the contour data inside the pipe. After automatic integration and calculation, these data can construct a three-dimensional model of the pipeline. Through the movement and positioning of the unmanned boat, accurate measurement and detailed description of relevant underwater data can be achieved.

[0004] However, when measuring underwater topography in lakes or still water areas, some special challenges arise. Since there are often more floating objects such as duckweed, garbage, branches and leaves on the water surface in these areas, these floating objects can easily adhere to the surface of the detector when the survey ship is conducting surveys. This adhesion phenomenon will cause deviations in the data received by the detector, making it impossible to accurately reflect the true three-dimensional coordinates of the underwater survey area. Summary of the invention

[0005] The object of the present invention is to provide an unmanned boat underwater survey unit and an unmanned boat to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned boat underwater survey unit, comprising: a hull, a shell for installing underwater survey equipment is fixedly connected to the bottom of the hull; and also comprising: a steel cylinder fixed to the bottom of the shell, a scraping mechanism for cleaning floating objects attached to the outer wall of the shell is rotatably connected to the bottom of the steel cylinder, a transmission mechanism is installed on the inner bottom of the shell, a non-powered driving mechanism is transmission-connected between the hull and the transmission mechanism, and a driving mechanism is arranged inside the steel cylinder; two groups of extraction mechanisms are respectively fixed to the inner walls of the shell, a suction mechanism is arranged on the outside of the shell, the top of the extraction mechanism and the suction mechanism are connected by a pipeline, and the two ends of the transmission mechanism are transmission-connected to the extraction mechanism respectively; a liquid cooling mechanism is arranged between the two groups of the extraction mechanisms, and the liquid cooling mechanism is used to synchronously dissipate heat and cool the underwater survey equipment in the shell.

[0007] Preferably, the scraping mechanism includes a No. 1 rotating shaft, an annular fixing block, an L-shaped connecting rod and a scraping strip, the two ends of the No. 1 rotating shaft are rotatably connected to the shell and the steel cylinder through bearings respectively, the No. 1 rotating shaft and the steel cylinder and the shell are coaxially arranged, the annular fixing block is fixedly sleeved on the bottom end of the No. 1 rotating shaft, the L-shaped connecting rod and the scraping strip are each provided with a plurality, the scraping strip is fixedly connected to the annular fixing block through the L-shaped connecting rod, the inner side of the scraping strip is in close contact with the outer wall of the shell, and the No. 1 rotating shaft is transmission connected to the driving mechanism.

[0008] Preferably, the transmission mechanism includes a transmission shaft, a No. 1 bevel gear, a No. 2 bevel gear, a No. 3 bevel gear and a rocker arm, the transmission shaft is rotatably connected to the inner bottom of the shell through two bearing seats, the No. 1 bevel gear is meshingly connected with the No. 2 bevel gear, the No. 2 bevel gear is meshingly connected with the No. 3 bevel gear, the output end of the unpowered drive mechanism is transmission-connected with the No. 1 bevel gear, the No. 3 bevel gear is fixed on the top of the No. 1 rotating shaft, the No. 2 bevel gear is fixedly sleeved on the outside of the transmission shaft, the rocker arm is respectively fixed at both ends of the transmission shaft, and the end of the rocker arm away from the transmission shaft is transmission-connected with the extraction mechanism.

[0009] Preferably, the unpowered drive mechanism includes a fan, a No. 2 rotating shaft, a No. 4 bevel gear, a No. 5 bevel gear and a driving shaft, the fan and the No. 4 bevel gear are respectively fixed at two ends of the No. 2 rotating shaft, the outer side of the No. 2 rotating shaft is rotatably connected with a support plate, the bottom of the support plate is fixed on the hull, the No. 4 bevel gear and the No. 5 bevel gear are meshingly connected, the driving shaft passes through the hull and the shell, and the driving shaft is rotatably connected to the hull through a bearing, the top of the driving shaft is fixedly connected to the No. 5 bevel gear, and the end of the driving shaft extending into the shell is fixedly connected to the No. 1 bevel gear.

[0010] Preferably, the extraction mechanism includes a sealing cylinder, a piston block, a piston rod and a groove plate, the sealing cylinder is fixed to the inner wall of the shell, the piston block is slidably and sealingly connected to the inner wall of the sealing cylinder, the piston rod is fixed to the bottom of the piston block, the piston rod and the sealing cylinder are slidably connected, the end of the piston rod away from the piston block is fixedly connected to the groove plate, a limit pin is slidably sleeved in the groove plate, one end of the limit pin is fixedly connected to the rocker arm, the top end of the sealing cylinder is connected to a water inlet pipe through a one-way valve, one end of the liquid cooling mechanism is fixedly connected to the sealing cylinder, and the end of the water inlet pipe located outside the shell is fixedly connected to the suction mechanism.

[0011] Preferably, the suction mechanism includes a connecting pipe, an adsorption head and a connecting pipe, the end of the water inlet pipe away from the sealing cylinder is fixedly connected to the connecting pipe, the bottom of the connecting pipe is connected and fixed to the connecting pipe, there are multiple adsorption heads, and the multiple adsorption heads are arrayed on the outside of the connecting pipe, and one end of the adsorption head is fixedly connected to the connecting pipe through a one-way valve.

[0012] Preferably, the liquid cooling mechanism includes a spiral liquid cooling pipe and a water outlet pipe, one end of the water outlet pipe is fixed to the top of the sealing cylinder through a one-way valve, the end of the water outlet pipe away from the sealing cylinder is fixedly connected to the spiral liquid cooling pipe, the bottom end of the spiral liquid cooling pipe is fixedly connected with a drain pipe, and the end of the drain pipe away from the spiral liquid cooling pipe passes through the shell and extends to the outside of the shell.

[0013] Preferably, the driving mechanism includes a metal sheet, a cam, a roller, an elastic member and a rubber ball, the metal sheet is fixed inside the steel cylinder, the cam is fixedly sleeved on the outside of the No. 1 rotating shaft, the roller is slidably connected to the cam, and the end of the roller away from the cam is connected to the rubber ball through the elastic member.

[0014] Preferably, the elastic member includes a limit plate, a slide rod and a return spring, the limit plate is fixed to the inner bottom of the steel cylinder and is located between the cam and the metal sheet, the slide rod is slidably sleeved on the limit plate, the roller and the rubber ball are respectively fixed at both ends of the slide rod, a return spring is provided between the roller and the limit plate, and the slide rod is sleeved on the inner side of the return spring.

[0015] The present invention also provides an unmanned ship, comprising the unmanned ship underwater survey unit as described in any one of the above items.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention improves the existing unmanned boat underwater survey unit, and through the designed scraping mechanism, transmission mechanism and unpowered drive mechanism, it can scrape the attachments on the outer wall of the shell of the underwater survey equipment, improve the cleaning effect, and avoid the problem that the attachment phenomenon will cause deviations in the data received by the detector, thereby failing to accurately reflect the real three-dimensional coordinates of the underwater survey area.

[0017] 2. The present invention uses a designed extraction mechanism, suction mechanism and liquid cooling mechanism to utilize negative pressure suction to suck in water that moves to the periphery of the underwater survey equipment in advance, and then utilizes the water extracted by the extraction mechanism and suction mechanism to synchronously dissipate heat and cool the underwater survey equipment in the shell, thereby improving the heat dissipation effect of the underwater survey equipment.

[0018] 3. The unpowered driving mechanism and driving mechanism designed in the present invention can make the steel cylinder generate vibration and sound. These vibrations and sounds are used to effectively drive away the fish and other underwater creatures close to the underwater survey equipment, ensuring that the underwater animals will not interfere with the normal operation of the survey equipment, thereby improving the accuracy and reliability of the survey data. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a partial cross-sectional schematic diagram of the internal structure of the present invention; Figure 3 It is a schematic diagram of the structure of the present invention from another viewing angle; Figure 4 It is a structural schematic diagram of the scraping mechanism of the present invention; Figure 5 It is a structural schematic diagram of the transmission mechanism of the present invention; Figure 6 It is a structural schematic diagram of the unpowered driving mechanism of the present invention; Figure 7 It is a structural schematic diagram of the extraction mechanism of the present invention; Figure 8 It is a structural schematic diagram of the suction mechanism of the present invention; Fig. 9 It is a structural schematic diagram of the liquid cooling mechanism of the present invention; Fig.10 It is a structural schematic diagram of the driving mechanism of the present invention.

[0020] In the figure: 1. hull; 101. shell; 102. steel cylinder; 2. scraping mechanism; 201. No. 1 rotating shaft; 202. annular fixing block; 203. L-shaped connecting rod; 204. scraping strip; 3. transmission mechanism; 301. transmission shaft; 302. No. 1 bevel gear; 303. No. 2 bevel gear; 304. No. 3 bevel gear; 305. swing rod; 4. unpowered driving mechanism; 401. fan; 402. No. 2 rotating shaft; 403. No. 4 bevel gear; 404. No. 5 bevel gear; 405. driving shaft; 406. supporting plate; 5. driving mechanism Structure; 501, metal sheet; 502, cam; 503, roller; 504, elastic member; 5041, limit plate; 5042, slide rod; 5043, return spring; 505, rubber ball; 6, extraction mechanism; 601, sealing cylinder; 602, piston block; 603, piston rod; 604, groove plate; 605, limit pin; 606, water inlet pipe; 7, suction mechanism; 701, connecting pipe; 702, adsorption head; 703, connecting pipe; 8, liquid cooling mechanism; 801, spiral liquid cooling pipe; 802, water outlet pipe; 803, drain pipe. DETAILED DESCRIPTION

[0021] 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.

[0022] Example 1: Please refer to Figure 1 - Figure 4 , an unmanned boat underwater survey unit shown in the figure includes a hull 1, a housing 101 for installing underwater survey equipment is fixedly connected to the bottom of the hull 1, and the interior of the housing 101 also includes components such as a circuit control board, a communication module, and a watertight joint. The circuit control board mainly controls the circuit work of each component, and the watertight joint is used to connect with the power supply line and communication line of the hull 1. The underwater survey equipment is mainly an echo sounder device, which is an existing mature technology, so it will not be described in detail here; It also includes: a steel cylinder 102 fixed to the bottom of the shell 101, the bottom of the steel cylinder 102 is rotatably connected to a scraping mechanism 2 for cleaning floating objects attached to the outer wall of the shell 101, a transmission mechanism 3 is installed on the inner bottom of the shell 101, an unpowered driving mechanism 4 is transmission-connected between the hull 1 and the transmission mechanism 3, and a driving mechanism 5 is arranged inside the steel cylinder 102; two groups of extraction mechanisms 6 are respectively fixed to the inner walls of the shell 101, a suction mechanism 7 is arranged on the outer side of the shell 101, the top of the extraction mechanism 6 is connected to the suction mechanism 7 through a pipeline, and the two ends of the transmission mechanism 3 are transmission-connected to the extraction mechanism 6 respectively; a liquid cooling mechanism 8 is arranged between the two groups of extraction mechanisms 6, and the liquid cooling mechanism 8 is used for synchronously dissipating heat and cooling the underwater survey equipment in the shell 101.

[0023] In this solution, the scraping mechanism 2, the transmission mechanism 3 and the unpowered driving mechanism 4 are designed to scrape the attachments on the outer wall of the shell 101 of the underwater survey equipment, improve the cleaning effect, and avoid the attachment phenomenon that will cause the data received by the detector to be biased, thereby failing to accurately reflect the real three-dimensional coordinates of the underwater survey area; the designed extraction mechanism 6, the suction mechanism 7 and the liquid cooling mechanism 8 can use the negative pressure suction force to suck the bubbles moving around the underwater survey equipment in advance, so as to avoid a large number of bubbles floating up to affect the measurement effect of the underwater survey equipment as much as possible, and the liquid cooling mechanism 8 can be used to use the water extracted by the extraction mechanism 6 and the suction mechanism 7 to synchronously dissipate heat and cool the underwater survey equipment in the shell 101, thereby improving the heat dissipation effect of the underwater survey equipment; the designed unpowered driving mechanism 4 and the driving mechanism 5 can make the steel cylinder 102 vibrate and sound, and these vibrations and sounds are used to effectively drive away the fish and other underwater creatures close to the underwater survey equipment, ensuring that the underwater animals will not interfere with the normal operation of the survey equipment, thereby improving the accuracy and reliability of the survey data.

[0024] For further information, see Figure 4 The scraping mechanism 2 includes a No. 1 rotating shaft 201, an annular fixing block 202, an L-shaped connecting rod 203 and a scraping strip 204. The two ends of the No. 1 rotating shaft 201 are rotatably connected to the shell 101 and the steel cylinder 102 through bearings respectively. The No. 1 rotating shaft 201 and the steel cylinder 102 are coaxially arranged as well as the shell 101. The annular fixing block 202 is fixedly sleeved on the bottom end of the No. 1 rotating shaft 201. A plurality of L-shaped connecting rods 203 and scraping strips 204 are provided. The scraping strip 204 is fixedly connected to the annular fixing block 202 through the L-shaped connecting rod 203. The inner side of the scraping strip 204 is in close contact with the outer wall of the shell 101. The No. 1 rotating shaft 201 is transmission-connected to the driving mechanism 5.

[0025] Specifically, when the hull 1 moves on the water, it drives the unpowered driving mechanism 4 to operate, thereby driving the No. 1 rotating shaft 201 to rotate through the transmission mechanism 3, and the No. 1 rotating shaft 201 drives multiple scraping strips 204 to rotate, so that the scraping strips 204 and the outer wall of the shell 101 produce relative movement, thereby scraping off the attachments on the outer wall of the shell 101 of the underwater survey equipment, improving the cleaning effect, and ensuring that the data received by the detector will not be biased.

[0026] For further information, see Figure 5 The transmission mechanism 3 includes a transmission shaft 301, a first bevel gear 302, a second bevel gear 303, a third bevel gear 304 and a rocker arm 305. The transmission shaft 301 is rotatably connected to the inner bottom of the housing 101 through two bearing seats. The first bevel gear 302 is meshed with the second bevel gear 303, and the second bevel gear 303 is meshed with the third bevel gear 304. The output end of the unpowered drive mechanism 4 is transmission-connected with the first bevel gear 302, the third bevel gear 304 is fixed on the top of the first rotating shaft 201, the second bevel gear 303 is fixedly sleeved on the outside of the transmission shaft 301, and the rocker arm 305 is respectively fixed at both ends of the transmission shaft 301, and the end of the rocker arm 305 away from the transmission shaft 301 is transmission-connected with the extraction mechanism 6.

[0027] Specifically, when the hull 1 moves on the water, it drives the unpowered drive mechanism 4 to operate, thereby driving the No. 1 bevel gear 302 to rotate, the No. 1 bevel gear 302 drives the No. 2 bevel gear 303 to rotate, the No. 2 bevel gear 303 drives the transmission shaft 301 and the No. 3 bevel gear 304 to rotate, among which the transmission shaft 301 will drive the rocker arm 305 to rotate, thereby allowing the extraction mechanism 6 to work, and the No. 3 bevel gear 304 drives the No. 1 rotating shaft 201 to rotate, thereby allowing the driving mechanism 5 and the scraping mechanism 2 to work at the same time, and the linkage is strong.

[0028] For further information, see Figure 6 The unpowered drive mechanism 4 includes a fan 401, a second rotating shaft 402, a fourth bevel gear 403, a fifth bevel gear 404 and a drive shaft 405. The fan 401 and the fourth bevel gear 403 are respectively fixed at both ends of the second rotating shaft 402. The outer side of the second rotating shaft 402 is rotatably connected with a support plate 406. The bottom of the support plate 406 is fixed on the hull 1. The fourth bevel gear 403 and the fifth bevel gear 404 are meshed and connected. The drive shaft 405 runs through the hull 1 and the shell 101, and the drive shaft 405 is rotatably connected to the hull 1 through a bearing. The top of the drive shaft 405 is fixedly connected to the fifth bevel gear 404, and the end of the drive shaft 405 extending into the shell 101 is fixedly connected to the first bevel gear 302.

[0029] Specifically, when the hull 1 moves on the water, it drives the fan 401 to rotate automatically, the fan 401 drives the second rotating shaft 402 to rotate, the second rotating shaft 402 drives the fourth bevel gear 403 to rotate, the fourth bevel gear 403 drives the fifth bevel gear 404 to rotate, the fifth bevel gear 404 drives the driving shaft 405 to rotate, and the driving shaft 405 drives the first bevel gear 302 to rotate, thereby transmitting power to the transmission mechanism 3, realizing the use of natural wind power as driving force, reducing the use of electric energy and achieving energy-saving and environmental protection effects.

[0030] Example 2: Please refer to Figure 7 - Fig. 9 , this embodiment further illustrates the first embodiment, the extraction mechanism 6 includes a sealing cylinder 601, a piston block 602, a piston rod 603 and a groove plate 604, the sealing cylinder 601 is fixed to the inner wall of the housing 101, the piston block 602 is slidably and sealingly connected to the inner wall of the sealing cylinder 601, the piston rod 603 is fixed to the bottom of the piston block 602, the piston rod 603 and the sealing cylinder 601 are slidably connected, one end of the piston rod 603 away from the piston block 602 is fixedly connected to the groove plate 604, a limit pin 605 is slidably sleeved in the groove plate 604, one end of the limit pin 605 is fixedly connected to the swing rod 305, the top of the sealing cylinder 601 is connected to a water inlet pipe 606 through a one-way valve, one end of the liquid cooling mechanism 8 is fixedly connected to the sealing cylinder 601, and one end of the water inlet pipe 606 located outside the housing 101 is fixedly connected to the suction mechanism 7; Among them, the suction mechanism 7 includes a connecting pipe 701, an adsorption head 702 and a connecting pipe 703. The end of the water inlet pipe 606 away from the sealing cylinder 601 is fixedly connected to the connecting pipe 703. The bottom of the connecting pipe 703 is connected and fixed to the connecting pipe 701. There are multiple adsorption heads 702, and the multiple adsorption heads 702 are arrayed on the outside of the connecting pipe 701. One end of the adsorption head 702 is fixedly connected to the connecting pipe 701 through a one-way valve.

[0031] It should be noted that a filter is provided at the liquid inlet end of each adsorption head 702 to prevent large particles of debris from entering the adsorption head 702 and causing blockage.

[0032] Specifically, when the hull 1 is moving, bubbles are generated around the water due to the operation of the propeller blades. When a large number of bubbles move to the periphery of the shell 101, the water around the shell 101 will become turbid, which will affect the measurement results. In order to avoid a large number of bubbles floating up and affecting the measurement effect of the underwater survey equipment, the transmission mechanism 3 will also drive the pendulum 305 to rotate, and the pendulum 305 will drive the limit pin 605 to rotate. Since the limit pin 605 and the groove plate 604 are slidably connected, the rotational movement of the pendulum 305 will be converted into an up and down reciprocating movement of the groove plate 604, thereby driving the piston rod 603 to reciprocate up and down in the sealing tube 601. The negative pressure suction of the piston block 602 is used to suck the bubbles and water moving around the underwater survey equipment into the water inlet pipe 606 through the adsorption head 702 and the connecting pipe 701, and finally enter the sealing tube 601, thereby effectively eliminating the bubbles around the shell 101 and preventing the surrounding water from becoming turbid.

[0033] At the same time, the liquid cooling mechanism 8 includes a spiral liquid cooling tube 801 and a water outlet pipe 802. One end of the water outlet pipe 802 is fixed to the top of the sealing tube 601 through a one-way valve, and the end of the water outlet pipe 802 away from the sealing tube 601 is fixedly connected to the spiral liquid cooling tube 801. The bottom end of the spiral liquid cooling tube 801 is fixedly connected with a drain pipe 803. The end of the drain pipe 803 away from the spiral liquid cooling tube 801 passes through the shell 101 and extends to the outside of the shell 101.

[0034] Specifically, because the interior of the shell 101 also includes components such as a circuit control board, a communication module, and a watertight joint, these components and the underwater survey equipment will generate heat when working, and this heat will cause the internal space of the shell 101 to heat up. However, in order to reduce the working temperature inside the shell 101, the liquid water entering the sealing cylinder 601 will enter the water outlet pipe 802 when the piston block 602 moves up, and then enter the spiral liquid cooling tube 801. The spiral liquid cooling tube 801 has a large surface area, and the spiral shape greatly increases the contact area with the air. The water temperature inside the spiral liquid cooling tube 801 is relatively low and will radiate into the interior of the shell 101, just like opening more channels for heat dissipation, so that the low-temperature heat can be transferred to the shell 101 more quickly, achieving the effect of radiative cooling of the hot air inside the shell 101, and then synchronously dissipating heat and cooling the underwater survey equipment in the shell 101, thereby improving the heat dissipation effect of the underwater survey equipment.

[0035] Example 3: Please refer to Fig.10, this embodiment further illustrates other embodiments, the driving mechanism 5 includes a metal sheet 501, a cam 502, a roller 503, an elastic member 504 and a rubber ball 505, the metal sheet 501 is fixed inside the steel cylinder 102, the cam 502 is fixedly sleeved on the outside of the first rotating shaft 201, the roller 503 is slidably connected to the cam 502, and the end of the roller 503 away from the cam 502 is connected to the rubber ball 505 through the elastic member 504; the elastic member 504 includes A limit plate 5041, a slide bar 5042 and a return spring 5043, wherein the limit plate 5041 is fixed to the inner bottom of the steel cylinder 102 and is located between the cam 502 and the metal sheet 501, the slide bar 5042 is slidably sleeved on the limit plate 5041, the roller 503 and the rubber ball 505 are respectively fixed at both ends of the slide bar 5042, a return spring 5043 is provided between the roller 503 and the limit plate 5041, and the slide bar 5042 is sleeved on the inner side of the return spring 5043.

[0036] Specifically, when the unmanned boat is swimming on the water, underwater fish and other underwater creatures will approach the underwater survey equipment. In order to prevent the underwater animals from interfering with the normal operation of the survey equipment, the No. 1 rotating shaft 201 will drive the cam 502 to rotate, and the cam 502 will push the roller 503 to reciprocate left and right, thereby driving the rubber ball 505 to reciprocate left and right through the elastic member 504. During the continuous movement, the rubber ball 505 will contact the metal sheet 501 to produce a knocking effect, causing the steel cylinder 102 to vibrate and make sounds. These vibrations and sounds are used to effectively drive away the fish and other underwater creatures that are close to the underwater survey equipment, thereby improving the accuracy and reliability of the survey data.

[0037] See also Figure 1 - Fig.10 The present invention also proposes an unmanned ship, comprising an unmanned ship underwater survey unit as described above.

[0038] Among them, the unmanned boat is connected with the external terminal by wireless communication.

[0039] It is worth noting that since the unmanned ship of the present invention is based on the above-mentioned unmanned ship underwater survey unit, the embodiments of the unmanned ship of the present invention include all technical solutions of all embodiments of the above-mentioned unmanned ship underwater survey unit, and the technical effects achieved are exactly the same, which will not be repeated here.

[0040] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned underwater survey unit, comprising: A hull (1), the bottom of the hull (1) being fixedly connected to a housing (101) for installing underwater survey equipment; It is characterized by: also including: A steel cylinder (102) is fixed to the bottom of the shell (101); the bottom of the steel cylinder (102) is rotatably connected to a scraping mechanism (2) for cleaning floating objects attached to the outer wall of the shell (101); a transmission mechanism (3) is installed on the inner bottom of the shell (101); a non-powered driving mechanism (4) is transmission-connected between the hull (1) and the transmission mechanism (3); and a driving mechanism (5) is provided inside the steel cylinder (102); Two groups of extraction mechanisms (6) are respectively fixed to the inner wall of the shell (101); a suction mechanism (7) is provided on the outer side of the shell (101); the top of the extraction mechanism (6) and the suction mechanism (7) are connected via a pipeline; and both ends of the transmission mechanism (3) are respectively in transmission connection with the extraction mechanism (6); A liquid cooling mechanism (8) is provided between the two groups of the extraction mechanisms (6), and the liquid cooling mechanism (8) is used to synchronously dissipate heat and cool the underwater survey equipment in the housing (101).

2. The unmanned boat underwater survey unit according to claim 1, characterized in that: The scraping mechanism (2) comprises a first rotating shaft (201), an annular fixing block (202), an L-shaped connecting rod (203) and a scraping strip (204); two ends of the first rotating shaft (201) are rotatably connected to the housing (101) and the steel cylinder (102) respectively through bearings; the first rotating shaft (201) is coaxially arranged with the steel cylinder (102) and the housing (101); the annular fixing block (202) is fixedly sleeved on the bottom end of the first rotating shaft (201); a plurality of the L-shaped connecting rod (203) and the scraping strip (204) are provided; the scraping strip (204) is fixedly connected to the annular fixing block (202) through the L-shaped connecting rod (203); the inner side of the scraping strip (204) is in close contact with the outer wall of the housing (101); and the first rotating shaft (201) is drivingly connected to the driving mechanism (5).

3. The unmanned boat underwater survey unit according to claim 2, characterized in that: The transmission mechanism (3) comprises a transmission shaft (301), a first bevel gear (302), a second bevel gear (303), a third bevel gear (304) and a swing rod (305); the transmission shaft (301) is rotatably connected to the inner bottom of the housing (101) via two bearing seats; the first bevel gear (302) is meshingly connected with the second bevel gear (303); the second bevel gear (303) is meshingly connected with the third bevel gear (304); The output end of the unpowered driving mechanism (4) is transmission-connected to the first bevel gear (302), the third bevel gear (304) is fixed on the top of the first rotating shaft (201), the second bevel gear (303) is fixedly sleeved on the outside of the transmission shaft (301), the swing rod (305) is respectively fixed on both ends of the transmission shaft (301), and one end of the swing rod (305) away from the transmission shaft (301) is transmission-connected to the extraction mechanism (6).

4. The unmanned boat underwater survey unit according to claim 3, characterized in that: The unpowered driving mechanism (4) comprises a fan (401), a second rotating shaft (402), a fourth bevel gear (403), a fifth bevel gear (404) and a driving shaft (405); the fan (401) and the fourth bevel gear (403) are respectively fixed to two ends of the second rotating shaft (402); a support plate (406) is rotatably connected to the outer side of the second rotating shaft (402); the bottom of the support plate (406) is fixed to the hull (1); The bevel gear (403) is meshedly connected with the fifth bevel gear (404), the drive shaft (405) passes through between the hull (1) and the shell (101), and the drive shaft (405) is rotationally connected to the hull (1) via a bearing, the top of the drive shaft (405) is fixedly connected to the fifth bevel gear (404), and one end of the drive shaft (405) extending into the shell (101) is fixedly connected to the first bevel gear (302).

5. The unmanned boat underwater survey unit according to claim 3, characterized in that: The extraction mechanism (6) comprises a sealing cylinder (601), a piston block (602), a piston rod (603) and a groove plate (604); the sealing cylinder (601) is fixed to the inner wall of the housing (101); the piston block (602) is slidably and sealingly connected to the inner wall of the sealing cylinder (601); the piston rod (603) is fixed to the bottom of the piston block (602); the piston rod (603) and the sealing cylinder (601) are slidably connected; the piston rod (603) is away from the piston One end of the block (602) is fixedly connected to the groove plate (604), a limit pin (605) is slidably sleeved in the groove plate (604), one end of the limit pin (605) is fixedly connected to the swing rod (305), the top end of the sealing cylinder (601) is connected to a water inlet pipe (606) via a one-way valve, one end of the liquid cooling mechanism (8) is fixedly connected to the sealing cylinder (601), and one end of the water inlet pipe (606) located outside the shell (101) is fixedly connected to the suction mechanism (7).

6. The unmanned boat underwater survey unit according to claim 5, characterized in that: The suction mechanism (7) comprises a connecting pipe (701), an adsorption head (702) and a connecting pipe (703); one end of the water inlet pipe (606) away from the sealing cylinder (601) is fixedly connected to the connecting pipe (703); the bottom of the connecting pipe (703) is connected and fixed to the connecting pipe (701); a plurality of adsorption heads (702) are provided, and the plurality of adsorption heads (702) are arranged in an array on the outside of the connecting pipe (701); one end of the adsorption head (702) is fixedly connected to the connecting pipe (701) via a one-way valve.

7. The unmanned boat underwater survey unit according to claim 5, characterized in that: The liquid cooling mechanism (8) comprises a spiral liquid cooling tube (801) and a water outlet pipe (802), one end of the water outlet pipe (802) is fixed to the top of the sealing tube (601) via a one-way valve, the end of the water outlet pipe (802) away from the sealing tube (601) is fixedly connected to the spiral liquid cooling tube (801), the bottom end of the spiral liquid cooling tube (801) is fixedly connected to a drain pipe (803), the end of the drain pipe (803) away from the spiral liquid cooling tube (801) passes through the shell (101) and extends to the outside of the shell (101).

8. The unmanned boat underwater survey unit according to claim 2, characterized in that: The driving mechanism (5) comprises a metal sheet (501), a cam (502), a roller (503), an elastic member (504) and a rubber ball (505); the metal sheet (501) is fixed inside the steel cylinder (102); the cam (502) is fixedly sleeved on the outside of the first rotating shaft (201); the roller (503) is slidably connected to the cam (502); and one end of the roller (503) away from the cam (502) is connected to the rubber ball (505) via the elastic member (504).

9. The unmanned boat underwater survey unit according to claim 8, characterized in that: The elastic member (504) comprises a limit plate (5041), a slide bar (5042) and a return spring (5043); the limit plate (5041) is fixed to the inner bottom of the steel cylinder (102) and is located between the cam (502) and the metal sheet (501); the slide bar (5042) is slidably sleeved on the limit plate (5041); the roller (503) and the rubber ball (505) are respectively fixed to two ends of the slide bar (5042); a return spring (5043) is provided between the roller (503) and the limit plate (5041); and the slide bar (5042) is sleeved on the inner side of the return spring (5043).

10. An unmanned ship, characterized in that: The unmanned boat underwater survey unit comprises the unmanned boat underwater survey unit as described in any one of claims 1 to 9.

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