Submarine topography dynamic monitoring device

Abstract

The invention relates to the technical field of submarine topography monitoring, and discloses a submarine topography dynamic monitoring device which comprises an unmanned monitoring ship, a built-in sleeve is arranged on the unmanned monitoring ship, a connecting shaft body is installed at the bottom of the built-in sleeve, a sonar detection unit is installed at the end of the connecting shaft body, and an impeller mechanism is rotationally connected to the connecting shaft body. An annular frame is installed at the bottom of the impeller mechanism, the sonar detection unit is located in the annular frame, and a plurality of spiral parts capable of rotating are arranged in the frame to adsorb bubbles. According to the submarine topography dynamic monitoring device, the annular frame is driven to rotate through the variable-pitch design of the spiral component and the impeller mechanism, a local low-pressure area can be generated on the surface of the sonar detection unit through the variable-pitch design of the spiral blade, attached bubbles are peeled off through fluid shearing force, and therefore the submarine topography dynamic monitoring device is formed. The bubbles are thrown out by means of centrifugal force, and interference of the bubbles on sound wave signals is reduced; wave energy is absorbed by the damping part and the metal rod frame, and the stable working position of the sonar detection unit is kept.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of seabed topography monitoring, in particular to a seabed topography dynamic monitoring device. BACKGROUND

[0002] Seabed topography dynamic monitoring is a key technical means in the fields of marine scientific research, marine resource development, and marine engineering safety protection, aiming to obtain real-time and accurate change information of seabed topography. Through dynamic monitoring of seabed topography, the evolution process of seabed geological structure can be deeply understood, providing an important basis for marine geological disaster warning. At the same time, for marine economic activities such as marine oil and gas exploration, seabed cable laying, and marine engineering construction, accurate seabed topography data can help to make reasonable planning and scientific decision-making, ensuring the safety and economy of the project. There are various types of existing seabed topography dynamic monitoring devices, among which the monitoring system based on unmanned ship carrying sonar transducer is widely used. This monitoring system mainly consists of an unmanned ship, a sonar transducer, a data acquisition and processing device, and a communication module.

[0003] In the actual process of seabed topography dynamic monitoring, the monitoring system based on unmanned ship carrying sonar transducer usually adopts the following working method: the unmanned ship sails in the target sea area according to the pre-set route. In the sailing process, the sonar transducer continuously emits sound wave pulse signals to the seabed. These sound wave pulse signals will be reflected when encountering the seabed topography. The reflected sound wave signals are received by the sonar transducer. By accurately measuring the time interval from emission to reception of the sound wave and combining the propagation speed of the sound wave in seawater, the distance of different positions on the seabed relative to the sonar transducer can be calculated. At the same time, combined with the positioning information and sailing attitude data of the unmanned ship, a three-dimensional model of the seabed topography of the target sea area can be finally constructed through complex data processing algorithms.

[0004] However, in actual application, when the unmanned ship encounters oncoming waves, the ship body will sway and roll due to the action of wave forces. The interaction between the waves and the ship body will form a complex flow field at the bottom of the ship. The breaking waves generated by the bow will entrain a large amount of air to form a bubble layer. When these bubbles move to the detection area of the sonar transducer with the water flow, they will scatter and absorb the sound wave signals, resulting in attenuation of the echo signal intensity, phase distortion, and even signal loss. Therefore, we propose a seabed topography dynamic monitoring device. SUMMARY

[0005] The purpose of the present application is to provide a seabed topography dynamic monitoring device to solve the problems raised in the background art.

[0006] In order to achieve the above object, the present application provides the following technical scheme: a seabed topography dynamic monitoring device, comprising an unmanned monitoring ship, and a built-in sleeve for protecting an electronic unit is fixedly installed on the unmanned monitoring ship, a connecting shaft body is fixedly installed at the bottom of the built-in sleeve, the end of the connecting shaft body is deep into seawater, a sonar detection unit is fixedly installed at the end of the connecting shaft body, an impeller mechanism is installed on the connecting shaft body and rotationally connected with the connecting shaft body, an annular frame is fixedly installed at the bottom of the impeller mechanism, and the sonar detection unit is located inside the annular frame, wherein a plurality of spiral components are further arranged inside the annular frame, the spiral components rotate under the action of force in seawater, and the rotating spiral components adsorb bubbles on the sonar detection unit.

[0007] Preferably, the spiral component comprises a fixed shaft body fixedly installed at the top of the annular frame, and a spiral blade rotationally connected with the fixed shaft body is installed on the fixed shaft body, the spiral blade is close to the sonar detection unit, the region where the fixed shaft body is installed with the spiral blade is arranged in an inclined manner, a plurality of through holes allowing water flow to pass through are formed in the side wall of the annular frame, the bottom of the annular frame is in an open shape, a plurality of openings are arranged at the top of the annular frame, and the aperture of the openings is larger than that of the through holes.

[0008] Preferably, the spiral blade is designed in a variable pitch, the pitch at the bottom of the spiral blade is smaller than that at the top of the spiral blade, when the spiral blade rotates, the small pitch at the bottom can generate a local low pressure area on the surface of the sonar detection unit, the bubbles are stripped by fluid shear force, and the top of the spiral blade designed in a large pitch can make the bubbles be thrown out by centrifugal force.

[0009] Preferably, the spiral blade is provided with a spiral groove and a plurality of circular protrusions.

[0010] Preferably, a ship bottom outer support in contact with the sea surface is further symmetrically arranged below the unmanned monitoring ship, the unmanned monitoring ship is in contact with the sea surface through the ship bottom outer support, positioning frames corresponding to the ship bottom outer supports are symmetrically installed at the tail end of the unmanned monitoring ship, positioning shaft bodies slidingly connected with the inner walls of the positioning frames are installed in the positioning frames, the positioning shaft bodies are movably connected with the ship bottom outer supports through hinged portions, and damping components are arranged on both sides of the positioning frames and movably connected with the unmanned monitoring ship at one end and with the ship bottom outer supports at the other end.

[0011] Preferably, metal rod racks are symmetrically arranged between the bow end of the unmanned monitoring ship and the ship bottom outer supports, one end of the metal rod racks is movably connected with the unmanned monitoring ship, the other end is movably connected with the ship bottom outer supports, and damping components movably connected with the unmanned monitoring ship and the ship bottom outer supports are arranged between the metal rod racks.

[0012] Preferably, the side wall of the annular frame is arranged in an inclined manner.

[0013] Preferably, the connecting shaft body is further provided with an annular sleeve, and one end of the impeller mechanism is located inside the annular sleeve, the impeller mechanism is rotationally connected with the annular sleeve, and the end of the impeller mechanism located inside the annular sleeve is further embedded with a rubber ring I, wherein the annular sleeve is further provided with an iron disc slidingly connected with the inner wall thereof, the iron disc is further embedded with a rubber ring II, and the rubber ring II is in contact with the rubber ring I.

[0014] Preferably, the iron disc is further provided with a plurality of guide shaft bodies fixedly mounted thereon, the end portions of the guide shaft bodies penetrate through the inner wall of the top portion of the annular sleeve and extend to the outside, wherein the iron disc and the top portion of the annular sleeve are further connected with a plurality of plastic springs corresponding to the guide shaft bodies one by one, the plastic springs are sleeved on the guide shaft bodies, the connecting shaft body is further provided with a sliding sleeve slidingly connected therewith, and the end portions of the guide shaft bodies are connected with the bottom portion of the sliding sleeve.

[0015] Preferably, one of the ship bottom outer supports is rotationally connected with a hinged lever frame, the end portion of the hinged lever frame is rotationally connected with the sliding sleeve, a plurality of electromagnetic assemblies are fixedly mounted on the top portion of the annular sleeve, the electromagnetic assemblies are energized to generate an attractive force on the iron disc, and a button is mounted inside the annular sleeve and electrically connected with the electromagnetic assemblies.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] 1. The impeller mechanism drives the annular frame to rotate, the local low-pressure area is generated on the surface of the sonar detection unit by the variable pitch design of the spiral blades, the fluid shear force peels off the attached bubbles, and the centrifugal force throws out the bubbles, thereby reducing the interference of the bubbles on the sound wave signal, and the damping components and the metal lever frame arranged between the unmanned monitoring ship and the ship bottom outer support can effectively absorb the wave energy, reduce the shaking amplitude of the unmanned monitoring ship in the waves, and keep the sonar detection unit in a relatively stable working position.

[0018] 2. The inclined arrangement of the side wall of the annular frame, the cooperation of the through hole and the opening, and the design of the spiral groove and the circular protrusion on the spiral blade can improve the bubble adsorption efficiency and avoid the disorderly drifting of the bubbles around the sonar detection unit, and the cooperation of the annular sleeve, the iron disc, the guide shaft body and the plastic spring can realize the buffering and braking of the impeller mechanism, thereby facilitating the adjustment of the working state of the impeller mechanism according to the monitoring requirements. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0020] Figure 2 Structure diagram of the present application;

[0021] Figure 3 Structure diagram of the unmanned monitoring ship and the external support structure of the ship bottom of the present application;

[0022] Figure 4 Structure diagram of the annular frame, impeller mechanism and sonar detection unit of the present application;

[0023] Figure 5 Structure diagram of the internal structure of the annular frame of the present application;

[0024] Figure 6 Structure diagram of the spiral component of the present application;

[0025] Figure 7 Structure diagram of the present application Figure 3 Enlarged structure diagram of the area at A of the present application;

[0026] Figure 8 Structure diagram of the annular frame and impeller mechanism of the present application;

[0027] Figure 9 Structure diagram of the internal structure of the annular sleeve of the present application.

[0028] In the figure: 1, unmanned monitoring ship; 2, placed into sleeve; 3, connecting shaft body; 31, annular sleeve; 32, iron disc; 33, rubber ring two; 34, guide shaft body; 35, plastic spring; 36, sliding sleeve; 37, electromagnetic assembly; 38, button; 4, sonar detection unit; 5, impeller mechanism; 51, rubber ring one; 6, annular frame; 61, through hole; 62, opening; 7, spiral component; 71, fixed shaft body; 72, spiral blade; 73, spiral groove; 74, circular protrusion; 8, external support of ship bottom; 81, hinged rod frame; 9, positioning frame; 91, positioning shaft body; 92, hinged part; 93, damping component one; 10, metal rod frame; 11, damping component two. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0030] Please refer to Figures 1-9The application provides a technical scheme: a seabed topography dynamic monitoring device, which aims at solving the technical problems in the background art and comprises an unmanned monitoring ship 1, a ship bottom outer support 8 arranged below the unmanned monitoring ship 1, and a positioning frame 9 corresponding to the ship bottom outer support 8 and symmetrically arranged at the tail end of the unmanned monitoring ship 1 Figure 1 , as shown in the accompanying drawings Figure 2 and Figure 3 , the unmanned monitoring ship 1 is in contact with seawater through the ship bottom outer support 8, in order to keep the unmanned monitoring ship 1 stable when in contact with waves, the positioning frame 9 corresponding to the ship bottom outer support 8 is symmetrically arranged at the tail end of the unmanned monitoring ship 1, the positioning frame 9 is internally provided with a positioning shaft body 91 in sliding connection with the inner wall of the positioning frame 9, and the positioning shaft body 91 is connected with the ship bottom outer support 8 through a hinge part 92, further described, the hinge part 92 can be in rotary connection or universal joint connection with the positioning shaft body 91 and the ship bottom outer support 8, the positioning frame 9 is provided with a damping part one 93 on both sides, one end of the damping part one 93 is in movable connection with the unmanned monitoring ship 1, and the other end is in movable connection with the ship bottom outer support 8, a metal rod frame 10 is symmetrically arranged between the bow end of the unmanned monitoring ship 1 and the ship bottom outer support 8, one end of the metal rod frame 10 is in movable connection with the unmanned monitoring ship 1, and the other end is in movable connection with the ship bottom outer support 8, and the metal rod frame 10 is provided with a damping part two 11 in movable connection with the unmanned monitoring ship 1 and the ship bottom outer support 8, in the application, the movable connection is rotary connection, or a connecting part similar to a universal joint can be used for movable connection, wherein the head of the ship bottom outer support 8 is arranged in an arc shape upward, it should be noted that the damping part one 93 and the damping part two 11 are actually hydraulic sleeves, the damping effect of hydraulic oil can effectively absorb wave energy; when waves come, the ship bottom outer support 8 is subjected to force and moves up and down, since the ship bottom outer support 8 is connected with the unmanned monitoring ship 1 through the damping part one 93 and the damping part two 11, the damping part one 93 and the damping part two 11 can effectively absorb wave energy, the positioning shaft body 91 and the hinge part 92 can adjust the ship bottom outer support 8 within a certain angle range to adapt to the water surface change under different wave conditions, and keep the unmanned monitoring ship 1 in a relatively stable position.

[0031] The unmanned monitoring ship 1 is fixedly provided with a placing sleeve 2 for protecting an electronic unit, the electronic unit is placed in the placing sleeve 2, a connecting shaft body 3 is fixedly arranged at the bottom of the placing sleeve 2, the end of the connecting shaft body 3 is deep into the sea water, a sonar detection unit 4 is fixedly arranged at the end of the connecting shaft body 3, and the sonar detection unit 4 is used for monitoring the seabed topography, since the sonar detection unit 4 is a prior art component, the present application does not make too much description on it; a blade wheel mechanism 5 is rotatably arranged on the connecting shaft body 3, the blade wheel mechanism 5 is deep into the sea water, when the unmanned monitoring ship 1 is sailing, the blade wheel mechanism 5 is rotated by the action force of the sea water, an annular frame 6 is fixedly arranged at the bottom of the blade wheel mechanism 5, the sonar detection unit 4 is located in the annular frame 6, wherein the side wall of the annular frame 6 is arranged in an inclined manner, the bottom of the annular frame 6 is arranged in an open manner, a plurality of through holes 61 allowing water flow are arranged on the side wall of the annular frame 6, a plurality of openings 62 are arranged on the top of the annular frame 6, the diameter of the openings 62 is larger than that of the through holes 61, and a plurality of spiral components 7 are arranged in the annular frame 6, the spiral components 7 are rotated by the action force of the sea water, and the bubbles on the sonar detection unit 4 are adsorbed by the spiral components 7.

[0032] Further, the spiral components 7 are rotated in the annular frame 6 to adsorb the bubbles on the sonar detection unit 4, and the bubbles on the spiral components 7 are adsorbed and then rotate with the spiral components 7, in the rotating process, the bubbles on the spiral components 7 are thrown out by the centrifugal force and the buoyancy, at the same time, the blade wheel mechanism 5 also generates an attractive force to the bubbles below, so that the bubbles can be effectively adsorbed to the blade wheel mechanism 5.

[0033] Further, the spiral components 7 are rotated in the annular frame 6 to adsorb the bubbles on the sonar detection unit 4, and the bubbles on the spiral components 7 are adsorbed and then rotate with the spiral components 7, in the rotating process, the bubbles on the spiral components 7 are thrown out by the centrifugal force and the buoyancy, at the same time, the blade wheel mechanism 5 also generates an attractive force to the bubbles below, so that the bubbles can be effectively adsorbed to the blade wheel mechanism 5. Figure 4 Figure 5 Figure 6 ​​As shown, the spiral component 7 in the application comprises a fixed shaft body 71 fixedly installed on the top of the annular frame 6, and the fixed shaft body 71 is installed with a spiral blade 72 rotationally connected therewith, the spiral blade 72 is close to the sonar detection unit 4, wherein the region where the fixed shaft body 71 is installed with the spiral blade 72 is arranged in an inclined manner, and the spiral blade 72 is designed in a variable pitch, the pitch at the bottom of the spiral blade 72 is smaller than the pitch at the top of the spiral blade 72, when the spiral blade 72 rotates, the small pitch design at the bottom can generate a local low pressure area on the surface of the sonar detection unit 4, and the fluid shear force can strip the attached bubbles, and the top of the spiral blade 72 designed in a large pitch can make the bubbles be thrown out by centrifugal force, in order to facilitate the adsorption of the bubbles at the bottom of the sonar detection unit 4, and the spiral blade 72 is provided with a spiral groove 73 and a plurality of circular protrusions 74, the spiral groove 73 and the plurality of circular protrusions 74 can increase the contact area of the spiral blade 72 with seawater, on the one hand, and on the other hand, to facilitate the adsorption of more bubbles, so that the bubbles are adsorbed on the spiral blade 72, avoiding the bubbles to float around the sonar detection unit 4.

[0034] During normal navigation, although bubbles may also be attached to the surface of the sonar detection unit 4, compared with encountering oncoming waves, the bubbles on the surface of the sonar detection unit 4 during normal navigation will not accumulate too much, and will not cause too much influence on the bottom monitoring of the sonar detection unit 4, and then the impeller mechanism 5 does not need to be continuously rotated, if the impeller mechanism 5 is continuously rotated during navigation, it will generate a certain noise near the sonar detection unit 4, and it is easy to cause influence on the monitoring of the sonar detection unit 4, and then the application is designed accordingly, so that the impeller mechanism 5 is only periodically rotated when there is no wave, and is automatically rotated when encountering waves, and when there is no wave, only the self-rotation of the spiral blade 72 is relied on to adsorb the bubbles on the sonar detection unit 4, the specific design is as follows: Figure 7 , attached Figure 8 and attached Figure 9As shown, the connecting shaft body 3 is also fixedly installed with an annular sleeve 31, and one end of the impeller mechanism 5 is located inside the annular sleeve 31, the impeller mechanism 5 is rotatably connected with the annular sleeve 31, and the end of the impeller mechanism 5 located inside the annular sleeve 31 is also embedded with a rubber ring I 51, wherein the annular sleeve 31 is also installed with an iron disc 32 which is slidably connected with the inner wall thereof, the iron disc 32 is also embedded with a rubber ring II 33, when normally sailing and not encountering waves, the rubber ring II 33 is in close contact with the rubber ring I 51, that is, both the rubber ring I 51 and the rubber ring II 33 will be deformed at the contact position, the iron disc 32 is also fixedly installed with a plurality of guide shaft bodies 34, the end portions of the guide shaft bodies 34 penetrate through the top inner wall of the annular sleeve 31 and extend to the outside, wherein the iron disc 32 and the top of the annular sleeve 31 are also connected with a plurality of plastic springs 35 which correspond to the guide shaft bodies 34 one by one, the plastic springs 35 are sleeved on the guide shaft bodies 34, when normally sailing and not encountering waves, the plastic springs 35 are always in a compressed state, so that the rubber ring II 33 is always in close contact with the rubber ring I 51, by using the close contact between the rubber ring II 33 and the rubber ring I 51, the rotation of the impeller mechanism 5 is resisted, thereby hindering the rotation of the impeller mechanism 5, and the connecting shaft body 3 is installed with a sliding sleeve 36 which is slidably connected therewith, the end portions of the guide shaft bodies 34 are connected with the bottom of the sliding sleeve 36, one of the boat bottom outer supports 8 is rotatably connected with a hinged rod frame 81, and the end portion of the hinged rod frame 81 is rotatably connected with the sliding sleeve 36, and a plurality of electromagnetic assemblies 37 are fixedly installed on the top of the annular sleeve 31, wherein the annular sleeve 31 is installed with a button 38, and the button 38 is electrically connected with the electromagnetic assemblies 37, that is, after the button 38 is triggered for the first time, the electromagnetic assemblies 37 are controlled to be powered on, and the electromagnetic assemblies 37 are powered on to generate an attractive force on the iron disc 32.

[0035] Specifically, in actual application, the unmanned monitoring ship 1 sails on the sea by using the bottom outrigger 8. When encountering oncoming waves, the bottom outrigger 8 is subjected to force and moves up and down. Since the bottom outrigger 8 is connected with the unmanned monitoring ship 1 through the damping component one 93 and the damping component two 11, the damping component one 93 and the damping component two 11 can effectively absorb wave energy. The positioning shaft body 91 and the hinged part 92 can adjust the bottom outrigger 8 within a certain angle range to adapt to the water surface changes under different wave conditions, so as to keep the unmanned monitoring ship 1 in a relatively stable position. In the process of the up and down movement of the bottom outrigger 8, the hinged rod frame 81 on the bottom outrigger 8 drives the sliding sleeve 36 to slide on the connecting shaft body 3. In the process of the movement of the sliding sleeve 36, the sliding sleeve 36 drives the iron disc 32 to move within the annular sleeve 31 through the plurality of guide shaft bodies 34. In the process of the movement of the iron disc 32, the iron disc 32 extrudes the plastic spring 35 sleeved on the guide shaft body 34, and also acts on the button 38 on the inner wall of the annular sleeve 31. After the button 38 is triggered for the first time, the electromagnetic assembly 37 is controlled to be powered on. The electromagnetic assembly 37 is powered on to generate an attractive force on the iron disc 32, so that the rubber ring two 33 is separated from the rubber ring one 51, that is, the rotation of the impeller mechanism 5 is no longer limited. The impeller mechanism 5 is subjected to the action of seawater and rotates, so that the annular frame 6 drives the helical blade 72 inside it to do circular motion. In the process of the rotation of the annular frame 6, seawater flows into the annular frame 6 from the through hole 61 in the side wall of the annular frame 6, and the rotation of the annular frame 6 forms a centrifugal field, which throws the bubbles peeled off from the sonar detection unit 4 out of the annular frame 6 through the top opening 62 and the side wall through hole 61. In the process of the rotation of the annular frame 6, the helical blade 72 rotates within the annular frame 6 under the action of seawater. Since the blade close to the bottom of the sonar detection unit 4 has a small pitch design, the helical blade 72 rotates to generate a low pressure area in the local sonar detection unit 4 according to the principle of fluid mechanics. According to the principle of fluid mechanics, the low pressure area will cause the fluid shear force on the contact surface between seawater and the transducer to increase. This shear force can directly peel off the small bubbles attached to the surface of the transducer, preventing the accumulation of bubble layer. The pitch of the top of the helical blade 72 increases, and the linear velocity of the surface of the helical blade 72 significantly increases when it rotates. The bubbles are subjected to the double action of centrifugal force and buoyancy: the centrifugal force throws the bubbles away from the surface of the helical blade 72, and the buoyancy makes the bubbles escape to the top opening 62 of the annular frame 6, thereby avoiding the bubbles from reattaching to the sonar detection unit 4. In addition, the spiral groove 73 increases the contact area between the helical blade 72 and seawater, forms more turbulent boundary layers, and enhances the capturing ability of small bubbles. The circular protrusion 74 breaks the continuity of the water flow, generates a small vortex, makes the bubbles stay on the surface of the helical blade 72 for a longer time, and improves the peeling probability.

[0036] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and illustrative figures, it should be apparent that the scope of the present application is not limited to these specific embodiments.

[0037] While the embodiments of the application have been shown and described herein, it will be understood by those skilled in the art that many changes, modifications, substitutions and alterations to these embodiments can be made without departing from the spirit and scope of the present application, which is defined by the appended claims and their equivalents.

Claims

1. A seabed topography dynamic monitoring apparatus, characterized by, The utility model provides an unmanned monitoring ship (1), and the unmanned monitoring ship (1) is fixedly installed with an embedding sleeve (2) for protecting an electronic unit, and a connecting shaft body (3) is fixedly installed at the bottom of the embedding sleeve (2), the end of the connecting shaft body (3) is deep into seawater, a sonar detection unit (4) is fixedly installed at the end of the connecting shaft body (3), a impeller mechanism (5) is rotatably connected to the connecting shaft body (3), an annular frame (6) is fixedly installed at the bottom of the impeller mechanism (5), and the sonar detection unit (4) is located in the annular frame (6), wherein a plurality of spiral components (7) are further arranged in the annular frame (6), the spiral components (7) rotate in seawater under the action of force, and the rotating spiral components (7) adsorb bubbles on the sonar detection unit (4).

2. The apparatus according to claim 1, wherein: The spiral components (7) include a fixed shaft body (71) fixedly installed at the top of the annular frame (6), and a spiral blade (72) is rotatably connected to the fixed shaft body (71), the spiral blade (72) is close to the sonar detection unit (4), wherein the region, where the fixed shaft body (71) is installed with the spiral blade (72), is arranged in an inclined manner, a plurality of through holes (61) allowing water flow to pass through are formed in the side wall of the annular frame (6), the bottom of the annular frame (6) is open, a plurality of openings (62) are arranged at the top of the annular frame (6), and the diameter of the openings (62) is larger than that of the through holes (61).

3. The apparatus according to claim 2, wherein: The spiral blade (72) is designed in a variable pitch manner, the pitch at the bottom of the spiral blade (72) is smaller than that at the top of the spiral blade (72), when the spiral blade (72) rotates, the small pitch at the bottom can generate a local low pressure area on the surface of the sonar detection unit (4), and the bubbles are stripped by fluid shear force, and the top of the spiral blade (72) designed in a large pitch manner can make the bubbles be thrown out by centrifugal force.

4. The apparatus according to claim 3, wherein: Spiral grooves (73) and a plurality of circular protrusions (74) are arranged on the spiral blade (72).

5. The apparatus according to claim 1, wherein: A ship bottom outer support (8) in contact with seawater is further arranged below the unmanned monitoring ship (1) in a symmetrical manner, the unmanned monitoring ship (1) is in contact with seawater through the ship bottom outer support (8), positioning frames (9) corresponding to the ship bottom outer supports (8) are symmetrically installed at the tail end of the unmanned monitoring ship (1), positioning shaft bodies (91) are slidably connected to the inner walls of the positioning frames (9), the positioning shaft bodies (91) and the ship bottom outer supports (8) are movably connected through hinging parts (92), and damping components (93) are arranged on both sides of the positioning frames (9), one end of each damping component (93) is movably connected to the unmanned monitoring ship (1), and the other end of each damping component (93) is movably connected to the ship bottom outer support (8).

6. The apparatus of claim 5, wherein: The unmanned monitoring ship (1) is symmetrically provided with metal rod frames (10) between the bow end and the bottom outer support (8), one end of the metal rod frame (10) is movably connected with the unmanned monitoring ship (1), the other end is movably connected with the bottom outer support (8), and the metal rod frame (10) is provided with damping components two (11) movably connected with the unmanned monitoring ship (1) and the bottom outer support (8).

7. The apparatus of claim 1, wherein: The side wall of the annular frame (6) is arranged in an inclined manner.

8. The apparatus of claim 6, wherein: The connecting shaft body (3) is further fixedly provided with an annular sleeve (31), one end of the impeller mechanism (5) is located inside the annular sleeve (31), the impeller mechanism (5) is rotatably connected with the annular sleeve (31), and the end of the impeller mechanism (5) located inside the annular sleeve (31) is further embedded with a rubber ring one (51). The annular sleeve (31) is further provided with an iron disc (32) slidably connected with the inner wall thereof, the iron disc (32) is further embedded with a rubber ring two (33), and the rubber ring two (33) is in contact with the rubber ring one (51).

9. The apparatus of claim 8, wherein: The iron disc (32) is further fixedly provided with a plurality of guide shaft bodies (34), the end of the guide shaft body (34) penetrates the inner wall of the top of the annular sleeve (31) and extends to the outside, and a plurality of plastic springs (35) corresponding to the guide shaft bodies (34) are further connected between the iron disc (32) and the top of the annular sleeve (31), the plastic spring (35) is sleeved on the guide shaft body (34), and a sliding sleeve (36) slidably connected with the connecting shaft body (3) is further provided on the connecting shaft body (3), and the end of the guide shaft body (34) is connected with the bottom of the sliding sleeve (36).

10. The apparatus of claim 9, wherein: One of the bottom outer supports (8) is rotatably connected with a hinged rod frame (81), the end of the hinged rod frame (81) is rotatably connected with the sliding sleeve (36), a plurality of electromagnetic assemblies (37) are further fixedly provided on the top of the annular sleeve (31), the electromagnetic assemblies (37) are energized to generate an attractive force on the iron disc (32), and a button (38) is further provided inside the annular sleeve (31), and the button (38) is electrically connected with the electromagnetic assemblies (37).

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