An underwater survey unit for an unmanned boat and an unmanned boat

Abstract

The present invention relates to the technical field of underwater survey equipment, and discloses an unmanned ship underwater survey unit and an unmanned ship, including a hull, and a housing for installing underwater survey equipment is fixedly connected to the bottom of the hull; further comprising: a steel cylinder fixed to the bottom of the housing, a scraping mechanism for cleaning floating objects attached to the outer wall of the housing is rotatably connected to the bottom of the steel cylinder, a transmission mechanism is installed at the inner bottom of the housing, a power-free driving mechanism is in transmission connection between the hull and the transmission mechanism, and a driving mechanism is provided inside the steel cylinder; through the designed scraping mechanism, transmission mechanism and power-free driving mechanism, the present invention realizes scraping of the attachments on the outer wall of the housing of the underwater survey equipment, and through the designed extraction mechanism, suction mechanism and liquid cooling mechanism, synchronously dissipates heat and cools the underwater survey equipment in the housing, improving the heat dissipation effect of the underwater survey equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater survey equipment, and particularly to an underwater survey unit for an unmanned boat and an unmanned boat. Background Art

[0002] Underwater topographic survey is a specific survey in engineering survey, which measures the plane positions and elevations of underwater points in rivers, lakes, reservoirs, harbors and coastal waters for the surveying and mapping work of drawing underwater topographic maps. The main contents are 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 of sounding point positioning include section wire method, forward intersection method of theodolite or plane table, back intersection method of sextant, polar coordinate method of total station tachymeter, radio positioning method, underwater acoustic positioning and differential GPS positioning method, etc. Water depth measurement uses tools such as sounding rods, sounding weights and echo sounders. The underwater elevation is calculated based on the results of water depth measurement and water level observation, and finally the underwater topography is represented by isobaths.

[0003] In current underwater survey technologies, an echo sounder installed at the bottom of an unmanned boat is usually used for detection work. This kind of sounder emits sound waves, and the sound waves 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 reflected sound wave signals will be captured by the receiving sound wave module on the sounder. 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 these sound wave information, so as to be able to generate the contour data in the pipe. After these data are automatically integrated and calculated, a three-dimensional model of the pipe can be constructed. Through the movement and positioning of the unmanned boat, accurate measurement and detailed description of underwater related data can be achieved.

[0004] However, when measuring the underwater topography in lakes or still water areas, some special challenges will be encountered. Since there are often many floating objects such as duckweeds, garbage, branches and leaves on the water surface in these areas, when the surveying boat is conducting survey work, these floating objects are easily attached to the surface of the detector. This attachment phenomenon will cause the data received by the detector to deviate, thus unable to accurately reflect the true three-dimensional coordinates underwater in the surveyed area. Summary of the Invention

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

[0006] To achieve the above object, the present invention provides the following technical solution: An underwater survey unit for an unmanned ship, comprising: a hull, a housing for installing underwater survey equipment is fixedly connected to the bottom of the hull; further comprising: a steel cylinder fixed to the bottom of the housing, a scraping mechanism for cleaning floating objects attached to the outer wall of the housing is rotatably connected to the bottom of the steel cylinder, a transmission mechanism is installed at the inner bottom of the housing, a power-free driving mechanism is in transmission connection between the hull and the transmission mechanism, and a driving mechanism is provided inside the steel cylinder; two extraction mechanisms respectively fixed to the inner wall of the housing, an inhalation mechanism is provided outside the housing, the top of the extraction mechanism and the inhalation mechanism are connected through a pipeline, and both ends of the transmission mechanism are respectively in transmission connection with the extraction mechanism; a liquid cooling mechanism provided between the two extraction mechanisms, and the liquid cooling mechanism is used for synchronously dissipating heat and cooling the underwater survey equipment in the housing.

[0007] Preferably, the scraping mechanism includes a first rotating shaft, an annular fixing block, an L-shaped connecting rod and a scraping strip. Both ends of the first rotating shaft are rotatably connected to the housing and the steel cylinder through bearings respectively. The first rotating shaft is coaxially arranged with the steel cylinder and the housing. The annular fixing block is fixedly sleeved at the bottom end of the first rotating shaft. There are multiple L-shaped connecting rods and scraping strips. 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 housing, and the first rotating shaft is in transmission connection with the driving mechanism.

[0008] Preferably, the transmission mechanism includes a transmission shaft, a first bevel gear, a second bevel gear, a third bevel gear and a swing rod. The transmission shaft is rotatably connected to the inner bottom of the housing through two bearing seats. The first bevel gear is meshed with the second bevel gear. The second bevel gear is meshed with the third bevel gear. The output end of the power-free driving mechanism is in transmission connection with the first bevel gear. The third bevel gear is fixed to the top of the first rotating shaft. The second bevel gear is fixedly sleeved on the outer side of the transmission shaft. The swing rods are respectively fixed to both ends of the transmission shaft. The end of the swing rod away from the transmission shaft is in transmission connection with the extraction mechanism.

[0009] Preferably, the power-free driving mechanism includes a fan, a second rotating shaft, a fourth bevel gear, a fifth bevel gear and a driving shaft. The fan and the fourth bevel gear are respectively fixed to both ends of the second rotating shaft. The outer side of the second rotating shaft is rotatably connected to a support plate. The bottom of the support plate is fixed to the hull. The fourth bevel gear is meshed with the fifth bevel gear. The driving shaft penetrates between the hull and the housing, and the driving shaft is rotatably connected to the hull through a bearing. The top of the driving shaft is fixed to the fifth bevel gear. The end of the driving shaft extending into the housing is fixed to the first 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 housing. 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 and penetratingly connected. One 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 swing rod. 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. The end of the water inlet pipe located outside the housing is fixedly connected to the suction mechanism.

[0011] Preferably, the suction mechanism includes a communicating pipe, a suction head, and a connecting pipe. One 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 communicatively and fixedly connected to the communicating pipe. There are multiple suction heads, and the multiple suction heads are arrayed on the outside of the communicating pipe. One end of the suction head is fixedly connected to the communicating 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 fixedly connected to the top of the sealing cylinder through a one-way valve. One 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 to a liquid discharge pipe. One end of the liquid discharge pipe away from the spiral liquid cooling pipe penetrates the housing and extends to the outside of the housing.

[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 first rotating shaft. The roller is slidably connected to the cam. One 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 sliding 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 sliding rod is slidably sleeved on the limit plate. The roller and the rubber ball are respectively fixed to both ends of the sliding rod. A return spring is provided between the roller and the limit plate, and the sliding rod is sleeved inside the return spring.

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

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The present invention improves the existing underwater survey unit of the unmanned ship. Through the designed scraping mechanism, transmission mechanism and non-powered driving mechanism, it realizes the scraping of the attachments on the outer wall of the housing of the underwater survey equipment, improves the cleaning effect, and avoids the problem that the attached phenomenon may cause deviation in the data received by the detector, thus unable to accurately reflect the true three-dimensional coordinates underwater in the survey area.

[0018] 2. The present invention, through the designed extraction mechanism, suction mechanism and liquid cooling mechanism, can use negative pressure suction to suck in the water that has moved to the periphery of the underwater survey equipment in advance, and then use the water liquid extracted by the extraction mechanism and suction mechanism to synchronously cool down the underwater survey equipment in the housing, improving the heat dissipation effect of the underwater survey equipment.

[0019] 3. The present invention, through the designed non-powered driving mechanism and driving-away mechanism, can make the steel cylinder generate vibrations and sounds, which are used to effectively drive away the fish and other underwater organisms approaching the underwater survey equipment, ensuring that 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

[0020] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 is a schematic diagram of the internal structure of a partial cross-section of the present invention;

[0022] Figure 3 is a schematic diagram of the structure of the present invention from another perspective;

[0023] Figure 4 is a schematic diagram of the structure of the scraping mechanism of the present invention;

[0024] Figure 5 is a schematic diagram of the structure of the transmission mechanism of the present invention;

[0025] Figure 6 is a schematic diagram of the structure of the non-powered driving mechanism of the present invention;

[0026] Figure 7 is a schematic diagram of the structure of the extraction mechanism of the present invention;

[0027] Figure 8 is a schematic diagram of the structure of the suction mechanism of the present invention;

[0028] Figure 9 is a schematic diagram of the structure of the liquid cooling mechanism of the present invention;

[0029] Figure 10 is a schematic diagram of the structure of the driving-away mechanism of the present invention.

[0030] In the figure: 1. Hull; 101. Housing; 102. Steel cylinder; 2. Scraping mechanism; 201. First rotating shaft; 202. Annular fixing block; 203. L-shaped connecting rod; 204. Scraping strip; 3. Transmission mechanism; 301. Transmission shaft; 302. First bevel gear; 303. Second bevel gear; 304. Third bevel gear; 305. Swing rod; 4. Powerless driving mechanism; 401. Fan; 402. Second rotating shaft; 403. Fourth bevel gear; 404. Fifth bevel gear; 405. Driving shaft; 406. Support plate; 5. Driving-away mechanism; 501. Metal sheet; 502. Cam; 503. Roller; 504. Elastic member; 5041. Limiting plate; 5042. Slide bar; 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 tube; 8. Liquid cooling mechanism; 801. Spiral liquid cooling pipe; 802. Water outlet pipe; 803. Drainage pipe. Detailed implementation mode

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment 1: Please refer to Figure 1 - Figure 4 , an underwater survey unit of an unmanned ship in the figure, including a hull 1, a housing 101 for installing underwater survey equipment is fixedly connected to the bottom of the hull 1. The inside 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 operation of each component, and the watertight joint is used to connect to the power supply line and communication line of the hull 1. The underwater survey equipment is mainly an echo sounder device, which is a mature existing technology, so it will not be elaborated here;

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Specifically, when the hull 1 moves on the water, it drives the operation of the non-powered driving mechanism 4, thereby driving the rotation of the first rotating shaft 201 through the transmission mechanism 3. The first rotating shaft 201 drives the rotation of a plurality of scraping strips 204, causing relative movement between the scraping strips 204 and the outer wall of the housing 101, so as to scrape off the attachments on the outer wall of the housing 101 of the underwater survey device, improve the cleaning effect, and ensure that the data received by the detector will not deviate.

[0037] Further, referring to 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 swing rod 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. The second bevel gear 303 is meshed with the third bevel gear 304. The output end of the non-powered driving mechanism 4 is in transmission connection with the first bevel gear 302. The third bevel gear 304 is fixed to 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 rods 305 are respectively fixed to both ends of the transmission shaft 301. The end of the swing rod 305 away from the transmission shaft 301 is in transmission connection with the extraction mechanism 6.

[0038] Specifically, when the hull 1 moves on the water, it drives the operation of the non-powered driving mechanism 4, thereby driving the rotation of the first bevel gear 302. The first bevel gear 302 drives the rotation of the second bevel gear 303. The second bevel gear 303 drives the rotation of the transmission shaft 301 and the third bevel gear 304. Among them, the transmission shaft 301 drives the swing rod 305 to rotate, thereby enabling the extraction mechanism 6 to work. In addition, the third bevel gear 304 drives the first rotating shaft 201 to rotate, thereby enabling the driving mechanism 5 and the scraping mechanism 2 to work simultaneously, with strong linkage.

[0039] Further, please refer to Figure 6 , the non-powered driving mechanism 4 includes 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 both ends of the second rotating shaft 402. The outside of the second rotating shaft 402 is rotatably connected with a support plate 406. The bottom of the support plate 406 is fixed to the hull 1. The fourth bevel gear 403 is meshed with the fifth bevel gear 404. The driving shaft 405 penetrates between the hull 1 and the housing 101, and the driving shaft 405 is rotatably connected to the hull 1 through a bearing. The top of the driving shaft 405 is fixedly connected with the fifth bevel gear 404. The end of the driving shaft 405 extending into the housing 101 is fixedly connected with the first bevel gear 302.

[0040] 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 drive shaft 405 to rotate, and the drive shaft 405 drives the first bevel gear 302 to rotate, thereby transmitting the power to the transmission mechanism 3, achieving the use of natural wind power as the driving force and reducing the use of electric energy, which has the effect of energy conservation and environmental protection.

[0041] Embodiment 2: Please refer to Figure 7 - Figure 9 This embodiment further illustrates Embodiment 1. 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 and penetratingly 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 end 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. The end of the water inlet pipe 606 located outside the housing 101 is fixedly connected to the suction mechanism 7.

[0042] Among them, the suction mechanism 7 includes a communicating pipe 701, a suction 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 communicatively and fixedly connected to the communicating pipe 701. There are multiple suction heads 702, and the multiple suction heads 702 are arranged in an array on the outer side of the communicating pipe 701. One end of the suction head 702 is fixedly connected to the communicating pipe 701 through a one-way valve.

[0043] It should be noted that a filter screen is provided at the liquid inlet end of each suction head 702 to prevent large particle debris from entering the inside of the suction head 702 and causing blockage.

[0044] Specifically, when the hull 1 is moving, due to the operation of the propeller blades, bubbles will be generated around the water body. When a large number of bubbles move to the periphery of the housing 101, it will also cause the water body around the housing 101 to become turbid, which will affect the measurement results. In order to avoid as much as possible the influence of a large number of bubbles floating up on the measurement effect of the underwater survey equipment, the transmission mechanism 3 will also drive the swing rod 305 to rotate, and the swing rod 305 will drive the limit pin 605 to rotate. Since the limit pin 605 is slidably connected to the groove plate 604, the rotational motion of the swing rod 305 will be converted into the up-and-down reciprocating motion of the groove plate 604, thereby driving the piston rod 603 to reciprocate up and down in the sealing cylinder 601. Using the negative pressure suction of the piston block 602, the bubbles and water moving to the periphery of the underwater survey equipment are sucked into the water inlet pipe 606 through the suction head 702 and the connecting pipe 701, and finally enter the sealing cylinder 601, thereby effectively eliminating the bubbles around the housing 101 and preventing the surrounding water body from becoming turbid.

[0045] Meanwhile, the liquid cooling mechanism 8 includes a spiral liquid cooling pipe 801 and a water outlet pipe 802. One end of the water outlet pipe 802 is fixed to the top of the sealing cylinder 601 through a one-way valve. The end of the water outlet pipe 802 far from the sealing cylinder 601 is fixedly connected to the spiral liquid cooling pipe 801. The bottom end of the spiral liquid cooling pipe 801 is fixedly connected with a liquid discharge pipe 803. The end of the liquid discharge pipe 803 far from the spiral liquid cooling pipe 801 penetrates through the housing 101 and extends to the outside of the housing 101.

[0046] Specifically, since the interior of the housing 101 also includes components such as a circuit control board, a communication module, and a watertight connector, these components and the underwater survey equipment will generate heat during operation. This heat will cause the temperature of the interior space of the housing 101 to rise. However, in order to reduce the working temperature inside the housing 101, the liquid water entering the sealing cylinder 601 will enter the water outlet pipe 802 when the piston block 602 moves upward, and then enter the spiral liquid cooling pipe 801. The spiral liquid cooling pipe 801 has a large surface area, and the spiral shape greatly increases the contact area with the air. The water inside the spiral liquid cooling pipe 801 has a lower temperature and will radiate to the interior of the housing 101, just like opening more channels for the dissipation of heat, enabling the low-temperature heat to be transferred to the interior of the housing 101 more quickly, achieving the effect of radiating and cooling the hot air inside the housing 101, and then synchronously dissipating heat and cooling the underwater survey equipment inside the housing 101, improving the heat dissipation effect of the underwater survey equipment.

[0047] Embodiment Three: Please refer to Figure 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 outside the first rotating shaft 201. The roller 503 is slidably connected to the cam 502. One 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 sliding rod 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 sliding rod 5042 is slidably sleeved on the limit plate 5041. The roller 503 and the rubber ball 505 are respectively fixed to both ends of the sliding rod 5042. A return spring 5043 is provided between the roller 503 and the limit plate 5041, and the sliding rod 5042 is sleeved inside the return spring 5043.

[0048] Specifically, when the unmanned boat is swimming on the water surface, fish and other underwater organisms underwater will approach the underwater survey equipment. To avoid interference from underwater animals to the normal operation of the survey equipment, the first rotating shaft 201 drives the cam 502 to rotate. The cam 502 pushes the roller 503 to perform left and right reciprocating movements, thereby driving the rubber ball 505 to perform left and right reciprocating movements through the elastic member 504. During the continuous movement of the rubber ball 505, it will contact the metal sheet 501 to produce a knocking effect, causing the steel cylinder 102 to emit vibrations and sounds. These vibrations and sounds are used to effectively drive away fish and other underwater organisms approaching the underwater survey equipment, thereby improving the accuracy and reliability of the survey data.

[0049] Please refer to Figure 1 - Figure 10 , the present invention also proposes an unmanned boat, including the underwater survey unit of the unmanned boat as described in any one of the above.

[0050] Among them, the unmanned boat is wirelessly communicatively connected to an external terminal.

[0051] It should be noted that since the unmanned boat of the present invention is based on the above-mentioned underwater survey unit of the unmanned boat, therefore, the embodiments of the unmanned boat of the present invention include all the technical solutions of all the embodiments of the above-mentioned underwater survey unit of the unmanned boat, and the achieved technical effects are also exactly the same, which will not be elaborated here.

[0052] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0053] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. 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) disposed between the two groups of extraction mechanisms (6), the liquid cooling mechanism (8) being used to synchronously dissipate heat and cool the underwater survey equipment in the housing (101); 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) via bearings respectively; 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) via 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); the first rotating shaft (201) is drivingly connected to the driving mechanism (5); The driving mechanism (5) comprises a metal sheet (501), a cam (502), a roller (503), an elastic member (504) and a rubber ball (505), wherein 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); 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).

2. The unmanned boat underwater survey unit according to claim 1, 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).

3. The unmanned boat underwater survey unit according to claim 2, 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).

4. The unmanned boat underwater survey unit according to claim 2, 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).

5. The unmanned boat underwater survey unit according to claim 4, 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.

6. The unmanned boat underwater survey unit according to claim 4, 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).

7. 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 6.

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