Hydraulic engineering underwater surveying device and method

Abstract

The application provides a kind of hydraulic engineering underwater surveying and mapping device and method.The surveying and mapping device includes traction mechanism and surveying and mapping mechanism;The traction mechanism includes support plate, winding component, limiting component, guide component and first traction rope, limiting component is located in the horizontal region of first traction rope, guide component is located in the vertical region of first traction rope;The surveying and mapping mechanism includes the protective shell of bottom opening lifting mouth, sound wave generator and detection instrument body, adjusting platform is installed in protective shell by lifting adjustment mechanism, detection instrument body is installed below adjusting platform by adjusting support, and sound wave generator is arranged outside protective shell.The surveying and mapping mechanism of the application can smoothly descend to the target depth, and can accurately position the position of surveying and mapping mechanism, and in the surveying process, it can effectively avoid the shielding interference of underwater garbage and fish group on camera, and reduce the potential damage of biological contact to equipment.

Description

Technical Field

[0001] This invention relates to the technical field of underwater surveying, and more particularly to an underwater surveying device and method for water conservancy projects. Background Technology

[0002] When conducting underwater mapping operations, the presence of debris is a significant problem. This debris often floats within specific depth ranges in the water, and once it adheres to the lens or casing of underwater cameras, it can obstruct the view, severely impacting image quality and the accuracy of mapping data. Furthermore, the complexity of the underwater environment is also reflected in biological activity. Fish and other aquatic organisms may unintentionally approach or even touch the mapping equipment. This unpredictable contact can not only interfere with the normal operation of the equipment but, in severe cases, may even cause damage, increasing maintenance costs and operational risks.

[0003] Besides the challenges posed by environmental factors, operational difficulties also exist. Workers often expend considerable physical strength during line laying and retrieval, especially in deep water where the weight of the equipment and water resistance make the process even more strenuous. Furthermore, existing equipment often lacks an effective automatic stopping mechanism upon reaching the predetermined depth, making it difficult for operators to promptly control the equipment's stopping position. Simultaneously, the locking function of the retrieval rollers is not sensitive enough to quickly fix the equipment's position when needed, further impacting operational efficiency and accuracy. These problems not only increase the operational difficulty for workers but may also lead to errors in surveying data and even affect the progress of the entire project. Therefore, optimizing equipment design, improving automation levels, and refining operational procedures are key directions for improving the efficiency and reliability of underwater surveying operations. Summary of the Invention

[0004] In view of the problems existing in the current underwater surveying devices for water conservancy projects, the present invention provides an underwater surveying device and method for water conservancy projects. The device is easy for staff to operate and can prevent interference from unexpected situations during underwater surveying.

[0005] To solve the above-mentioned technical problems, the present invention provides an underwater surveying device for water conservancy projects, including a traction mechanism and a surveying mechanism; the traction mechanism includes a support plate, a winding component, a limiting component, a guiding component, and a first traction rope. The winding component is fixedly installed on the support plate, and the first traction rope is wound around the winding roller of the winding component, with its other end connected to the surveying mechanism; the limiting component is mounted on the support plate via a support frame, and the guiding component is mounted on the support plate via a lifting mechanism. The limiting component is located in the transverse region of the first traction rope, and the guiding component is located in the vertical region of the first traction rope.

[0006] The surveying mechanism includes a protective housing, a sound wave generator, and a detection instrument body. The bottom of the protective housing has a lifting port, and an adjustment platform is provided inside the protective housing. The adjustment platform is installed inside the protective housing through a lifting and adjustment mechanism. The detection instrument body is installed below the adjustment platform through an adjustment bracket. Under the control of the lifting and adjustment mechanism, the adjustment platform drives the detection instrument body to extend out of the protective housing or retract into the protective housing. The sound wave generator is located outside the protective housing.

[0007] A preferred technical solution of the present invention: The winding component includes two triangular plates disposed on the top of the support plate and a winding roller rotatably mounted between the two triangular plates. One end of the winding roller extends to the outside of the corresponding side triangular plate and is provided with a positioning plate at the end. A limiting plate is provided between the positioning plate and the corresponding side triangular plate, and several sets of limiting holes are opened on the side of the positioning adjacent to the winding roller. A limiting plate is provided on one side of the winding roller, and the limiting plate is fixedly connected to one side of the triangular plate.

[0008] A preferred technical solution of the present invention: The limiting component includes a pressing member, a supporting shell, and a pressing locking mechanism. The supporting shell is an annular shell, and the pressing member is movably disposed in the lower part of the supporting shell. A pressing block is provided at one end of the pressing member extending into the supporting shell. The pressing locking mechanism includes a second traction rope located at the lower part of the supporting shell and two compression limiting blocks symmetrically arranged on both sides of the supporting shell. The two compression limiting blocks penetrate the side wall of the supporting shell, and their clamping surfaces face the center of the supporting shell. The clamping surfaces of the two compression limiting blocks are arc-shaped surfaces that match the first traction rope. The second traction rope is arc-shaped and arranged in the lower part of the supporting shell. First pulleys are symmetrically arranged on both sides of the supporting shell, and a first limiting ring is provided on the outer side of the pressing member. Two first pulleys are connected to the first limiting rings via arc-shaped support rods. The two ends of the second traction rope are connected to the two compression limiting blocks after passing around the corresponding first pulleys. The lower end of the pressing member passes through the support housing and is connected to the middle of the second traction rope. A second spring is sleeved on the part of the pressing member located between the pressing block and the first limiting ring. One end of the second spring is connected to the pressing block, and the other end is connected to the first limiting ring. A third spring and a second limiting ring are respectively provided on the outer side of the two compression limiting blocks. The first traction rope passes through the annular hole in the middle of the support housing. During the normal descent of the surveying mechanism, the lifting mechanism controls the guide component to rise to a position equal to or higher than the limiting component. At this time, the first traction rope does not contact the pressing block.

[0009] The preferred technical solution of the present invention is as follows: The lifting and adjusting mechanism includes a third cylinder and multiple telescopic guide columns. The third cylinder is vertically installed on the top of the inner wall of the protective housing, with its output end facing vertically downward. An adjusting platform is connected to the output end of the third cylinder. The multiple 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 housing, while the other end is connected to the adjusting platform. A guide slide is longitudinally arranged on the side wall of the protective housing. The detection instrument body is slidably connected to the protective housing through a guide rod. 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 housing near the camera of the detection instrument body. When the detection instrument body rises into the protective housing, the cleaning brush contacts the camera of the detection instrument body.

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

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

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

[0013] A preferred technical solution of the present invention is as follows: multiple sets of limiting components are correspondingly provided on the limiting disk, each set of limiting components includes a movable part slidably disposed inside the limiting plate, a sliding hole is correspondingly opened in the limiting disk, one end of the movable part is spherical, the spherical end is close to the limiting hole, and a first spring is sleeved on the other end of the movable part. The first spring is located in the sliding hole, one end of which is fixed to the spherical end of the movable part, and the other end is fixed in the sliding hole; under the action of the first spring, the spherical end of the movable part extends out of the limiting disk, and under the compressed state of the first spring, the spherical end of the movable part retracts into the limiting plate.

[0014] This invention also provides an underwater surveying method for water conservancy projects, which uses the aforementioned underwater surveying device for water conservancy projects to perform underwater surveying, and specifically includes the following steps:

[0015] S1. The surveying mechanism is lowered to the position to be surveyed in the water by the traction mechanism. During the process of the surveying mechanism being pulled down by the traction mechanism, the lifting mechanism controls the guide component to rise to a position equal to or higher than the limit component. The limit component does not limit the first traction rope.

[0016] S2. When the surveying mechanism is lowered to a suitable position, the lifting mechanism controls the guide component to move down, and during the downward movement, the limiting component limits the first traction rope, while the winding component locks and fixes the first limiting rope.

[0017] S3. The adjustment platform and the main body of the detection instrument are lowered and extended from the protective shell by the lifting and adjusting mechanism to carry out underwater mapping, and the angle of the main body of the detection instrument is adjusted by the adjusting bracket;

[0018] S4. During the surveying process, the sensor module of the instrument body acquires aquatic environmental parameters and target fish information; and automatically adjusts the sound frequency, intensity and emission mode of the sound generator according to the size of the water area, fish density and fish species; and starts the sound generator to drive away the target fish.

[0019] S5. The device's operating status is monitored in real time through the communication module of the instrument body. When a foreign object obstructs the camera of the instrument body underwater, the object is thrown away by controlling the swing of the adjustment bracket. If it cannot be thrown away, a cleaning brush is installed inside the protective housing, and the instrument body is controlled to retract into the protective housing. The foreign object is then cleaned by the cleaning brush installed inside the protective housing.

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

[0021] The beneficial effects of this invention are:

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

[0023] (2) The present invention is equipped with a guide component. When the surveying mechanism reaches the predetermined position, the guide component will quickly play its role and use gravity to fix the rope in time, preventing it from continuing to lay the line under the action of gravity, ensuring that the height of the surveying mechanism remains stable, and avoiding the impact of position deviation on the surveying accuracy.

[0024] (3) This invention can not only effectively avoid underwater debris from obstructing and interfering with the camera, but also is equipped with a sound wave generator. By emitting sound waves of a specific frequency, it can drive away fish and prevent 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. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the traction mechanism in this invention;

[0028] Figure 3 This is a schematic diagram of the surveying mechanism in this invention;

[0029] Figure 4 This is a schematic cross-sectional view of the surveying mechanism in this invention;

[0030] Figure 5 , Figure 6 This is a schematic diagram of the structure of the limiting end of the winding component in this invention;

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

[0032] Figure 8 This is a schematic diagram of the limiting component in this invention;

[0033] Figure 9 This is a cross-sectional view of the limiting component in this invention;

[0034] Figure 10 This is a schematic diagram showing the position of the guide component when the traction rope is not in contact with the pressing component in this invention;

[0035] Figure 11 This is a schematic diagram showing the position of the guide component when the traction rope contacts the pressure member in this invention.

[0036] In the diagram: 1—Traction mechanism, 101—Rewinding component, 1011—Rewinding roller, 1012—Triangular plate, 1013—Limiting hole, 1014—Limiting disc, 1015—Positioning plate, 1016—Moving component, 1017—First spring, 102—Limiting component, 1021—Pressing component, 1022—Support housing, 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 mechanism, 201—Protective shell, 202—Sound wave generator, 203—Guide column, 204—Third cylinder, 205—Adjustment platform, 206—Adjustment 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 Implementation

[0037] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "one embodiment" or "embodiment" as used 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 different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0040] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0041] Example 1 provides an underwater surveying device for water conservancy projects, referring to... Figures 1-7The underwater surveying device for water conservancy projects includes a traction mechanism 1 and a surveying mechanism 2. The surveying mechanism 2 uses a sensor module to acquire aquatic environmental parameters and target fish information. The traction mechanism 1 includes a support plate 105, a winding component 101, a limiting component 102, a guiding 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 around the winding roller 1011 of the winding component 101, with its other end connected to the surveying mechanism 2. The traction mechanism 1 lowers the surveying mechanism 2 to a suitable position in the water. The limiting component 102 is mounted on the support plate 105 via a support frame 106. The guiding component 103 is mounted on the support plate 105 via a lifting mechanism 3. The limiting component 102 is located in the transverse region of the first traction rope 104 and is near the transition point between the transverse and vertical regions. The guiding component 103 is located in the vertical region of the first traction rope 104 and is near the transition point between the transverse and vertical regions. When the surveying mechanism 2 is in a normal descent state, the lifting mechanism 3 controls the guide component 103 to move to the highest position. At this time, the limiting component 102 does not limit the first traction rope 104. When the surveying 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 fix the rope in time by gravity, preventing it from continuing to be laid out under the action of gravity, ensuring that the height of the surveying mechanism remains stable, and avoiding the impact of positional deviation on the surveying accuracy.

[0042] Example 1 provides an underwater surveying device for water conservancy projects, referring to... Figures 1-7The surveying mechanism 2 includes a protective housing 201 with an open bottom. A sound wave generator 202 is provided on the outside of the protective housing 201. A third cylinder 204 is provided inside the protective housing 201. An adjustment platform 205 is provided at the output end of the third cylinder 204. Multiple sets of guide columns 203 are provided inside the protective housing 201. The detection instrument body 207 is mounted below the adjustment platform 205 via an adjustment bracket 206. The adjustment platform 205 is lowered by the third cylinder 204, thereby causing the detection instrument body 207 to detach from the protective housing 201. The angle of the detection instrument body 207 can be adjusted by the adjustment bracket 206. To increase the stability of the instrument body 207 during lifting and lowering, a guide slide is longitudinally provided on the side wall of the protective housing 201. The instrument body 207 is slidably connected to the protective housing 201 via a guide rod 208. When the third cylinder 204 drives the adjustment platform 205 to lift and lower, the instrument body 207 can stably lift and lower along the protective housing 201 under the action of the guide rod 208. The guide rod 208 can be L-shaped and is located on the side of the instrument body 207 away from the camera. A cleaning brush 209 is provided on the side of the protective housing 201 near the camera of the instrument body 207. When the instrument body 207 rises into the protective housing 201, the cleaning brush 209 contacts the camera of the instrument body 207 and can clean foreign objects on the camera.

[0043] The detection instrument body 207 is equipped with a sensor module and a wireless communication module. The sensor module can acquire aquatic environmental parameters and target fish information. The detection instrument body 207 is connected to an external control module via the wireless communication module. According to the size of the water area, fish density, and fish species, the control module automatically adjusts the frequency, intensity, and emission mode of the sound waves. The detection instrument body 207 is also connected to a sound wave generator 202, which drives away the target fish. The communication module monitors the device's operating status in real time and adjusts parameters remotely as needed. If the fish species are phototactic, low-frequency sound waves (10Hz-200Hz) are preferentially selected for driving them away; if the fish species are photophobic, high-frequency sound waves (500Hz-1000Hz) are preferentially selected for driving them away.

[0044] In Example 1, as Figure 4As shown, the adjustment bracket 206 includes a first motor 2061 disposed inside the adjustment platform 205, a first rotating column 2062 disposed at the output end of the first motor 2061, a connecting frame 2063 disposed on the outer side of the first rotating column 2062, a second motor 2064 disposed at the other end of the connecting frame 2063, a second rotating column disposed at the output end of the second motor 2064, a third motor disposed on one side of the second rotating column, and the third motor connected to a rotating platform 2065. The detection instrument body 207 is mounted on the bottom of the rotating platform 2065. Thus, the first rotating column 2062 can be rotated by the first motor 2061, thereby allowing the structure connected to the other end of the connecting frame 2063 to adjust its angle. The second rotating column 2065 is rotated by the second motor 2064, thereby causing 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 enables the detection instrument body 207 to rotate circumferentially, thus facilitating underwater surveying operations.

[0045] Example 2 provides an underwater surveying device for water conservancy projects, referring to... Figures 1-7The surveying mechanism 2 is the same as that in embodiment 1, except that the winding component 101 includes two triangular plates 1012 disposed 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 is provided with a positioning plate 1015 at the end. A limiting plate 1014 is provided between the positioning plate 1015 and the corresponding side triangular plate 1012, and a plurality of limiting holes 1013 are opened on the side of the positioning plate 1015 near the winding roller 1011. A limiting plate 1014 is provided on one side of the winding roller 1011, and the limiting plate 1014 is fixedly connected to one side of the triangular plate 1012. The limiting plate 1014 is provided with multiple sets of limiting components. Each set of limiting components includes a movable part 1016 slidably disposed inside the limiting plate 1014. A sliding hole is correspondingly opened in the limiting plate 1014. One end of the movable part 1016 is spherical, with its spherical end adjacent to the limiting hole 1013. A first spring 1017 is sleeved on the other end of the movable part 1016. The first spring 1017 is located in the sliding hole, with one end fixed to the spherical end of the movable part 1016 and the other end fixed in the sliding hole. Under the action of the first spring 1017, the spherical end of the movable part 1016 extends out of the limiting plate 1014. When the first spring 1017 is compressed, the spherical end of the movable part 1016 retracts into the limiting plate 1014. The operator drives the take-up roller 1011, causing it to rotate. Depending on the direction of rotation, the unwinding and take-up operations are achieved. When the take-up roller 1011 rotates, its limiting hole 1013 continuously presses against one end of the ball of the moving part 1016, thereby compressing the spring of the moving part 1016 and causing it to move. When the take-up roller 1011 stops rotating, the limiting hole 1013 and the moving part 1016 cooperate to limit the movement of the rope due to the weight, thus preventing further unwinding.

[0046] In Example 2, as Figure 8 and Figure 9As shown, the limiting component 102 includes a pressing member 1021, a supporting housing 1022, and a pressing locking mechanism. The supporting housing 1022 is an annular housing. The pressing member 1021 is movably inserted through the lower part of the supporting housing 1022, and a pressing block 1023 is provided at one end of the pressing member 1021 that extends into the supporting housing 1022. The pressing locking mechanism includes a second traction rope 1024 located at the lower part of the supporting housing 1022 and two compression limiting blocks 1025 symmetrically arranged on both sides of the supporting housing 1022. The two compression limiting blocks 1025 penetrate the side wall of the supporting housing 1022, and their clamping surfaces face the center of the supporting housing 1022. The clamping surface of block 1025 is an arc-shaped surface that matches the first traction rope 104. The second traction rope 1024 is arc-shaped and arranged at the lower part of the support housing 1022. First pulleys 1026 are symmetrically arranged 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 arc-shaped support rods. The two ends of the second traction rope 1024 are connected to the two pressing limiting blocks 1025 after passing 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 of the second traction rope 1024. A second spring 1027 is sleeved on the part of the pressing member 1021 located between the pressing block 1023 and the first limiting ring 1028. 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 compression limiting blocks 1025. The first traction rope 104 passes through the annular hole in the middle of the support housing 1022. When the first traction rope 104 applies pressure to the lower pressing block 1023, the lower pressing block 1023 drives the lower pressing member 1022 to move downward, thereby driving the second traction rope 1024 to pull downward. Since the two compression limiting blocks 1025 are arranged laterally inside the support housing 1022, they will not move downward with it, but will squeeze towards the inner ring of the support housing 1022, clamping the second traction rope 1024. Since the surveying mechanism 2 has gravity, it will drive the first traction rope 104 to move downward under normal conditions. In order to ensure that the limiting member 102 does not limit the first traction rope 104 during the normal descent of the surveying mechanism 2, and to avoid the lower pressing locking mechanism being exposed to the outside, an arc-shaped outer shell is provided at the lower part of the support housing 1022 to cover the lower pressing locking mechanism.

[0047] Under normal conditions, the lifting mechanism 3 is in the rising state. At this time, the guide component 103 rises to its highest position under the action of the lifting mechanism 3, such as... Figure 10 As shown, the guide component 103 pushes the first traction rope upwards, and during this stage, the first traction rope 104 will not contact the lower pressure block 1023. When it is necessary to limit the first traction rope 104 by the limiting component 102, such as Figure 11As shown, the lifting mechanism 3 drives the guide component 103 to descend, at which point the first traction rope 104 contacts the lower pressure 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. 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 is perpendicular to the first cylinder 301, and the piston end of the second cylinder 303 is connected to the guide component 103. Several sets of second pulleys 1031 are provided inside the guide component 103.

[0048] In the working state of Example 2, the operator drives the winding component 101 to rotate, thereby causing the take-up roller to rotate. Depending on the rotation direction, the unwinding and take-up operations are realized. When the winding component 101 rotates, its limiting hole 1013 continuously squeezes one end of the ball of the moving part 1016, thereby compressing the spring of the moving part 1016 and causing the moving part 1016 to move. When the rotating part stops rotating, the weight will drive the rope to continue moving, so the limiting hole 1013 and the moving part 1016 cooperate with each other to prevent the continued unwinding of the rope. Simultaneously, the first cylinder 301 drives the guide component 103 to move downward. When the first traction rope 104 contacts the lower pressure block 1023, the lower pressure component 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 compression limiting blocks 1025 set at both ends move to contact the first traction rope 104 and clamp the first traction rope 104, preventing the first traction rope 104 from descending with the surveying mechanism 2. When the first traction rope 104 is no longer in contact with the lower pressure component 1021, under the action of the second spring 1027, the lower pressure component 1021 returns to its original position, thereby retracting part of the second traction rope 1024. This causes the compression limiting blocks 1025 set at both ends to move and disengage from the first traction rope 104, allowing the first traction rope 104 and the surveying mechanism 2 to descend smoothly.

[0049] The first cylinder 301 drives the lifting platform 302, the second cylinder 303, and the guide component 103 to move up and down synchronously. The second cylinder 303 drives the guide component 103 to move laterally synchronously, 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, thereby ensuring that when the pressing member 1021 is in the initial position, the part of the second traction rope 1024 closest to it will be drawn into the first limiting ring.

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

[0051] The underwater surveying device for water conservancy projects provided in Example 3 operates as follows: When underwater surveying is required, the device is moved to a suitable position, and the operator drives the take-up roller 1011, causing it to rotate. Depending on the rotation direction, the wire release and take-up operations are achieved. When the take-up roller 1011 rotates, its limiting hole 1013 continuously presses against one end of the ball of the moving part 1016, thereby compressing the spring of the moving part 1016 and causing it to move. When the take-up roller 1011 stops rotating, the weight will cause the wire to continue moving, thus the limiting hole 1013 and the moving part 1016 cooperate to prevent further wire release.

[0052] When the guide component 103 is in the initial position, such as Figure 10 As shown, the first traction rope 104 is no longer in contact with the lower pressure member 1021. Under the action of the second spring 1027, the first traction rope 104 and the surveying mechanism 2 can descend smoothly. At this time, the angle between the gravity direction of the surveying mechanism 2 and the pulling force direction of the traction mechanism 1 is an acute angle, which facilitates the descent of the surveying mechanism 2 and saves the staff effort. When it descends to the appropriate position, the third cylinder 204 drives the adjustment platform 205 to descend, thereby causing the detection instrument body 207 to detach from the protective shell 201. When it is necessary to adjust the angle of the detection instrument body 207, the first rotating column 2062 can be rotated by the first motor 2061, thereby allowing the structure connected to the other end of the connecting frame 2063 to adjust the angle. The second rotating column 2065 is rotated 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, thus making underwater surveying operations more convenient.

[0053] When a foreign object obstructs the camera underwater, the first motor 2061 and other driving mechanisms can be used to try to shake the foreign object off. If this fails, the detection instrument body 207 can be restored to its initial state and returned to the protective housing 201, so that the cleaning brush set inside the protective housing 201 can clean the foreign object.

[0054] When the surveying mechanism 200 moves to the appropriate position, the first cylinder 301 can drive the lifting platform 302 to descend, so that the rope comes into contact with the pressing member 1021, causing the pressing member 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 pressing limit blocks 1025 set at both ends move to contact the first traction rope 104, preventing the first traction rope 104 from descending with the surveying mechanism 2.

[0055] When the surveying mechanism 2 needs to be retrieved, the first motor 2061, the second motor 2064, the third motor and the rotary table 2065 cause the detection instrument body 207 to return to its initial angle. Then, the third cylinder 204 drives the detection instrument body 207 back into the protective housing 201. This causes the first cylinder 301 to drive the lifting platform 302, the second cylinder 303 and the guide component 103 to move upward synchronously, so that the limiting component 102 releases the restriction on the first traction rope 104. At this time, the included angle is again an acute angle, making retrieval easier.

[0056] Example 4 provides a method for underwater surveying of water conservancy projects, using the underwater surveying device for water conservancy projects provided in Example 3. The method specifically includes the following steps:

[0057] S1. The surveying mechanism is lowered to the position to be surveyed in the water by the traction mechanism. During the process of the surveying mechanism being pulled down by the traction mechanism, the lifting mechanism controls the guide component to rise to a position equal to or higher than the limit component. The limit component does not limit the first traction rope.

[0058] S2. When the surveying mechanism is lowered to a suitable position, the lifting mechanism controls the guide component to move down, and during the downward movement, the limiting component limits the first traction rope, while the winding component locks and fixes the first limiting rope.

[0059] S3. The adjustment platform and the main body of the detection instrument are lowered and extended from the protective shell by the lifting and adjusting mechanism to carry out underwater mapping, and the angle of the main body of the detection instrument is adjusted by the adjusting bracket;

[0060] S4. During the surveying process, the sensor module of the detection instrument body acquires aquatic environmental parameters and target fish information; and automatically adjusts the sound wave frequency, intensity and emission mode of the sound wave generator according to the size of the water area, fish density and fish species; the sound wave generator is activated to drive away the target fish; if the fish species are phototactic, low-frequency sound waves of 10Hz-200Hz are selected for driving them away; if the fish species are photophobic, high-frequency sound waves of 500Hz-1000Hz are selected for driving them away.

[0061] S5. The device's operating status is monitored in real time through the communication module of the instrument body. When a foreign object obstructs the camera of the instrument body underwater, the object is thrown away by controlling the swing of the adjustment bracket. If it cannot be thrown away, a cleaning brush is installed inside the protective housing, and the instrument body is controlled to retract into the protective housing. The foreign object is then cleaned by the cleaning brush installed inside the protective housing.

[0062] By using a winding mechanism, the surveying device can be placed in a suitable position. During release and retraction, the angle between the tension and gravity is acute, making it more labor-saving. When it reaches the appropriate position, the guide mechanism can use gravity to restrain the rope in time, preventing it from continuously releasing the line under the action of gravity, which would make it impossible to determine the height of the surveying device. In addition, during operation, it can not only avoid underwater debris interfering with the camera, but also prevent fish from approaching through the sound wave generator.

Claims

1. An underwater surveying device for water conservancy projects, characterized in that: The system includes a traction mechanism (1) and a surveying mechanism (2). The traction mechanism (1) includes a support plate (105), a winding component (101), a limiting component (102), a guiding component (103), and a first traction rope (104). The winding component (101) is fixedly installed on the support plate (105), and the first traction rope (104) is wound around the winding roller (1011) of the winding component (101), with the other end connected to the surveying mechanism (2). The limiting component (102) is mounted on the support plate (105) via a support frame (106), and the guiding component (103) is mounted on the support plate (105) via a lifting mechanism (3). The limiting component (102) is located in the transverse region of the first traction rope (104), and the guiding component (103) is located in the vertical region of the first traction rope (104). The surveying mechanism (2) includes a protective housing (201), a sound wave generator (202), and a detection instrument body (207). The protective housing (201) has a lifting port at the bottom. An adjustment platform (205) is provided inside the protective housing (201). The adjustment platform (205) is installed inside the protective housing (201) through a lifting adjustment mechanism. The detection instrument body (207) is installed below the adjustment platform (205) through an adjustment bracket (206). Under the control of the lifting adjustment mechanism, the adjustment platform (205) drives the detection instrument body (207) to extend out of the protective housing (201) or retract into the protective housing (201). The sound wave generator (202) is located outside the protective housing (201). The limiting component (102) includes a pressing member (1021), a supporting housing (1022), and a pressing locking mechanism. The supporting housing (1022) is an annular housing. The pressing member (1021) is movably inserted through the lower part of the supporting housing (1022), and a pressing block (1023) is provided at one end of the pressing member (1021) that extends into the supporting housing (1022). The pressing locking mechanism includes a second traction rope (1024) located at the lower part of the supporting housing (1022) and pressing limiting blocks (1023) symmetrically arranged on both sides of the supporting housing (1022). 25), two compression limiting blocks (1025) penetrate the side wall of the support housing (1022), with their clamping surfaces facing the center of the support housing (1022), and the clamping surfaces of the two compression limiting blocks (1025) are arc-shaped surfaces that match the first traction rope (104). The second traction rope (1024) is arc-shaped and arranged at the lower part of the support housing (1022). First pulleys (1026) are symmetrically arranged 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) is connected to the first limiting ring (1028) via an arc-shaped support rod. The two ends of the second traction rope (1024) are connected to the two compression limiting blocks (1025) after passing around the corresponding first pulleys (1026). The lower end of the pressing member (1021) passes through the support shell (1022) and is connected to the middle of the second traction rope (1024). The pressing member (1021) is fitted with a second spring (1027) at the part between the pressing block (1023) and the first limiting ring (1028). One end of the second spring (1027) is connected to the lower... The pressure block (1023) is connected, and the other end is connected to the first limiting ring (1028); the outer sides of the two compression 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 housing (1022), and during the normal descent of the surveying mechanism (2), the lifting mechanism (3) controls the guide component (103) to rise to a position equal to or higher than the limiting component (102), at which time the first traction rope (104) does not contact the lower pressure block (1023).

2. The underwater surveying device for water conservancy projects according to claim 1, characterized in that: The winding component (101) includes two triangular plates (1012) disposed 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 is provided with a positioning plate (1015) at the end. A limiting plate (1014) is provided between the positioning plate (1015) and the corresponding side triangular plate (1012). Several sets of limiting holes (1013) are opened on the side of the positioning plate (1015) near the winding roller (1011). A limiting plate (1014) is provided on one side of the winding roller (1011), and the limiting plate (1014) is fixedly connected to one side of the triangular plate (1012).

3. The underwater surveying device for water conservancy projects according to claim 1 or 2, characterized in that: The lifting and adjusting mechanism includes a third cylinder (204) and multiple telescopic guide columns (203). The third cylinder (204) is vertically installed on the top of the inner wall of the protective housing (201), with its output end pointing vertically downwards. An adjusting platform (205) is provided at the output end of the third cylinder (204). The multiple 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 housing (201), and the other end is connected to the adjusting platform (205). The side wall is longitudinally provided with a guide slide. The detection instrument body (207) is slidably connected to the protective housing (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. A cleaning brush (209) is provided on the side of the protective housing (201) near the camera of the detection instrument body (207). When the detection instrument body (207) rises into the protective housing (201), the cleaning brush (209) contacts the camera of the detection instrument body (207).

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

5. An underwater surveying device for water conservancy projects according to claim 1 or 2, characterized in that: The lifting mechanism (3) includes 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 its output end. A second cylinder (303) is provided on the top of the lifting platform (302). The second cylinder (303) is perpendicular to the first cylinder (301), and the piston end of the second cylinder (303) is connected to the guide component (103). A plurality of second pulleys (1031) are provided inside the guide component (103).

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

7. The underwater surveying device for water conservancy projects according to claim 2, characterized in that: The limiting disk (1014) is provided with multiple sets of limiting components. Each set of limiting components includes a movable part (1016) that is slidably disposed inside the limiting disk (1014). A sliding hole is provided inside the limiting disk (1014). One end of the movable part (1016) is spherical, with its spherical end close to the limiting hole (1013). The other end of the movable part (1016) is fitted with a first spring (1017). The first spring (1017) is located inside the sliding hole, with one end fixed to the spherical end of the movable part (1016) and the other end fixed inside the sliding hole. Under the action of the first spring (1017), the spherical end of the movable part (1016) extends out of the limiting disk (1014). Under the compressed state of the first spring (1017), the spherical end of the movable part (1016) retracts into the limiting disk (1014).

8. A method for underwater surveying of water conservancy projects, characterized in that, The underwater surveying device for water conservancy projects according to any one of claims 1 to 7 is used to conduct water tank surveying, which specifically includes the following steps: S1. The surveying mechanism is lowered to the position to be surveyed in the water by the traction mechanism. During the process of the surveying mechanism being pulled down by the traction mechanism, the lifting mechanism controls the guide component to rise to a position equal to or higher than the limit component. The limit component does not limit the first traction rope. S2. When the surveying mechanism is lowered to a suitable position, the lifting mechanism controls the guide component to move down, and during the downward movement, the limiting component limits the first traction rope, while the winding component locks and fixes the first limiting rope. S3. The adjustment platform and the main body of the detection instrument are lowered and extended from the protective shell by the lifting and adjusting mechanism to carry out underwater mapping, and the angle of the main body of the detection instrument is adjusted by the adjusting bracket; S4. During the surveying process, the sensor module of the instrument body acquires aquatic environmental parameters and target fish information; and automatically adjusts the sound frequency, intensity and emission mode of the sound generator according to the size of the water area, fish density and fish species; and starts the sound generator to drive away the target fish. S5. The device's operating status is monitored in real time through the communication module of the instrument body. When a foreign object obstructs the camera of the instrument body underwater, the object is thrown away by controlling the swing of the adjustment bracket. If it cannot be thrown away, a cleaning brush is installed inside the protective housing, and the instrument body is controlled to retract into the protective housing. The foreign object is then cleaned by the cleaning brush installed inside the protective housing.

9. The underwater surveying method for water conservancy projects according to claim 8, characterized in that: If the fish species are phototactic, use low-frequency sound waves of 10Hz-200Hz to drive them away; if the fish species are photophobic, use high-frequency sound waves of 500Hz-1000Hz to drive them away.

Images