An ocean surveying and mapping device based on intelligent unmanned ship

Abstract

The present invention discloses an ocean surveying and mapping device based on an intelligent unmanned ship, which belongs to the field of ocean surveying and mapping technology. The device comprises a surveying and mapping device body and an intelligent unmanned ship for carrying the surveying and mapping device body. A reeling and unreeling mechanism is provided on the top of the intelligent unmanned ship. A multi-section hinged chain with a switchable straight and curved state for lifting the surveying and mapping device body is wound on the reeling and unreeling mechanism. A storage chamber for storing the surveying and mapping device body is provided at the middle position of the intelligent unmanned ship. A limiting cylinder is fixedly installed inside the storage chamber through a cross. Several straightening mechanisms for straightening the multi-section hinged chain are provided on the inner wall of the limiting cylinder near the bottom. By replacing the traditional single-section vertical structural member with a multi-section hinged chain to lift and lower the surveying and mapping device body, the surveying and mapping device body can be lowered to deeper waters for surveying and mapping work, thereby improving the performance of the surveying and mapping device body in surveying and mapping waters of different depths and increasing the surveying and mapping application scenarios of the surveying and mapping device body.

Description

Technical Field

[0001] The present invention relates to the technical field of ocean surveying and mapping, and in particular to an ocean surveying and mapping device based on an intelligent unmanned ship. Background Art

[0002] An intelligent unmanned vessel (UAV) is a surface vehicle that operates without a crew on board and can navigate autonomously or via remote control. This unmanned approach eliminates the need for a crew, reducing operating costs and risks. Furthermore, UAVs utilize advanced navigation systems (such as GPS, inertial navigation, and sonar) to achieve autonomous navigation, enabling them to operate in a variety of waters and environmental conditions. They are also equipped with a variety of sensors, equipment, and tools for oceanographic mapping, meeting the requirements of oceanographic surveying missions.

[0003] For example, the Chinese invention patent with the authorization announcement number: CN117125192B discloses an ocean surface and underwater surveying and mapping equipment based on an intelligent unmanned ship, which belongs to the field of ocean surveying and mapping technology. The ocean surface and underwater surveying and mapping equipment based on an intelligent unmanned ship includes a surveying and mapping equipment main body and an unmanned ship for installing the surveying and mapping equipment main body. The unmanned ship is detachably installed with a mounting plate, the mounting plate is detachably installed with a mounting frame, the mounting frame is detachably installed with a lifting member, and the surveying and mapping equipment main body is detachably installed on the lifting member; the lifting member includes a first gear, a motor and a movable plate, the rotating shaft of the motor is connected to the first gear key, the side of the movable plate can be slidably installed on the mounting frame, the side of the movable plate is provided with a first rack meshing with the first gear, and the surveying and mapping equipment main body is installed on the side of the movable plate.

[0004] Although the above-mentioned patent can drive the surveying and mapping equipment body to be raised and lowered by the setting of the lifting parts, so that it can be inserted into the water for surveying or withdrawn from the water for storage, when the surveying and mapping equipment body is driven to be raised and lowered by the first rack, the rack is inconvenient to be set too long and cannot be bent and reeled, resulting in the lifting range of the surveying and mapping equipment body being greatly limited, making it impossible to survey deeper waters, reducing the application scenarios of the surveying and mapping equipment, and having certain defects that need to be improved.

[0005] Therefore, it is necessary to provide an intelligent unmanned ship-based ocean mapping equipment to solve the above technical problems. Summary of the Invention

[0006] The purpose of the present invention is to provide an ocean surveying and mapping device based on an intelligent unmanned ship to solve the problem in the prior art that it is inconvenient to stably lift and lower the main body of the surveying and mapping device to survey deeper ocean waters.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent unmanned ship-based ocean surveying and mapping equipment, including a surveying and mapping equipment body, and an intelligent unmanned ship for carrying the surveying and mapping equipment body, the top of the intelligent unmanned ship is provided with a reeling and unreeling mechanism, and the reeling and unreeling mechanism is wound with a multi-section hinged chain that can be switched between a straight and a curved state for lifting the surveying and mapping equipment body; a storage cavity for accommodating the surveying and mapping equipment body is provided at the middle position of the intelligent unmanned ship, the interior of the storage cavity is fixedly installed with a limiting cylinder through a cross, and the inner wall of the limiting cylinder is provided with a plurality of straightening mechanisms near the bottom end for straightening the multi-section hinged chain, and the plurality of straightening mechanisms are provided. The straightening mechanisms are distributed in a circular array and are skipped at the position corresponding to the trapezoidal switching plate (that is, no straightening mechanism is provided at the position opposite to the trapezoidal switching plate), and a trapezoidal switching plate for controlling the multi-section articulated chain to switch between the curved and straight states is fixedly installed on one side of the inner wall of the limiting cylinder; clamping mechanisms are fixedly installed on the front and back sides of the inner wall of the storage cavity, and the clamping mechanisms are used to clamp and fix the lifting chain rod after straightening and clamping, so as to improve the stability in the vertical direction; an arc-shaped guide mechanism for preventing the multi-section articulated chain from straightening is provided on the top of the intelligent unmanned boat and between the reeling and unwinding mechanism and the storage cavity, so as to facilitate the reeling and unwinding mechanism to reel in and out the multi-section articulated chain;

[0008] By replacing the traditional single-section vertical structural parts with a multi-section articulated chain to lift and lower the main body of the surveying and mapping equipment, the main body of the surveying and mapping equipment can be lowered to deeper waters for surveying and mapping work, thereby improving the performance of the main body of the surveying and mapping equipment in surveying and mapping waters of different depths and increasing the surveying and mapping application scenarios of the main body of the surveying and mapping equipment.

[0009] As a further description of the above technical solution: the reeling and winding mechanism includes a driving motor fixedly installed on the top of the intelligent unmanned boat and two support frames, the output end of the driving motor is fixedly connected to a driving gear, and a reel is rotatably installed between the two support frames and near the top, the front side of the reel is coaxially fixedly connected to a driven gear, and the outer surface of the driving gear is meshed with the outer surface of the driven gear.

[0010] As a further description of the above technical solution: the clamping mechanism includes an electric telescopic rod fixedly mounted on the inner wall of the storage cavity, the telescopic end of the electric telescopic rod is fixedly connected to an arc-shaped splint, and the other side of the arc-shaped splint is fixedly connected to a non-slip rubber pad.

[0011] As a further description of the above technical solution: one end of the multi-section articulated chain is hinged to the reel, and the other end of the multi-section articulated chain passes through the limiting cylinder and is fixedly installed with a mounting plate, the bottom of the mounting plate is fixedly connected to the device cylinder by bolts, the surveying and mapping equipment body is fixedly installed at the bottom of the device cylinder, and the mounting plate and the device cylinder are both made of stainless steel.

[0012] As a further description of the above technical solution: a battery and a wireless communication module are provided inside the device tube, and a sealing ring is provided between the device tube and the mounting plate to ensure the sealing of the connection and prevent water from entering the device tube.

[0013] As a further description of the above technical solution: the multi-section articulated chain includes a plurality of lifting chain rods hingedly connected in sequence, the top end of the lifting chain rod is provided with an installation cavity, the interior of the installation cavity is detachably provided with a snap-in assembly, the bottom end of the lifting chain rod is provided with a snap-in hole at a position relative to the snap-in assembly, and the lifting chain rod is made of high-strength lightweight aluminum alloy material.

[0014] As a further description of the above technical solution: the clamping assembly includes a device box, which is detachably mounted inside the installation cavity by bolts, and a slider is slidably connected between the two sides of the inner wall of the device box, the top of the slider is fixedly connected with a clamping rod, and the top of the slider is also hingedly installed with a connecting rod, and the other end of the connecting rod is hingedly installed with a pressing rod, and the other end of the pressing rod movably passes through the device box and extends to the outside of the device box, and a clamping spring is fixedly connected between the bottom of the slider and the bottom of the inner wall of the device box, and a sealing ring is provided on the device box and at the position where the pressing rod movably passes through, to increase the sealing of the connection between the pressing rod and the device box to prevent seawater from entering the interior of the device box. By cooperating with the relative clamping assemblies and clamping holes on adjacent sections, the two adjacent lifting chain rods can be clamped and fixed together, and the original bent state can be changed to a vertical state.

[0015] As a further description of the above technical solution: the straightening mechanism includes a fixed block fixedly mounted on the inner wall of the limit cylinder, the other end of the fixed block is rotatably connected to a roller, and multiple rollers in the straightening mechanisms are wrapped around the outer side of the lifting chain rod, which can limit the lifting chain rod in the vertical state to avoid scratching against the inner wall of the limit cylinder during the lifting process and accelerating wear, and multiple rollers are surrounded to form a circular limiting channel. When the lifting chain rod in the inclined state passes through, the lifting chain rod in the inclined state can be straightened and placed in the vertical state, so that the clamping holes and clamping components on adjacent lifting chain rods are relative to each other, and the lifting chain rods of adjacent sections are clamped and fixed together in cooperation, so that the lifting chain rod is switched into a single-section vertical rod, and the length is increased exponentially compared to the length of a single lifting chain rod. Using the above principle, multiple-section lifting chain rods can be clamped and fixed into a single-section vertical rod of the required length, so that the main body of the surveying and mapping equipment can be stably supported and fixed at the required depth for surveying and mapping work.

[0016] As a further description of the above technical solution: the arc guide mechanism includes a fixed frame fixedly installed on the top of the intelligent unmanned boat, a main arc guide channel is fixedly installed on the top of the fixed frame, and a secondary arc guide channel is hingedly installed on one end of the main arc guide channel close to the winding and unwinding mechanism, and a reset torsion spring is fixedly connected between the main arc guide channel and the secondary arc guide channel. Through the setting of the arc guide mechanism, the multi-section articulated chain for winding and unwinding between the limit cylinder and the reel can be guided in an arc shape, so that the lifting chain rods of the adjacent sections are always in a bent state to avoid straightening, so that the multi-section articulated chain can be in a bent state and smoothly enter the limit cylinder when unwinding, and it is convenient for the reel to rewind the multi-section articulated chain.

[0017] As a further description of the above technical solution: an equipment box is also fixedly installed on the top of the intelligent unmanned boat, and the equipment box is made of plastic material. An intelligent controller is arranged inside the equipment box. The intelligent controller adopts a mature product of existing technology and has information processing function. The controller is equipped with a microprocessor and has the ability to process and analyze data and exchange information wirelessly. It is a product of the combination of intelligent control equipment that integrates a microprocessor and a special algorithm.

[0018] The present invention has the following beneficial effects:

[0019] By replacing the traditional single-section vertical structural parts with a multi-section articulated chain to lift and lower the main body of the surveying and mapping equipment, the main body of the surveying and mapping equipment can be lowered to deeper waters for surveying and mapping work, thereby improving the performance of the main body of the surveying and mapping equipment in surveying and mapping waters of different depths and increasing the surveying and mapping application scenarios of the main body of the surveying and mapping equipment.

[0020] The original multi-section hinged and bent lifting chain rod is unwound through the reeling and winding mechanism, and the adjacent lifting chain rods can be switched from the original hinged and bent state to a vertically clamped and fixed state through the coordinated use of the limit cylinder and the straightening mechanism, so that the unwound multi-section hinged chain is switched to a single-section vertical rod, and the unwound length of the multi-section hinged chain is controlled by the reeling and winding mechanism, so as to control the depth of the single-section vertical rod inserted into the sea water, and then the main body of the surveying and mapping equipment can be lowered to the required depth for surveying and mapping work according to actual surveying and mapping needs.

[0021] The rollers in the multiple straightening mechanisms are wrapped around the outside of the lifting chain rod, which can limit the lifting chain rod in the vertical state to avoid accelerated wear due to friction with the inner wall of the limiting cylinder during the lifting process, and multiple rollers are combined to form a circular limiting channel. When the lifting chain rod passes by in an inclined state, the lifting chain rod in the inclined state can be straightened to make it in a vertical state, so that the clamping holes and clamping components on adjacent lifting chain rods are relative to each other, and the adjacent sections of the lifting chain rods are clamped and fixed together, so that the lifting chain rod is switched to a single-section vertical rod, and the length is increased exponentially compared to the length of a single lifting chain rod. Using the above principle, multiple sections of lifting chain rods can be clamped and fixed into a single-section vertical rod of the required length, so that the main body of the surveying and mapping equipment can be stably supported and fixed at the required depth for surveying and mapping work. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a three-dimensional schematic diagram of the overall structure of an intelligent unmanned ship-based ocean surveying and mapping device proposed by the present invention. Figure 1 ;

[0023] Figure 2 This is a three-dimensional schematic diagram of the overall structure of an intelligent unmanned ship-based ocean surveying and mapping device proposed by the present invention. Figure 2 ;

[0024] Figure 3 This is a schematic longitudinal section of an intelligent unmanned ship based on an intelligent unmanned ship ocean surveying and mapping device proposed by the present invention;

[0025] Figure 4 This is a longitudinal cross-sectional diagram of a limit cylinder based on an intelligent unmanned ship ocean surveying and mapping device proposed by the present invention;

[0026] Figure 5 This is a top view of the structure of the limit cylinder and trapezoidal switching plate of the intelligent unmanned ship marine surveying and mapping equipment proposed by the present invention;

[0027] Figure 6 This is an exploded diagram of a two-section lifting chain rod based on an intelligent unmanned ship marine surveying and mapping device proposed by the present invention;

[0028] Figure 7 This is an exploded view of a lifting chain rod and a clamping assembly of an intelligent unmanned ship-based ocean surveying and mapping device proposed by the present invention;

[0029] Figure 8 This is a schematic diagram of a snap-on assembly based on an intelligent unmanned ship ocean surveying and mapping device proposed by the present invention;

[0030] Figure 9 This is a schematic diagram of a reeling and unreeling mechanism based on an intelligent unmanned ship marine surveying and mapping device proposed by the present invention;

[0031] Figure 10This is a schematic diagram of an arc-shaped wire mechanism and reel based on an intelligent unmanned ship marine surveying and mapping device proposed by the present invention;

[0032] Figure 11 For the present invention Figure 10 Enlarged view of point A in the middle;

[0033] Figure 12 This is a schematic diagram of a clamping mechanism based on an intelligent unmanned ship ocean surveying and mapping device proposed by the present invention;

[0034] Figure 13 This is a schematic diagram of the usage status of an intelligent unmanned ship-based ocean surveying and mapping device proposed by the present invention.

[0035] In the picture: 1. Surveying and mapping equipment; 2. Intelligent unmanned boat;

[0036] 3. Rewinding and unwinding mechanism; 301. Driving motor; 302. Support frame; 303. Driving gear; 304. Reel; 305. Driven gear;

[0037] 4. Multi-section hinge chain; 401. Lifting chain rod; 402. Mounting cavity; 403. Snap assembly; 4031. Device box; 4032. Slider; 4033. Snap rod; 4034. Connecting rod; 4035. Press rod; 4036. Snap spring; 404. Snap hole;

[0038] 5. Storage cavity; 6. Cross; 7. Limiting cylinder;

[0039] 8. Straightening mechanism; 801. Fixed block; 802. Roller;

[0040] 9. Trapezoidal switching board;

[0041] 10. Clamping mechanism; 1001. Electric telescopic rod; 1002. Arc-shaped splint; 1003. Anti-slip rubber pad;

[0042] 11. Arc guide mechanism; 1101. Fixing frame; 1102. Main arc guide channel; 1103. Secondary arc guide channel; 1104. Return torsion spring;

[0043] 12. Mounting plate; 13. Mounting tube; 14. Equipment box. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0045] As attached Figure 1 To the attached Figure 13 As shown:

[0046] Embodiment 1: The present invention provides an ocean surveying and mapping equipment based on an intelligent unmanned ship, comprising a surveying and mapping equipment body 1, and an intelligent unmanned ship 2 for carrying the surveying and mapping equipment body 1. The surveying and mapping equipment body 1 and the intelligent unmanned ship 2 both adopt existing mature products, and their specific structures and principles are not elaborated in detail here. A reeling and unreeling mechanism 3 is provided on the top of the intelligent unmanned ship 2, and a multi-section hinged chain 4 with a switchable curved and straight state for lifting the surveying and mapping equipment body 1 is wound on the reeling and unreeling mechanism 3. The surveying and mapping equipment body 1 is raised and lowered by replacing the traditional single-section vertical structural member with the multi-section hinged chain 4, and the surveying and mapping equipment body 1 can be lowered to deeper waters for surveying and mapping work, thereby improving the performance of the surveying and mapping equipment body 1 in surveying and mapping waters of different depths and increasing the surveying and mapping application scenarios of the surveying and mapping equipment body 1;

[0047] A storage cavity 5 for accommodating the surveying and mapping equipment body 1 is provided in the middle of the intelligent unmanned boat 2. A limit cylinder 7 is fixedly installed inside the storage cavity 5 through a cross 6. A plurality of straightening mechanisms 8 for straightening the multi-section articulated chain 4 are provided on the inner wall of the limit cylinder 7 near the bottom end. The straightening mechanisms 8 are distributed in a circular array and are skipped at the positions corresponding to the trapezoidal switching plate 9 (i.e., the straightening mechanism 8 is not provided at the position opposite to the trapezoidal switching plate 9). A trapezoidal switching plate 9 for controlling the switching of the multi-section articulated chain 4 between the curved and straight states is fixedly installed on one side of the inner wall of the limit cylinder 7.

[0048] The front and back sides of the inner wall of the storage chamber 5 are fixedly mounted with a clamping mechanism 10, which is used to clamp and fix the straightened lifting chain rod 401 to improve the stability in the vertical direction;

[0049] An arc-shaped guide mechanism 11 is provided on the top of the intelligent unmanned boat 2 and between the retracting and unreeling mechanism 3 and the storage chamber 5 to prevent the multi-section articulated chain 4 from becoming straight, so that the retracting and unreeling mechanism 3 can perform the retracting and unreeling operation on the multi-section articulated chain 4.

[0050] The reeling and unreeling mechanism 3 includes a driving motor 301 and two support frames 302 fixedly mounted on the top of the intelligent unmanned boat 2. The output end of the driving motor 301 is fixedly connected to a driving gear 303. A reel 304 is rotatably mounted between the two support frames 302 and near the top. The front of the reel 304 is coaxially fixedly connected to a driven gear 305. The outer surface of the driving gear 303 is meshed with the outer surface of the driven gear 305.

[0051] The clamping mechanism 10 includes an electric telescopic rod 1001 fixedly mounted on the inner wall of the storage chamber 5 . The telescopic end of the electric telescopic rod 1001 is fixedly connected to an arc-shaped clamping plate 1002 , and the other side of the arc-shaped clamping plate 1002 is fixedly connected to an anti-slip rubber pad 1003 .

[0052] One end of the multi-section hinged chain 4 is hinged to the reel 304, and the other end of the multi-section hinged chain 4 passes through the limiting cylinder 7 and is fixedly installed with a mounting plate 12. The bottom of the mounting plate 12 is fixedly connected to the device cylinder 13 by bolts. The surveying and mapping equipment body 1 is fixedly installed at the bottom of the device cylinder 13. The mounting plate 12 and the device cylinder 13 are both made of stainless steel and can act as a counterweight so that the multi-section hinged chain 4 can be lowered smoothly when unwinding.

[0053] A battery (not shown in the figure) and a wireless communication module (not shown in the figure) are provided inside the device tube 13, and a sealing ring (not shown in the figure) is provided between the device tube 13 and the mounting plate 12 to ensure the sealing of the connection and prevent water from entering the device tube 13.

[0054] The multi-section hinged chain 4 includes a plurality of lifting chain rods 401 hingedly connected in sequence. A mounting cavity 402 is provided at the top of the lifting chain rod 401. A snap-fit ​​assembly 403 is detachably installed inside the mounting cavity 402. A snap-fit ​​hole 404 is provided at the bottom end of the lifting chain rod 401 at a position relative to the snap-fit ​​assembly 403. The lifting chain rod 401 is made of high-strength lightweight aluminum alloy material and has a circular cross-section.

[0055] The clamping assembly 403 includes a device box 4031, which is detachably mounted inside the mounting cavity 402 by bolts. A slider 4032 is slidably connected between the two sides of the inner wall of the device box 4031. The top of the slider 4032 is fixedly connected to a clamping rod 4033, and the top of the slider 4032 is also hingedly mounted with a connecting rod 4034. The other end of the connecting rod 4034 is hingedly mounted with a pressing rod 4035. The other end of the pressing rod 4035 movably passes through the device box 4031 and extends to the outside of the device box 4031. A clamping spring 4036 is fixedly connected between the bottom of the slider 4032 and the bottom of the inner wall of the device box 4031. A sealing ring (not shown in the figure) is provided on the device box 4031 at a position corresponding to the position where the pressing rod 4035 movably passes through, so as to increase the sealing performance of the connection between the pressing rod 4035 and the device box 4031 to prevent seawater from entering the interior of the device box 4031.

[0056] The straightening mechanism 8 includes a fixed block 801 fixedly mounted on the inner wall of the limiting cylinder 7, and the other end of the fixed block 801 is rotatably connected to a roller 802. The rollers 802 in the straightening mechanism 8 are wrapped around the outside of the lifting chain rod 401, which can limit the vertical lifting chain rod 401 to avoid rubbing against the inner wall of the limiting cylinder 7 during the lifting process and accelerating wear. In addition, the multiple rollers 802 are combined to form a circular limiting channel. When the lifting chain rod 401 passes through in an inclined state, the lifting chain rod 401 in an inclined state can be straightened. Straighten it so that it is in a vertical state, so that the clamping holes 404 and the clamping components 403 on adjacent lifting chain rods 401 are relative to each other, and the adjacent sections of the lifting chain rods 401 are clamped and fixed together, so that the lifting chain rod 401 is switched to a single-section vertical rod, and the length is multiplied compared to the length of a single lifting chain rod 401. Using the above principle, multiple sections of the lifting chain rod 401 can be clamped and fixed into a single-section vertical rod of the required length, so that the surveying and mapping equipment body 1 can be stably supported and fixed at the required depth for surveying and mapping work.

[0057] An equipment box 14 is also fixedly installed on the top of the intelligent unmanned boat 2. The equipment box 14 is made of plastic material. An intelligent controller (not shown in the figure) is set inside the equipment box 14. The intelligent controller adopts a mature product with existing technology and has information processing functions. The controller is equipped with a microprocessor and has the ability to process and analyze data and exchange information wirelessly. It is a product of the combination of an intelligent control device that integrates a microprocessor (or microcontroller) and a dedicated algorithm.

[0058] Working principle: When in use, the operator drives the intelligent unmanned boat 2 to move into the required surveying and mapping sea area, and then sends a command to the intelligent controller through the external background terminal to start the clamping mechanism 10, so that the electric telescopic rod 1001 in the clamping mechanism 10 contracts, driving the arc-shaped clamping plate 1002 to move to the side away from the lifting chain rod 401, thereby releasing the clamping fixation of the lifting chain rod 401, and then starting the reeling and unwinding mechanism 3, so that the output end of the driving motor 301 in the reeling and unwinding mechanism 3 rotates clockwise, driving the driving gear 303 to rotate, and then driving the driven gear 305 meshing with the driving gear 303 to rotate, and driving the coaxially fixed reel 304 to rotate, so as to realize the unwinding of the multi-section articulated chain 4 wound on the reel 304. In this process, through the gravity of the mounting plate 12, the device cylinder 13, the surveying and mapping equipment body 1 and the unwound multi-section articulated chain 4, it is inserted into the sea water, and the surveying and mapping equipment body 1 is lowered to the required depth for ocean surveying and mapping;

[0059] In the process of unwinding the multi-section articulated chain 4, the multiple sequentially hinged lifting chain rods 401 in the multi-section articulated chain 4 pass through the interior of the limiting cylinder 7. At the same time, the multiple straightening mechanisms 8 wrap the lifting chain rod 401, and limit the lifting chain rod 401 therein in the horizontal direction, so as to keep the lifting chain rod 401 in the vertical state stable in the horizontal direction. When the lifting chain rod 401 in the inclined state passes through the multiple straightening mechanisms 8, the lifting chain rod 401 in the inclined state is straightened due to the limiting effect of the straightening mechanism 8. In this process, the bottom end of the lifting chain rod 401 in the inclined state will first squeeze the clamping rod 4033 on the adjacent vertical lifting chain rod 401, causing it to shrink toward the inside of the device box 4031 and drive the slider 40 32 moves down, and at the same time, the slider 4032 squeezes the clamping spring 4036 to put it in a compressed state and store energy. As the inclined state lifting chain rod 401 is completely straightened by the straightening mechanism 8, the two lifting chain rods 401 are in a vertical state. At this time, the clamping components 403 and the clamping holes 404 on the adjacent lifting chain rods 401 are relative to each other, and then the slider 4032 is pushed up by the elastic force of the clamping spring 4036, and the clamping rod 4033 is driven to move up and fit into the clamping hole 404, so that the adjacent unwound lifting chain rod 401 is clamped and fixed so that it can maintain a vertical state. In the process of continuously unwinding the multi-section articulated chain 4, the adjacent lifting chain rods 401 repeat the above operation in sequence to complete the clamping and fixing of the multi-section lifting chain rods 401;

[0060] When the surveying and mapping equipment body 1 is lowered to the desired depth, the drive motor 301 is turned off, and the electric telescopic rod 1001 is started to extend, thereby driving the arc-shaped clamping plate 1002 and the anti-skid rubber pad 1003 to move toward the straightened lifting chain rod 401. The arc-shaped clamping plate 1002 is used to limit and fix the straightened lifting chain rod 401 to ensure the vertical stability of the surveying and mapping equipment body 1. The provision of the anti-skid rubber pad 1003 can increase the friction between the contact surface of the arc-shaped clamping plate 1002 and the lifting chain rod 401, thereby improving the clamping and fixing effect.

[0061] When the surveying is completed and the surveying equipment body 1 needs to be lifted out of the water and put into the storage chamber 5 for storage, the electric telescopic rod 1001 is first started to retract it, driving the arc-shaped clamping plate 1002 to release the limit fixation of the single-section vertical rod (that is, the state where the lifting chain rods 401 are located below the limiting cylinder 7 and the adjacent sections are fixed by the clamping assembly 403 and the clamping hole 404). Then the driving motor 301 is started to rotate its output end counterclockwise, driving the reel 304 to rotate clockwise, and the unwound multi-section articulated chain 4 is wound up. When the clamped and fixed lifting chain rod 401 passes the position of the trapezoidal switching plate 9 in the limiting cylinder 7, the trapezoidal switching plate 9 is turned on the lifting chain rod 401. The pressing rod 4035 on the clamping assembly 403 in the chain rod 401 is squeezed to make it shrink toward the inside of the device box 4031, and then the slider 4032 is pushed downward by the connecting rod 4034, and the clamping rod 4033 is driven downward by the slider 4032 to make it withdraw from the adjacent lifting chain rod 401, thereby achieving the lifting chain rods 401 of the two adjacent clamping assemblies 403 being released from the clamping and fixed state. Under the traction force of the reeling and unreeling mechanism 3 on the lifting chain rods 401, the released lifting chain rods 401 are pulled into an inclined state (i.e., there is a certain angle between the adjacent lifting chain rods 401, i.e., they are in a bent state, so that the subsequent reel 304 can reel them in).

[0062] The lifting chain rod 401 that was originally multi-section hinged and bent is unwound through the reeling and winding mechanism 3, and the adjacent lifting chain rod 401 can be switched from the original hinged and bent state to a vertically clamped and fixed state through the coordinated use of the limiting cylinder 7 and the straightening mechanism 8, so that the unwound multi-section hinged chain 4 is switched to a single-section vertical rod, and the unwinding length of the multi-section hinged chain 4 is controlled by the reeling and winding mechanism 3, so that the depth of the single-section vertical rod inserted into the sea water can be controlled, and then the surveying and mapping equipment body 1 can be lowered to the required depth for surveying and mapping work according to actual surveying and mapping needs; and the surveying and mapping equipment body 1 is lifted and lowered by replacing the traditional single-section vertical structural parts with the multi-section hinged chain 4, so that the surveying and mapping equipment body 1 can be lowered to deeper waters for surveying and mapping work, thereby improving the performance of the surveying and mapping equipment body 1 in surveying and mapping waters of different depths, and increasing the surveying and mapping application scenarios of the surveying and mapping equipment body 1.

[0063] Embodiment 2: This embodiment is basically the same as the previous embodiment, except that the arc guide mechanism 11 includes a fixing frame 1101 fixedly installed on the top of the intelligent unmanned boat 2, and a main arc guide channel 1102 is fixedly installed on the top of the fixing frame 1101. A secondary arc guide channel 1103 is hingedly installed at one end of the main arc guide channel 1102 close to the reeling and winding mechanism 3. A reset torsion spring 1104 is fixedly connected between the main arc guide channel 1102 and the secondary arc guide channel 1103, and the cross-sections of the main arc guide channel 1102 and the secondary arc guide channel 1103 are both U-shaped.

[0064] By setting the main arc guide channel 1102, the multi-section articulated chain 4 that is wound and unwound between the limit cylinder 7 and the reel 304 can be guided in an arc shape, so that the adjacent section lifting chain rods 401 are always in a bent state to avoid straightening, so that the multi-section articulated chain 4 can be in a bent state and smoothly enter the limit cylinder 7 during unwinding, and the reel 304 can perform the winding operation on the multi-section articulated chain 4. Moreover, by setting the secondary arc guide channel 1103, the lifting chain rod 401 at the distance between the top of the main arc guide channel 1102 and the position near the center of the reel 304 can be limited and guided, so as to prevent the adjacent section lifting chain rods 401 from becoming straightened and fixed when the multi-section articulated chain 4 passes through this section during the winding and unwinding process, thereby ensuring that the multi-section articulated chain 4 can be smoothly wound and unwound. The secondary arc guide channel 1103 is wound up and rotated downwards by the torsion spring under the action of the tension of the multi-section articulated chain 4. That is, when unwinding, the amount of the multi-section articulated chain 4 wound on the reel 304 continues to decrease, and the inclination angle of the multi-section articulated chain 4 between the multi-section articulated chain 4 wound on the reel 304 and the top of the main arc guide channel 1102 becomes larger, and the tension on the secondary arc guide channel 1103 increases, thereby causing the secondary arc guide channel 1103 to rotate downwards. Conversely, when winding, the secondary arc guide channel 1103 rotates upwards as the amount of the multi-section articulated chain 4 wound on the reel 304 increases, thereby adaptively adjusting the position of the secondary arc guide channel 1103 according to the amount of the multi-section articulated chain 4 wound on the reel 304.

[0065] Example 3: This example is basically the same as the previous example, with the difference that a plurality of balls (not shown in the figure) are movably embedded and installed at a position near the top of the inner wall of the limiting cylinder 7, at the bottom and both sides of the inner wall of the main arc-shaped guide channel 1102, and at the bottom and both sides of the inner wall of the secondary arc-shaped guide channel 1103, so that when the lifting chain rod 401 moves inside them, the original sliding friction is converted into rolling friction, thereby reducing the wear on the outer surface of the lifting chain rod 401.

[0066] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent unmanned ship-based ocean surveying and mapping equipment, comprising a surveying and mapping equipment body (1), and an intelligent unmanned ship (2) for carrying the surveying and mapping equipment body (1), characterized in that: The top of the intelligent unmanned boat (2) is provided with a reeling and unreeling mechanism (3), and a multi-section hinged chain (4) that can be switched between straight and curved states and is used to lift the surveying and mapping equipment body (1) is wound around the reeling and unreeling mechanism (3); A storage chamber (5) for storing the surveying and mapping equipment body (1) is provided at the middle position of the intelligent unmanned boat (2); a limiting cylinder (7) is fixedly installed inside the storage chamber (5) via a cross (6); a plurality of straightening mechanisms (8) for straightening the multi-section hinge chain (4) are provided on the inner wall of the limiting cylinder (7) near the bottom end; and a trapezoidal switching plate (9) for controlling the multi-section hinge chain (4) to switch between a straight and a curved state is fixedly installed on one side of the inner wall of the limiting cylinder (7); A clamping mechanism (10) is fixedly mounted on the front and back sides of the inner wall of the storage cavity (5); An arc-shaped guide mechanism (11) for preventing the multi-section hinge chain (4) from becoming straight is provided on the top of the intelligent unmanned boat (2) and between the reeling and unreeling mechanism (3) and the storage chamber (5); The multi-section hinged chain (4) comprises a plurality of lifting chain rods (401) hingedly connected in sequence, a mounting cavity (402) being provided at the top end of the lifting chain rod (401), a snap-fit ​​assembly (403) being detachably mounted inside the mounting cavity (402), and a snap-fit ​​hole (404) being provided at the bottom end of the lifting chain rod (401) at a position relative to the snap-fit ​​assembly (403).

2. The intelligent unmanned ship-based ocean surveying and mapping device according to claim 1, characterized in that: The reeling and unreeling mechanism (3) comprises a driving motor (301) fixedly mounted on the top of the intelligent unmanned boat (2) and two support frames (302); an output end of the driving motor (301) is fixedly connected to a driving gear (303); a reel (304) is rotatably mounted between the two support frames (302) and near the top; a driven gear (305) is coaxially fixedly connected to the front of the reel (304); and an outer surface of the driving gear (303) is meshed with an outer surface of the driven gear (305).

3. The intelligent unmanned vessel-based oceanographic surveying and mapping device according to claim 1, characterized in that: The clamping mechanism (10) comprises an electric telescopic rod (1001) fixedly mounted on the inner wall of the storage cavity (5); the telescopic end of the electric telescopic rod (1001) is fixedly connected to an arc-shaped clamping plate (1002); and the other side of the arc-shaped clamping plate (1002) is fixedly connected to an anti-slip rubber pad (1003).

4. The intelligent unmanned vessel-based oceanographic surveying and mapping device according to claim 1, characterized in that: One end of the multi-section hinge chain (4) is hinged to the reel (304), and the other end of the multi-section hinge chain (4) passes through the limiting cylinder (7) and is fixedly mounted with a mounting plate (12), the bottom of the mounting plate (12) is fixedly connected to the device cylinder (13) by bolts, and the surveying and mapping equipment body (1) is fixedly mounted on the bottom of the device cylinder (13).

5. The intelligent unmanned ship-based ocean surveying and mapping device according to claim 4, characterized in that: A storage battery and a wireless communication module are provided inside the device cylinder (13).

6. The intelligent unmanned vessel-based oceanographic surveying and mapping device according to claim 1, characterized in that: The clamping assembly (403) comprises a device box (4031), wherein the device box (4031) is detachably mounted inside the mounting cavity (402) by means of bolts, a slider (4032) is slidably connected between two sides of the inner wall of the device box (4031), a clamping rod (4033) is fixedly connected to the top of the slider (4032), and a connecting rod (4034) is hingedly mounted on the top of the slider (4032), a pressing rod (4035) is hingedly mounted on the other end of the connecting rod (4034), and the other end of the pressing rod (4035) movably passes through the device box (4031) and extends to the outside of the device box (4031), and a clamping spring (4036) is fixedly connected between the bottom of the slider (4032) and the bottom of the inner wall of the device box (4031).

7. The intelligent unmanned vessel-based oceanographic surveying and mapping device according to claim 1, characterized in that: The straightening mechanism (8) comprises a fixed block (801) fixedly mounted on the inner wall of the limiting cylinder (7), and the other end of the fixed block (801) is rotatably connected to a roller (802).

8. The intelligent unmanned vessel-based oceanographic surveying and mapping device according to claim 1, characterized in that: The arc-shaped guide mechanism (11) comprises a fixing frame (1101) fixedly mounted on the top of the intelligent unmanned boat (2); a main arc-shaped guide channel (1102) is fixedly mounted on the top of the fixing frame (1101); a secondary arc-shaped guide channel (1103) is hingedly mounted on one end of the main arc-shaped guide channel (1102) close to the reeling and unreeling mechanism (3); and a return torsion spring (1104) is fixedly connected between the main arc-shaped guide channel (1102) and the secondary arc-shaped guide channel (1103).

9. The intelligent unmanned ship-based ocean surveying and mapping device according to claim 1, characterized in that: An equipment box (14) is also fixedly installed on the top of the intelligent unmanned boat (2). The equipment box (14) is made of plastic material, and an intelligent controller is arranged inside the equipment box (14).

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