Underwater surveying and mapping device and method for hydraulic engineering

Abstract

The invention provides a hydraulic engineering underwater surveying and mapping device and method. The surveying and mapping device comprises a traction mechanism and a surveying and mapping mechanism; the traction mechanism comprises a supporting plate, a winding component, a limiting component, a guiding component and a first traction rope, the limiting component is located in a transverse area of the first traction rope, and the guiding component is located in a vertical area of the first traction rope; the surveying and mapping mechanism comprises a protective shell, a sound wave generator and a detection instrument body, a lifting opening is formed in the bottom of the protective shell, an adjusting platform is installed in the protective shell through a lifting adjusting mechanism, the detection instrument body is installed below the adjusting platform through an adjusting support, and the sound wave generator is arranged outside the protective shell. The surveying and mapping mechanism can smoothly descend to the target depth, the position of the surveying and mapping mechanism can be accurately positioned, in the surveying and mapping process, shielding interference caused by underwater garbage and fish schools to the camera can be effectively avoided, and potential damage caused by biological contact to equipment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater surveying and mapping, and in particular to an underwater surveying and mapping device and method for a water conservancy project. Background Art

[0002] When conducting underwater surveying and mapping operations, the presence of debris is a significant concern. This debris often lingers at specific depths in the water. Once it adheres to the lens or housing of an underwater camera, it can obstruct the camera's image quality and severely impact the accuracy of the surveyed data. Furthermore, the complexity of the underwater environment is also reflected in biological activity. Aquatic organisms such as fish may inadvertently approach or even touch the surveying and mapping equipment. This unforeseen contact can not only disrupt the equipment's normal operation but, in severe cases, cause damage, increasing maintenance costs and operational risks.

[0003] In addition to the challenges brought by environmental factors, there are also many inconveniences at the operational level. Workers often need to expend a lot of physical strength when performing line-laying and line-reeling operations, especially in deep water areas. The weight of the equipment and the resistance of the water flow make this process more laborious. In addition, existing equipment often lacks an effective automatic stop mechanism when reaching the predetermined depth, making it difficult for operators to control the stop position of the equipment in time. At the same time, the locking function of the line-reeling roller is not sensitive enough, and it is impossible to quickly fix the position of the equipment when needed, further affecting the efficiency and accuracy of the operation. These problems not only increase the difficulty of operation for staff, but may also lead to errors in surveying and mapping data, and even affect the progress of the entire project. Therefore, optimizing equipment design, improving the level of automation, and improving operating procedures are key directions for improving the efficiency and reliability of underwater surveying and mapping operations. Summary of the Invention

[0004] In view of the problems existing in the existing underwater surveying and mapping devices for water conservancy projects in the background technology, the present invention provides an underwater surveying and mapping device and method for water conservancy projects, which can facilitate the operation of workers and prevent unexpected interference during underwater surveying and mapping.

[0005] To solve the above technical problems, the present invention provides an underwater surveying and mapping device for water conservancy projects, comprising a traction mechanism and a surveying and mapping mechanism; the traction mechanism comprises a support plate, a winding component, a limiting component, a guide component, and a first traction rope, the winding component being fixedly mounted on the support plate, the first traction rope being wound around a winding roller of the winding component, and the other end being connected to the surveying and mapping mechanism; the limiting component being mounted on the support plate via a support frame, the guide component being mounted on the support plate via a lifting mechanism, the limiting component being located in a transverse region of the first traction rope, and the guide component being located in a vertical region of the first traction rope;

[0006] The surveying and mapping mechanism includes a protective shell, an acoustic wave generator and a detection instrument body. A lifting port is provided at the bottom of the protective shell, and an adjustment platform is provided inside the protective shell. The adjustment platform is installed in the protective shell through a lifting and adjusting mechanism. The detection instrument body is installed below the adjustment platform through an adjusting bracket. Under the control of the lifting and adjusting mechanism, the adjustment platform drives the detection instrument body to extend out of the protective shell or retract into the protective shell; the acoustic wave generator is arranged outside the protective shell.

[0007] The preferred technical solution of the present invention is as follows: the winding component includes two triangular plates arranged on the top of the support plate and a winding roller rotatably installed between the two triangular plates, one end of the winding roller extends to the outside of the corresponding side triangular plate, and a positioning plate is provided at the end, a limiting disk is provided between the positioning plate and the corresponding side triangular plate, and a plurality of groups of limiting holes are opened on the side adjacent to the winding roller, a limiting disk is provided on one side of the winding roller, and the limiting disk is fixedly connected to one side of the triangular plate

[0008] The preferred technical solution of the present invention is as follows: the limiting component includes a pressing piece, a support shell and a pressing locking mechanism, the support shell is an annular shell, the pressing piece is movably inserted through the lower part of the support shell, and a pressing block is provided at one end of the pressing piece extending into the support shell; the pressing locking mechanism includes a second traction rope located at the lower part of the support shell and extrusion limiting blocks symmetrically arranged on both sides of the support shell, the two extrusion limiting blocks pass through the side walls of the support shell, and their clamping surfaces face the center of the support shell, and the clamping surfaces of the two extrusion limiting blocks are arc-shaped surfaces matching the first traction rope, the second traction rope is arranged in an arc shape at the lower part of the support shell, and first pulleys are symmetrically provided on both sides of the support shell, and a first limiting ring is provided on the outside of the pressing piece. The two first pulleys are respectively connected to the first limit ring through an arc support rod, and the two ends of the second traction rope are respectively connected to the two extrusion limit blocks after winding around the corresponding first pulley, and the lower end of the lower pressure piece passes through the support shell and is connected to the middle of the second traction rope; the lower pressure piece is located between the lower pressure block and the first limit ring and is sleeved with a second spring, one end of the second spring is connected to the lower pressure block, and the other end is connected to the first limit ring; the outer sides of the two extrusion limit blocks are respectively provided with a third spring and a second limit ring; the first traction rope passes through the annular hole in the middle of the support shell, and during the normal descent of the surveying and mapping mechanism, the lifting mechanism controls the guide component to rise to a position equal to or higher than the limit component. At this time, the first traction rope does not contact the lower pressure block.

[0009] The better technical solution of the present invention: the lifting and adjusting mechanism includes a third cylinder and a plurality of telescopic guide columns, the third cylinder is vertically installed on the top of the inner wall of the protective shell, and its output end is vertically downward, and the output end of the third cylinder is provided with an adjustment platform connection; the plurality of guide columns are parallel to the third cylinder, and one end of each guide column is connected to the top of the inner wall of the protective shell, and the other end is connected to the adjustment platform; a guide slide is longitudinally arranged on the side wall of the protective shell, and the detection instrument body is slidably connected to the protective shell through a guide rod, and the guide rod is located on the side of the detection instrument body away from the camera, and a cleaning brush is provided on the side of the protective shell adjacent to the camera of the detection instrument body. When the detection instrument body rises into the protective shell, the cleaning brush contacts the camera of the detection instrument body.

[0010] A better technical solution of the present invention: the adjustment bracket includes a first motor arranged inside the adjustment platform, a first rotating column arranged at the output end of the first motor, a connecting frame arranged on the outside of the first rotating column, a second motor arranged at the other end of the connecting frame, a second rotating column arranged at the output end of the second motor, a third motor arranged on one side of the second rotating column, the third motor is connected to a rotating table, and the detection instrument body is installed at the bottom of the rotating table.

[0011] A better technical solution of the present invention: the lifting mechanism includes a first cylinder fixed on the support plate, the output end of the first cylinder faces upward and passes through the support plate, a lifting platform is provided at its output end, and a second cylinder is provided on the top of the lifting platform, the second cylinder and the first cylinder are perpendicular to each other, and the piston end of the second cylinder is connected to the guide component; a plurality of second pulleys are provided inside the guide component.

[0012] The preferred technical solution of the present invention is: if the fish species are phototactic fish, the sound wave generator selects low-frequency sound waves of 10Hz-200Hz to drive them away; if the fish species are photophobic fish, the sound wave generator selects high-frequency sound waves of 500Hz-1000Hz to drive them away.

[0013] The better technical solution of the present invention is as follows: the limit plate is provided with a plurality of limit assemblies, each limit assemblies includes a moving part slidably arranged inside the limit plate, a sliding hole is opened in the limit plate, one end of the moving part is set to be spherical, and its spherical end is adjacent to the limit hole, and the other end of the moving part is sleeved with a first spring, which is located in the sliding hole, one end of the first spring is fixed to the spherical end of the moving part, and the other end is fixed in the sliding hole; under the action of the first spring, the spherical end of the moving part extends out of the limit plate, and when the first spring is compressed, the spherical end of the moving part is retracted into the limit plate.

[0014] The present invention also provides a method for underwater surveying and mapping of a water conservancy project, which uses the above-mentioned underwater surveying and mapping device for a water conservancy project to perform underwater surveying and mapping, and specifically includes the following steps:

[0015] S1. The surveying and mapping mechanism is lowered to the position to be surveyed in the water by the traction mechanism. During the process of pulling the surveying and mapping mechanism downward by the traction mechanism, the lifting mechanism controls the guide member to rise to a position equal to or higher than the position of the limit member, and the limit member does not limit the first traction rope;

[0016] S2. When the surveying and mapping mechanism is lowered to the appropriate position, the lifting mechanism controls the guide member to move downward, and during the downward movement, the limiting member limits the first traction rope, while the winding member locks and fixes the first limit rope;

[0017] S3. Control the adjustment platform and the detection instrument body by lifting and adjusting the mechanism to drop out of the protective housing for underwater mapping, and adjust the angle of the detection instrument body by adjusting the bracket;

[0018] S4. During the surveying process, the instrument's sensor module acquires water environment parameters and target fish information. It automatically adjusts the sonic generator's frequency, intensity, and emission mode based on the water area, fish density, and fish species. The sonic generator is activated to repel the target fish.

[0019] S5. The operating status of the device is monitored in real time through the communication module of the detection instrument body. When a foreign object obstructs the camera of the detection instrument body underwater, the foreign object is shaken off by controlling the swing of the adjustment bracket. If it cannot be shaken off, a cleaning brush is set in the protective shell, and the detection instrument body is controlled to be retracted into the protective shell, and the foreign object is cleaned by the cleaning brush set inside the protective shell.

[0020] A further technical solution of the present invention is: if the fish species are phototactic fish, low-frequency sound waves of 10Hz-200Hz are selected to drive them away; if the fish species are photophobic fish, high-frequency sound waves of 500Hz-1000Hz are selected to drive them away.

[0021] Beneficial effects of the present invention:

[0022] (1) The present invention can accurately position the surveying and mapping mechanism to the target position through the design of the winding component; during the release and retraction process, the angle between the pulling force and the gravity always remains acute, thereby significantly reducing the force required for the operation and making the entire process more labor-saving.

[0023] (2) The present invention is provided with a guide component. When the surveying and mapping mechanism reaches the predetermined position, the guide component will quickly play a role and use gravity to fix the rope in time to prevent it from continuing to pay out the line under the action of gravity, thereby ensuring that the height of the surveying and mapping mechanism remains stable and avoiding the influence of position offset on the surveying and mapping accuracy.

[0024] (3) The present invention can not only effectively avoid the obstruction and interference of underwater garbage on the camera, but also is equipped with a sound wave generator to drive away fish by emitting sound waves of a specific frequency, preventing them from approaching the equipment, thereby reducing the potential damage to the equipment caused by biological contact and further improving the reliability and safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0026] Figure 1 A schematic diagram of the overall structure provided by the present invention;

[0027] Figure 2 It is a structural schematic diagram of the traction mechanism in the present invention;

[0028] Figure 3 It is a structural diagram of the surveying and mapping mechanism of the present invention;

[0029] Figure 4 Schematic cross-section diagram of the surveying and mapping mechanism of the present invention;

[0030] Figure 5 、 Figure 6 This is a schematic structural diagram of the limiting end of the winding component in the present invention;

[0031] Figure 7 This is a schematic cross-sectional view of the limiting end of the winding component in the present invention;

[0032] Figure 8 Schematic diagram of the structure of the limiting component in the present invention;

[0033] Figure 9 Schematic diagram of the cross section of the limiting component in the present invention;

[0034] Figure 10 Schematic diagram of the position of the guide component when the traction rope is not in contact with the pressing member in the present invention;

[0035] Figure 11 Schematic diagram of the position of the guide component when the traction rope contacts the pressing member in the present invention.

[0036] In the figure: 1-traction mechanism, 101-winding component, 1011-winding roller, 1012-triangular plate, 1013-limiting hole, 1014-limiting disk, 1015-positioning plate, 1016-moving member, 1017-first spring, 102-limiting component, 1021-pressing member, 1022-support shell, 1023-pressing block, 1024-second traction rope, 1025-extrusion limiting block, 1026-first pulley, 1027-second spring, 1028-first limiting ring, 1029-third spring, 10210-second limiting ring, 103-guide component, 1 031—second pulley, 104—first traction rope, 105—support plate, 106—support frame, 2—surveying and mapping mechanism, 201—protective shell, 202—sound wave generator, 203—guide column, 204—third cylinder, 205—adjusting platform, 206—adjusting bracket, 2061—first motor, 2062—first rotating column, 2063—connecting frame, 2064—second motor, 2065—rotating table, 207—detection instrument body, 208—guide rod, 209—cleaning brush, 3—lifting mechanism, 301—first cylinder, 302—lifting platform, 303—second cylinder. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0038] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0040] Furthermore, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing the embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, the three-dimensional dimensions of length, width, and depth should be included.

[0041] Example 1 provides a water conservancy project underwater surveying and mapping device, referring to Figures 1 to 7The underwater surveying and mapping device for water conservancy projects includes a traction mechanism 1 and a surveying and mapping mechanism 2, and obtains water environment parameters and target fish information through the sensor module in the surveying and mapping mechanism 2; the traction mechanism 1 includes a support plate 105, a winding component 101, a limiting component 102, a guide component 103 and a first traction rope 104, the winding component 101 is fixedly installed on the support plate 105, the first traction rope 104 is wound on the winding roller 1011 of the winding component 101, and the other end is connected to the surveying and mapping mechanism 2, and the surveying and mapping mechanism 2 is placed in a suitable position in the water through the traction mechanism 1; the limiting component 102 is mounted on the support plate 105 through the support frame 106, and the guide component 103 is mounted on the support plate 105 through the lifting mechanism 3, the limiting component 102 is located in the horizontal area of the first traction rope 104, and is adjacent to the transition part between the horizontal area and the vertical area, and the guide component 103 is located in the vertical area of the first traction rope 104, and is adjacent to the transition part between the horizontal area and the vertical area of the first traction rope 104. When the surveying and mapping mechanism 2 is in the normal descending state, the lifting mechanism 3 controls the guide component 103 to move to the highest point. At this time, the limiting component 102 does not limit the first traction rope 104; when the surveying and mapping mechanism reaches the predetermined position, the lifting mechanism 3 controls the guide component 103 to press down. At this time, the winding component 101 and the limiting component 102 work together to use gravity to fix the rope in time to prevent it from continuing to pay out under the action of gravity, thereby ensuring that the height of the surveying and mapping mechanism remains stable and avoiding affecting the surveying and mapping accuracy due to position offset.

[0042] Example 1 provides a water conservancy project underwater surveying and mapping device, referring to Figures 1 to 7The surveying and mapping mechanism 2 includes a protective shell 201 with an opening at the bottom, an acoustic wave generator 202 is provided on the outside of the protective shell 201, a third cylinder 204 is provided inside the protective shell 201, an adjustment platform 205 is provided at the output end of the third cylinder 204, and multiple groups of guide columns 203 are provided inside the protective shell 201. A detection instrument body 207 is installed below the adjustment platform 205 through an adjustment bracket 206; the adjustment platform 205 is driven to descend by the third cylinder 204, so that the detection instrument body 207 is separated from the inside of the protective shell 201, and the angle of the detection instrument body 207 can be adjusted by adjusting the bracket 206. In order to increase the stability of the lifting and lowering of the detection instrument body 207, a guide slide is longitudinally arranged on the side wall of the protective shell 201. The detection instrument body 207 is slidably connected to the protective shell 201 through a guide rod 208. When the third cylinder 204 drives the adjustment platform 205 to lift and lower, the detection instrument body 207 can be stably lifted up and down along the protective shell 201 under the action of the guide rod 208, and the guide rod 208 can be set to be L-shaped. The guide rod 208 is located on the side of the detection instrument body 207 away from the camera, and a cleaning brush 209 is provided on the side of the protective shell 201 adjacent to the camera of the detection instrument body 207. When the detection instrument body 207 rises into the protective shell 201, the cleaning brush 209 contacts the camera of the detection instrument body 207, and foreign matter on the camera can be cleaned.

[0043] The detection instrument body 207 is equipped with a sensor module and a wireless communication module. The sensor module can obtain water environment parameters and target fish information. The detection instrument body 207 is connected to the external control module through the wireless communication module. The frequency, intensity and emission mode of the sound waves are automatically adjusted through the control module according to the size of the water area, fish density and fish species. The detection instrument body 207 is also connected to the sound wave generator 202 by signal, and the target fish are driven away through the sound wave generator 202. The device operation status is monitored in real time through the communication module, and parameters are adjusted remotely as needed. If the fish species is phototactic fish, low-frequency sound waves of 10Hz-200Hz are preferentially selected for driving away; if the fish species is phototactic fish, high-frequency sound waves of 500Hz-1000Hz are preferentially selected for driving away.

[0044] In Example 1, Figure 4As shown, the adjustment bracket 206 includes a first motor 2061 disposed within the adjustment platform 205. A first rotating column 2062 is disposed at the output end of the first motor 2061. A connecting bracket 2063 is disposed outside the first rotating column 2062. A second motor 2064 is disposed at the other end of the connecting bracket 2063. A second rotating column is disposed at the output end of the second motor 2064. A third motor is disposed on one side of the second rotating column. The third motor is connected to a rotating platform 2065. The detection instrument body 207 is mounted at the bottom of the rotating platform 2065. Thus, the first motor 2061 drives the first rotating column 2062 to rotate, thereby adjusting the angle of the structure connected to the other end of the connecting bracket 2063. The second motor 2064 drives the second rotating column 2065 to rotate, thereby driving the third motor, the rotating platform 2065, and the detection instrument body 207 to rotate synchronously. The cooperation between the third motor and the rotating platform 2065 can drive the detection instrument body 207 to rotate circumferentially, thereby further facilitating underwater surveying and mapping operations.

[0045] Example 2 provides a water conservancy project underwater surveying and mapping device, referring to Figures 1 to 7The surveying and mapping mechanism 2 is the same as Example 1, the difference being that the winding component 101 includes two triangular plates 1012 arranged on the top of the support plate 105 and a winding roller 1011 rotatably installed between the two triangular plates 1012, one end of the winding roller 1011 extends to the outside of the corresponding side triangular plate 1012, and a positioning plate 1015 is provided at the end, a limiting disk 1014 is provided between the positioning plate 1015 and the corresponding side triangular plate 1012, and a plurality of groups of limiting holes 1013 are provided on the side of the positioning plate 1015 adjacent to the winding roller 1011, a limiting disk 1014 is provided on one side of the winding roller 1011, and the limiting disk 1014 is fixedly connected to one side of the triangular plate 1012. The limiting plate 1014 is provided with a plurality of limiting assemblies, each of which includes a moving member 1016 slidably arranged inside the limiting plate 1014. A sliding hole is provided in the limiting plate 1014. One end of the moving member 1016 is spherically arranged, with the spherical end adjacent to the limiting hole 1013. The other end of the moving member 1016 is sleeved with a first spring 1017. The first spring 1017 is located in the sliding hole, with one end fixed to the spherical end of the moving member 1016 and the other end fixed in the sliding hole. Under the action of the first spring 1017, the spherical end of the moving member 1016 extends out of the limiting plate 1014. When the first spring 1017 is compressed, the spherical end of the moving member 1016 is retracted into the limiting plate 1014. The staff drives the winding roller 1011, thereby causing the winding roller to rotate, and realizes the line-releasing and line-reeling operations according to different rotation directions. When the winding roller 1011 rotates, its limiting hole 1013 continuously squeezes one end of the ball of the movable part 1016, so that the movable part 1016 compresses the spring and the movable part 1016 moves; when the winding roller 1011 stops rotating, the limiting hole 1013 and the movable part 1016 cooperate with each other to limit, so as to prevent the heavy object from driving the rope to continue to move and prevent continued line-releasing.

[0046] In Example 2, Figure 8 and Figure 9As shown, the limiting component 102 includes a pressing member 1021, a supporting shell 1022 and a pressing locking mechanism. The supporting shell 1022 is an annular shell. The pressing member 1021 is movably inserted into the lower part of the supporting shell 1022. A pressing block 1023 is provided at one end of the pressing member 1021 extending into the supporting shell 1022; the pressing locking mechanism includes a second traction rope 1024 located at the lower part of the supporting shell 1022 and extrusion limiting blocks 1025 symmetrically arranged on both sides of the supporting shell 1022. The two extrusion limiting blocks 1025 penetrate the side wall of the supporting shell 1022, and the clamping surface thereof faces the center of the supporting shell 1022, and the two extrusion limiting blocks 1025 are symmetrically arranged on both sides of the supporting shell 1022. The clamping surface of the block 1025 is an arcuate surface that matches the first traction rope 104. The second traction rope 1024 is arranged in an arc shape at the lower part of the support housing 1022. First pulleys 1026 are symmetrically provided on both sides of the support housing 1022. A first limiting ring 1028 is provided on the outer side of the pressing member 1021. The two first pulleys 1026 are respectively connected to the first limiting ring 1028 through an arc-shaped support rod. The two ends of the second traction rope 1024 are respectively connected to the two extrusion limiting blocks 1025 after being wound around the corresponding first pulleys 1026. The lower end of the pressing member 1021 passes through the support housing 1022 and is connected to the middle part of the second traction rope 1024. The portion of the pressing member 1021 located between the pressing block 1023 and the first limiting ring 1028 is sleeved with a second spring 1027. One end of the second spring 1027 is connected to the pressing block 1023, and the other end is connected to the first limiting ring 1028. A third spring 1029 and a second limiting ring 10210 are respectively provided on the outer sides of the two extrusion limiting blocks 1025. The first traction rope 104 passes through the annular hole in the middle of the support shell 1022. When the first traction rope 104 applies pressure to the downward pressing block 1023, the downward pressing block 1023 drives the downward pressing member 1022 to move downward, thereby driving the second traction rope 1024 downward. Since the two extrusion limiting blocks 1025 are arranged horizontally within the support shell 1022, they will not move downward with the support shell 1022. Instead, they will squeeze toward the inner ring of the support shell 1022 to clamp the second traction rope 1024. Since the surveying and mapping mechanism 2 is subject to gravity, it will drive the first traction rope 104 downward under normal conditions. In order to ensure that the limiting component 102 does not limit the first traction rope 104 during the normal descent of the surveying and mapping mechanism 2; in order to prevent the downward pressing locking mechanism from being exposed to the outside, an arc-shaped shell is provided at the bottom of the support shell 1022 to cover the downward pressing locking mechanism.

[0047] In a normal state, the lifting mechanism 3 is in an ascending state. At this time, the guide member 103 rises to the highest point under the action of the lifting mechanism 3. Figure 10 As shown, the guide component 103 will push the first traction rope upwards. At this stage, the first traction rope 104 will not contact the lower pressing block 1023. When the first traction rope 104 needs to be limited by the limiting component 102, as shown in FIG. Figure 11As shown, the lifting mechanism 3 drives the guide component 103 to descend, and at this time the first traction rope 104 contacts the lower pressing block 1023. Figure 1 and Figure 2 As shown, the lifting mechanism 3 includes a first cylinder 301 fixed on the support plate 105, the output end of the first cylinder 301 faces upward and passes through the support plate 105, and a lifting platform 302 is provided at its output end. A second cylinder 303 is provided on the top of the lifting platform 302, the second cylinder 303 and the first cylinder 301 are perpendicular to each other, and the piston end of the second cylinder 303 is connected to the guide component 103; a plurality of groups of second pulleys 1031 are provided inside the guide component 103.

[0048] In the working state of Example 2, the staff drives the winding component 101 to rotate, thereby causing the winding roller to rotate, and the line-releasing and line-reeling operations are realized according to different rotation directions. When the winding component 101 rotates, its limiting hole 1013 continuously squeezes one end of the ball of the moving part 1016, so that the moving part 1016 compresses the spring, and the moving part 1016 moves. When the rotating part stops rotating, the heavy object will drive the rope to continue to move, so that the limiting hole 1013 and the moving part 1016 cooperate with each other to prevent continued line-releasing. At the same time, the first cylinder 301 drives the guide member 103 downward. When the first traction rope 104 contacts the pressing block 1023, the pressing block 1021 moves downward and squeezes the second spring 1027, thereby releasing the second traction rope 1024. Under the action of the first pulley 1026 and the third spring 1029, the squeezing limit blocks 1025 at both ends move to contact the first traction rope 104, clamping the first traction rope 104 tightly and preventing the first traction rope 104 and the surveying and mapping mechanism 2 from descending. When the first traction rope 104 is no longer in contact with the pressing block 1021, the second spring 1027 causes the pressing block 1021 to return to its original position, thereby retracting a portion of the second traction rope 1024. This allows the squeezing limit blocks 1025 at both ends to move and disengage from the first traction rope 104, allowing the first traction rope 104 and the surveying and mapping mechanism 2 to descend smoothly.

[0049] The first cylinder 301 drives the lifting platform 302, the second cylinder 303, and the guide member 103 to move vertically in sync, while the second cylinder 303 drives the guide member 103 to move laterally in sync, adjusting the traction angle of the first traction rope 104. The elastic coefficient of the second spring 1027 is greater than that of the third spring 1029, ensuring that when the pressing member 1021 is in its initial position, the portion of the second traction rope 1024 closest to it is retracted into the first limiting ring.

[0050] Example 3 provides an underwater surveying and mapping device for water conservancy projects, which combines all the technical features of Example 1 and Example 2.

[0051] The underwater surveying and mapping device for water conservancy projects provided in Example 3 has the following specific working process: when underwater surveying and mapping is required, the device is moved to a suitable position, and the staff drives the winding roller 1011 to rotate, thereby realizing the line-releasing and line-reeling operations according to different rotation directions. When the winding roller 1011 rotates, its limiting hole 1013 continuously squeezes one end of the ball of the moving part 1016, so that the moving part 1016 compresses the spring, and the moving part 1016 moves. When the winding roller 1011 stops rotating, the heavy object will drive the rope to continue to move, so that the limiting hole 1013 and the moving part 1016 cooperate with each other to prevent continued line-releasing.

[0052] When the guide member 103 is at the initial position, as shown in FIG. Figure 10 As shown, the first traction rope 104 is no longer in contact with the pressing member 1021. Under the action of the second spring 1027, the first traction rope 104 and the surveying and mapping mechanism 2 can be smoothly lowered. At this time, the angle between the gravity direction of the surveying and mapping mechanism 2 and the pulling direction of the traction mechanism 1 is an acute angle, which facilitates the descent of the surveying and mapping mechanism 2 and saves effort for the staff. When it descends to the appropriate position, the adjustment platform 205 is driven to descend by the third cylinder 204, so that the detection instrument body 207 is separated from the protective shell 201. When the angle of the detection instrument body 207 needs to be adjusted, the first rotating column 2062 can be driven by the first motor 2061 to rotate, so that the structure connected to the other end of the connecting frame 2063 can be adjusted in angle. The second rotating column 2065 is driven to rotate by the second motor 2064, thereby driving the third motor, the rotating platform 2065 and the detection instrument body 207 to rotate synchronously. The cooperation of the third motor and the rotating platform 2065 can drive the detection instrument body 207 to rotate circumferentially, thereby making underwater surveying and mapping operations more convenient.

[0053] When there is a foreign object blocking the camera underwater, the first motor 2061 and other driving mechanisms can be used to try to shake off the foreign object. If the problem cannot be solved, the detection instrument body 207 can be restored to its initial state and returned to the inside of the protective shell 201, so that the cleaning brush set inside the protective shell 201 can clean the foreign object.

[0054] When the surveying and mapping mechanism 200 moves to the appropriate position, the first cylinder 301 can drive the lifting platform 302 to descend, so that the rope contacts the downward pressure piece 1021, causing the downward pressure piece 1021 to move downward and squeeze the second spring 1027, thereby releasing the second traction rope 1024. Under the action of the first pulley 1026 and the third spring 1029, the extrusion limit blocks 1025 set at both ends move and contact the first traction rope 104, preventing the first traction rope 104 and the surveying and mapping mechanism 2 from descending.

[0055] When the surveying and mapping mechanism 2 needs to be recovered, the first motor 2061, the second motor 2064, the third motor and the rotating table 2065 restore the detection instrument body 207 to its initial angle, and then the third cylinder 204 drives the detection instrument body 207 back to the inside of the protective shell 201, thereby driving the lifting platform 302, the second cylinder 303 and the guide component 103 to move upward synchronously through the first cylinder 301, so that the limiting component 102 releases the restriction on the first traction rope 104, and the angle is now acute again, so that recovery is more labor-saving.

[0056] Example 4 provides a method for underwater surveying and mapping of a water conservancy project, which uses the underwater surveying and mapping device for a water conservancy project provided in Example 3 to perform underwater surveying and mapping, and specifically includes the following steps:

[0057] S1. The surveying and mapping mechanism is lowered to the position to be surveyed in the water by the traction mechanism. During the process of pulling the surveying and mapping mechanism downward by the traction mechanism, the lifting mechanism controls the guide member to rise to a position equal to or higher than the position of the limit member, and the limit member does not limit the first traction rope;

[0058] S2. When the surveying and mapping mechanism is lowered to the appropriate position, the lifting mechanism controls the guide member to move downward, and during the downward movement, the limiting member limits the first traction rope, while the winding member locks and fixes the first limit rope;

[0059] S3. Control the adjustment platform and the detection instrument body by lifting and adjusting the mechanism to drop out of the protective housing for underwater mapping, and adjust the angle of the detection instrument body by adjusting the bracket;

[0060] S4. During the mapping process, the instrument uses its sensor module to obtain water environment parameters and target fish information. The instrument automatically adjusts the frequency, intensity, and emission mode of the sonic generator based on the water area, fish density, and fish species. The sonic generator is activated to repel the target fish. If the fish are phototactic, a low-frequency sound wave of 10Hz-200Hz is used; if the fish are photophobic, a high-frequency sound wave of 500Hz-1000Hz is used.

[0061] S5. The operating status of the device is monitored in real time through the communication module of the detection instrument body. When a foreign object obstructs the camera of the detection instrument body underwater, the foreign object is shaken off by controlling the swing of the adjustment bracket. If it cannot be shaken off, a cleaning brush is set in the protective shell, and the detection instrument body is controlled to be retracted into the protective shell, and the foreign object is cleaned by the cleaning brush set inside the protective shell.

[0062] By setting the winding component, the surveying and mapping mechanism can be placed in a suitable position, and the angle between the tension and gravity during the release and retraction process is acute, which is more labor-saving. When it reaches the appropriate position, the rope can be restrained by gravity in time through the setting of the guide component to prevent it from continuously paying out the line under the action of gravity, which makes it impossible to determine the height of the surveying and mapping mechanism. In addition, during the operation, it can not only avoid the interference of underwater garbage on the camera, but also avoid the approach of fish schools through the setting of the sound wave generator.

Claims

1. An underwater surveying and mapping device for water conservancy projects, characterized by: The invention comprises a traction mechanism (1) and a surveying and mapping mechanism (2); the traction mechanism (1) comprises a support plate (105), a winding component (101), a limiting component (102), a guide component (103) and a first traction rope (104); the winding component (101) is fixedly mounted on the support plate (105); the first traction rope (104) is wound on a winding roller (1011) of the winding component (101), and the other end is connected to the surveying and mapping mechanism (2); the limiting component (102) is mounted on the support plate (105) through a support frame (106); the guide component (103) is mounted on the support plate (105) through a lifting mechanism (3); the limiting component (102) is located in a transverse region of the first traction rope (104); and the guide component (103) is located in a vertical region of the first traction rope (104); The surveying and mapping mechanism (2) comprises a protective shell (201), a sound wave generator (202) and a detection instrument body (207); a lifting opening is provided at the bottom of the protective shell (201); an adjustment platform (205) is provided inside the protective shell (201); the adjustment platform (205) is installed inside the protective shell (201) via a lifting and adjusting mechanism; the detection instrument body (207) is installed below the adjustment platform (205) via an adjusting bracket (206); and under the control of the lifting and adjusting mechanism, the adjustment platform (205) drives the detection instrument body (207) to extend out of the protective shell (201) or to be retracted into the protective shell (201); and the sound wave generator (202) is arranged outside the protective shell (201).

2. The underwater surveying and mapping device for water conservancy projects according to claim 1, characterized in that: The winding component (101) comprises two triangular plates (1012) arranged on the top of the support plate (105) and a winding roller (1011) rotatably mounted between the two triangular plates (1012), one end of the winding roller (1011) extends to the outside of the corresponding side triangular plate (1012), and a positioning plate (1015) is provided at the end, a limiting disk (1014) is provided between the positioning plate (1015) and the corresponding side triangular plate (1012), and a plurality of groups of limiting holes (1013) are provided on a side of the positioning plate (1015) adjacent to the winding roller (1011), a limiting disk (1014) is provided on one side of the winding roller (1011), and the limiting disk (1014) is fixedly connected to one side of the triangular plate (1012).

3. The underwater surveying and mapping device for water conservancy projects according to claim 1 or 2, characterized in that: The limiting component (102) includes a pressing member (1021), a supporting shell (1022) and a pressing locking mechanism. The supporting shell (1022) is an annular shell. The pressing member (1021) is movably inserted into the lower part of the supporting shell (1022). One end of the pressing member (1021) extending into the supporting shell (1022) is provided with a pressing block (1023). The pressing locking mechanism includes a second traction rope (1024) located at the lower part of the supporting shell (1022) and extrusion limiting blocks (1023) symmetrically arranged on both sides of the supporting shell (1022). 25), two extrusion limit blocks (1025) pass through the side wall of the support shell (1022), and their clamping surfaces face the center of the support shell (1022), and the clamping surfaces of the two extrusion limit blocks (1025) are arc-shaped surfaces that match the first traction rope (104), the second traction rope (1024) is arranged in an arc shape at the lower part of the support shell (1022), and the first pulleys (1026) are symmetrically provided on both sides of the support shell (1022), and the outer side of the lower pressure piece (1021) is provided with a first limit ring (1028), and the two first pulleys ( 1026) are connected to the first limiting ring (1028) through an arc-shaped support rod, and the two ends of the second traction rope (1024) are connected to the two extrusion limiting blocks (1025) respectively after winding around the corresponding first pulley (1026). The lower end of the lower pressing member (1021) passes through the supporting shell (1022) and is connected to the middle part of the second traction rope (1024); the lower pressing member (1021) is located between the lower pressing block (1023) and the first limiting ring (1028) and is provided with a second spring (1027). One end of the second spring (1027) is connected to the lower pressing member (1021). The first end of the guide member (103) is connected to the pressing block (1023), and the other end is connected to the first limiting ring (1028); the outer sides of the two extrusion limiting blocks (1025) are respectively provided with a third spring (1029) and a second limiting ring (10210); the first traction rope (104) passes through the annular hole in the middle of the support shell (1022), and during the normal descent of the surveying and mapping mechanism (2), the lifting mechanism (3) controls the guide member (103) to rise to a position equal to or higher than the limiting member (102), at which time the first traction rope (104) does not contact the lower pressing block (1023).

4. The underwater surveying and mapping device for water conservancy projects according to claim 1 or 2, characterized in that: The lifting and adjusting mechanism comprises a third cylinder (204) and a plurality of telescopic guide columns (203); the third cylinder (204) is vertically mounted on the top of the inner wall of the protective shell (201), with its output end facing vertically downward, and the output end of the third cylinder (204) is provided with an adjusting platform (205) for connection; the plurality of guide columns (203) are parallel to the third cylinder (204), and one end of each guide column (203) is connected to the top of the inner wall of the protective shell (201), and the other end is connected to the adjusting platform (205); A guide slide is longitudinally provided on the side wall of the detection instrument body (207), and the detection instrument body (207) is slidably connected to the protective shell (201) through a guide rod (208). The guide rod (208) is located on the side of the detection instrument body (207) away from the camera, and a cleaning brush (209) is provided on the side of the protective shell (201) adjacent to the camera of the detection instrument body (207). When the detection instrument body (207) rises into the protective shell (201), the cleaning brush (209) contacts the camera of the detection instrument body (207).

5. The underwater surveying and mapping device for water conservancy projects according to claim 1 or 2, characterized in that: The adjustment bracket (206) includes a first motor (2061) arranged inside the adjustment platform (205), a first rotating column (2062) arranged at the output end of the first motor (2061), a connecting frame (2063) arranged on the outside of the first rotating column (2062), a second motor (2064) arranged at the other end of the connecting frame (2063), a second rotating column arranged at the output end of the second motor (2064), a third motor arranged on one side of the second rotating column, and the third motor connected to the rotating platform (2065), and the detection instrument body (207) is installed at the bottom of the rotating platform (2065).

6. The underwater surveying and mapping device for water conservancy projects according to claim 1 or 2, characterized in that: The lifting mechanism (3) comprises a first cylinder (301) fixed on a support plate (105); the output end of the first cylinder (301) faces upward and passes through the support plate (105); a lifting platform (302) is provided at the output end; a second cylinder (303) is provided on the top of the lifting platform (302); the second cylinder (303) and the first cylinder (301) are perpendicular to each other, and the piston end of the second cylinder (303) is connected to the guide component (103); and a plurality of second pulleys (1031) are provided inside the guide component (103).

7. The underwater surveying and mapping device for water conservancy projects according to claim 1 or 2, characterized in that: If the fish are phototactic fish, the sound wave generator (202) selects low-frequency sound waves of 10Hz-200Hz to drive them away; if the fish are photophobic fish, the sound wave generator (202) selects high-frequency sound waves of 500Hz-1000Hz to drive them away.

8. The underwater surveying and mapping device for water conservancy projects according to claim 2, characterized in that: The limiting plate (1014) is provided with a plurality of limiting components, each limiting component comprising a moving part (1016) slidably arranged inside the limiting plate (1014), a sliding hole is correspondingly opened in the limiting plate (1014), one end of the moving part (1016) is arranged to be spherical, and the spherical end thereof is adjacent to the limiting hole (1013), and the other end of the moving part (1016) is sleeved with a first spring (1017), which is located in the sliding hole, one end of the first spring (1017) is fixed to the spherical end of the moving part (1016), and the other end is fixed in the sliding hole; under the action of the first spring (1017), the spherical end of the moving part (1016) extends out of the limiting plate (1014), and when the first spring (1017) is compressed, the spherical end of the moving part (1016) is retracted into the limiting plate (1014).

9. A method for underwater surveying and mapping of a water conservancy project, characterized in that: The method of using the underwater surveying and mapping device for water conservancy projects according to any one of claims 1 to 8 to perform water tank surveying and mapping specifically comprises the following steps: S1. The surveying and mapping mechanism is lowered to the position to be surveyed in the water by the traction mechanism. During the process of pulling the surveying and mapping mechanism downward by the traction mechanism, the lifting mechanism controls the guide member to rise to a position equal to or higher than the position of the limit member, and the limit member does not limit the first traction rope; S2. When the surveying and mapping mechanism is lowered to the appropriate position, the lifting mechanism controls the guide member to move downward, and during the downward movement, the limiting member limits the first traction rope, while the winding member locks and fixes the first limit rope; S3. Control the adjustment platform and the detection instrument body by lifting and adjusting the mechanism to drop out of the protective housing for underwater mapping, and adjust the angle of the detection instrument body by adjusting the bracket; S4. During the surveying process, the instrument's sensor module acquires water environment parameters and target fish information. It automatically adjusts the sonic generator's frequency, intensity, and emission mode based on the water area, fish density, and fish species. The sonic generator is activated to repel the target fish. S5. The operating status of the device is monitored in real time through the communication module of the detection instrument body. When a foreign object obstructs the camera of the detection instrument body underwater, the foreign object is shaken off by controlling the swing of the adjustment bracket. If it cannot be shaken off, a cleaning brush is set in the protective shell, and the detection instrument body is controlled to be retracted into the protective shell, and the foreign object is cleaned by the cleaning brush set inside the protective shell.

10. The underwater surveying and mapping method for a water conservancy project according to claim 9, characterized in that: If the fish species are phototactic fish, choose low-frequency sound waves of 10Hz-200Hz to drive them away; if the fish species are photophobic fish, choose high-frequency sound waves of 500Hz-1000Hz to drive them away.

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