Underwater positioning device for marine surveying and mapping

Abstract

The invention belongs to the technical field of marine surveying and mapping, and particularly discloses an underwater positioning device for marine surveying and mapping, which comprises a buoy, an underwater surveying and mapping machine is arranged below the buoy, a cable is arranged in the buoy, the buoy is connected to the underwater surveying and mapping machine through the cable, the underwater surveying and mapping machine comprises two side plates, and the two side plates are arranged on the buoy. An inner frame plate is installed between the two side plates, and a surveying and mapping mechanism and a positioning mechanism are arranged in the inner frame plate. The first transverse plate and the elastic piece are driven by the cable to move synchronously, the inserting block is recycled into the inner frame plate, then the inner frame plate ascends, in the ascending process, the balancing weight falls, the weight of the equipment is reduced, the recycling tension is reduced, and meanwhile, the floating ball assists the lifting device, guarantees the normal function of the cable and assists the equipment to be recycled smoothly.

Description

Technical Field

[0001] The present invention belongs to the field of marine surveying and mapping, and specifically discloses an underwater positioning device for marine surveying and mapping. Background Art

[0002] The underwater positioning equipment for marine surveying and mapping is a special equipment used to accurately determine the position of underwater targets and assist in marine surveying and mapping operations. By combining technologies such as acoustics, inertial navigation, and satellite positioning, it realizes the precise positioning of underwater terrain, obstacles, or equipment, and is widely used in fields such as marine resource exploration, submarine pipeline laying, and underwater engineering monitoring.

[0003] The existing underwater positioning devices for marine surveying and mapping are prone to displacement under the impact of water flow during seabed operations, resulting in deviation of surveying data. Although some devices increase stability through counterweights, they lack an active fixing mechanism with the seabed, and the counterweight recovery efficiency is low. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to propose an underwater positioning device for marine surveying and mapping to solve the problem that in the prior art, when some underwater positioning devices for marine surveying and mapping are recovered, they are pulled back by cables. During this process, problems such as outer skin wear and internal wire breakage of the cables are likely to occur, affecting communication and power transmission, and thus threatening the equipment recovery and normal operation.

[0005] To achieve the above object, the present invention provides an underwater positioning device for marine surveying and mapping, including a buoy. An underwater surveying and mapping machine is arranged below the buoy. A cable is installed inside the buoy. The buoy is connected to the underwater surveying and mapping machine through the cable. The underwater surveying and mapping machine includes two side plates. An inner frame plate is installed between the two side plates. A surveying mechanism and a positioning mechanism are arranged inside the inner frame plate. The positioning mechanism is used to position the inner frame plate between the two side plates. A counterweight groove is arranged between the two side plates and below the inner frame plate. A counterweight block is installed inside the counterweight groove.

[0006] In the above technical solution, preferably, the surveying mechanism is installed in the middle of the inner frame plate, and the end of the surveying mechanism penetrates the inner frame plate. A groove is opened in the middle of the top of the side plate. The end of the surveying mechanism is movably clamped in the groove.

[0007] In the above technical solution, preferably, the positioning mechanism includes a first cross plate, which is movably installed above the surveying and mapping mechanism, and the first cross plate is located in the middle of the inner frame plate. Fixed blocks are installed at the bottoms of both ends of the first cross plate through bolts. A sliding block is arranged on the surface of the fixed block close to the inner wall of the inner frame plate. A sliding groove is formed in the inner wall of the inner frame plate, and the sliding block is slidably installed in the sliding groove. Through grooves are formed at the four end corners of the inner frame plate. An insertion block is movably installed inside the through groove. An insertion slot is formed on the surface of the side plate. One end of the insertion block located outside the inner frame plate is movably inserted into the insertion slot on the surface of the side plate. A fixed frame is arranged at the other end of the insertion block. A connecting rod is installed inside the fixed frame through a rotating shaft. A concave surface is formed at the other end of the connecting rod, and the surface of the concave surface is connected to the end of the fixed block through a rotating shaft.

[0008] In the above technical solution, preferably, a second cross plate is arranged directly above the first cross plate. A spring piece is arranged between the second cross plate and the first cross plate. Both ends of the spring piece are connected to the second cross plate, and the middle of the spring piece is connected to the first cross plate.

[0009] In the above technical solution, preferably, through grooves are formed in the middle parts of the first cross plate, the spring piece and the second cross plate. A receiving groove is formed in the middle of the top of the surveying and mapping mechanism. The surface of the cable movably passes through the three through grooves. A plug connector is arranged at the bottom of the cable. The plug connector is inserted into the transmission groove on the bottom surface of the receiving groove. A positioning disk is installed on the surface of the cable close to the bottom. The cable between the positioning disk and the plug connector is received in the receiving groove, and the positioning disk is located below the first cross plate.

[0010] In the above technical solution, preferably, a guiding groove is formed on the surface of the side plate inside the counterweight groove. Stabilizing rods are fixedly connected to the end corners at the bottoms of the two side plates. Linear grooves are formed on the adjacent surfaces of the two stabilizing rods. Two supporting surfaces are symmetrically installed between the two stabilizing rods. Protruding blocks are installed on both sides of the supporting surface close to the middle of the device. The protruding blocks are slidably installed in the linear grooves. A central groove is formed in the middle of the other end of the supporting surface. Vertical rods are installed at both ends of the bottom surface of the inner frame plate. A guiding block and a clamping block are fixedly installed at the bottom of the vertical rod. The guiding block is slidably installed inside the guiding groove, and the clamping block is installed in the central groove through a rotating shaft.

[0011] In the above technical solution, preferably, a sealing plate is arranged above the stabilizing rod. A bottom strip is installed at the bottom end of the sealing plate. The bottom strip is connected to the stabilizing rod through bolts, and the sealing plate is located outside the counterweight groove.

[0012] In the above technical solution, preferably, rectangular plates are installed at the four end corners of the top of the inner frame plate, a pull rope is connected between two opposite rectangular plates, and a float is arranged on the surface of the pull rope.

[0013] In the above technical solution, preferably, positioning pins are installed at both ends of the bottom of the side panel.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The device uses a positioning mechanism, and the spring sheet has an elastic restoring force, which can make the first horizontal plate return to the vicinity of the initial position after being displaced by external force, and maintain the stable positioning state of the positioning mechanism. When the device is slightly displaced or shaken by external force, the spring sheet can timely adjust the position of the first horizontal plate, and through linkage with the fixed block, connecting rod and other components, ensure that the plug-in block is always accurately plugged into the plug-in slot of the side plate, maintain the accurate position of the inner frame plate between the two side plates, and ensure the normal operation and mapping accuracy of the surveying and mapping mechanism; When the cable recovery device is pulled, the cable drives the first horizontal plate and the spring piece to move synchronously. Under the coordinated action of the positioning mechanism, the plug-in block is recovered to the inside of the inner frame plate, and the inner frame plate gradually rises. During the rising process of the inner frame plate, the vertical rod lifts the end of the supporting surface close to the side plate upward through the clamping block. The supporting surface is inclined and the distance between the two supporting surfaces gradually increases, so that the counterweight block falls from between the two supporting surfaces, thereby reducing the weight of the equipment during the recovery process, reducing the pulling force required for recovery, and making the recovery operation easier. At the same time, when pulling the cable for recovery, the float can assist the lifting device to ensure the normal function of the cable during the recovery process and provide guarantee for the smooth recovery of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the underwater surveying and mapping machine of the present invention; Figure 3 It is a schematic diagram of the internal structure of the underwater surveying and mapping machine of the present invention; Figure 4 This is a schematic diagram of the internal structure of the underwater mapping machine from another perspective of the present invention; Figure 5 For the present invention Figure 3 The enlarged view of point A in the middle; Figure 6 For the present invention Figure 4 The enlarged view of point B in the middle; Figure 7 For the present invention Figure 4 Enlarged view of point C in the middle; Figure 8 Schematic diagram of the cable structure of the present invention.

[0016] In the figure: 1, buoy; 2, underwater surveying and mapping machine; 3, side plate; 4, inner frame plate; 5, surveying and mapping mechanism; 6, groove; 7, through groove; 8, insertion block; 9, fixed frame; 10, connecting rod; 11, concave surface; 12, first cross plate; 13, elastic sheet; 14, second cross plate; 15, fixed block; 16, sliding block; 17, storage groove; 18, counterweight groove; 19, guiding groove; 20, vertical rod; 21, guiding block; 22, clamping block; 23, stabilizing rod; 24, supporting surface; 25, protruding block; 26, linear groove; 27, sealing plate; 28, bottom strip; 29, positioning nail; 30, rectangular plate; 31, floating ball; 32, cable; 33, plug connector; 34, positioning disk. Specific embodiments

[0017] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited by the limitations of the specific embodiments disclosed below.

[0019] As Figures 1-8 shown, an underwater positioning device for marine surveying and mapping includes a buoy 1. Below the buoy 1, there is an underwater surveying and mapping machine 2. Inside the buoy 1, a cable 32 is installed. The buoy 1 is connected to the underwater surveying and mapping machine 2 through the cable 32. The underwater surveying and mapping machine 2 includes two side plates 3. Between the two side plates 3, an inner frame plate 4 is installed. Inside the inner frame plate 4, there is a surveying and mapping mechanism 5 and a positioning mechanism. The positioning mechanism is used to position the inner frame plate 4 between the two side plates 3. Between the two side plates 3 and below the inner frame plate 4, there is a counterweight groove 18. Inside the counterweight groove 18, a counterweight block is installed. When the device is recovered, the cable 32 drives the first cross plate 12 and the elastic sheet 13 to move synchronously, so that the insertion block 8 is recovered into the inner frame plate 4. Then the inner frame plate 4 will rise. During the rising process, the vertical rod 20 and the clamping block 22 cooperate to make the supporting surface 24 inclined, and the distance between the two supporting surfaces 24 increases. The counterweight block drops to reduce the weight of the device and the recovery pulling force. At the same time, the floating ball 31 assists in lifting the device, ensuring the normal function of the cable 32 and helping the device to be recovered smoothly.

[0020] The surveying and mapping mechanism 5 is installed in the middle of the inner frame plate 4, and the end of the surveying and mapping mechanism 5 penetrates through the inner frame plate 4. A groove 6 is opened in the middle of the top end of the side plate 3, and the end of the surveying and mapping mechanism 5 is movably clamped in the groove 6. Installing the surveying and mapping mechanism 5 in the middle of the inner frame plate 4 can ensure its central position in the overall structure of the device, which is beneficial to improving the accuracy and stability of the surveying and mapping data. The end penetrates through the inner frame plate 4 and is movably clamped in the groove 6 in the middle of the top end of the side plate 3. This connection method provides precise positioning and stable support for the surveying and mapping mechanism 5, preventing the surveying and mapping mechanism 5 from shifting or shaking underwater due to factors such as water flow impact and equipment vibration, ensuring the reliability and accuracy of the surveying and mapping work. And when the inner frame plate 4 is lifted upward between the two side plates 3, the end of the surveying and mapping mechanism 5 will be lifted upward along the groove 6, avoiding the side plate 3 from blocking it.

[0021] The positioning mechanism includes a first cross plate 12. The first cross plate 12 is movably installed above the surveying and mapping mechanism 5 and is located in the middle of the inner frame plate 4. Fixed blocks 15 are installed at the bottoms of both ends of the first cross plate 12 through bolts. A sliding block 16 is arranged on the surface of the fixed block 15 close to the inner wall of the inner frame plate 4. A sliding groove is opened on the inner wall of the inner frame plate 4, and the sliding block 16 is slidably installed in the sliding groove. Through the sliding cooperation of the sliding block 16 in the sliding groove, the first cross plate 12 can move smoothly in the middle of the inner frame plate 4 to ensure the precise adjustment of its position. Through grooves 7 are opened at the four end corners of the inner frame plate 4. An insertion block 8 is movably installed inside the through groove 7. An insertion groove is opened on the surface of the side plate 3. One end of the insertion block 8 located outside the inner frame plate 4 is movably inserted into the insertion groove on the surface of the side plate 3. The other end of the insertion block 8 is provided with a fixed frame 9. A connecting rod 10 is installed inside the fixed frame 9 through a rotating shaft. A concave surface 11 is opened at the other end of the connecting rod 10. The surface of the concave surface 11 is connected to the end of the fixed block 15 through a rotating shaft, enabling the surveying and mapping mechanism 5 to maintain an accurate installation position on the inner frame plate 4, thereby improving the accuracy of the surveying and mapping work. The cooperation between the insertion blocks 8 at the four end corners and the insertion grooves on the surface of the side plate 3 accurately positions the inner frame plate 4 between the two side plates 3, greatly enhancing the stability of the overall structure of the underwater surveying and mapping machine 2. This stable connection method can effectively reduce the shaking of the equipment underwater when affected by external forces such as water flow impact and vibration, ensuring the stability of the surveying and mapping mechanism 5 during operation, and thus improving the reliability of the surveying and mapping data. The insertion block 8 forms an axial sliding fit with the inner frame plate 4 through the through groove 7, and its outer end can move horizontally along the insertion groove. The fixed frame 9 and the connecting rod 10 form a crank-slider mechanism. When the fixed block 15 is driven by the first cross plate 12 to move upward, the connecting rod 10 pushes the insertion block 8 to retract inward through the rotating shaft connection of the concave surface 11, disengaging from the insertion groove of the side plate 3. This process is similar to the telescopic principle of a door bolt and belongs to a mature mechanical linkage design.

[0022] A second cross plate 14 is arranged directly above the first cross plate 12. A resilient piece 13 is arranged between the second cross plate 14 and the first cross plate 12. Both ends of the resilient piece 13 are connected to the second cross plate 14, and the middle part of the resilient piece 13 is connected to the first cross plate 12. The resilient piece 13 has a certain elastic restoring force. After the first cross plate 12 generates a certain displacement under an external force, it can return to the vicinity of the initial position by means of the elastic force of the resilient piece 13, so as to maintain the stable positioning state of the positioning mechanism. When the device undergoes a small displacement or shaking due to an external force, the resilient piece 13 can timely adjust the position of the first cross plate 12, and then through the linkage with components such as the fixed block 15 and the connecting rod 10, ensure that the plug-in block 8 is always accurately plugged into the plug-in slot of the side plate 3, maintain the accurate position of the inner frame plate 4 between the two side plates 3, and ensure the normal operation and surveying and mapping accuracy of the surveying and mapping mechanism 5.

[0023] Through grooves are respectively arranged in the middle parts of the first cross plate 12, the resilient piece 13 and the second cross plate 14. A receiving groove 17 is arranged in the middle of the top of the surveying and mapping mechanism 5. The surface of the cable 32 movably penetrates through the three through grooves. A plug connector 33 is arranged at the bottom of the cable 32. The plug connector 33 is plugged into the transmission groove at the bottom surface of the receiving groove 17. A positioning disk 34 is installed on the surface of the cable 32 near the bottom. The cable 32 between the positioning disk 34 and the plug connector 33 is received in the receiving groove 17. The positioning disk 34 is located below the first cross plate 12. The cable 32 is plugged into the transmission groove at the bottom surface of the receiving groove 17 at the bottom of the surveying and mapping mechanism 5 through the plug connector 33. This connection method can realize reliable electrical signal or data transmission, ensure the stability of communication and power supply between the buoy 1 and the underwater surveying and mapping machine 2, and reduce the possibility of signal interruption or transmission error. The cable 32 movably penetrates through the through grooves of the first cross plate 12, the resilient piece 13 and the second cross plate 14, and the positioning disk 34 is located below the first cross plate 12, relatively fixing the cable 32 in a certain position. This helps to prevent the cable 32 from excessive shaking, twisting or being pulled by an external force due to factors such as water flow impact and equipment shaking underwater, thus protecting the structural integrity of the cable 32 and extending the service life of the cable 32. At the same time, when the staff pulls up the cable 32, it can drive the first cross plate 12 and the resilient piece 13 to move synchronously. Under the synergistic effect of the positioning mechanism, the plug-in block 8 will be smoothly retracted into the interior of the inner frame plate 4. Under the pulling force of the cable 32, the inner frame plate 4 will gradually rise.

[0024] The surface of the side plate 3 inside the counterweight groove 18 is provided with a guiding groove 19. At the end corners of the bottoms of the two side plates 3, stabilizing rods 23 are fixedly connected. On the adjacent surfaces of the two stabilizing rods 23, linear grooves 26 are provided. Between the two stabilizing rods 23, two supporting surfaces 24 are symmetrically installed. On both sides of the supporting surface 24 close to the middle of the device, protruding blocks 25 are installed. The protruding blocks 25 are slidably installed in the linear grooves 26. In the middle of the other end of the supporting surface 24, a central groove is provided. At both ends of the bottom surface of the inner frame plate 4, vertical rods 20 are installed. At the bottom of the vertical rod 20, a guiding block 21 and a clamping block 22 are fixedly installed. The guiding block 21 is slidably installed inside the guiding groove 19. The clamping block 22 is installed in the central groove through a rotating shaft. When the inner frame plate 4 gradually moves upward, the vertical rod 20 will lift the end of the supporting surface 24 close to the side plate 3 upward through the clamping block 22. During the lifting process, the protruding block 25 will also gradually move along the linear groove 26 towards the side plate 3. The supporting surface 24 gradually assumes an inclined state, and the distance between the two supporting surfaces 24 also gradually increases. At this time, the counterweight will fall from between the two supporting surfaces 24.

[0025] Above the stabilizing rod 23, a sealing plate 27 is provided. At the bottom end of the sealing plate 27, a bottom strip 28 is installed. The bottom strip 28 is bolted to the stabilizing rod 23. The sealing plate 27 is outside the counterweight groove 18. The sealing plate 27, like a barrier, can effectively prevent the counterweight from accidentally falling out of the counterweight groove 18 due to various accidents. This is crucial for maintaining the overall balance and stability of the underwater mapping machine 2, avoiding changes in the center of gravity of the equipment due to the loss of the counterweight and affecting the accuracy of mapping and positioning.

[0026] At the four end corners of the top of the inner frame plate 4, rectangular plates 30 are installed. Between two opposite rectangular plates 30, a pulling rope is connected. On the surface of the pulling rope, a floating ball 31 is provided. The staff can gradually pull the underwater mapping machine 2 out of the water through the buoyancy of the floating ball 31. This design makes the recovery process more convenient and safe, reducing the risk of damage that may be caused by directly pulling the cable 32 or other components of the equipment, and improving the success rate of equipment recovery.

[0027] At both ends of the bottom of the side plate 3, positioning pins 29 are installed. After the positioning pins 29 are inserted into the seabed, the connection stability between the underwater mapping machine 2 and the seabed can be enhanced. It can effectively resist the scouring and pushing of the water flow on the equipment, prevent the equipment from shifting or shaking under the action of the water flow, and ensure that the mapping mechanism 5 maintains a relatively stable posture during the mapping process, thereby improving the quality and accuracy of the mapping data.

[0028] Working principle: First, the buoy 1 and the underwater mapping machine 2 are placed in water together. Under the action of the counterweight, the underwater mapping machine 2 sinks to the seabed. At this time, the positioning pins 29 at both ends of the bottom of the side plate 3 are inserted into the seabed, enhancing the connection stability between the underwater mapping machine 2 and the seabed, resisting the scouring and pushing of the water flow, and keeping the equipment in a relatively stable posture. At the same time, the sealing plate 27 is located outside the counterweight groove 18 to prevent the counterweight from accidentally falling and maintaining the overall balance of the equipment. Then, the mapping mechanism 5 is installed in the middle of the inner frame plate 4, and its end penetrates through the inner frame plate 4 and is movably clamped in the groove 6 in the middle of the top of the side plate 3, being in the central position of the overall structure of the device and starting the mapping work. This connection method provides accurate positioning and stable support for the mapping mechanism 5, preventing deviation or shaking due to factors such as water flow impact and equipment shaking, and ensuring the accuracy and stability of the mapping data. Next, the plug-in blocks 8 at the four end corners of the inner frame plate 4 are connected to the fixed blocks 15 through the connecting rods 10. The plug-in blocks 8 are movably inserted into the plug-in grooves on the surface of the side plate 3, accurately positioning the inner frame plate 4 between the two side plates 3, enhancing the stability of the overall structure of the underwater mapping machine 2, reducing the shaking of the equipment when affected by external forces, and ensuring the stability of the mapping mechanism 5 during operation. Subsequently, the cable 32 is inserted into the transmission groove on the bottom surface of the storage groove 17 at the bottom of the mapping mechanism 5 through the plug connector 33, realizing reliable electrical signal or data transmission between the buoy 1 and the underwater mapping machine 2, and ensuring the stability of communication and power supply. The cable 32 movably passes through the through grooves of the first cross plate 12, the elastic piece 13 and the second cross plate 14, and the positioning disk 34 is located below the first cross plate 12, preventing the cable 32 from shaking, twisting or being pulled by external forces underwater, and protecting the structural integrity of the cable 32. Finally, when it is necessary to recover the underwater mapping machine 2, the staff pulls the cable 32. The cable 32 drives the first cross plate 12 and the elastic piece 13 to move synchronously. Under the coordinated action of the positioning mechanism, the first cross plate 12 is lifted upward, and the fixed block 15 fixedly connected to its end will also move upward synchronously. At the same time, the fixed block 15 will drive the end of the connecting rod 10 with the concave surface 11 to lift upward through the rotating shaft. Under the action of the connecting rod 10, the plug-in block 8 can be smoothly recovered into the inner frame plate 4. The inner frame plate 4 can then rise by the buoyancy of the floating ball 31. During the rising process of the inner frame plate 4, the vertical rod 20 lifts the end of the support surface 24 close to the side plate 3 upward through the clamping block 22, and the protruding block 25 moves along the straight groove 26 towards the side plate 3. The support surface 24 is in an inclined state, and the distance between the two support surfaces 24 increases. The counterweight falls from between the two support surfaces 24. At the same time, the staff can gradually pull the underwater mapping machine 2 out of the water through the buoyancy of the floating ball 31 on the surface of the pull rope at the top of the inner frame plate 4, conveniently and safely completing the recovery process.

[0029] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, various changes and improvements will occur to the present invention, and these changes and improvements fall within the scope of the present invention claimed.

Claims

1. An underwater positioning device for marine surveying and mapping, comprising a buoy (1), characterized in that, An underwater mapping machine (2) is provided below the buoy (1). A cable (32) is installed inside the buoy (1). The buoy (1) is connected to the underwater mapping machine (2) through the cable (32). The underwater mapping machine (2) includes two side plates (3). An inner frame plate (4) is installed between the two side plates (3). A mapping mechanism (5) and a positioning mechanism are arranged inside the inner frame plate (4). The positioning mechanism is used to position the inner frame plate (4) between the two side plates (3). A counterweight groove (18) is arranged between the two side plates (3) and below the inner frame plate (4). A counterweight block is installed inside the counterweight groove (18).

2. The underwater positioning device for marine surveying according to claim 1, characterized in that, The mapping mechanism (5) is installed in the middle of the inner frame plate (4), and the end of the mapping mechanism (5) penetrates the inner frame plate (4). A groove (6) is opened in the middle of the top end of the side plate (3). The end of the mapping mechanism (5) is movably clamped in the groove (6).

3. The underwater positioning device for marine surveying according to claim 1, characterized in that, The positioning mechanism includes a first cross plate (12). The first cross plate (12) is movably installed above the mapping mechanism (5), and the first cross plate (12) is in the middle of the inner frame plate (4). Fixed blocks (15) are installed at the bottoms of both ends of the first cross plate (12) through bolts. A sliding block (16) is arranged on the surface of the fixed block (15) close to the inner wall of the inner frame plate (4). A sliding groove is opened on the inner wall of the inner frame plate (4). The sliding block (16) is slidably installed in the sliding groove. Through grooves (7) are opened at the four end corners of the inner frame plate (4). Plug-in blocks (8) are movably installed inside the through grooves (7). Plug-in grooves are opened on the surface of the side plate (3). One end of the plug-in block (8) outside the inner frame plate (4) is movably inserted into the plug-in groove on the surface of the side plate (3). A fixed frame (9) is arranged at the other end of the plug-in block (8). A connecting rod (10) is installed inside the fixed frame (9) through a rotating shaft. A concave surface (11) is opened at the other end of the connecting rod (10). The surface of the concave surface (11) is connected to the end of the fixed block (15) through a rotating shaft.

4. An underwater positioning device for marine surveying according to claim 3, characterized in that, A second cross plate (14) is arranged directly above the first cross plate (12). A spring piece (13) is arranged between the second cross plate (14) and the first cross plate (12). Both ends of the spring piece (13) are connected to the second cross plate (14), and the middle of the spring piece (13) is connected to the first cross plate (12).

5. An underwater positioning device for marine surveying according to claim 4, characterized in that, The middle parts of the first cross plate (12), the elastic piece (13) and the second cross plate (14) are all provided with through grooves. The middle end of the top of the surveying mechanism (5) is provided with a storage groove (17). The surface of the cable (32) movably penetrates through the three through grooves. The bottom of the cable (32) is provided with a plug connector (33). The plug connector (33) is inserted into the transmission groove on the bottom surface of the storage groove (17). A positioning disk (34) is installed on the surface of the cable (32) near the bottom. The cable (32) between the positioning disk (34) and the plug connector (33) is stored in the storage groove (17). The positioning disk (34) is located below the first cross plate (12).

6. The underwater positioning device for marine surveying according to claim 1, characterized in that, The surface of the side plate (3) inside the counterweight groove (18) is provided with a guide groove (19). The bottom end corners of the two side plates (3) are fixedly connected with stabilizing rods (23). Linear grooves (26) are provided on the adjacent surfaces of the two stabilizing rods (23). Two supporting surfaces (24) are symmetrically installed between the two stabilizing rods (23). Protruding blocks (25) are installed on both sides of the supporting surface (24) close to the middle of the device. The protruding blocks (25) are slidably installed in the linear grooves (26). A central groove is provided in the middle of the other end of the supporting surface (24). Vertical rods (20) are installed at both ends of the bottom surface of the inner frame plate (4). A guide block (21) and a clamping block (22) are fixedly installed at the bottom of the vertical rod (20). The guide block (21) is slidably installed inside the guide groove (19). The clamping block (22) is installed in the central groove through a rotating shaft.

7. An underwater positioning device for marine surveying according to claim 6, characterized in that, A sealing plate (27) is arranged above the stabilizing rod (23). A bottom strip (28) is installed at the bottom end of the sealing plate (27). The bottom strip (28) is bolted to the stabilizing rod (23). The sealing plate (27) is located outside the counterweight groove (18).

8. An underwater positioning device for marine surveying and mapping according to claim 1, characterized in that, Rectangular plates (30) are installed at the four end corners of the top of the inner frame plate (4). A pull rope is connected between two opposite rectangular plates (30). A floating ball (31) is arranged on the surface of the pull rope.

9. An underwater positioning device for marine surveying and mapping according to claim 1, characterized in that, Positioning pins (29) are installed at both ends of the bottom of the side plate (3).

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