Underwater and bank slope topography measurement method and device based on Beidou AI unmanned ship

Abstract

The invention relates to the technical field of unmanned ship underwater and bank slope topography measurement, and discloses an unmanned ship underwater and bank slope topography measurement method and device based on Beidou AI, and the device comprises an intelligent ship body, the bottom of the intelligent ship body is fixedly connected with a base, and the end part of the intelligent ship body is provided with a driving device. The output end of the driving device is fixedly connected with a propeller, and a water injection component is arranged in the intelligent ship body. The water injection component comprises a first micro pump, the surface of the first micro pump is fixedly connected with the inner wall of the intelligent ship body, the water outlet end of the first micro pump communicates with a water injection pipe, and the water inlet end of the first micro pump communicates with a filter pipe. The driving device is started to drive the propellers to rotate, the propellers are used for providing power needed by movement of the intelligent ship body, the intelligent ship body measures the terrain of the water area bank side through the detection component when moving, and the detection component is used for collecting the terrain information of the water area bank side.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater and bank slope topography measurement by unmanned vessels, and specifically to a method and device for underwater and bank slope topography measurement based on Beidou AI unmanned vessels. Background Art

[0002] Unmanned vessel underwater and bank slope topography surveying is a technical means of using autonomous or remotely controlled unmanned vessel platforms, integrating high-precision positioning, sonar sounding, remote sensing and other technologies, to conduct integrated mapping of water-covered areas (underwater topography) and water-land interface zones (bank slope topography). It replaces manual wading or manned vessel operations, and avoids risks such as shallow undercurrents and polluted waters.

[0003] At present, the measurement of water body topography is mainly completed manually. Surveyors need to drive a boat on the water surface and operate detection instruments to detect the topography of the water shore. However, this measurement method is not convenient for measuring some remote water bodies. In some remote reservoirs, it is inconvenient for surveyors to carry boats and instruments, which makes the measurement of water bodies more difficult. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and device for underwater and slope topography measurement based on Beidou AI unmanned ship to solve the problems raised in the above background technology.

[0005] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention provides a method and device for underwater and bank slope topography measurement based on a Beidou AI unmanned vessel, comprising an intelligent hull, the bottom of which is fixedly connected to a base, an end of which is equipped with a drive device, an output end of which is fixedly connected to a propeller, and a water injection component provided inside the intelligent hull;

[0007] The water injection component includes a micro pump 1, the surface of the micro pump 1 is fixedly connected to the inner wall of the smart hull, the water outlet end of the micro pump 1 is connected to a water injection pipe, the water inlet end of the micro pump 1 is connected to a filter pipe, the surface of the micro pump 2 is fixedly connected to the inner wall of the smart hull, the water inlet end of the micro pump 2 is connected to a drain pipe, and the water outlet end of the micro pump 2 is connected to a discharge pipe. A water storage tank is provided inside the smart hull, an elastic rod is fixedly connected to the top of the inner wall of the water storage tank, and a water pressure plate is fixedly connected to the bottom of the elastic rod, a sliding hole is provided on the surface of the water pressure plate, a triangular groove is provided inside the base, a detection component is provided inside the smart hull, a conversion component is provided on the top of the smart hull, and a reset component is provided on the surface of the smart hull.

[0008] Furthermore, the bottom of the water injection pipe passes through the smart hull and extends to the lower part of the triangular groove, and the bottom of the drainage pipe passes through the smart hull and extends to the lower part of the triangular groove.

[0009] Furthermore, one end of the filter tube away from micro pump 1 passes through the smart hull and extends to the outer end of the smart hull, and one end of the discharge tube away from micro pump 2 passes through the smart hull and extends to the outer end of the smart hull.

[0010] Furthermore, the micro pump 1 and the micro pump 2 are symmetrically arranged with the water tank as the center, the top of the triangular groove is connected with the bottom of the water tank, the surface of the water pressure plate is in contact with the inner wall of the water tank, and the number of the elastic rods is two, and the two elastic rods are symmetrically arranged with the sliding hole as the center.

[0011] Furthermore, the detection component includes a positioning frame, the surface of the positioning frame is fixedly connected to the inner wall of the intelligent hull, the inner wall of the positioning frame is slidably connected to a control device, the top of the control device is installed with an acoustic wave probe 1, and the bottom of the control device is installed with an acoustic wave probe 2.

[0012] Furthermore, the top of the positioning frame passes through the smart hull and extends to the top outer end of the smart hull, and the bottom of the positioning frame passes through the base and extends to below the bottom of the base.

[0013] Furthermore, the top of the first acoustic wave probe extends to the outer end of the bottom of the positioning frame, the bottom of the second acoustic wave probe extends to the bottom of the positioning frame, and the inner wall of the sliding hole is slidably connected to the surface of the positioning frame.

[0014] Furthermore, the conversion component includes a limit frame, the bottom of the limit frame is fixedly connected to the top of the smart hull, the surface of the limit frame is slidably connected to a toothed plate, the top of the toothed plate is hinged with a movable plate, the top of the movable plate is hinged with a pull rod, the bottom of the pull rod is fixedly connected to the top of the control device, the top of the smart hull is fixedly connected to a round hole rod, the inner wall of the round hole rod is rotatably connected to a rotating rod, the surface of the rotating rod is fixedly connected to a toothed ring, the surface of the rotating rod is fixedly connected to the limit plate, and the top of the limit plate is fixedly connected to a resistance plate;

[0015] There are two tooth plates, which are symmetrically arranged with the positioning frame as the center. The end of the rotating rod extends to the outer end of the circular hole rod. The rotating rod is symmetrically arranged with the circular hole rod as the center. The bottom of the tooth plate is engaged with the top of the tooth ring.

[0016] Furthermore, the reset component includes a pressure tube, the surface of the pressure tube is fixedly connected to the surface of the tooth plate, the end of the pressure tube is connected to a one-way valve, the interior of the pressure tube is slidably connected to a round tube, the top of the round tube is connected to a transmission tube, the bottom of the transmission tube is connected to a fixed plate, the bottom of the fixed plate is fixedly connected to the top of the smart hull, the surface of the fixed plate is connected to a curved tube, and the end of the curved tube away from the fixed plate is connected to the end of the discharge pipe;

[0017] The end of the circular tube extends to the outer end of the pressure tube, and the one-way valve is located at an end of the pressure tube away from the circular tube.

[0018] Furthermore, the method based on the Beidou AI unmanned ship underwater and slope topography measurement device includes the following steps:

[0019] S1: When underwater terrain measurement is required, the micro pump is started to operate. The micro pump fills water into the water injection pipe through the filter tube. The water injection pipe then fills water into the triangular trough and the water storage tank. The smart hull slowly sinks as the amount of water increases, allowing the smart hull to dive underwater to detect the underwater terrain.

[0020] S2: A sonic probe 1 is provided on the top of the control device. The sonic probe 1 is used to measure the topography of the shore of the water area. When it is necessary to measure the underwater topography, the control device moves downward inside the positioning frame so that the detection end of the sonic probe 2 moves to the bottom outer end of the positioning frame, thereby using the sonic probe 2 to measure the underwater topography;

[0021] S3: When the circular hole rod rotates, it pushes the tooth plate to move through the tooth ring. The tooth plate moves on the surface of the limit frame. The limit frame is used to limit the tooth plate to improve the stability of the tooth plate during movement. When the tooth plate moves, it pushes the pull rod downward through the movable plate. When the pull rod moves downward, it pushes the control device downward, thereby using the control device to push the second acoustic wave probe to the bottom outer end of the positioning frame;

[0022] S4: After the water enters the inside of the circular tube, it will push the pressure tube to slide on the surface of the circular tube through pressure. When the pressure tube moves, it will push the tooth plate to reset. When the tooth plate is reset to the limit, the water inside the pressure tube will open the one-way valve through pressure, thereby discharging the water inside the triangular groove. After the tooth plate is reset, the top of the acoustic probe 1 will extend to the top outer end of the positioning frame.

[0023] The present invention has the following beneficial effects:

[0024] The present invention places the intelligent hull in the water, starts the driving device to drive the propeller to rotate, and uses the propeller to provide the power required for the intelligent hull to move. When the intelligent hull moves, it measures the terrain of the shore of the water area through the detection component, and uses the detection component to collect the terrain information of the shore of the water area. When it is necessary to measure the underwater terrain, the micro pump is started to work, and the micro pump fills water into the inside of the water injection pipe through the filter pipe. The water injection pipe will fill water into the inside of the triangular groove and the water storage tank. The intelligent hull will slowly sink as the water volume increases, so that the intelligent hull can dive into the water to detect the underwater terrain. When water flows from the triangular groove to the inside of the water storage tank, the water pressure will push the water pressure plate to move upward and squeeze the elastic The rod contracts and the water pressure plate is used to squeeze and limit the water inside the water tank, so as to avoid the water inside the water tank from shaking violently when the smart hull moves, affecting the driving of the smart hull, and improving the stability of the smart hull when driving the detection components to detect underwater terrain. When the smart hull needs to float up, the micro pump 2 is started to start the operation. The micro pump 2 draws the water inside the triangular groove into the inside of the discharge pipe through the drain pipe and discharges it out of the outer end of the smart hull, thereby improving the convenience of the smart hull in measuring underwater terrain. The detection component is installed inside the smart hull, which is convenient for the surveyor to carry it. When detecting, it is only necessary to operate the smart hull to drive in the water area, which further improves the convenience of measuring the shore and underwater of the water area.

[0025] The present invention is provided with an acoustic wave probe 1 on the top of the control device, and the acoustic wave probe 1 is used to measure the terrain of the water bank. When it is necessary to measure the underwater terrain, the control device moves downward inside the positioning frame, so that the detection end of the acoustic wave probe 2 moves to the bottom outer end of the positioning frame, thereby using the acoustic wave probe 2 to measure the underwater terrain, thereby improving the efficiency of measuring the water bank and underwater terrain.

[0026] When the intelligent hull of the present invention dives underwater and starts to move through the propeller, the resistance plate is tilted toward the top of the intelligent hull after being subjected to water pressure. When the resistance plate tilts, the rotating rod is driven by the limit plate to rotate inside the circular hole rod. When the circular hole rod rotates, the toothed plate is pushed to move by the toothed ring. The toothed plate moves on the surface of the limit frame, and the limit frame is used to limit the toothed plate to improve the stability of the toothed plate during movement. When the toothed plate moves, the pull rod is pushed downward by the movable plate. When the pull rod moves downward, it pushes the control device to move downward, thereby using the control device to push the second sonic probe to move to the bottom outer end of the positioning frame, thereby using the second sonic probe to measure the underwater terrain, thereby improving the convenience of underwater terrain measurement. After the intelligent hull completes the dive, the second sonic probe will move to the bottom outer end of the positioning frame, which is convenient for switching the detected position.

[0027] When the discharge pipe of the present invention discharges the internal water of the triangular groove, the discharge pipe will transmit the water to the inside of the transmission pipe through the connection between the bent pipe and the fixed plate, and the transmission pipe will transmit the water to the inside of the circular pipe. After the water enters the inside of the circular pipe, it will push the pressure pipe to slide on the surface of the circular pipe through pressure. When the pressure pipe moves, it will push the tooth plate to reset. When the tooth plate is reset to the limit, the water inside the pressure pipe will open the one-way valve through pressure, thereby discharging the water inside the triangular groove. After the tooth plate is reset, the top of the acoustic probe 1 will extend to the top outer end of the positioning frame, so that the intelligent hull can measure and process the terrain of the shore of the water area.

[0028] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order 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. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the cross-sectional structure of the intelligent hull of the present invention;

[0032] Figure 3 This is a schematic diagram of the overall structure of the water injection component of the present invention;

[0033] Figure 4 This is another structural schematic diagram of the water injection component of the present invention;

[0034] Figure 5 This is a schematic diagram of the overall structure of the detection component of the present invention;

[0035] Figure 6 This is a schematic diagram of the overall structure of the conversion component of the present invention;

[0036] Figure 7 This is another structural diagram of the conversion component of the present invention;

[0037] Figure 8 This is a schematic diagram of the overall structure of the reset component of the present invention;

[0038] Figure 9 This is another structural schematic diagram of the reset component of the present invention;

[0039] Figure 10 It is a schematic diagram of the process structure of the present invention.

[0040] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0041] In the figure: 1. intelligent hull; 2. base; 3. driving device; 4. propeller; 5. water injection component; 6. detection component; 7. conversion component; 8. reset component; 10. water storage tank; 11. micro pump 2; 12. water pressure plate; 13. drainage pipe; 14. triangular groove; 15. water injection pipe; 16. micro pump 1; 17. sliding hole; 18. elastic rod; 19. discharge pipe; 20. filter pipe; 30. positioning frame; 31. control device; 32. acoustic probe 1; 33. acoustic probe 2; 40. limiting frame; 41. tooth plate; 42. round hole rod; 43. movable plate; 44. pull rod; 45. rotating rod; 46. tooth ring; 47. limiting plate; 48. resistance plate; 50. pressure pipe; 51. one-way valve; 52. round pipe; 53. transmission pipe; 54. bending pipe; 55. fixing plate. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] See also Figures 1-10 As shown, the present invention is a method and device for underwater and bank slope topography measurement based on the Beidou AI unmanned ship, comprising an intelligent hull 1, a base 2 fixedly connected to the bottom of the intelligent hull 1, a driving device 3 installed at the end of the intelligent hull 1, a propeller 4 fixedly connected to the output end of the driving device 3, and a water injection component 5 provided inside the intelligent hull 1;

[0044] The water injection component 5 includes a micro pump 16, the surface of the micro pump 16 is fixedly connected to the inner wall of the smart hull 1, the water outlet of the micro pump 16 is connected to the water injection pipe 15, the water inlet of the micro pump 16 is connected to the filter pipe 20, the surface of the micro pump 2 11 is fixedly connected to the inner wall of the smart hull 1, the water inlet of the micro pump 2 11 is connected to the drain pipe 13, and the water outlet of the micro pump 2 11 is connected to the discharge pipe 19. A water storage tank 10 is provided inside the smart hull 1, an elastic rod 18 is fixedly connected to the top of the inner wall of the water storage tank 10, and a water pressure plate 12 is fixedly connected to the bottom of the elastic rod 18. A sliding hole 17 is provided on the surface of the water pressure plate 12, and a triangular groove 14 is provided inside the base 2. The smart hull 1 is placed in the water, and the driving device 3 is started to drive the propeller 4 Rotate, use the propeller 4 to provide the power required for the movement of the smart hull 1, and the smart hull 1 measures the terrain of the shore of the water area through the detection component 6 when moving, and uses the detection component 6 to collect the terrain information of the shore of the water area. When it is necessary to measure the underwater terrain, start the micro pump 16 to start the operation, and the micro pump 16 will add water to the inside of the water injection pipe 15 through the filter tube 20. The water injection pipe 15 will add water to the inside of the triangular groove 14 and the water storage tank 10. The smart hull 1 will slowly sink as the water volume increases, so that the smart hull 1 can dive into the water to detect the underwater terrain. The interior of the smart hull 1 is provided with a detection component 6, the top of the smart hull 1 is provided with a conversion component 7, and the surface of the smart hull 1 is provided with a reset component 8.

[0045] The bottom of the water injection pipe 15 passes through the smart hull 1 and extends to the bottom of the triangular groove 14. The bottom of the drainage pipe 13 passes through the smart hull 1 and extends to the bottom of the triangular groove 14. When water flows into the water storage tank 10 through the triangular groove 14, the water pressure will push the water pressure plate 12 to move upward and squeeze the elastic rod 18 to contract. The water pressure plate 12 is used to squeeze and limit the water inside the water storage tank 10 to avoid the water inside the water storage tank 10 from shaking violently when the smart hull 1 moves, affecting the driving of the smart hull 1, and improving the stability of the smart hull 1 when driving the detection component 6 to detect underwater terrain. When the smart hull 1 needs to float, the micro pump 2 11 is started to start operation. The micro pump 2 11 draws the water inside the triangular groove 14 into the inside of the discharge pipe 19 through the drainage pipe 13 and discharges it from the outer end of the smart hull 1, thereby improving the convenience of the smart hull 1 in measuring underwater terrain.

[0046] One end of the filter tube 20 away from the micro pump 1 16 passes through the smart hull 1 and extends to the outer end of the smart hull 1 . One end of the discharge tube 19 away from the micro pump 2 11 passes through the smart hull 1 and extends to the outer end of the smart hull 1 .

[0047] Micro pump 1 16 and micro pump 2 11 are symmetrically arranged with the water tank 10 as the center, the top of the triangular groove 14 is connected to the bottom of the water tank 10, the surface of the water pressure plate 12 is in contact with the inner wall of the water tank 10, and there are two elastic rods 18, which are symmetrically arranged with the sliding hole 17 as the center.

[0048] The detection component 6 includes a positioning frame 30, the surface of the positioning frame 30 is fixedly connected to the inner wall of the intelligent hull 1, the inner wall of the positioning frame 30 is slidably connected to a control device 31, the top of the control device 31 is installed with an acoustic wave probe 1 32, and the bottom of the control device 31 is installed with an acoustic wave probe 2 33.

[0049] The top of the positioning frame 30 passes through the smart hull 1 and extends to the top outer end of the smart hull 1. A sonic probe 1 32 is provided on the top of the control device 31. The sonic probe 1 32 is used to measure the terrain of the shore of the water area. When it is necessary to measure the underwater terrain, the control device 31 moves downward inside the positioning frame 30, so that the detection end of the sonic probe 2 33 moves to the bottom outer end of the positioning frame 30, thereby using the sonic probe 2 33 to measure the underwater terrain. The bottom of the positioning frame 30 passes through the base 2 and extends to below the bottom of the base 2.

[0050] The top of the acoustic probe 1 32 extends to the bottom outer end of the positioning frame 30 , and the bottom of the acoustic probe 2 33 extends to the bottom inside the positioning frame 30 . The inner wall of the sliding hole 17 is slidably connected to the surface of the positioning frame 30 .

[0051] The conversion component 7 includes a limit frame 40, the bottom of which is fixedly connected to the top of the smart hull 1, a toothed plate 41 being slidably connected to the surface of the limit frame 40, a movable plate 43 being hinged to the top of the toothed plate 41, a pull rod 44 being hinged to the top of the movable plate 43, the bottom of the pull rod 44 being fixedly connected to the top of the control device 31, a round hole rod 42 being fixedly connected to the top of the smart hull 1, a rotating rod 45 being rotatably connected to the inner wall of the round hole rod 42, a toothed ring 46 being fixedly connected to the surface of the rotating rod 45, a limit plate 47 being fixedly connected to the surface of the rotating rod 45, and a resistance plate 48 being fixedly connected to the top of the limit plate 47;

[0052] There are two tooth plates 41. When the smart hull 1 dives underwater and starts to move through the propeller 4, the resistance plate 48 is tilted toward the top of the smart hull 1 due to water pressure. When the resistance plate 48 tilts, it drives the rotating rod 45 to rotate inside the round hole rod 42 through the limit plate 47. When the round hole rod 42 rotates, it pushes the tooth plate 41 to move through the tooth ring 46. The tooth plate 41 moves on the surface of the limit frame 40. The limit frame 40 is used to limit the tooth plate 41, thereby improving the stability of the tooth plate 41 when it moves. During movement, the movable plate 43 pushes the pull rod 44 downward. When the pull rod 44 moves downward, it pushes the control device 31 downward, thereby using the control device 31 to push the second sonic probe 33 to move to the bottom outer end of the positioning frame 30, so that the second sonic probe 33 is used to measure the underwater terrain. The two tooth plates 41 are symmetrically arranged with the positioning frame 30 as the center. The end of the rotating rod 45 extends to the outer end of the circular hole rod 42. The rotating rod 45 is symmetrically arranged with the circular hole rod 42 as the center. The bottom of the tooth plate 41 is engaged with the top of the tooth ring 46.

[0053] The reset component 8 includes a pressure tube 50. The surface of the pressure tube 50 is fixedly connected to the surface of the tooth plate 41. The end of the pressure tube 50 is connected to a one-way valve 51. The interior of the pressure tube 50 is slidably connected to a circular tube 52. The top of the circular tube 52 is connected to a transmission tube 53. The bottom of the transmission tube 53 is connected to a fixed plate 55. The bottom of the fixed plate 55 is fixedly connected to the top of the smart hull 1. The surface of the fixed plate 55 is connected to a curved tube 54. The end of the curved tube 54 away from the fixed plate 55 is connected to the end of the discharge pipe 19.

[0054] The end of the circular tube 52 extends to the outer end of the pressure tube 50. When the discharge pipe 19 discharges the internal water of the triangular groove 14, the discharge pipe 19 will transmit the water to the inside of the transmission pipe 53 through the connection between the bent tube 54 and the fixed plate 55. The transmission pipe 53 transmits the water to the inside of the circular tube 52. After the water enters the inside of the circular tube 52, it will push the pressure tube 50 to slide on the surface of the circular tube 52 through pressure. When the pressure tube 50 moves, it will push the tooth plate 41 to reset. When the tooth plate 41 is reset to the limit, the water inside the pressure tube 50 will open the one-way valve 51 through pressure, thereby discharging the water inside the triangular groove 14. After the tooth plate 41 is reset, the top of the acoustic probe 32 will extend to the top outer end of the positioning frame 30. The one-way valve 51 is located at the end of the pressure tube 50 away from the circular tube 52.

[0055] The method based on the Beidou AI unmanned ship underwater and slope topography measurement device includes the following steps:

[0056] S1: When it is necessary to measure the underwater terrain, the micro pump 16 is started to start operation. The micro pump 16 fills water into the water injection pipe 15 through the filter tube 20. The water injection pipe 15 fills water into the triangular groove 14 and the water storage tank 10. The smart hull 1 slowly sinks as the water volume increases, allowing the smart hull 1 to dive underwater to detect the underwater terrain;

[0057] S2: A sonic probe 1 32 is provided on the top of the control device 31. The sonic probe 1 32 is used to measure the topography of the shore of the water area. When it is necessary to measure the underwater topography, the control device 31 moves downward inside the positioning frame 30, so that the detection end of the sonic probe 2 33 moves to the bottom outer end of the positioning frame 30, thereby using the sonic probe 2 33 to measure the underwater topography.

[0058] S3: When the circular hole rod 42 rotates, it pushes the tooth plate 41 to move through the tooth ring 46. The tooth plate 41 moves on the surface of the limit frame 40. The limit frame 40 is used to limit the tooth plate 41, thereby improving the stability of the tooth plate 41 during movement. When the tooth plate 41 moves, it pushes the pull rod 44 downward through the movable plate 43. When the pull rod 44 moves downward, it pushes the control device 31 to move downward, thereby using the control device 31 to push the second acoustic wave probe 33 to move to the bottom outer end of the positioning frame 30;

[0059] S4: After the water enters the inside of the circular tube 52, it will push the pressure tube 50 to slide on the surface of the circular tube 52 through pressure. When the pressure tube 50 moves, it will push the tooth plate 41 to reset. When the tooth plate 41 is reset to the limit, the water inside the pressure tube 50 will open the one-way valve 51 through pressure, thereby discharging the water inside the triangular groove 14. After the tooth plate 41 is reset, the top of the ultrasonic probe 32 will extend to the top outer end of the positioning frame 30.

[0060] When in use, the smart hull 1 is placed in the water, the driving device 3 is started to drive the propeller 4 to rotate, and the propeller 4 is used to provide the power required for the smart hull 1 to move. When the smart hull 1 moves, the topography of the shore of the water area is measured by the detection component 6, and the topography information of the shore of the water area is collected by the detection component 6. When it is necessary to measure the underwater topography, the micro pump 16 is started to start the operation. The micro pump 16 fills water into the inside of the water injection pipe 15 through the filter tube 20. The water injection pipe 15 will fill water into the inside of the triangular groove 14 and the water storage tank 10. The smart hull 1 will slowly sink as the water volume increases, so that the smart hull 1 can dive into the water to detect the underwater topography, and the water flows to the inside of the water storage tank 10 through the triangular groove 14. When the intelligent hull 1 is moved, the water pressure will push the water pressure plate 12 to move upward and squeeze the elastic rod 18 to contract, and the water pressure plate 12 will be used to squeeze and limit the water inside the water tank 10, so as to avoid the water inside the water tank 10 from shaking violently when the intelligent hull 1 is moving, affecting the driving of the intelligent hull 1, and improving the stability of the intelligent hull 1 when driving the detection component 6 to detect underwater terrain. When the intelligent hull 1 needs to float, the micro pump 2 11 is started to start the operation. The micro pump 2 11 draws the water inside the triangular groove 14 into the inside of the discharge pipe 19 through the drain pipe 13 and discharges it from the outer end of the intelligent hull 1, thereby improving the convenience of the intelligent hull 1 in measuring underwater terrain. The detection component 6 is installed inside the intelligent hull 1, which is convenient for the surveyor to carry it. During detection, only the operator needs to operate The operation of the intelligent hull 1 can be completed by driving in the water area, further improving the convenience of measuring the shore and underwater of the water area. An acoustic wave probe 32 is set on the top of the control device 31, and the acoustic wave probe 32 is used to measure the terrain of the shore of the water area. When it is necessary to measure the underwater terrain, the control device 31 moves downward inside the positioning frame 30, so that the detection end of the acoustic wave probe 2 33 moves to the bottom outer end of the positioning frame 30, thereby using the acoustic wave probe 2 33 to measure the underwater terrain, improving the convenience of measuring the shore and underwater terrain of the water area. When the intelligent hull 1 dives underwater, the intelligent hull 1 starts to move through the propeller 4, and the resistance plate 48 is tilted toward the top of the intelligent hull 1 after being subjected to water pressure. The resistance plate 48 passes through the limit plate when tilting. 47 drives the rotating rod 45 to rotate inside the circular hole rod 42. When the circular hole rod 42 rotates, it pushes the tooth plate 41 to move through the tooth ring 46. The tooth plate 41 moves on the surface of the limit frame 40. The limit frame 40 is used to limit the tooth plate 41 to improve the stability of the tooth plate 41 during movement. When the tooth plate 41 moves, it pushes the pull rod 44 downward through the movable plate 43. When the pull rod 44 moves downward, it pushes the control device 31 to move downward, so that the control device 31 is used to push the second sonic probe 33 to move to the bottom outer end of the positioning frame 30, so that the second sonic probe 33 is used to measure the underwater terrain, thereby improving the convenience of underwater terrain measurement. After the intelligent hull 1 completes the dive, the second sonic probe 33 will move to the bottom outer end of the positioning frame 30.It is convenient to switch the detection position. When the discharge pipe 19 discharges the water inside the triangular groove 14, the discharge pipe 19 will transmit the water to the inside of the transmission pipe 53 through the connection between the bent pipe 54 and the fixed plate 55. The transmission pipe 53 transmits the water to the inside of the circular tube 52. After the water enters the inside of the circular tube 52, it will push the pressure pipe 50 to slide on the surface of the circular tube 52 through pressure. When the pressure pipe 50 moves, it will push the tooth plate 41 to reset. When the tooth plate 41 is reset to the limit, the water inside the pressure pipe 50 will open the one-way valve 51 through pressure, thereby discharging the water inside the triangular groove 14. After the tooth plate 41 is reset, the top of the sonic probe 32 will extend to the top outer end of the positioning frame 30, so that the smart hull 1 can measure and process the terrain of the water shore.

[0061] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An underwater and bank slope topography measurement device based on Beidou AI unmanned boat comprises an intelligent hull (1), the bottom of the intelligent hull (1) is fixedly connected to a base (2), an end of the intelligent hull (1) is installed with a driving device (3), and an output end of the driving device (3) is fixedly connected to a propeller (4), characterized in that: A water injection component (5) is provided inside the smart hull (1); The water injection component (5) includes a micro pump (16), the surface of the micro pump (16) is fixedly connected to the inner wall of the intelligent hull (1), the water outlet of the micro pump (16) is connected to the water injection pipe (15), the water inlet of the micro pump (16) is connected to the filter pipe (20), the surface of the micro pump (11) is fixedly connected to the inner wall of the intelligent hull (1), the water inlet of the micro pump (11) is connected to the drain pipe (13), the water outlet of the micro pump (11) is connected to the discharge pipe (19), and the intelligent A water storage tank (10) is provided inside the hull (1), an elastic rod (18) is fixedly connected to the top of the inner wall of the water storage tank (10), a water pressure plate (12) is fixedly connected to the bottom of the elastic rod (18), a sliding hole (17) is provided on the surface of the water pressure plate (12), a triangular groove (14) is provided inside the base (2), a detection component (6) is provided inside the smart hull (1), a conversion component (7) is provided on the top of the smart hull (1), and a reset component (8) is provided on the surface of the smart hull (1).

2. The device for underwater and bank slope topography measurement based on Beidou AI unmanned vessel according to claim 1 is characterized by: The bottom of the water injection pipe (15) passes through the smart hull (1) and extends to the inside and below of the triangular groove (14); the bottom of the drainage pipe (13) passes through the smart hull (1) and extends to the inside and below of the triangular groove (14).

3. The device for underwater and bank slope topography measurement based on Beidou AI unmanned vessel according to claim 2 is characterized by: The end of the filter tube (20) away from the first micro pump (16) passes through the smart hull (1) and extends to the outer end of the smart hull (1), and the end of the discharge tube (19) away from the second micro pump (11) passes through the smart hull (1) and extends to the outer end of the smart hull (1).

4. The device for underwater and bank slope topography measurement based on Beidou AI unmanned vessel according to claim 3 is characterized by: The micro pump 1 (16) and the micro pump 2 (11) are symmetrically arranged with the water tank (10) as the center, the top of the triangular groove (14) is connected to the bottom of the water tank (10), the surface of the water pressure plate (12) is in contact with the inner wall of the water tank (10), and the number of the elastic rods (18) is set to two, and the two elastic rods (18) are symmetrically arranged with the sliding hole (17) as the center.

5. The device for underwater and bank slope topography measurement based on Beidou AI unmanned vessel according to claim 4 is characterized in that: The detection component (6) includes a positioning frame (30), the surface of the positioning frame (30) is fixedly connected to the inner wall of the intelligent hull (1), the inner wall of the positioning frame (30) is slidably connected to a control device (31), the top of the control device (31) is equipped with a sonic probe 1 (32), and the bottom of the control device (31) is equipped with a sonic probe 2 (33).

6. The device for underwater and bank slope topography measurement based on Beidou AI unmanned vessel according to claim 5 is characterized by: The top of the positioning frame (30) passes through the smart hull (1) and extends to the top outer end of the smart hull (1), and the bottom of the positioning frame (30) passes through the base (2) and extends to below the bottom of the base (2).

7. The device for underwater and bank slope topography measurement based on Beidou AI unmanned vessel according to claim 6 is characterized in that: The top of the first acoustic wave probe (32) extends to the outer bottom end of the positioning frame (30), the bottom of the second acoustic wave probe (33) extends to the lower inside of the positioning frame (30), and the inner wall of the sliding hole (17) is slidably connected to the surface of the positioning frame (30).

8. The device for underwater and bank slope topography measurement based on Beidou AI unmanned vessel according to claim 7 is characterized in that: The conversion component (7) includes a limit frame (40), the bottom of the limit frame (40) is fixedly connected to the top of the intelligent hull (1), the surface of the limit frame (40) is slidably connected to a toothed plate (41), the top of the toothed plate (41) is hinged to a movable plate (43), the top of the movable plate (43) is hinged to a pull rod (44), the bottom of the pull rod (44) is fixedly connected to the top of the control device (31), the top of the intelligent hull (1) is fixedly connected to a round hole rod (42), the inner wall of the round hole rod (42) is rotatably connected to a rotating rod (45), the surface of the rotating rod (45) is fixedly connected to a toothed ring (46), the surface of the rotating rod (45) is fixedly connected to a limit plate (47), and the top of the limit plate (47) is fixedly connected to a resistance plate (48); There are two tooth plates (41), and the two tooth plates (41) are symmetrically arranged with the positioning frame (30) as the center. The end of the rotating rod (45) extends to the outer end of the circular hole rod (42), and the rotating rod (45) is symmetrically arranged with the circular hole rod (42) as the center. The bottom of the tooth plate (41) is engaged with the top of the tooth ring (46).

9. The device for underwater and bank slope topography measurement based on Beidou AI unmanned vessel according to claim 8 is characterized in that: The reset component (8) includes a pressure tube (50), the surface of the pressure tube (50) is fixedly connected to the surface of the tooth plate (41), the end of the pressure tube (50) is connected to a one-way valve (51), the interior of the pressure tube (50) is slidably connected to a round tube (52), the top of the round tube (52) is connected to a transmission tube (53), the bottom of the transmission tube (53) is connected to a fixed plate (55), the bottom of the fixed plate (55) is fixedly connected to the top of the smart hull (1), the surface of the fixed plate (55) is connected to a curved tube (54), and the end of the curved tube (54) away from the fixed plate (55) is connected to the end of the discharge pipe (19); The end of the circular tube (52) extends to the outer end of the pressure tube (50), and the one-way valve (51) is located at an end of the pressure tube (50) away from the circular tube (52).

10. The method of underwater and bank slope topography measurement device based on Beidou AI unmanned ship according to claim 9 is characterized in that: The following steps are involved: S1: When it is necessary to measure the underwater terrain, the micro pump (16) is started to start operation. The micro pump (16) injects water into the water injection pipe (15) through the filter pipe (20). The water injection pipe (15) injects water into the triangular groove (14) and the water storage tank (10). The smart hull (1) slowly sinks as the amount of water increases, so that the smart hull (1) can dive into the water to detect the underwater terrain. S2: A sonic probe 1 (32) is provided on the top of the control device (31), and the sonic probe 1 (32) is used to measure the topography of the shore of the water area. When it is necessary to measure the underwater topography, the control device (31) moves downward inside the positioning frame (30), so that the detection end of the sonic probe 2 (33) moves to the bottom outer end of the positioning frame (30), thereby using the sonic probe 2 (33) to measure the underwater topography; S3: When the circular hole rod (42) rotates, it pushes the tooth plate (41) to move through the tooth ring (46), and the tooth plate (41) moves on the surface of the limit frame (40). The limit frame (40) is used to limit the tooth plate (41) to improve the stability of the tooth plate (41) when moving. When the tooth plate (41) moves, it pushes the pull rod (44) to move downward through the movable plate (43). When the pull rod (44) moves downward, it pushes the control device (31) to move downward, so that the control device (31) is used to push the second ultrasonic probe (33) to move to the bottom outer end of the positioning frame (30); S4: After the water enters the interior of the circular tube (52), it will push the pressure tube (50) to slide on the surface of the circular tube (52) through pressure. When the pressure tube (50) moves, it will push the tooth plate (41) to reset. When the tooth plate (41) is reset to the limit, the water inside the pressure tube (50) will open the one-way valve (51) through pressure, thereby discharging the water inside the triangular groove (14). After the tooth plate (41) is reset, the top of the acoustic probe (32) will extend to the top outer end of the positioning frame (30).

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