Underwater measuring device for hydropower stations based on unmanned ship

Abstract

The application belongs to the technical field of surveying vessels, and particularly relates to a hydropower station underwater measuring device based on an unmanned vessel. The device comprises a vessel body, two propellers are installed at the tail of the vessel body, an installation groove is formed in the middle of the vessel body, a measuring assembly is installed in the installation groove, a protection assembly is installed at the head of the vessel body, the protection assembly comprises a V-shaped plate, rotating rods are uniformly arranged in the V-shaped plate, the rotating rods are distributed in an inclined manner from bottom to top, each rotating rod is divided into two parts by a middle part, and helical blades are arranged on both sides of the middle part, conveying belts are arranged on both sides of the V-shaped plate, installation blocks are rotatably installed at the top of two inverted T-shaped rods, and uniformly arranged push plates are fixed to the outer ring of the conveying belts. The protection assembly can avoid the problems that floating sundries wrap the measuring assembly, block the transmission of sound waves and cause the measurement data to be blank during the measurement operation of the unmanned vessel.

Description

Technical Field

[0001] This invention belongs to the field of survey vessel technology, specifically an underwater surveying device for hydroelectric power stations based on unmanned vessels. Background Technology

[0002] Underwater topographic monitoring of hydropower station reservoirs is a crucial aspect of water conservancy operation and maintenance. Underwater topographic data can directly reflect key information such as the distribution of sediment accumulation in the reservoir area, the location of underwater obstacles, and the thickness of silt accumulation in front of the dam. Traditional underwater surveying operations using manual vessels equipped with surveying equipment are inefficient and pose high risks to personnel working on the water, making it difficult to meet the needs of large-scale, routine underwater topographic inspections.

[0003] Unmanned surface vessel (USV) underwater measurement systems rely on unmanned surface platforms equipped with acoustic measurement components. They can autonomously navigate along pre-set routes, using transducers mounted on the hull to transmit and receive underwater sound waves, automatically collecting water depth data and constructing underwater 3D terrain models. With advantages such as high automation, strong safety, and flexible operation, they are gradually becoming the mainstream equipment for underwater measurement in hydropower stations. The main purpose of continuous underwater topographic measurement of hydropower stations is to periodically understand the evolution of siltation in the reservoir area, assess the impact of siltation on the effective reservoir capacity and flood discharge channels, identify potential hazards such as underwater reefs and submerged debris, ensure flood control safety during the flood season and the stable operation of hydropower station units, and provide accurate data support for reservoir dredging plans and hydraulic facility maintenance.

[0004] Existing underwater surveying equipment for unmanned surface vessels (USVs) needs to be prominently positioned below the hull bottom to avoid interference from water bubbles generated during hull movement and ensure normal sound wave propagation. However, the underwater environment of hydroelectric power stations is complex, with shallows, underwater reefs, silt-filled areas, and sunken or floating debris within the reservoir area. During autonomous navigation, the protruding transducers of the USV are highly susceptible to collisions with hard underwater objects. Impacts can damage the transducer casing and, in severe cases, crack the internal acoustic chip. This not only introduces measurement errors and reduces the accuracy of terrain data but can also directly cause equipment failure, interrupting survey operations and resulting in high equipment maintenance costs.

[0005] Meanwhile, the hydroelectric power station's waters are perpetually littered with floating debris such as aquatic plants, dead branches, abandoned fishing nets, and plastic waste. The protruding measuring equipment and its supporting brackets, with their sharp edges, easily snag various floating objects. When debris covers the surface of the measuring equipment, it blocks the sound wave transmission and reception pathways, resulting in large areas of blank data in the survey results. Debris entangled in the brackets increases the vessel's drag, causing the unmanned surface vessel's actual course to deviate from the preset trajectory. The continuous pulling action of the debris can also loosen the mounting brackets, altering the transducer's installation posture, further deteriorating the quality of the measurement data, and reducing the stability and reliability of underwater measurement operations. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this invention proposes an underwater measurement device for hydropower stations based on unmanned vessels. By setting up protective components, it can avoid the problems of floating debris covering the measurement components, blocking sound wave transmission, and causing blank measurement data during unmanned vessel measurement operations; the specific structure is as follows.

[0007] The underwater measurement device for hydropower stations based on unmanned vessels includes an unmanned vessel body, and two thrusters are installed at the tail of the unmanned vessel body; an installation slot is opened in the middle of the unmanned vessel body. The mounting slot contains a measurement component, which is a multibeam echo sounder, and extends partially below the unmanned vessel body. A protective assembly is installed at the bow of the unmanned vessel; the protective assembly includes a V-shaped plate, and the opening of the V-shaped plate is fixed to the bow of the unmanned vessel; the bottom of the V-shaped plate is an upward-sloping surface; The V-shaped plate is provided with evenly arranged rotating rods, and the rotating rods are driven by a first motor, which is installed in the side wall of the V-shaped plate. The multiple rotating rods are distributed at an angle from bottom to top, and the length of the rotating rods gradually decreases from bottom to top; each rotating rod is divided by a middle line, and there are spiral blades on both sides of the dividing line, and the spiral blades are spiraled in opposite directions; The spiral blades are made of rubber material and are staggered with the inclined surface at the bottom of the V-shaped plate; The V-shaped plate is provided with conveyor belts on both sides, and the conveyor belts rotate on two inverted T-shaped rods; the tops of the two inverted T-shaped rods are rotatably mounted with mounting blocks, and the mounting blocks are fixed to the V-shaped plate; one of the inverted T-shaped rods is driven by a second motor, and the second motor is mounted on the mounting block; the outer ring of the conveyor belt is fixed with evenly distributed baffles. The unmanned vessel body is equipped with a connecting plate at the bottom, and the side of the connecting plate near the V-shaped plate is fixed to the V-shaped plate, while the other side is fixed to the bottom of the unmanned vessel body by a vertical plate. A cylinder is installed in the middle of the connecting plate, and the bottom of the cylinder is flush with the bottom of the connecting plate, and the measuring component extends into the cylinder; rotating rollers are rotatably installed on both sides of the cylinder.

[0008] In a preferred embodiment of the present invention, each of the dial plates is slidably mounted with a lever; The bottom of the lever extends to the bottom of the lever plate; a moving block is fixed above the lever.

[0009] In a preferred embodiment of the present invention, two parallel trapezoidal plates are provided above the two conveyor belts, and the trapezoidal plates are regular trapezoids and parallel to the conveyor belts. The two parallel trapezoidal plates are positioned on one side close to the unmanned vessel body; Two parallel trapezoidal plates are fixed with connecting blocks on the side near the V-shaped plate, and the connecting blocks are fixed to the V-shaped plate. The two parallel trapezoidal plates have rounded corners at the openings on the side of the V-shaped plate away from the unmanned vessel body, and correspond to the moving blocks that pass through.

[0010] In a preferred embodiment of the present invention, drive belts are provided on both sides of the cylinder, and the two drive belts rotate on the rollers on both sides of the cylinder respectively. The rotating roller is driven by a third motor, which is installed in the inner wall of the connecting plate; the drive belt rotates inside the connecting plate; arc-shaped grooves are provided on both sides of the drive belt where it passes through the connecting plate, and the drive belt passes through the arc-shaped grooves. The drive belt has uniformly arranged drive blocks fixed on its outer ring surface.

[0011] In a preferred embodiment of the present invention, each of the drive blocks is slidably mounted with a push rod, and the push rods extend toward one side of the cylinder. On opposite sides of the two drive belts, slides are respectively provided at the bottom of the connecting plate, and both sides of the slides are connected to the arc-shaped groove; The slide on the left side of the cylinder is trapezoidal, and the slides on both sides of the cylinder are parallel to the conveyor belt; each push rod has a guide rod fixed on the side facing the slide, and the guide rod is a spring telescopic rod that slides in the slide.

[0012] In a preferred embodiment of the present invention, the cylinder rotates on the connecting plate; The bottom of the cylinder is fitted with evenly spaced railings.

[0013] In a preferred embodiment of the present invention, each of the railings is rotatably mounted with a diagonal bar at its bottom; The other side of the inclined rod slides inside the slide cylinder; the top of the slide cylinder rotates on the rotating ring, and the rotating ring has a semi-circular cross-section and rotates at the bottom of the connecting plate; One of the drive blocks on the drive belt has a push rod inside that extends beyond the slide rail. When the push rod passes the side of the cylinder, it intersects with the slide cylinder and pushes the slide cylinder to drive the rotating ring and the cylinder to rotate.

[0014] In a preferred embodiment of the present invention, adjacent railings are connected by an arc plate.

[0015] In a preferred embodiment of the invention, the two thrusters pass through the upright plate and are positioned above the connecting plate; The top of the cylinder is attached to the bottom of the unmanned vessel body; mesh plates are installed on both sides of the connecting plate, and the top of the mesh plates is installed on the side of the unmanned vessel body. The connecting plate also has a mesh plate installed on the side facing the V-shaped plate.

[0016] The beneficial effects of this invention are as follows: 1. The underwater measurement device for hydropower stations based on unmanned vessels described in this invention achieves layered interception and lateral stripping of floating debris at different water depths and positions in the hydropower station water area by setting a V-shaped plate protective structure with inclined multi-layer rotating rods and reverse spiral rubber blades at the bow of the unmanned vessel, combined with conveyor belts and deflector structures driven by second motors on both sides. This effectively solves the problems of floating debris wrapping around measurement components, blocking sound wave transmission, and causing blank measurement data in traditional unmanned vessel measurement operations. At the same time, it avoids the failure of debris entanglement in the propeller, increasing navigation resistance, and causing course deviation, thereby improving the navigation stability of the unmanned vessel and the integrity of underwater measurement data.

[0017] 2. The underwater measurement device for hydropower stations based on unmanned vessels described in this invention, by employing a reverse spiral blade made of rubber in combination with an inclined V-shaped plate structure, can achieve flexible buffering and autonomous guidance when the unmanned vessel encounters obstacles such as underwater shoals, silt uplifts, and hidden reefs, thereby reducing the impact of hull collisions. At the same time, relying on the combined protective structure of the bottom connecting plate, cylinder, and bottom rotating roller, it forms all-round isolation and protection for the bottom protruding measurement components, preventing direct collision damage between the measurement components and underwater hard objects, effectively avoiding system measurement errors caused by hardware damage and collisions, and reducing equipment failure rate and operation and maintenance costs.

[0018] 3. The underwater measurement device for hydropower stations based on unmanned vessels described in this invention, through the barrier structure deployed at the bottom of the cylinder, can provide secondary interception and protection against small debris missed by the front-end protective structure, reducing the possibility of debris entering the cylinder and interfering with the operation of the measurement components, and helping to ensure the integrity and effectiveness of underwater measurement data; at the same time, relying on the linkage rotation of the push rod, slide cylinder, and rotating ring, the cylinder can be controlled to drive the barrier and the intercepted debris to rotate, thereby realizing the automatic detachment and release of the intercepted debris, avoiding the long-term attachment and retention of debris on the barrier surface and continuous movement with the hull, preventing the debris from repeatedly entangled and accumulating, and preventing small debris from passing directly under the cylinder, thus temporarily blocking the measurement components inside the cylinder, while also preventing this part of the garbage or debris from directly entering the cylinder and causing long-term obstruction to the measurement components inside the cylinder. Attached Figure Description

[0019] The invention will now be further described with reference to the accompanying drawings.

[0020] Figure 1 This is an overall view of the unmanned vessel body of the present invention; Figure 2 This is an overall view of the unmanned vessel body of the present invention from another perspective; Figure 3 This is a structural diagram of the protective component in this invention; Figure 4 This is the present invention. Figure 3Enlarged view of a section at point A in the middle; Figure 5 This is a structural diagram of the connecting plate in this invention; Figure 6 This is a structural diagram of the driving belt in this invention; Figure 7 This is a structural diagram of the cylinder, guardrail, diagonal bar, sliding cylinder, and rotating ring in this invention; Figure 8 This is a bottom view of the unmanned vessel body of the present invention; Figure 9 This is the present invention. Figure 8 Enlarged view of a section at point B in the middle; Figure 10 This is the present invention. Figure 8 Enlarged view of a section at point C; Figure 11 This is the present invention. Figure 10 Sectional view at point DD; Figure 12 This is the present invention. Figure 11 Enlarged view of a section at point E in the middle; Figure 13 This is the present invention. Figure 11 Enlarged view of a section at point F.

[0021] In the diagram: 1. Unmanned vessel body; 11. Thruster; 12. Measurement component; 2. V-shaped plate; 21. Rotating rod; 22. Spiral blade; 3. Conveyor belt; 31. Inverted T-shaped rod; 32. Mounting block; 33. Altering plate; 34. Altering rod; 35. Moving block; 36. Trapezoidal plate; 37. Connecting block; 4. Connecting plate; 41. Cylinder; 42. Rotating roller; 43. Drive belt; 44. Arc groove; 45. Drive block; 46. Push rod; 47. Slide rail; 48. Guide rod; 5. Barrier; 51. Diagonal bar; 52. Slide cylinder; 53. Rotary ring; 54. Arc plate. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0023] like Figures 1 to 13 As shown, the underwater measurement device for hydropower stations based on unmanned vessels of the present invention includes an unmanned vessel body 1, and two thrusters 11 are installed at the tail of the unmanned vessel body 1; an installation groove is opened in the middle of the unmanned vessel body 1; a measurement component 12 is installed in the installation groove, and the measurement component 12 is a multibeam echo sounder, which extends partially to the bottom of the unmanned vessel body 1. A protective component is installed at the bow of the unmanned vessel body 1; the protective component includes a V-shaped plate 2, and the opening of the V-shaped plate 2 is fixed to the bow of the unmanned vessel body 1; the bottom of the V-shaped plate 2 is an upward sloping surface; The V-shaped plate 2 is provided with uniformly arranged rotating rods 21, which are driven by a first motor installed in the side wall of the V-shaped plate 2. The multiple rotating rods 21 are inclined from bottom to top, and the length of the rotating rods 21 gradually decreases from bottom to top. Each rotating rod 21 is divided by a middle line, and there are spiral blades 22 on both sides of the dividing line, and the spiral blades 22 are spiraled in opposite directions. The spiral blades 22 are made of rubber material and are staggered with the inclined surface at the bottom of the V-shaped plate 2. The V-shaped plate 2 is provided with conveyor belts 3 on both sides, and the conveyor belts 3 rotate on two inverted T-shaped rods 31; the tops of the two inverted T-shaped rods 31 are rotatably mounted with mounting blocks 32, and the mounting blocks 32 are fixed on the V-shaped plate 2; one of the inverted T-shaped rods 31 is driven by a second motor, and the second motor is mounted on the mounting block 32; the outer ring of the conveyor belt 3 is fixed with evenly arranged baffles 33. The unmanned vessel body 1 is provided with a connecting plate 4 at the bottom, and the side of the connecting plate 4 near the V-shaped plate 2 is fixed to the V-shaped plate 2, while the other side is fixed to the bottom of the unmanned vessel body 1 by a vertical plate; a cylinder 41 is installed in the middle of the connecting plate 4, and the bottom of the cylinder 41 is flush with the bottom of the connecting plate 4, and the measuring component 12 extends into the cylinder 41; and evenly arranged rotating rollers 42 are rotatably installed on both sides of the cylinder 41.

[0024] When conducting underwater surveying operations in the waters of a hydropower station, the unmanned surface vessel (USV) 1 is first deployed into the operating area. A navigation route is planned and preset in advance based on the area of ​​the hydropower station to be surveyed. After the operation starts, the two thrusters 11 at the tail of the USV 1 are controlled to operate synchronously. The power provided by the thrusters 11 drives the USV 1 to sail autonomously at a constant speed along the preset route. During the navigation of the USV 1, the measurement component 12 installed in the mounting slot in the middle of the USV 1 is moved synchronously. The measurement component 12, which extends to the bottom of the USV 1, continuously collects water depth data. The massive amount of water depth data collected continuously is used to construct an underwater three-dimensional terrain model, realizing automated measurement of the underwater topography, sedimentation morphology, and underwater landforms of the hydropower station waters in all dimensions.

[0025] Specifically, during the entire measurement operation, the unmanned vessel body 1 will synchronously move the protective components at the bow and the connecting plate 4 at the bottom of the vessel. Since the measuring component 12 extends downward and is installed inside the cylinder 41, the bottom of the cylinder 41 is flush with the bottom of the connecting plate 4, which can form a protective enclosure for the measuring component 12, so that the measuring component 12 can stably complete the underwater ranging and acoustic wave transmission and reception measurement operations within the protective range of the cylinder 41. During the entire process of the unmanned vessel body 1 autonomously sailing and measuring, the first motor and the second motor are synchronously controlled to operate continuously. The first motor drives the multiple sets of rotating rods 21 inside the V-shaped plate 2 and the spiral blades 22 on the outside of the rotating rods 21 to rotate continuously in a cycle. At the same time, the second motor drives the conveyor belts 3 on both sides of the V-shaped plate 2 to rotate in a cycle.

[0026] More specifically, when there are obstacles such as floating garbage and aquatic debris in the unmanned vessel's navigation path, if the floating garbage and debris are distributed on both sides of the V-shaped plate 2, the V-shaped plate 2 can directly push the debris to the sides as the unmanned vessel continues to move forward. At the same time, the operating conveyor belt 3 drives the evenly arranged paddle plates 33 on the outer side to rotate synchronously. Through the continuous paddle action of the paddle plates 33, the garbage and debris that have slid to the sides are continuously pushed away to the outside of the hull, realizing the active cleaning of debris on the sides. If the floating debris is facing the front of the V-shaped plate 2 and moves with the water flow to the position below the V-shaped plate 2, the continuously rotating rod 21 and spiral blade 22 can fully contact the debris. Since multiple sets of rotating rods 21 are inclined from bottom to top and their length increases from top to bottom, they can adapt to floating debris of different water depths. At the same time, spiral blades 22 with opposite rotation directions are set on both sides of the rotating rod 21 with the middle as the boundary. The V-shaped plate 2 has an alternating arrangement of inclined surfaces at its bottom. During rotation, it can continuously push the garbage and debris it comes into contact with to both sides of the V-shaped plate 2, eventually diverting all the debris in front to both sides of the hull. The multi-layered inclined rotating rod 21 and spiral blade 22 can intercept floating debris at different water depths in layers, clearing floating obstacles on the route. With the help of the conveyor belts 3 and the pusher plates 33 on both sides, the diverted debris is completely separated from the navigation route. By intercepting and laterally separating various floating debris on the route, it can effectively prevent the unmanned vessel from passing over debris during navigation, prevent debris from being sucked into the propeller 11 and causing equipment jamming and damage, and prevent debris from hooking or wrapping the measuring component 12. It can also prevent debris from blocking the sound wave transmitting and receiving end face of the measuring component 12, avoiding the problem of sound wave propagation obstruction and large areas of blank survey data. At the same time, it can also prevent debris from entangled and pulling the equipment, causing increased navigation resistance and route deviation.

[0027] Furthermore, when there are underwater shoals, silt deposits, or hidden underwater obstacles that are difficult to identify with the naked eye along the unmanned vessel's navigation route, the multiple sets of rotating rods 21 and rubber spiral plates 22, which are inclined and arranged on the inner side of the V-shaped plate 2, will preferentially contact the underwater obstacles during the unmanned vessel's navigation. The rubber spiral plates 22 have good elastic buffering performance, which can effectively buffer the impact force generated by the unmanned vessel contacting the underwater obstacles, avoiding damage to the hull and equipment caused by rigid collisions. Relying on the inclined distribution structure of the rotating rods 21 from top to bottom, the spiral plates 22 can slide along the surface of the obstacle, providing precise guidance for the unmanned vessel body 1. At the same time, in conjunction with the sliding of the inclined surface at the bottom of the V-shaped plate 2 against the obstacle, the guiding effect of the unmanned vessel body 1 is further optimized, guiding the unmanned vessel body 1 and the bottom connecting plate 4 to smoothly pass over the obstacle; in the continuous During the passage of the connecting plate 4 through underwater obstacles, multiple sets of rotating rollers 42 evenly arranged at the bottom of the connecting plate 4 can roll into contact with the surface of the obstacle, converting traditional sliding friction into rolling friction and reducing the frictional resistance of the obstacle to the connecting plate 4. At the same time, the connecting plate 4 and the cylinder 41 can form an integral protective structure, isolating the measuring component 12 from the underwater obstacle, avoiding direct collisions and scraping of the protruding measuring component 12 with underwater hard objects, silt uplifts, and reef obstacles, effectively preventing damage to the outer shell of the measuring component 12 and cracking of the internal chip, avoiding system measurement errors caused by hardware damage and collisions, and ensuring the operational stability and measurement accuracy of the measuring component 12. After the underwater measurement operation in the hydropower station water area is completed, all motors and propellers 11 are turned off, the equipment operation is stopped, and the unmanned vessel body 1 on the water is recovered as a whole, completing this underwater measurement work.

[0028] Furthermore, by setting a V-shaped plate 2 protective structure with inclined multi-layer rotating rod 21 and reverse spiral rubber spiral blade 22 at the bow of the unmanned vessel, and cooperating with the conveyor belt 3 and the deflector plate 33 driven by the second motor on both sides, the layered interception and lateral stripping of floating debris at different water depths and positions in the hydropower station water area are realized. This effectively solves the problem of floating debris wrapping around the measurement component 12, blocking sound wave transmission, and causing blank measurement data in traditional unmanned vessel measurement operations. At the same time, it avoids the failure of debris entanglement in the propeller 11, increasing navigation resistance and causing course deviation, thereby improving the navigation stability of the unmanned vessel and the integrity of underwater measurement data.

[0029] Meanwhile, by using a rubber-material reverse spiral plate 22 in conjunction with an inclined V-shaped plate 2 structure, the unmanned vessel can achieve flexible buffering and autonomous guidance when encountering obstacles such as underwater shoals, silt uplifts, and hidden reefs, thus reducing the impact of hull collisions. At the same time, relying on the combined protective structure of the bottom connecting plate 4, cylinder 41, and bottom rotating roller 42, the bottom protruding measuring component 12 is provided with all-round isolation protection, preventing the measuring component 12 from being directly damaged by underwater hard objects. This effectively avoids system measurement errors caused by hardware damage and collisions, reducing equipment failure rate and maintenance costs.

[0030] As an embodiment of the present invention, each of the dial plates 33 is slidably installed with a lever 34; the bottom of the lever 34 extends to the bottom of the dial plate 33; and a moving block 35 is fixed above the lever 34.

[0031] In this embodiment, two parallel trapezoidal plates 36 are provided above the two conveyor belts 3, and the trapezoidal plates 36 are regular trapezoids and parallel to the conveyor belts 3; the two parallel trapezoidal plates 36 are located on the side close to the unmanned vessel body 1; a connecting block 37 is fixed on the side of the two parallel trapezoidal plates 36 close to the V-shaped plate 2, and the connecting block 37 is fixed on the V-shaped plate 2; the openings of the two parallel trapezoidal plates 36 facing the V-shaped plate 2 away from the unmanned vessel body 1 have rounded corners and correspond to the passing moving blocks 35.

[0032] During the underwater measurement operations and continuous operation of the protective components of the unmanned vessel at the hydropower station, when garbage and debris in the water are guided and pushed to the positions of the conveyor belts 3 on both sides by the V-shaped plate 2, or when the garbage and debris are diverted and pushed to the positions of the V-shaped plate 2 by the continuously rotating spiral blades 22, the conveyor belt 3 will continuously drive the outer deflector plate 33 to rotate in a cycle. At the same time as the deflector plate 33 rotates, it can simultaneously drive the deflector rod 34, which is slidably assembled inside, to rotate in a circumferential direction. Through the extension structure of the deflector rod 34 and the working together of the deflector plate 33, the overall debris diversion operation range of the conveyor belt 3 is effectively increased. When some garbage or debris that has settled lightly and is located in a low position is diverted and pushed to the area below the conveyor belt 3, the extended deflector rod 34 can effectively contact and push this part of the low-lying debris to the sides of the hull, further improving the cleaning coverage of debris along the route.

[0033] Specifically, during the entire circumferential rotation of the lever 34 following the lever plate 33, the movable block 35 fixed at the upper end of the lever 34 will perform a cyclical motion synchronously with the lever 34; when the movable block 35 moves with the lever plate 33 to the position of the two parallel trapezoidal plates 36, the movable block 35 will slide along the trajectory between the two trapezoidal plates 36; since the trapezoidal plates 36 adopt a regular trapezoidal structure and the two trapezoidal plates 36 are parallel to each other and located close to the side of the unmanned vessel body 1 The trapezoidal plate 36 is fixed to the V-shaped plate 2 on the side near the V-shaped plate 2 by the connecting block 37. The trapezoidal plate 36 on the side facing the V-shaped plate 2 away from the unmanned vessel body 1 adopts an open rounded corner design, which can form a smooth sliding fit with the moving block 35. During the process of the moving block 35 moving along the surface of the trapezoidal plate 36, due to the restriction of the slope structure of the trapezoidal plate 36, the moving block 35 will gradually move upward with the plate trajectory, and simultaneously drive the lever 34 to slide and retract upward inside the lever plate 33.

[0034] More specifically, when the moving block 35 slides to the highest point of the two parallel trapezoidal plates 36, the bottom of the lever 34 can fully retract and extend into the interior of the lever plate 33. At this time, the garbage and debris that were originally resisted and pushed by the lever 34 loses the support and limit of the lever 34 and can automatically detach from the lever 34 structure. At this time, the garbage and debris that have been diverted and moved have been pushed to the outer areas on both sides of the V-shaped plate 2, leaving the unmanned vessel's navigation path. As the lever plate 33 continues to rotate, the moving block 35 will gradually slide down and reset along the slope of the trapezoidal plate 36, simultaneously driving the lever 34 to slide down and extend inside the lever plate 33, so that the lever 34 gradually returns to its initial extended working state. Finally, the moving block 35 leaves the limit range of the trapezoidal plate 36, completing a complete telescopic cycle, and continues to work in a reciprocating cycle.

[0035] Furthermore, the automatic telescopic circulation structure formed by the lever 34 in conjunction with the moving block 35 and the trapezoidal plate 36 enables the garbage and debris cleaned by each lever to automatically detach from the lever 34 after moving to the outside of the navigation path, effectively preventing debris from continuously attaching to or getting stuck on the surface of the lever 34. This prevents debris from failing to detach, causing the lever 34 to continuously rotate with the conveyor belt 3, and avoids attached debris from repeatedly entering the unmanned vessel's navigation path with the lever 34. It also prevents debris from entangled in the hull, measuring components 12, and propulsion structure, ensuring the continuity and stability of the debris cleaning operation.

[0036] As an embodiment of the present invention; drive belts 43 are respectively provided on both sides of the cylinder 41, and the two drive belts 43 rotate on the rotating rollers 42 on both sides of the cylinder 41; the rotating rollers 42 are driven by a third motor, and the third motor is installed in the inner wall of the connecting plate 4; the drive belts 43 rotate in the connecting plate 4; arc-shaped grooves 44 are opened at the positions where the drive belts 43 pass through the connecting plate 4, and the drive belts 43 pass through the arc-shaped grooves 44; drive blocks 45 are evenly arranged on the outer ring surface of the drive belts 43.

[0037] In this embodiment, each drive block 45 is slidably installed with a push rod 46, and the push rods 46 extend toward one side of the cylinder 41; the two drive belts 43 are respectively provided with slide rails 47 on the bottom of the connecting plate 4 on opposite sides, and both sides of the slide rails 47 are connected to the arc grooves 44; the slide rail 47 on the left side of the cylinder 41 is trapezoidal, and the slide rails 47 on both sides of the cylinder 41 are parallel to each other with the conveyor belt 3; each push rod 46 is fixed with a guide rod 48 on the side facing the slide rail 47, and the guide rod 48 is a spring telescopic rod that slides in the slide rail 47.

[0038] In this embodiment, the cylinder 41 rotates on the connecting plate 4; the bottom of the cylinder 41 is equipped with evenly arranged guardrails 5; and each guardrail 5 is rotatably equipped with a diagonal bar 51 at its bottom.

[0039] The other side of the inclined rod 51 slides inside the slide cylinder 52; the top of the slide cylinder 52 rotates on the rotating ring 53, and the cross-section of the rotating ring 53 is semi-circular, and it rotates at the bottom of the connecting plate 4; the push rod 46 inside the drive block 45 on one of the drive belts 43 exceeds the slide rail 47, and when the push rod 46 passes by the side of the cylinder 41, it will intersect with the slide cylinder 52 and push the slide cylinder 52 to drive the rotating ring 53 and the cylinder 41 to rotate; the two adjacent guardrails 5 are connected by the arc plate 54.

[0040] During underwater measurement operations at a hydroelectric power station, the unmanned vessel 1 has drive belts 43 installed on both sides of the cylinder 41. These drive belts 43 rotate on the surfaces of rollers 42 on both sides of the cylinder 41. During operation, a third motor is continuously controlled to drive the rollers 42, which in turn causes the drive belts 43 on both sides of the cylinder 41 to rotate counter-clockwise. When the unmanned vessel 1 passes underwater obstacles, it is guided and protected by the V-shaped plate 2 at the front end, multiple sets of rotating rods 21, and spiral blades 22, allowing it to smoothly pass over the obstacles. The unmanned vessel 1 can cross obstacles; during the process of crossing obstacles, the rotating drive belt 43 will make contact with the surface of the obstacle and rotate along the surface of the obstacle; when the unmanned vessel body 1 is guided above the obstacle and the stern thruster 11 leaves the water and cannot continuously provide forward power, the continuously working third motor can drive the drive belt 43 and drive block 45 to keep rotating in a cycle. Relying on the contact friction between the drive belt 43 and the surface of the obstacle, the unmanned vessel body 1 will continue to move forward until the unmanned vessel body 1 completely leaves the obstacle area, ensuring the continuity of the navigation process.

[0041] Specifically, each drive block 45 has a push rod 46 slidably mounted inside, the push rod 46 extending towards the side of the cylinder 41, and a guide rod 48 fixedly installed on the side of the push rod 46 facing the slide rail 47; slide rails 47 are respectively opened on the opposite side of the two drive belts 43 at the bottom of the connecting plate 4, and the two sides of the slide rails 47 are respectively connected to the arc grooves 44. The slide rail 47 on the left side of the cylinder 41 is set as a trapezoidal structure, and the slide rails 47 on both sides of the cylinder 41 are arranged correspondingly and remain parallel to each other with the conveyor belt 3; during the continuous cyclic rotation of the drive belt 43, when the drive belt 43 drives the drive block 45 and the push rod 46 to rotate and move from the arc groove 44 to the position below the connecting plate 4, The guide rod 48 at the end of the push rod 46 will enter the interior of the slide 47 simultaneously and slide smoothly along the track of the slide 47. Since the slide 47 on the left side of the cylinder 41 is a trapezoidal structure, the guide rod 48 will be limited and guided by the structure of the slide 47 during the sliding process, gradually pulling the push rod 46 outward from the inside of the drive block 45, so that the push rod 46 moves laterally along the bottom of the connecting plate 4. The extended and sliding push rod 46 can form an isolation and protection for the bottom of the connecting plate 4, avoiding direct contact and friction between the bottom surface of the connecting plate 4 and underwater obstacles. At the same time, it can push and clean up the garbage and debris that are accidentally attached and accumulated at the bottom of the connecting plate 4, and prevent the debris from being attached and accumulated for a long time.

[0042] More specifically, since the cylinder 41 is rotatably mounted on the connecting plate 4, and the bottom of the cylinder 41 is fixedly equipped with evenly distributed guardrails 5; during the unmanned vessel's navigation operation, some residual garbage and debris that have not been completely cleaned and diverted by the front spiral blades 22 and the deflector 33 will move with the water flow to the position below the cylinder 41. At this time, the evenly distributed guardrails 5 at the bottom of the cylinder 41 can effectively intercept this part of the missed debris, preventing the debris from passing directly under the cylinder 41, thereby temporarily blocking the measuring component 12 inside the cylinder 41. At the same time, it can prevent this part of the garbage or debris from directly entering the cylinder 41 and causing long-term obstruction to the measuring component 12 inside the cylinder 41; the bottom of each guardrail 5 is rotatably mounted with a diagonal bar 51, the other end of the diagonal bar 51 is slidably mounted inside the slide cylinder 52, and the top of the slide cylinder 52 is rotatably mounted on the rotating ring 53; and since one of the drive belts 43 drives... The push rod 46 inside block 45 extends beyond the slide rail 47, and when the push rod 46 passes the side of cylinder 41, it intersects with the slide cylinder 52. When the push rod 46 passes the side of cylinder 41, the extended push rod 46 will contact and squeeze the structure of slide cylinder 52, thereby pushing slide cylinder 52 to rotate. The rotating slide cylinder 52 can synchronously drive the rotating ring 53, the inclined rod 51, the barrier 5, and the cylinder 41 to rotate as a whole. During the overall rotation of cylinder 41 and barrier 5, the barrier 5 can drive the intercepted garbage and debris to rotate synchronously, so that the debris gradually rotates and moves to the stern of the unmanned vessel body 1. When the debris rotates to the stern area of ​​the hull, the barrier 5 no longer pushes and limits the debris. The unmanned vessel body 1 maintains a forward-moving state. The water flow resistance can automatically separate the trapped debris from the barrier 5, preventing the debris from being attached to and stuck on the surface of the barrier 5 for a long time and continuously moving with the hull, and preventing the debris from repeatedly tangling and accumulating.

[0043] Furthermore, when the unmanned vessel 1 crosses an underwater obstacle and the bottom of the cylinder 41 contacts the obstacle, the cylinder 41 will cause the diagonal bar 51 and the sliding cylinder 52 at the bottom of the rotating barrier 5 to preferentially contact the surface of the obstacle. Under the blocking and limiting effect of the obstacle, the diagonal bar 51 and the sliding cylinder 52 will undergo adaptive rotation, and at the same time, they can push the corresponding barrier 5 to slide upward and retract along the inner side of the cylinder 41 until the diagonal bar 51 and the sliding cylinder 52 rotate and adjust to a horizontal state. When the diagonal bar 51 and the sliding cylinder 52 switch to a horizontal state, the barrier... The lowest point of 5 will be higher than the lowest point of the drive belt 43, so that the guardrail 5, the diagonal bar 51 and the slide cylinder 52 will no longer protrude and form an obstacle, ensuring that the connecting plate 4 and the cylinder 41 can smoothly cross the obstacle; at the same time, during the upward retraction of a single guardrail 5, the adjacent arc plates 54 can drive all other guardrails 5 to move upward in a synchronous manner, so as to realize the overall synchronous storage of multiple sets of guardrails 5, avoiding individual guardrails 5 protruding alone and interfering with the hull's obstacle crossing, and ensuring the stability and smoothness of the unmanned ship crossing the obstacle.

[0044] Furthermore, the barrier bar 5 structure at the bottom of the cylinder 41 can provide secondary interception and protection against small debris missed by the front-end protective structure, reducing the possibility of debris entering the cylinder 41 and interfering with the operation of the measuring component 12, thus helping to ensure the integrity and effectiveness of underwater measurement data. At the same time, relying on the linkage rotation of the push rod 46, the slide cylinder 52, and the rotating ring 53, the cylinder 41 can be controlled to rotate, thereby enabling the automatic detachment and release of the intercepted debris. This prevents debris from being attached to or remaining on the surface of the barrier bar 5 for a long time and moving continuously with the hull, preventing debris from repeatedly entangled and accumulating. It also prevents small debris from passing directly under the cylinder 41, thus temporarily blocking the measuring component 12 inside the cylinder 41. In addition, it can prevent this part of the garbage or debris from directly entering the cylinder 41 and causing long-term obstruction to the measuring component 12 inside the cylinder 41.

[0045] As an embodiment of the present invention; the two thrusters 11 pass through the upright plate and are located above the connecting plate 4; the top of the cylinder 41 is attached to the bottom of the unmanned vessel body 1; mesh plates are installed on both sides of the connecting plate 4, and the top of the mesh plates is installed on the side of the unmanned vessel body 1; mesh plates are also installed on the side of the connecting plate 4 facing the V-shaped plate 2.

[0046] Since the two thrusters 11 are installed through the vertical plate and positioned above the connecting plate 4, and the top of the cylinder 41 is in close contact with the bottom of the unmanned vessel body 1, the measurement component 12 is positioned inside the cylinder 41. During the navigation and measurement operation of the unmanned vessel body 1, the thrusters 11 continuously operate and pump water. Water bubbles generated by water disturbance during operation, as well as debris carried during pumping, are blocked in the area above the connecting plate 4. Bubbles and debris will not pass through the periphery and bottom detection area of ​​the measurement component 12. Through this partitioned layout structure, bubbles and debris generated by the operation of the thrusters 11 can be effectively avoided from flowing through the detection area of ​​the measurement component 12, thus avoiding adverse working conditions such as bubbles blocking sound wave propagation and debris adhering to the measurement probe.

[0047] Specifically, since mesh plates are fixedly installed on both sides of the connecting plate 4 and on the side of the connecting plate 4 facing the V-shaped plate 2, and the top of the mesh plate is fixedly mounted on the side of the unmanned vessel body 1, an all-round lateral filtration and protection structure is formed. During the continuous pumping operation of the thruster 11, the water in the operating area mainly flows into the working area of ​​the thruster 11 from the side of the connecting plate 4. The water flow will pass through the mesh plate structure before entering the thruster 11. The mesh plate can intercept and filter large debris carried in the water flow, blocking large pieces of water plants, branches, floating garbage and other debris from entering the internal operating area of ​​the thruster 11, avoiding large debris from being rolled into the internal structure of the thruster 11, effectively preventing the thruster 11 from jamming, bumping, damaging and other malfunctions, and ensuring the continuous and stable operation of the thruster 11.

[0048] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the convenience of describing the present invention and simplifying the description only, and are not intended to 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 scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be construed as indicating or implying relative importance.

[0049] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater measurement device for hydropower stations based on unmanned vessels, comprising an unmanned vessel body (1), and two thrusters (11) are installed at the tail of the unmanned vessel body (1); an installation slot is provided in the middle of the unmanned vessel body (1); The mounting slot is equipped with a measuring component (12); Its features are, A protective component is installed at the bow of the unmanned vessel body (1); the protective component includes a V-shaped plate (2), and the opening of the V-shaped plate (2) is fixed to the bow of the unmanned vessel body (1); the bottom of the V-shaped plate (2) is an upward inclined surface; The V-shaped plate (2) is provided with evenly arranged rotating rods (21), and the rotating rods (21) are driven by a first motor; Multiple rotating rods (21) are distributed at an angle from bottom to top; each rotating rod (21) is divided by a middle section, and spiral blades (22) are provided on both sides of the dividing line, with the spiral blades (22) spiraling in opposite directions; The V-shaped plate (2) is provided with conveyor belts (3) on both sides, and the conveyor belts (3) rotate on two inverted T-shaped rods (31); the top of the two inverted T-shaped rods (31) is rotatably mounted with mounting blocks (32), and the mounting blocks (32) are fixed on the V-shaped plate (2); one of the inverted T-shaped rods (31) is driven by a second motor; the outer ring of the conveyor belt (3) is fixed with evenly arranged baffles (33); The unmanned vessel body (1) is provided with a connecting plate (4) at the bottom, and the side of the connecting plate (4) close to the V-shaped plate (2) is fixed to the V-shaped plate (2), while the other side is fixed to the bottom of the unmanned vessel body (1) by a vertical plate. A cylinder (41) is installed in the middle of the connecting plate (4), and the bottom of the cylinder (41) is flush with the bottom of the connecting plate (4), and the measuring component (12) extends into the cylinder (41); a uniformly arranged rotating roller (42) is rotatably installed on both sides of the cylinder (41).

2. The underwater measurement device for hydropower stations based on unmanned vessels according to claim 1, characterized in that: Each of the dial plates (33) is slidably fitted with a lever (34); The bottom of the lever (34) extends to the bottom of the lever plate (33); a moving block (35) is fixed above the lever (34).

3. The underwater measurement device for hydropower stations based on unmanned vessels according to claim 2, characterized in that: Two parallel trapezoidal plates (36) are provided above the two conveyor belts (3), and the trapezoidal plates (36) are regular trapezoids and are parallel to the conveyor belts (3); Two parallel trapezoidal plates (36) are arranged on one side close to the unmanned vessel body (1); Two parallel trapezoidal plates (36) are fixed with connecting blocks (37) on the side near the V-shaped plate (2), and the connecting blocks (37) are fixed on the V-shaped plate (2); The two parallel trapezoidal plates (36) have rounded corners on the side of the V-shaped plate (2) away from the unmanned vessel body (1) and correspond to the moving block (35) that passes by.

4. The underwater measurement device for hydropower stations based on unmanned vessels according to claim 1, characterized in that: The cylinder (41) is provided with drive belts (43) on both sides, and the two drive belts (43) rotate on the rollers (42) on both sides of the cylinder (41); The rotating roller (42) is driven by a third motor, and the third motor is installed in the inner wall of the connecting plate (4); the driving belt (43) rotates in the connecting plate (4); the driving belt (43) has arc-shaped grooves (44) on both sides of the connecting plate (4) at the positions where it passes through the connecting plate (4), and the driving belt (43) passes through the arc-shaped grooves (44); The drive belt (43) has drive blocks (45) evenly arranged on its outer ring surface.

5. The underwater measurement device for hydropower stations based on unmanned vessels according to claim 4, characterized in that: Each of the drive blocks (45) is slidably fitted with a push rod (46), and the push rods (46) all extend toward the side of the cylinder (41); On opposite sides of the two drive belts (43), slides (47) are respectively provided at the bottom of the connecting plate (4), and both sides of the slides (47) are connected to the arc groove (44); The slide (47) on the left side of the cylinder (41) is trapezoidal, and the slides (47) on both sides of the cylinder (41) are parallel to the conveyor belt (3); each push rod (46) has a guide rod (48) fixed on the side facing the slide (47) and slides in the slide (47).

6. The underwater measurement device for hydropower stations based on unmanned vessels according to claim 5, characterized in that: The cylinder (41) rotates on the connecting plate (4); The bottom of the cylinder (41) is equipped with evenly arranged guardrails (5).

7. The underwater measurement device for hydropower stations based on unmanned vessels according to claim 6, characterized in that: Each of the aforementioned railings (5) has a diagonal bar (51) rotatably mounted at its bottom; The other side of the inclined rod (51) slides inside the slide cylinder (52); the top of the slide cylinder (52) rotates on the rotating ring (53), and the cross-section of the rotating ring (53) is semi-circular, and it rotates at the bottom of the connecting plate (4); One of the drive blocks (45) on the drive belt (43) has a push rod (46) inside that extends beyond the slide rail (47), and when the push rod (46) passes by the side of the cylinder (41), it will intersect with the slide cylinder (52) and push the slide cylinder (52) to drive the rotating ring (53) and the cylinder (41) to rotate.

8. The underwater measurement device for hydropower stations based on unmanned vessels according to claim 7, characterized in that: The adjacent guardrails (5) are connected by an arc plate (54).

9. The underwater measurement device for hydropower stations based on unmanned vessels according to claim 8, characterized in that: The two thrusters (11) pass through the vertical plate and are located above the connecting plate (4); The top of the cylinder (41) is attached to the bottom of the unmanned vessel body (1); mesh plates are installed on both sides of the connecting plate (4), and the top of the mesh plates is installed on the side of the unmanned vessel body (1); The connecting plate (4) is also fitted with a mesh plate on the side facing the V-shaped plate (2).

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