Automatic depth measuring device for unmanned ship

Abstract

The invention discloses an automatic depth measuring device for an unmanned ship, and the device comprises a telescopic support structure which comprises a pipe fitting and an external member, the pipe fitting is led out from a ship board of the ship and extends downwards, the telescopic support structure is slidably inserted into a pressure regulating cavity of the external member in a sealed manner, an overflowing hole communicated with the pressure regulating cavity is formed in the telescopic support structure, and gas for pressure regulation is injected into the overflowing hole of the pressure regulating cavity; the angle adjusting mechanism comprises an outer frame and a rotating seat, the outer frame is positioned at the lower end of the sleeve piece, the spherical rotating seat is rotatably arranged in a spherical cavity of the outer frame in a sealed mode, a partition plate is arranged in the outer frame and divides the spherical cavity into two independent cavities, the outer frame is provided with a connector, and an inner cavity of the connector is communicated with the independent cavities; the connector is in butt joint with a ship through a connecting pipe, and gas for pressure regulation is injected into the independent cavity. And the depth finder is positioned on the rotating seat. Compared with the prior art, the unmanned ship depth measuring device can solve the problems that when an existing unmanned ship depth measuring device is used, the depth measuring result precision and the depth measuring stability are insufficient, and the obstacle avoidance function is not achieved.

Description

Technical Field

[0001] This invention relates to the field of depth sounding device technology, specifically to an unmanned vessel automatic depth sounding device. Background Technology

[0002] Unmanned vessels, also known as unmanned ships, or more formally as autonomous surface vehicles (USVs), are surface vessels capable of autonomous or remote-controlled navigation without direct human operation. With the rapid development of technologies such as artificial intelligence, navigation and positioning, long-range communication, and obstacle avoidance, unmanned vessels have demonstrated broad application potential in various fields, particularly in surface monitoring and operations. They have become an innovative tool, capable of underwater topographic mapping and exploration, water quality monitoring, hydrological surveying, and resource exploration when equipped with appropriate equipment and instruments.

[0003] Underwater topographic sounding by unmanned vessels can be achieved using depth sounding equipment such as multibeam echo sounders. Multibeam echo sounders are efficient and high-precision underwater topographic surveying and geomorphological side-scanning devices based on underwater acoustic principles. As a full-coverage surveying technology mandated by the International Hydrographic Organization (IHO) for high-level depth measurements, it is now widely used in various depth surveys and investigations. The deployment of multibeam echo sounders on vessels can be divided into two types: fixed installation on the hull and portable installation on the side of the vessel. Fixed installation on the hull ensures permanent array stability, while portable installation on the side of the vessel requires ensuring high efficiency, accuracy, and stability for each installation. The deployment of shipboard side sounders requires a downward-extending structure to submerge the sounder to a certain height below the water surface. When using this type of sounder, if the ship turns or changes direction, the hull tilts laterally, causing the sounder to emerge above the water or its signal receiving surface to tilt significantly. This results in insufficient accuracy and stability of the sounding results. Furthermore, when there are objects around the ship, the sounder is prone to collisions, affecting structural stability and lacking obstacle avoidance capabilities. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic depth sounding device for unmanned vessels in order to solve the problems of insufficient accuracy and stability of depth sounding results and lack of obstacle avoidance function in the use of existing unmanned vessel depth sounding devices.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an unmanned vessel automatic depth sounding device, comprising:

[0006] A telescopic support structure includes a pipe and a kit. The pipe extends downward from the ship's side and is slidably and sealingly inserted into the pressure regulating chamber of the kit. A flow hole is provided inside the pipe, which communicates with the pressure regulating chamber. Pressure regulating gas is injected into the pressure regulating chamber and the flow hole.

[0007] An angle adjustment mechanism includes an outer frame and a rotating seat. The outer frame is positioned at the lower end of the kit. The spherical rotating seat is rotatably and sealed within the spherical cavity of the outer frame. A partition plate is provided inside the outer frame, dividing the spherical cavity into two independent chambers. A connector is provided on the outer frame that connects the inner cavity to the independent chambers. The connector is connected to a ship via a connecting pipe. Pressure regulating gas is injected into the independent chambers.

[0008] The depth sounder is positioned on the rotating base.

[0009] As a further description of the above technical solution:

[0010] A first waterproof damping sleeve is installed inside the pressure regulating chamber, and the first waterproof damping sleeve is sealed on the pipe fitting.

[0011] As a further description of the above technical solution:

[0012] The outer frame is a spherical structure.

[0013] As a further description of the above technical solution:

[0014] The inner wall of the outer frame is provided with a second waterproof damping sleeve, which is sealed on the rotating seat, and its surface matches the inner wall of the outer frame and the spherical surface of the rotating seat.

[0015] As a further description of the above technical solution:

[0016] The bottom of the partition plate is provided with a cylindrical sealing shaft, which rotatably seals the sealing groove embedded in the rotating seat.

[0017] As a further description of the above technical solution:

[0018] An airtight layer is provided between the sealing shaft and the sealing groove.

[0019] As a further description of the above technical solution:

[0020] The outer side of the sealing groove extends obliquely with a clearance surface, and the clearance surfaces form a clearance cavity whose size gradually increases from the inside to the outside.

[0021] As a further description of the above technical solution:

[0022] The outer surface of the pipe fittings and kits is provided with several sleeves spaced axially, and the connecting pipe passes through the sleeves.

[0023] As a further description of the above technical solution:

[0024] A hinge frame is provided on the pipe fitting and / or the kit, a take-up reel is rotatably connected to the hinge frame, a torsion spring is provided between the hinge frame and the take-up reel, and a portion of the connecting pipe is wound around the take-up reel.

[0025] In summary, due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0026] 1. The unmanned vessel automatic depth sounding device of the present invention is equipped with a telescopic support structure. By setting the air pressure value, the air pressure in the pressure regulating chamber is dynamically maintained within a certain range. The resulting air pressure applies a certain downward pressure to the kit, so that the angle adjustment mechanism overcomes a certain buoyancy and always remains within a certain range below the liquid surface. This prevents the depth sounder, which is mounted on the ship's side, from moving out of the water surface and failing to perform stable and accurate depth sounding operations when the ship tilts during turning or other situations. Furthermore, by adjusting the air pressure value, the position of the depth sounder can be adjusted to avoid collisions with objects in the water that could damage the equipment and prevent depth sounding. At the same time, the force of buoyancy reaction on the ship's hull can provide support for the ship and improve its stability.

[0027] 2. The present invention also includes an angle adjustment mechanism. When the hull tilts, the pressure difference formed by adjusting the air pressure in the independent cavity acts on the rotating seat, causing the rotating seat to rotate and change its tilted state from the same as that of the telescopic support structure and the outer frame to a horizontal posture. This ensures that the depth sounder always remains horizontal, guaranteeing depth sounding accuracy and stability. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of an automatic depth sounding device for unmanned vessels.

[0030] Figure 2 This is a diagram showing the usage status of a telescopic support structure in an unmanned vessel automatic depth sounding device.

[0031] Figure 3 This is a diagram showing the usage status of the angle adjustment mechanism in an unmanned vessel automatic depth sounding device.

[0032] Legend:

[0033] 1. Pipe fitting; 2. Kit; 3. Pressure regulating chamber; 4. Flow hole; 5. Outer frame; 6. Rotating seat; 7. Spherical cavity; 8. Divider plate; 9. Joint; 10. Connecting pipe; 11. Depth sounder; 12. First waterproof damping sleeve; 13. Second waterproof damping sleeve; 14. Sealing shaft; 15. Sealing groove; 16. Airtight layer; 17. Clearance surface; 18. Hoop; 19. Hinge frame; 20. Winding reel. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0037] In the description of the embodiments of the present invention, it should be noted that the terms "upper" and "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0038] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] Please see Figure 1-3 This invention provides a technical solution: an unmanned vessel automatic depth sounding device, comprising:

[0040] The telescopic support structure includes a pipe 1 and a kit 2. The pipe 1 is led out from the ship's side and extends downward. It is slidably and sealed into the pressure regulating chamber 3 of the kit 2. A flow hole 4 is provided inside the pipe 1 to communicate with the pressure regulating chamber 3. Pressure regulating gas is injected into the pressure regulating chamber 3 and the flow hole 4.

[0041] An angle adjustment mechanism includes an outer frame 5 and a rotating seat 6. The outer frame 5 is positioned at the lower end of the kit 2. The spherical rotating seat 6 is rotatably and sealed within the spherical cavity 7 of the outer frame 5. A partition plate 8 is provided inside the outer frame 5, dividing the spherical cavity 7 into two independent cavities. A connector 9 is provided on the outer frame 5, connecting the inner cavity to the independent cavities. The connector 9 is connected to the ship via a connecting pipe 10. Pressure regulating gas is injected into the independent cavities. The flow hole 4 and the connecting pipe 10 are respectively connected to two independent air pressure regulating mechanisms inside the ship. The air pressure regulating mechanisms are existing technologies, which are manually operated or automatically adjusted by the control system to allow the air pressure regulating mechanisms to pressurize or extract gas into or out of the sealed space, thereby achieving dynamic adjustment of the air pressure in the sealed space.

[0042] The depth sounder 11 is positioned on the rotating base 6.

[0043] The unmanned vessel automatic depth sounding device of this invention features a telescopic support structure. By setting a specific air pressure value, the air pressure within the pressure regulating chamber is dynamically maintained within a certain range. This air pressure exerts a downward force on the assembly, allowing the angle adjustment mechanism to overcome buoyancy and remain below the water surface within a certain range. This prevents the depth sounder, mounted on the hull, from floating out of the water during ship turning, thus ensuring stable and accurate depth sounding. Furthermore, adjusting the air pressure value allows for adjustment of the depth sounder's position, preventing collisions with objects in the water that could damage the equipment and prevent sounding. Simultaneously, the buoyancy reaction force on the hull provides support, improving the vessel's stability. The device also includes an angle adjustment mechanism. When the hull tilts, adjusting the air pressure within the independent chamber creates a pressure difference that acts on the rotating seat, causing it to rotate from the tilted state (the same as the telescopic support structure and outer frame) to a horizontal position. This ensures the depth sounder remains horizontal, guaranteeing depth sounding accuracy and stability.

[0044] In the above embodiment, a first waterproof damping sleeve 12 is provided inside the pressure regulating chamber 3, and the first waterproof damping sleeve 12 is sealed on the pipe fitting 1. A second waterproof damping sleeve 13 is provided on the inner wall of the outer frame 5, and the second waterproof damping sleeve 13 is sealed on the rotating seat 6, with its surface matching the inner wall of the outer frame 5 and the spherical surface of the rotating seat 6. The waterproof damping sleeve can be made of commonly used waterproof materials for ships, such as rubber, water-based polymer resin, asphalt and tackifier, and butyl damping plastic rubber. This allows it to achieve waterproofing while also providing damping for sliding and rotation between structures, preventing the structure from shifting significantly due to hull swaying or water flow, thus affecting operational stability.

[0045] In another embodiment, the outer frame 5 is an overall spherical structure to reduce the resistance of the structure moving in the water and reduce the shaking and deformation of the device.

[0046] In another embodiment, a cylindrical sealing shaft 14 is provided at the bottom of the partition plate 8, and the sealing shaft 14 is rotatably embedded in the sealing groove 15 of the rotating seat 6. An airtight layer 16 is provided between the sealing shaft 14 and the sealing groove 15. An avoidance surface 17 extends obliquely from the outer side of the sealing groove 15, and the avoidance surfaces 17 form an avoidance cavity whose size gradually increases from the inside to the outside. This ensures the stable isolation of each independent cavity and avoids interference between structures. The airtight layer 16 can be made of PVC, PVF (polyvinyl fluoride), butyl rubber, nylon and salaene, Hypalon and other commonly used airtight materials in ships.

[0047] In another embodiment, a plurality of sleeves 18 are axially spaced on the outer surface of the fitting 1 and the kit 2, through which the connecting pipe 10 passes. A hinge frame 19 is provided on the fitting 1 and / or the kit 2, and a winding reel 20 is rotatably connected to the hinge frame 19. A torsion spring is provided between the hinge frame 19 and the winding reel 20, and a portion of the connecting pipe 10 is wound around the winding reel 20. This achieves stable and tight winding of the connecting pipe 10, preventing it from loosening or swaying and affecting internal gas flow, as well as the risk of pulling or entanglement with other structures, thus affecting its normal use.

[0048] The working principle of an unmanned vessel automatic depth sounding device in this embodiment includes:

[0049] When the ship tilts due to turning or other situations, the pressure in the pressure regulating chamber 3 is dynamically maintained within a certain range by setting a pressure value (it can be used with a pressure detector to monitor the pressure in real time and achieve dynamic adjustment). The resulting air pressure applies a certain downward pressure to the kit 2, so that the angle adjustment mechanism overcomes a certain buoyancy and always remains within a certain range below the liquid surface. This prevents the depth sounder 11, which is mounted on the ship's side, from moving out of the water and being unable to perform stable and accurate depth measurement operations when the ship tilts during turning or other situations. Meanwhile, in this state, the depth sounder 11, like the telescopic support structure and the outer frame 5, is tilted, resulting in poor depth measurement accuracy and stability. At this time, by injecting or extracting gas into the corresponding independent chambers, the air pressure in each independent chamber is adjusted. The resulting pressure difference acts on the rotating seat 6, causing the rotating seat 6 to rotate, changing it from the tilted state of the same telescopic support structure and the outer frame 5 to a horizontal state. This ensures that the depth sounder 11 always remains horizontal (it can be used with a level, a visual sensor for attitude monitoring, and other real-time detection equipment to confirm the attitude state of the depth sounder 11 so as to make corresponding and accurate adjustments), thus guaranteeing depth measurement accuracy and stability.

[0050] When there are objects around the device or the ship is at risk of instability, the position of the depth sounder 11 can be adjusted by adjusting the air pressure in the pressure regulating chamber 3 (e.g., if the air pressure decreases, the downward pressure on the kit 2 decreases, and the kit 2 floats up), thus avoiding collisions with objects in the water that could damage the equipment and prevent depth measurement, thereby achieving obstacle avoidance. At the same time, the buoyancy reaction force on the hull can provide support for the ship and ensure its stability.

[0051] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An unmanned ship automatic sounding device, characterized by, The utility model relates to a telescopic support structure, which comprises a pipe, a sleeve, the pipe is led out from the ship side and extends downward, is slidably inserted into the pressure regulating cavity of the sleeve, the overcurrent hole communicating with the pressure regulating cavity is arranged in the pressure regulating cavity and the overcurrent hole, the pressure regulating cavity and the overcurrent hole are filled with pressure regulating gas, an angle adjusting mechanism, which comprises an outer frame and a rotating seat, the outer frame is positioned at the lower end of the sleeve, the spherical rotating seat is rotatably and sealingly arranged in the spherical cavity of the outer frame, a partition plate is arranged in the outer frame, the spherical cavity is divided into two independent cavities by the partition plate, a joint for connecting the inner cavity of the outer frame with the independent cavities is arranged on the outer frame, the joint is connected with the ship through a connecting pipe, and the independent cavities are filled with pressure regulating gas, and a depth finder is positioned on the rotating seat. A first waterproof damping sleeve is arranged in the pressure regulating cavity and sealingly surrounds the pipe. The outer frame is in a spherical structure. A second waterproof damping sleeve is arranged on the inner wall of the outer frame and sealingly surrounds the rotating seat, and the surface of the second waterproof damping sleeve matches the inner wall of the outer frame and the spherical surface of the rotating seat.

2. An unmanned ship automatic sounding device according to claim 1, characterized in that, A cylindrical sealing shaft is arranged at the bottom of the partition plate and is rotatably and sealingly embedded in the sealing groove of the rotating seat.

3. An unmanned ship automatic sounding device according to claim 1, characterized in that, An airtight layer is arranged between the sealing shaft and the sealing groove.

4. The automatic depth sounding device for unmanned ships according to claim 1, characterized in that, The outer side of the sealing groove is obliquely extended with a relief surface, and the relief surfaces form a relief cavity with gradually increasing size from inside to outside.

5. The apparatus according to claim 1, wherein A plurality of sleeves are arranged on the outer surface of the pipe and the sleeve in an axial direction, and the connecting pipe passes through the sleeves.

6. An unmanned ship automatic sounding device according to claim 5, characterized in that, A hinged frame is arranged on the pipe and / or the sleeve, a winding disc is rotatably connected to the hinged frame, a torsional spring is arranged between the hinged frame and the winding disc, and a part of the connecting pipe is wound around the winding disc.

7. An unmanned ship automatic sounding device according to claim 5, characterized in that, ​ 8. The apparatus according to claim 1, wherein ​ 9. The apparatus according to claim 1, wherein ​

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