Portable multi-beam ocean three-dimensional surveying and mapping instrument

Abstract

The invention discloses a portable multi-beam ocean three-dimensional surveying instrument, and relates to the field of surveying instruments, the portable multi-beam ocean three-dimensional surveying instrument comprises a main body shell and a heat dissipation mechanism, the bottom of the main body shell is of an arc-shaped structure, and a module mounting substrate is fixed to the lower portion of the interior of the main body shell through bolts; a sound wave emission module and a sound wave receiver are installed at the bottom of the module installation substrate in an array distribution mode, a processor and an energy storage device are fixedly installed on the upper portion of the interior of the main body shell through an inner frame, a heat dissipation flow channel is formed in the inner frame in the direction perpendicular to the moving direction of the main body shell, and a heat dissipation mechanism is arranged on the side face of the main body shell. The heat dissipation efficiency of the processor and the energy storage device can be improved through the heat dissipation mechanism, heat dissipation media of the processor and the energy storage device can be directly provided by seawater below the ship body through the design of the heat dissipation mechanism, extra power equipment is not needed for water supply, the effect of saving energy can be achieved, and the heat dissipation efficiency of the processor and the energy storage device can be improved. And the heat dissipation effect can be ensured through bidirectional movement.

Description

Technical Field

[0001] The present invention relates to the field of surveying instruments, and in particular to a portable multi-beam ocean stereo surveying instrument. Background Art

[0002] Multi-beam ocean stereo mappers are well-known advanced devices used for ocean mapping and underwater topography surveys, widely used in fields such as hydrographic surveying, seafloor topography analysis, marine engineering, and scientific research. By emitting multiple acoustic beams, these devices can quickly acquire water depth and seafloor topography information over a wide area, significantly improving the efficiency and accuracy of ocean mapping. In particular, multi-beam mappers installed on the bottom of a ship can collect underwater data in real time during navigation, providing reliable support for marine resource development and environmental monitoring.

[0003] However, existing multi-beam ocean stereo mappers have some technical problems in practical applications, especially in terms of heat dissipation and endurance. Since the equipment generates a lot of heat during operation, poor heat dissipation may cause the internal temperature to be too high, thereby affecting the performance and service life of the electronic components. Prolonged high-temperature operation will not only cause equipment failure, but also reduce the accuracy of the mapping data. In addition, existing mappers usually rely on internal batteries for power supply, and their operating time is limited by the battery life and requires regular charging. This poor endurance problem makes the equipment face the challenge of frequent charging and maintenance during long-term ocean operations, reducing the equipment's effective working time and operating efficiency. Summary of the Invention

[0004] (1) Purpose of the invention

[0005] In view of this, the purpose of the present invention is to propose a portable multi-beam ocean stereo mapper, which can improve the heat dissipation efficiency of the processor and the energy storage device through the heat dissipation mechanism, and through the design of the heat dissipation mechanism, the heat dissipation medium of the processor and the energy storage device can be directly provided by the seawater under the hull, without the need for additional power equipment for water supply, which can not only achieve the effect of saving energy, but also realize the effect of heat dissipation during bidirectional movement.

[0006] (2) Technical solution

[0007] To achieve the above technical objectives, the present invention provides a portable multi-beam ocean stereo mapper, which is installed under the hull and is used to map seabed topography data by emitting sound waves. The portable multi-beam ocean stereo mapper includes:

[0008] The main shell has an arc-shaped bottom structure. A module mounting base is fixed to the lower part of the main shell by bolts. The bottom of the module mounting base is installed with an array of acoustic wave transmitters and acoustic wave receivers. The processor and energy storage device are fixed to the upper part of the main shell by an inner frame. The inner frame is provided with a heat dissipation channel in a direction perpendicular to the movement direction of the main shell.

[0009] The heat dissipation mechanism is arranged on the side of the main shell and is used to guide water to flow through the heat dissipation channel to dissipate heat from the processor and the energy storage device when the main shell moves.

[0010] As a further description of the above technical solution: the heat dissipation mechanism includes:

[0011] A guide frame fixed to a side surface of the main housing, wherein a drainage channel is provided in the guide frame along the moving direction of the main housing, and the drainage channel is connected to the heat dissipation channel;

[0012] The baffle is arranged in the drainage channel and located at the position of the heat dissipation channel, so that under the action of the baffle, the drainage channel and the heat dissipation channel form an L-shaped channel structure.

[0013] As a further description of the above technical solution: there are two guide frames, which are installed in parallel on both sides of the main shell. The baffles in the two guide frames are movably installed so that the baffles can open or close the drainage channel by moving.

[0014] As a further description of the above technical solution: In order to improve the heat dissipation speed and heat dissipation efficiency of the processor and the energy storage device and to improve the energy storage capacity of the energy storage device, this embodiment is characterized in that there are two groups of energy storage devices, which are respectively installed on both sides of the processor, and there are two heat dissipation channels, which are respectively arranged between the two energy storage devices and the processor.

[0015] As a further description of the above technical solution: a second protrusion is provided on one side of the guide frame at the position of the baffle, and a movable cavity that can accommodate the baffle is opened in the second protrusion, one end of the baffle is movably assembled in the movable cavity, and a screw rod is also rotatably installed in the movable cavity, a through hole is opened inside the baffle along the movable direction, and a screw nut adapted to the screw rod is installed in the through hole, the screw rod is socketed with the screw nut, and a waterproof motor is fixedly installed on the second protrusion, and the output shaft of the waterproof motor is connected to one end of the screw rod.

[0016] As a further description of the above technical solution: the guide frame is also provided with a first protrusion, an impeller is installed inside the guide frame at the position of the first protrusion through the impeller shaft, and a power generation device is installed on the surface of the main body shell at a position below the first protrusion, the impeller shaft is connected to the rotating shaft of the power generation device, and the power generation device is electrically connected to the energy storage device.

[0017] As a further description of the above technical solution: ear plates are provided above both ends of the module mounting base plate, and both ends of the inner frame are detachably fixed on the ear plates by bolts, and a power supply frame is installed above both ends of the inner frame, and the energy storage device is inserted into the power supply frame and locked and fixed by a locking assembly.

[0018] As a further description of the above technical solution: the lock assembly includes:

[0019] An outer frame, which is fixedly mounted on the end surface of the inner frame;

[0020] a movable plate, which is movably assembled inside the outer frame and connected to the inner wall of the outer frame through an elastic component;

[0021] A pull rod is installed at the center position of one side of the dynamic plate, and the pull rod extends to the outside of the outer frame. A locking pin is provided on the other side. A locking hole is provided on the surface of the energy storage device at a position corresponding to the locking pin. When the energy storage device is installed, the locking pin is pinned into the locking hole under the elastic force of the elastic component to lock the energy storage device.

[0022] As a further description of the above technical solution: heat conducting plates are embedded on both sides of the heat dissipation channel along the length direction, wherein the heat conducting plate on one side is in contact with the energy storage device, and the other heat conducting plate is in contact with the processor, and the heat of the energy storage device and the processor can be quickly dissipated through the heat conducting plates.

[0023] As a further description of the above technical solution: a back plate is fixedly installed on the main body shell by bolts, and a mounting column for fixing the main body shell under the hull is installed above the back plate.

[0024] In the above technical solution, the present invention provides a portable multi-beam ocean stereo mapper, which is provided with a heat dissipation channel on the inner frame and a heat dissipation mechanism on both sides of the main body shell. The heat dissipation mechanism can guide water to flow through the heat dissipation channel. When the water flows through the heat dissipation channel, it can dissipate heat for the processor and the energy storage device. Therefore, the heat dissipation efficiency of the processor and the energy storage device can be improved, and the service life can be relatively improved. Moreover, through the design of the heat dissipation mechanism, the heat dissipation medium of the processor and the energy storage device can be directly provided by the seawater under the hull, and no additional power equipment is required for water supply. Not only can energy saving be achieved, but also bidirectional movement can ensure the heat dissipation effect. At the same time, the device also adds a charging mechanism (impeller and generator) to the heat dissipation mechanism, so that when the water flows through the processor and the energy storage device to dissipate heat, it can drive the generator through the impeller to generate electricity and store it in the energy storage device, thereby achieving the effect of autonomous power supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0026] Figure 1 A schematic diagram of the overall structure of a portable multi-beam ocean stereo mapper provided by the present invention;

[0027] Figure 2 A schematic structural diagram of another viewing angle of a portable multi-beam ocean stereo mapper provided by the present invention;

[0028] Figure 3 A schematic diagram of the internal structure of a portable multi-beam ocean stereo mapper provided by the present invention;

[0029] Figure 4 A schematic diagram of the internal frame installation structure of a portable multi-beam ocean stereo mapper provided by the present invention;

[0030] Figure 5 A schematic diagram of the internal frame structure of a portable multi-beam ocean stereo mapper provided by the present invention;

[0031] Figure 6 A schematic diagram of the installation structure of a locking mechanism in a portable multi-beam ocean stereo mapper provided by the present invention;

[0032] Figure 7 A schematic diagram of the internal structure of a guide frame in a portable multi-beam ocean stereo mapper provided by the present invention;

[0033] Figure 8 A schematic diagram of the water flow path of a portable multi-beam ocean stereo mapper provided by the present invention when moving to the right;

[0034] Figure 9 A schematic diagram of the water flow path of a portable multi-beam ocean stereo mapper provided by the present invention when moving to the left.

[0035] Description of the drawings: 1. Main shell; 10. Sound wave transmitter; 11. Sound wave receiver; 2. Back plate; 3. Mounting column; 4. Heat dissipation mechanism; 40. Guide frame; 40a. First guide frame; 40b. Second guide frame; 400. First protrusion; 401. Second protrusion; 4010. Active cavity; 402. Drainage channel; 41. Power generation device; 410. Guide plate frame; 42. Baffle; 43. Waterproof motor; 44. Impeller shaft; 45. Impeller; 46. Screw; 5. Inner frame; 50. Heat dissipation channel; 500. First channel; 501. Second channel; 51. Power frame; 52. Heat conducting plate; 6. Processor; 7. Module mounting base plate; 70. Ear plate; 8. Energy storage device; 9. Lock assembly; 90. Lock pin; 91. Moving plate; 92. Outer frame; 93. Pull rod; 94. Elastic component. DETAILED DESCRIPTION

[0036] The following description is merely illustrative in nature and is not intended to limit the present disclosure, its applications, or uses. It should be understood that throughout the drawings, identical or similar reference numerals indicate identical or similar parts and features. The drawings merely schematically illustrate the concepts and principles of the embodiments of the present disclosure and do not necessarily depict the specific dimensions and proportions of the various embodiments of the present disclosure. Certain portions of certain drawings may be exaggerated to illustrate relevant details or structures of the embodiments of the present disclosure.

[0037] Example 1

[0038] like Figures 1-9 As shown: This embodiment provides a technical solution: a portable multi-beam ocean stereo mapper, which is installed under the hull and is used to map seabed topography data by emitting sound waves. The instrument includes a main shell 1 and a heat dissipation mechanism 4, wherein the bottom of the main shell 1 is an arc-shaped structure, a module mounting base plate 7 is fixed to the lower part of the interior of the main shell 1 by bolts, and an acoustic wave transmitting module 10 and an acoustic wave receiver 11 are installed in an array at the bottom of the module mounting base plate 7. A processor 6 and an energy storage device 8 are fixedly installed on the upper part of the interior of the main shell 1 through an inner frame 5, and a heat dissipation channel 50 is provided on the inner frame 5 in a direction perpendicular to the movement direction of the main shell 1. The heat dissipation mechanism 4 is provided on the side of the main shell 1 and is used to guide water to pass through the heat dissipation channel 50 to dissipate heat from the processor 6 and the energy storage device 8 when the main shell 1 moves;

[0039] Working principle: When the device is in use, the main shell 1 is first installed under the hull and moves with the movement of the hull. During the movement, the sound wave transmitter 10 emits sound waves, and the sound wave receiver 11 receives the returned echo signal and transmits it to the processor 6. After processing by the processor 6, it is wirelessly transmitted to the surveying instrument terminal (not shown in the figure) to realize the collection of seabed topography data.

[0040] It should be noted that the energy storage device 8 is a battery. The overall size of the device is small and easy to carry. The device is provided with a heat dissipation channel 50 on the inner frame 5, and a heat dissipation mechanism 4 is provided on both sides of the main shell 1. The heat dissipation mechanism 4 can guide water to flow through the heat dissipation channel 50. When the water flows through the heat dissipation channel 50, it can dissipate heat for the processor 6 and the energy storage device 8, thereby improving the heat dissipation efficiency of the processor 6 and the energy storage device 8 and relatively improving the service life.

[0041] Specifically, such as Figure 7-Figure 9 As shown, in order to guide the water flow into the heat dissipation channel 50 without the need for external electrical equipment to guide it, in this embodiment, the heat dissipation mechanism 4 includes a guide frame 40 and a baffle 42, wherein the guide frame 40 is fixed to the side of the main shell 1, and a drainage channel 402 is opened in the guide frame 40 along the moving direction of the main shell 1, and the drainage channel 402 is connected to the heat dissipation channel 50. The baffle 42 is arranged in the drainage channel 402 and is located at the position of the heat dissipation channel 50, so that under the action of the baffle 42, the drainage channel 402 and the heat dissipation channel 50 form an L-shaped channel structure. The front end of the L-shaped channel structure corresponds to the moving direction of the main shell 1, so that when the main shell 1 moves, water can be poured into the front end of the drainage channel 402, and flow through the heat dissipation channel 50 under the blocking and guiding action of the baffle 42 and then discharged, thereby achieving the goal of guiding the water flow into the heat dissipation channel 50 without the need for external electrical equipment to guide it, so as to dissipate heat for the processor 6 and the energy storage device 8.

[0042] Specifically, such as Figure 7-Figure 9 As shown, in order to enable the heat dissipation mechanism 4 to guide the water flow into the heat dissipation channel 50 when the main shell 1 moves forward and backward with the hull, in this embodiment, two guide frames 40 are provided, which are respectively installed in parallel on both sides of the main shell 1. The baffles 42 in the two guide frames 40 are both movably installed, so that the baffles 42 can open or close the drainage channel 402 by moving;

[0043] Based on this, when the main shell 1 moves with the hull, the baffle 42 away from the moving direction of the main shell 1 closes the drainage channel 402 in the current guide frame 40, and the baffle 42 in the other guide frame 40 opens. At this time, when the main shell 1 moves, the water in the open guide frame 40 flows normally from front to back, and the water enters the other guide frame 40 from the front under the blocking action of the baffle 42. When blocked by the baffle 42, the water is guided to flow through the heat dissipation channel 50, and then flows out from the open guide frame 40, thereby achieving the heat dissipation effect. In summary, no matter whether the main shell 1 moves forward or backward with the hull, the diversion effect can be achieved by changing the position of the baffle 42 in the corresponding guide frame 40, so the adaptability of the device is stronger.

[0044] Specifically, such as Figure 7-Figure 9 As shown, in order to improve the heat dissipation speed and heat dissipation efficiency of the processor 6 and the energy storage device 8 and to improve the energy storage capacity of the energy storage device 8, in this embodiment, two groups of energy storage devices 8 are provided, which are respectively installed on both sides of the processor 6, and two heat dissipation channels 50 are provided, which are respectively arranged between the two energy storage devices 8 and the processor 6.

[0045] It should be noted that: Figure 8 , the moving direction of the main housing 1 is set to move to the right, the right heat dissipation channel 50 of the two heat dissipation channels 50 is set as the second channel 501, and the other heat dissipation channel 50 is set as the first channel 500, and the left guide frame 40 of the moving direction of the main housing 1 is set as the first guide frame 40a, and the other guide frame 40 is set as the second guide frame 40b, then the baffle 42 in the first guide frame 40a is located at the second channel 501 position, and the baffle 42 in the second guide frame 40b is located at the first channel 500 position. Based on this, when the main housing 1 moves to the right, the baffle 42 in the first guide frame 40a The baffle 42 moves, making the interior of the first guide frame 40a open from front to back, while the baffle 42 in the second guide frame 40b moves, closing the second guide frame 40b. At this time, after water flows through the first and second guide frames 40a, the water in the first guide frame 40a flows in from the front and out from the back, while the water in the second guide frame 40b flows in from the front. Under the action of the baffle 42 in the second guide frame 40b, the water passes through the second flow channel 501 and the first flow channel 500 respectively, and then converges into the first guide frame 40a and is discharged from the rear end of the first guide frame 40a, thereby achieving heat dissipation of the processor 6 and the energy storage device 8.

[0046] On the contrary, refer to Figure 9When the main shell 1 moves to the left, the baffle 42 in the first guide frame 40a moves to close the first guide frame 40a, and the baffle 42 in the second guide frame 40b moves to connect the second guide frame 40b to the front and back. At this time, after the water flows into the first guide frame 40a, under the action of the baffle 42 in the first guide frame 40a, it passes through the first flow channel 500 and the second flow channel 501 respectively, and then converges into the second guide frame 40b and is discharged from the rear end of the second guide frame 40b, which also realizes the heat dissipation of the processor 6 and the energy storage device 8. In summary, the device can achieve efficient heat dissipation of the processor 6 and the energy storage device 8 through the structural setting of the heat dissipation mechanism 4, and the medium in this heat dissipation structure is water, which can be directly provided by the seawater under the hull, and does not require additional power equipment for water supply. It can not only achieve the effect of saving energy, but also achieve the effect of ensuring heat dissipation during bidirectional movement.

[0047] Specifically, such as Figure 7-Figure 9 As shown, in order to achieve movement control of the baffle 42, in this embodiment, a second protrusion 401 is provided on one side of the guide frame 40 at the position of the baffle 42, and a movable cavity 4010 that can accommodate the baffle 42 is opened in the second protrusion 401, and one end of the baffle 42 is movably assembled in the movable cavity 4010, and a screw rod 46 is also rotatably installed in the movable cavity 4010, and a through hole is opened inside the baffle 42 along the movable direction, and a screw nut adapted to the screw rod 46 is installed in the through hole, and the screw rod 46 is sleeved with the screw nut, and a waterproof motor 43 is fixedly installed on the second protrusion 401, and the output shaft of the waterproof motor 43 is connected to one end of the screw rod 46, so that the waterproof motor 43 can drive the screw rod 46 to rotate when moving. Under the cooperation of the screw nut, the baffle 42 moves in the movable cavity 4010, thereby achieving movement control of the baffle 42.

[0048] Specifically, such as Figure 7-Figure 9 As shown, in order to enable the surveying instrument to automatically charge for its own use and improve the endurance of the equipment, in this embodiment, a first protrusion 400 is further provided on the guide frame 40, and an impeller 45 is installed at the position of the first protrusion 400 inside the guide frame 40 through the impeller shaft 44, and a power generation device 41 is installed on the surface of the main body shell 1 below the first protrusion 400, and the impeller shaft 44 is connected to the rotating shaft of the power generation device 41, and the power generation device 41 is electrically connected to the energy storage device 8. Based on this, when water flows through the inside of the guide frame 40, the impeller 45 rotates, and the impeller shaft 44 drives the rotating shaft of the power generation device 41 to rotate. The mechanical energy of the impeller 45 is converted into electrical energy through the power generation device 41 and stored in the energy storage device 8, thereby achieving the effect of automatic power generation and charging. Based on this, the heat dissipation mechanism 4 in the device can not only dissipate heat for the processor 6 and the energy storage device 8, but also can charge the energy storage device 8 by flowing water during heat dissipation, thereby achieving the effect of automatic charging and automatic heat dissipation.

[0049] Specifically, in order to reduce the impact of water flow on the power generation device 41 and reduce water resistance, guide plate frames 410 are installed at both ends of the power generation device 41.

[0050] Specifically, such as Figure 2-Figure 5 As shown, in order to facilitate the maintenance of the equipment or regular replacement of internal components and ensure the normal use of the equipment, in this embodiment, ear plates 70 are provided above the two ends of the module mounting base plate 7, and the two ends of the inner frame 5 are detachably fixed on the ear plates 70 by bolts. A power supply frame 51 is installed above the two ends of the inner frame 5, and the energy storage device 8 is inserted into the power supply frame 51 and locked and fixed by a locking assembly 9. Therefore, the energy storage device 8 and the inner frame 5 can be removed by disassembly, which is convenient for maintenance of the equipment or regular replacement of internal components.

[0051] Example 2

[0052] like Figure 2-Figure 5 As shown: This embodiment provides a technical solution: On the basis of Example 1, in order to achieve the locking and fixation of the energy storage device 8, in this embodiment, the lock assembly 9 includes an outer frame 92 and a movable plate 91, wherein the outer frame 92 is fixedly installed on the end face of the inner frame 5, and the movable plate 91 is movably assembled inside the outer frame 92 and connected to the inner wall of the outer frame 92 through an elastic component 94. A pull rod 93 is installed at the center position of one side of the movable plate 91, and the pull rod 93 extends to the outside of the outer frame 92. A lock pin 90 is provided on the other side. A lock hole is opened on the surface of the energy storage device 8 at a position corresponding to the lock pin 90. When the energy storage device 8 is installed, the lock pin 90 is pinned into the lock hole under the elastic force of the elastic component 94 to achieve locking of the energy storage device 8. It should be noted that the elastic component 94 adopts a spring or a spring.

[0053] Specifically, such as Figure 1-Figure 5 As shown, in order to improve the heat dissipation efficiency of the energy storage device 8 and the processor 6, in this embodiment, heat conducting sheets 52 are embedded on both sides of the heat dissipation channel 50 along the length direction, wherein the heat conducting sheet 52 on one side is in contact with the energy storage device 8, and the other heat conducting sheet 52 is in contact with the processor 6. The heat of the energy storage device 8 and the processor 6 can be quickly conducted away through the heat conducting sheet 52, thereby achieving an efficient heat dissipation effect.

[0054] Specifically, such as Figure 1-Figure 3 As shown, in order to achieve the installation of the surveying instrument, in this embodiment, a back plate 2 is fixedly installed on the main shell 1 by bolts, and a mounting column 3 for fixing the main shell 1 under the hull is installed on the back plate 2.

[0055] The exemplary implementation schemes proposed in the present disclosure are described in detail above with reference to preferred embodiments. However, it will be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the scope of protection of the present disclosure, which is determined by the appended claims.

Claims

1. A portable multi-beam ocean stereo mapper, which is installed under the hull and is used to map seabed topography data by emitting sound waves, characterized in that: It includes: The main housing (1) has an arc-shaped bottom. A module mounting base plate (7) is fixed to the lower portion of the main housing (1) by bolts. An acoustic wave transmitting module (10) and an acoustic wave receiver (11) are installed in an array-distributed manner on the bottom portion of the module mounting base plate (7). A processor (6) and an energy storage device (8) are fixed to the upper portion of the main housing (1) by an inner frame (5). A heat dissipation channel (50) is provided on the inner frame (5) in a direction perpendicular to the moving direction of the main housing (1). A heat dissipation mechanism (4) is provided on the side of the main housing (1) and is used to guide water flow through the heat dissipation channel (50) to dissipate heat from the processor (6) and the energy storage device (8) when the main housing (1) moves.

2. A portable multi-beam ocean stereo mapper according to claim 1, characterized in that: The heat dissipation mechanism (4) comprises: A guide frame (40) is fixed to a side surface of the main housing (1), a drainage channel (402) is provided in the guide frame (40) along the moving direction of the main housing (1), and the drainage channel (402) is communicated with the heat dissipation channel (50); A baffle (42) is arranged in the drainage channel (402) and is located at the position of the heat dissipation channel (50), so that under the action of the baffle (42), the drainage channel (402) and the heat dissipation channel (50) form an L-shaped channel structure.

3. The portable multi-beam ocean stereo mapper according to claim 2, characterized in that: There are two guide frames (40) in total, which are respectively installed in parallel on both sides of the main shell (1). The baffles (42) in the two guide frames (40) are both movably installed, so that the baffles (42) can open or close the drainage channel (402) by moving.

4. A portable multi-beam ocean stereo mapper according to claim 3, specifically, as shown in Figures 7 to 9, in order to improve the heat dissipation speed and heat dissipation efficiency of the processor (6) and the energy storage device (8) and to improve the energy storage capacity of the energy storage device (8), in this embodiment, it is characterized in that, There are two groups of energy storage devices (8) respectively installed on both sides of the processor (6), and there are two heat dissipation channels (50) respectively arranged between the two energy storage devices (8) and the processor (6).

5. The portable multi-beam ocean stereo mapper according to claim 4, characterized in that: A second protrusion (401) is provided on one side of the guide frame (40) at the position of the baffle (42), and a movable cavity (4010) capable of accommodating the baffle (42) is provided in the second protrusion (401), one end of the baffle (42) is movably assembled in the movable cavity (4010), and a screw rod (46) is also rotatably installed in the movable cavity (4010), a through hole is provided inside the baffle (42) along the movable direction, and a screw nut adapted to the screw rod (46) is installed in the through hole, the screw rod (46) is sleeved with the screw nut, and a waterproof motor (43) is fixedly installed on the second protrusion (401), and the output shaft of the waterproof motor (43) is connected to one end of the screw rod (46).

6. A portable multi-beam ocean stereo mapper according to any one of claims 2 to 5, characterized in that: The guide frame (40) is further provided with a first convex portion (400); an impeller (45) is installed inside the guide frame (40) at the position of the first convex portion (400) via an impeller shaft (44); a power generation device (41) is installed on the surface of the main body shell (1) at a position below the first convex portion (400); the impeller shaft (44) is connected to the rotating shaft of the power generation device (41), and the power generation device (41) is electrically connected to the energy storage device (8).

7. The portable multi-beam ocean stereo mapper according to claim 2, wherein in this embodiment, Ear plates (70) are provided above both ends of the module mounting base plate (7), and both ends of the inner frame (5) are detachably fixed on the ear plates (70) by bolts. A power supply frame (51) is installed above both ends of the inner frame (5), and the energy storage device (8) is inserted into the power supply frame (51) and locked and fixed by a locking assembly (9).

8. The portable multi-beam ocean stereo mapper according to claim 7, characterized in that: The locking assembly (9) comprises: An outer frame (92) fixedly mounted on an end surface of the inner frame (5); A movable plate (91) is movably mounted inside the outer frame (92) and connected to the inner wall of the outer frame (92) via an elastic component (94); A pull rod (93) is installed at the center position of one side of the movable plate (91), and the pull rod (93) extends to the outside of the outer frame (92). A locking pin (90) is provided on the other side. A locking hole is provided on the surface of the energy storage device (8) at a position corresponding to the locking pin (90). When the energy storage device (8) is installed, the locking pin (90) is pinned into the locking hole under the elastic force of the elastic component (94), thereby locking the energy storage device (8).

9. The portable multi-beam ocean stereo mapper according to claim 7, characterized in that: Heat conducting sheets (52) are embedded on both sides of the heat dissipation channel (50) along the length direction, wherein the heat conducting sheet (52) on one side contacts the energy storage device (8), and the other heat conducting sheet (52) contacts the processor (6). The heat of the energy storage device (8) and the processor (6) can be quickly conducted away through the heat conducting sheet (52).

10. The portable multi-beam ocean stereo mapper according to claim 1, characterized in that: A back plate (2) is fixedly mounted on the main body shell (1) by means of bolts, and a mounting column (3) for fixing the main body shell (1) below the hull is mounted on the back plate (2).

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