Hydraulic engineering surveying device and surveying method

Abstract

The application discloses a water conservancy engineering surveying and mapping device and a surveying and mapping method, and particularly relates to the technical field of water conservancy engineering surveying and mapping, and comprises a mobile ship body, a detection mechanism is arranged on the outer side of the mobile ship body, a balancing mechanism is arranged between the mobile ship body and the detection mechanism, an installation cross frame is fixedly installed at the front part of the mobile ship body, and a surveying and mapping instrument is fixedly installed on the installation cross frame; the detection mechanism comprises a bottom detection assembly, a longitudinal connecting assembly is arranged at the top end of the bottom detection assembly, an installation support frame is fixedly installed at the top end of the balancing mechanism, and a driving assembly is fixedly installed in the installation support frame; the bottom detection assembly comprises a depth measuring longitudinal cylinder, a cylinder side seal is movably arranged on the outer side of the depth measuring longitudinal cylinder, the water conservancy engineering surveying and mapping device is provided with the detection mechanism, thick sediment is detected under the depth measuring longitudinal cylinder at the same time, the sediment is synchronously introduced into the lumen to complete sampling, the spatial position of a surveying point and a sampling point is completely consistent, and the positional deviation caused by the traditional method of sampling after surveying is avoided.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering surveying technology, specifically to a water conservancy engineering surveying device and surveying method. Background Technology

[0002] In water conservancy engineering surveys and river management, the thickness distribution of bottom sediments (silt) is crucial basic data for determining the dredging scope, calculating dredging volume, and assessing reservoir capacity and river flood discharge capacity. Simultaneously, the analysis of the physical properties and chemical composition of sediments also relies on in-situ sample collection. Therefore, sediment thickness measurement and sampling are two core foundational tasks in water conservancy engineering surveying. Currently, commonly used sediment thickness measurement methods in water conservancy engineering mainly include the sounding rod method, echo sounding method, and gravity sampling thickness measurement method. However, existing sediment thickness measurement and sampling operations are mostly separate in terms of operation process: first, the thickness is measured using a depth sounding device or measuring rod, and then a sampler is used to take a sample near the same measuring point. Due to the unevenness of the underwater topography and positioning errors, it is difficult to ensure that the measuring point and the sampling point completely coincide in the two operations, resulting in a blurred spatial correspondence between the thickness data and the sample source, which reduces the mapping quality. To address this issue, we propose a hydraulic engineering mapping device and mapping method to solve the above problems. Summary of the Invention

[0003] The purpose of this invention is to provide a water conservancy engineering surveying device and surveying method to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a water conservancy engineering surveying device, comprising a mobile hull, a detection mechanism provided on the outer side of the mobile hull, a balancing mechanism provided between the mobile hull and the detection mechanism, and a mounting crossbeam fixedly installed at the front of the mobile hull, on which a surveying instrument is fixedly installed; The detection mechanism includes a bottom measuring component, a longitudinal connecting component at the top of the bottom measuring component, and a mounting frame fixedly installed at the top of the balancing mechanism, with a driving component fixedly installed in the mounting frame. The bottom measuring assembly includes a sounding longitudinal cylinder. A side seal is movably provided on the outer side of the sounding longitudinal cylinder. A bottom drill pipe is fixedly fitted onto the bottom of the sounding longitudinal cylinder. A limiting ring is movably fitted on the outer side of the sounding longitudinal cylinder. An external support rod is fixedly installed on the outer side of the limiting ring. A longitudinal protrusion is integrally formed on the side of the sounding longitudinal cylinder away from the side seal. The longitudinal protrusion is movably engaged inside the limiting ring. A positioning element is provided on the inner side of the limiting ring near the longitudinal protrusion. Vertically evenly distributed... The depth measuring cylinder has multiple positioning grooves. The bottom end of the depth measuring cylinder is fixedly fitted with multiple pressure measuring components arranged in a ring array. An end sealing plate is movably fitted on the inner bottom of the depth measuring cylinder. A rotating horizontal shaft is provided in the middle of the end sealing plate. The rotating horizontal shaft is rotatably installed at the bottom of the depth measuring cylinder. Arc-shaped sealing strips are provided on both sides of the end sealing plate. The arc-shaped sealing strips are fixedly installed on the inner bottom of the depth measuring cylinder. The two arc-shaped sealing strips are not in the same horizontal position. Sealing strips are fixedly installed on the opposite sides of the two arc-shaped sealing strips.

[0005] As a preferred embodiment of the present invention, both ends of the rotating horizontal shaft are provided with a first gear, and the outer side of the first gear is meshed with a first rack. The first rack is longitudinally slidably engaged inside the depth measuring cylinder. The top end of the first rack is provided with an electric telescopic rod, which is fixedly installed inside the depth measuring cylinder. An inner groove is formed in the middle of the top end of the first rack, and the telescopic end of the electric telescopic rod is fixedly installed on the lower inner wall of the inner groove.

[0006] As a preferred embodiment of the present invention, the positioning component includes two mounting side cylinders, which are fixedly installed inside the limiting ring sleeve. A rotating column is movably engaged between the two mounting side cylinders. The bottom of the rotating column is integrally formed with a positioning oblique protrusion, which is rotatably engaged inside the limiting ring sleeve. The end of the positioning oblique protrusion is movably engaged in a corresponding positioning groove. The upper surface of the positioning oblique protrusion contacts the limiting ring sleeve, while the bottom end of the positioning oblique protrusion does not contact the limiting ring sleeve. A rotating horizontal shaft is fixedly installed at the shaft end of the rotating column. The rotating horizontal shaft is rotatably installed in the two mounting side cylinders. A torsion spring is installed between the outer side of the rotating horizontal shaft and the inner wall of the corresponding mounting side cylinder.

[0007] As a preferred embodiment of the present invention, the pressure measuring component includes a pressure measuring outer frame, which is fixedly mounted on the bottom end of the depth measuring cylinder. A bottom contact rod is movably mounted on the bottom of the pressure measuring outer frame, and a top pressure rod is fixedly mounted on the top of the bottom contact rod. A pressure sensor is fixedly mounted on the top of the inner side of the pressure measuring outer frame. The top of the top pressure rod contacts the contact end of the pressure sensor, and a compression spring is movably sleeved on the outer side of the top pressure rod. Each of the depth sounding cylinders has a guide wire compartment at the bottom near the pressure measuring component. Multiple guide wire compartments are connected by a ring compartment, which is located above the electric telescopic rod. One of the guide wire compartments extends to the top of the inner side of the depth sounding cylinder.

[0008] As a preferred embodiment of the present invention, a plurality of mounting bases arranged in a ring array are fixedly installed on the outer side of the limiting ring sleeve, a mounting rod is vertically installed on the mounting base, a mounting bracket is vertically installed at the top of the mounting rod, and a camera module is fixedly installed at the end of the mounting bracket. The inner side of the limiting ring is fitted with multiple balls arranged in a ring array, and the balls are in contact with the outer wall of the depth measuring cylinder.

[0009] As a preferred embodiment of the present invention, an inner groove is provided on the side of the sounding longitudinal cylinder near the cylinder side seal. One end of the cylinder side seal near the sounding longitudinal cylinder is movably fitted in the inner groove. A sealing gasket is movably fitted in the inner groove. The sealing gasket is in contact with the side of the cylinder side seal near the sounding longitudinal cylinder. A plurality of vertically evenly distributed fixing screws are movably fitted on the side of the cylinder side seal near the sealing gasket. The ends of the fixing screws pass through the corresponding sealing gaskets and are threaded onto the sounding longitudinal cylinder.

[0010] As a preferred embodiment of the present invention, the longitudinal connecting assembly includes a plurality of vertically distributed longitudinal connecting tubes. A connecting clamp tube is integrally formed at the bottom of the longitudinal connecting tube. A wire longitudinal groove is formed inside the longitudinal connecting tube. The position of the wire longitudinal groove corresponds vertically to the position of the wire longitudinal compartment. A second toothed rack is integrally formed on the outer side of the longitudinal connecting tube. A connecting wire is provided in the wire longitudinal groove. The connecting clamp tube on the top position of the longitudinal connecting tube is movably engaged with the top position of the longitudinal connecting tube at the bottom position. A fixing bolt is threaded between the connecting clamp tube and the top of the corresponding longitudinal connecting tube. The connecting wires in adjacent longitudinal connecting tubes are electrically connected with a sealing end. The connection method between the longitudinal connecting pipe at the bottom and the depth measuring longitudinal cylinder is the same as the connection method between the adjacent longitudinal connecting pipes.

[0011] In a preferred embodiment of the present invention, the drive assembly includes a drive sleeve frame, which is fixedly mounted on the mounting support frame and movably fitted onto the outside of the longitudinal connecting pipe. A second gear is rotatably mounted inside the drive sleeve frame, and the second gear meshes with a second rack. A drive horizontal shaft is fixedly mounted in the middle of the second gear and rotatably mounted on the drive sleeve frame. A worm gear motor is fixedly mounted on the outside of the drive sleeve frame, and the drive end of the worm gear motor and the shaft end of the drive horizontal shaft are fixedly mounted.

[0012] As a preferred embodiment of the present invention, the balancing mechanism includes a mounting support, which is fixedly mounted on the outside of the moving hull. A bottom ring seat is fixedly mounted on the mounting support, and a top ring seat is provided above the bottom ring seat. The detection mechanism moves through the bottom ring seat and the top ring seat. The mounting frame is fixedly mounted on the top of the top ring seat. A plurality of first universal joints are fixedly mounted on the top of the bottom ring seat, and a plurality of second universal joints are fixedly mounted on the bottom of the top ring seat, corresponding to the first universal joints. A telescopic cylinder is fixedly mounted between the first universal joints and the second universal joints.

[0013] A surveying method for a water conservancy engineering surveying device includes the following steps: Step 1: Move the vessel to the preset measurement point on the water surface. During the journey, the surveying instrument will continuously and automatically map the terrain on both sides of the river and the surrounding area to obtain river topographic data. At the same time, the operator receives the monitoring data of the pressure sensor in the pressure measuring component in real time through the connecting wires inside the longitudinal connecting component and the electrical wiring inside the bottom measuring component, and remotely controls the opening and closing status of the electric telescopic rod. The worm gear motor in the drive component is in standby mode, and the second gear and the second rack are engaged and locked to keep the detection mechanism at the transport height. Step 2: After arriving at the preset measuring point, start the worm gear motor to drive the second gear to rotate, control the second rack and the corresponding longitudinal connecting pipe to descend automatically, drive the entire detection mechanism to feed vertically downward, and the detection mechanism passes through the top ring seat and bottom ring seat in sequence, gradually approaching the water surface; During this process, the balancing mechanism works continuously. When the moving hull rolls or pitches on the water, the control system controls the telescopic cylinders to perform differential telescopic extension and retraction based on the attitude sensor signals (for example, when the hull tilts to the left, the left telescopic cylinder extends and the right cylinder retracts. Through the multi-degree-of-freedom hinge transmission of the first and second universal joints, the top ring seat is kept in a horizontal state at all times). The mounting frame at the top of the top ring seat is kept horizontal accordingly, thereby ensuring that the longitudinal connection assembly and the bottom measurement assembly always maintain a vertical attitude, providing a vertical reference for subsequent thickness measurement and sampling. Step 3: The detection mechanism continues to descend while maintaining a vertical position. The bottom measuring component first contacts the surface of the sediment at the bottom of the water, and the bottom end of the outer support rod first contacts the surface of the sediment. The limiting ring stops descending after contacting the surface of the sediment, while the sounding cylinder continues to descend into the sediment under the drive of the longitudinal connecting component. During this process, the sounding tube and the limiting ring slide relative to each other. The surface of the sounding tube is marked with a scale, and the scale that the limiting ring points to is the depth to which the sounding tube is inserted into the sediment. When the depth sounding cylinder descends, the positioning convex slid into the corresponding positioning groove in sequence. Under the action of the torsion spring, it automatically resets and locks into the next groove. Under the action of the upper limit of the positioning convex slid, the limiting ring is limited to slide downward. The limiting ring can slide upward on the depth sounding cylinder (corresponding to the depth sounding cylinder descending), but it cannot slide downward to reset on its own. This ensures that the limiting ring can still accurately stay at the final scale position after the depth sounding cylinder stops descending. As the bottom measuring component continues to descend, an appropriate number of longitudinal connecting pipes can be installed according to the descent depth of the bottom measuring component. Step 4: The depth measuring cylinder continues to descend. Before touching the bottom, the bottom contact rod is in its maximum downward extension position under the elastic force of the compression spring. The bottom contact rod gently presses against the contact end of the pressure sensor through the top pressure rod. The pressure sensor outputs a stable and small initial pressure value (generated by the spring preload). The control system records this value as a reference. Until its bottom reaches the hard bottom layer, the bottom contact rod contacts the hard riverbed or hard sediment layer and receives an upward reaction force. This reaction force overcomes the elastic force of the compression spring and pushes the bottom contact rod and the top pressure rod to slide upward together, so that the top pressure rod presses against the pressure sensor with greater pressure. The pressure value sensed by the pressure sensor jumps from the initial value to a significantly high value instantly. The judgment logic of the control system is: when the detection value of the pressure sensor exceeds the preset threshold and the rate of change exceeds the set value, it is determined that the device has reached the hard bottom layer. Upon receiving the bottoming signal, the control system immediately stops the worm gear motor from rotating and the depth measuring cylinder stops descending. Simultaneously initiate the sampling and sealing procedure: During the entire process of the sounding tube descending, the underwater sediment gradually enters the sounding tube through the bottom of the sounding tube, completing the sampling operation. When the sampling and sealing procedure is started, the control system controls the electric telescopic rod installed inside the sounding tube to retract, which drives the first rack on both sides to move upward synchronously, drives the first gear to rotate, and drives the horizontal shaft to rotate, thereby rotating the end sealing plate from a vertical state to a horizontal state. The end sealing plate and the sealing strips of the two arc-shaped seals fit tightly together, forming a complete seal on the bottom of the sounding tube to prevent sample leakage. During the entire process of the sounding tube descending, multiple camera modules work simultaneously to capture real-time images of the underwater sediment bedding structure, bottom sediment type, and surrounding environment. Step 5: After the bottoming-out determination is completed and the end sealing plate is in place, the control system controls the worm gear motor to reverse, and through the meshing transmission of the second gear and the second rack, drives the longitudinal connecting assembly and the bottom measuring assembly to be lifted and retracted as a whole. During the recovery process, due to the one-way limiting effect of the positioning component, the limiting ring remains at the scale indicated by the final position of the depth sounding tube, and will not slide due to the vibration of the recovery. The operator can clearly and accurately read the scale value, which is the precise thickness of the sediment at the bottom of the water. After the sounding tube and side seal are retrieved to the water surface, the side seal can be removed from the sounding tube by unscrewing the fixing screws. The inside of the sounding tube is now open, and the operator can take out sediment samples for subsequent laboratory analysis.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This water conservancy engineering surveying device, by setting up a detection mechanism, simultaneously measures the thickness of the sediment at the bottom of the vertical tube while the sediment enters the cavity to complete the sampling. The spatial positions of the measuring point and the sampling point are completely consistent, avoiding the positional deviation caused by the traditional method of measuring first and then taking samples.

[0015] 2. After the water conservancy engineering surveying device detects bottom contact, the electric telescopic rod drives the first rack to move upward, and through the first gear transmission, the end sealing plate rotates to the horizontal, which fits with the arc-shaped sealing strip and sealing strip to form a bottom seal, preventing sample leakage during the recovery process.

[0016] 3. In this water conservancy engineering surveying device, the longitudinal connecting pipes are quickly spliced ​​together by connecting pipe clamps and fixing bolts. The number of pipe sections can be increased or decreased according to the water depth to adapt to the operation needs of different water areas.

[0017] 4. In the hydraulic engineering surveying device, the longitudinal and annular conductor compartments and the longitudinal conductor groove form a closed cable channel, which centrally leads the electrical wiring of the pressure sensor and the electric telescopic rod to the water surface control system, avoiding cable entanglement or compression. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the detection mechanism in this invention.

[0021] Figure 3 This is a schematic diagram of the bottom measuring component in this invention.

[0022] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle.

[0023] Figure 5 This is a schematic diagram of the positioning component in this invention.

[0024] Figure 6This is a partial structural connection diagram of the bottom measuring component in this invention.

[0025] Figure 7 For the present invention Figure 6 Enlarged view of point B in the middle.

[0026] Figure 8 For the present invention Figure 7 Enlarged view of point C in the middle.

[0027] Figure 9 This is a schematic diagram of the structural connection between the depth measuring cylinder and the end sealing plate in this invention.

[0028] Figure 10 For the present invention Figure 9 Enlarged view of point D in the middle.

[0029] Figure 11 This is a schematic diagram of the structure of the end sealing plate in this invention.

[0030] Figure 12 This is a schematic diagram of the pressure measuring component in this invention.

[0031] Figure 13 This is a schematic diagram of the structural connection between the longitudinal connecting component and the driving component in this invention.

[0032] Figure 14 For the present invention Figure 13 Enlarged view of point E in the middle.

[0033] Figure 15 For the present invention Figure 13 Enlarged view of point F in the middle.

[0034] Figure 16 This is a schematic diagram of the balancing mechanism in this invention.

[0035] In the diagram: 1. Moving hull; 11. Mounting crossbeam; 12. Surveying instrument; 2. Detection mechanism; 3. Balancing mechanism; 4. Bottom measuring assembly; 5. Longitudinal connection assembly; 6. Drive assembly; 7. Mounting support frame; 41. Depth measuring longitudinal tube; 411. Longitudinal protrusion; 412. Positioning groove; 42. Tube side seal; 421. Inner groove; 422. Sealing gasket; 423. Fixing screw; 43. Bottom drill pipe; 44. Limiting ring; 441. Outer support rod; 442. Ball bearing; 45. Positioning component; 451. Mounting side tube; 452. Rotating column; 453. Positioning oblique protrusion; 454. Rotating horizontal axis; 455. Torsion spring; 46. Mounting base; 461. Mounting longitudinal rod; 462. Mounting bracket; 463. Camera module; 47. Pressure measuring component; 471. Pressure measuring outer frame; 4 72. Bottom contact rod; 473. Top pressure rod; 474. Pressure sensor; 475. Compression spring; 48. End sealing plate; 481. Rotating horizontal shaft; 482. Arc-shaped seal; 4821. Sealing strip; 483. First gear; 484. First rack; 4841. Inner groove; 485. Electric telescopic rod; 401. Wire longitudinal compartment; 402. Ring compartment; 51. Longitudinal connecting pipe; 511. Connecting clamp pipe; 512. Fixing bolt; 501. Wire longitudinal groove; 502. Connecting wire; 52. Second rack; 61. Drive sleeve; 62. Second gear; 621. Drive horizontal shaft; 63. Worm gear motor; 31. Mounting support; 32. Bottom ring seat; 33. Top ring seat; 34. First universal joint; 35. Second universal joint; 36. Telescopic cylinder. Detailed Implementation

[0036] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Example: Figure 1-16 As shown, the present invention provides a water conservancy engineering surveying device, including a mobile hull 1, a detection mechanism 2 provided on the outer side of the mobile hull 1, a balancing mechanism 3 provided between the mobile hull 1 and the detection mechanism 2, a mounting crossbeam 11 fixedly installed at the front of the mobile hull 1, and a surveying instrument 12 fixedly installed on the mounting crossbeam 11. By setting the surveying instrument 12, when the mobile hull 1 moves on the water surface, the surveying instrument 12 automatically surveys the area around the river channel. The detection mechanism 2 includes a bottom measuring component 4, a longitudinal connecting component 5 is provided at the top of the bottom measuring component 4, and a mounting frame 7 is fixedly installed at the top of the balancing mechanism 3, and a driving component 6 is fixedly installed in the mounting frame 7. Bottom measuring assembly 4 includes a sounding cylinder 41, with a movable side seal 42 on the outer side of the sounding cylinder 41. The sounding cylinder 41 and the side seal 42 are combined to form a tubular sampling structure, which can simultaneously sample bottom sediment samples. An inner groove 421 is opened on the side of the sounding cylinder 41 near the side seal 42. The end of the side seal 42 near the sounding cylinder 41 is movably locked in the inner groove 421. A sealing gasket 422 is movably locked in the inner groove 421. The sealing gasket 422 and the side seal 42 are close to each other. One side of the sounding cylinder 41 is in contact with the side seal 42 near the sealing gasket 422, where multiple vertically and evenly distributed fixing screws 423 are movably mounted. The ends of the fixing screws 423 pass through the corresponding sealing gaskets 422 and are threaded onto the sounding cylinder 41, thus performing screw sealing between the sounding cylinder 41 and the side seal 42. This also facilitates the disassembly of the sounding cylinder 41 and the side seal 42 by removing the fixing screws 423, allowing for the portable removal of sediment samples from the sounding cylinder 41. The bottom of the sounding tube 41 is fixedly fitted with a bottom drill pipe 43, which facilitates the sounding tube 41 to penetrate into the bottom sediment for thickness measurement. The surface of the sounding tube 41 is marked with a scale. A limiting ring 44 is movably fitted on the outside of the sounding tube 41. An outer support rod 441 is fixedly installed on the outside of the limiting ring 44. After the sounding tube 41 penetrates into the bottom sediment, the outer support rod 441 is limited and abuts against the bottom. As the sounding tube 41 continues to go deeper, the limiting ring 44 continues to slide on the outside of the sounding tube 41. The insertion depth of the sounding tube 41 is measured by the scale indicated by the limiting ring 44, thereby measuring the thickness of the bottom sediment. The sounding cylinder 41 has an integrally formed longitudinal protrusion 411 on the side away from the cylinder side seal 42. The longitudinal protrusion 411 is movably locked inside the limiting ring 44 to prevent the limiting ring 44 from rotating outside the sounding cylinder 41. A positioning element 45 is provided on the inner side of the limiting ring sleeve 44 near the longitudinal protrusion 411. A plurality of vertically evenly distributed positioning grooves 412 are provided on the outer side of the longitudinal protrusion 411. The positioning element 45 includes two mounting side cylinders 451, which are fixedly installed inside the limiting ring sleeve 44. A rotating column 452 is movably engaged between the two mounting side cylinders 451. A positioning oblique protrusion 453 is integrally formed at the bottom of the rotating column 452. The positioning oblique protrusion 453 is rotatably engaged on the inner side of the limiting ring sleeve 44. The end of the positioning oblique protrusion 453 is movably engaged in the corresponding positioning groove 412. The upper surface of the positioning oblique protrusion 453 contacts the limiting ring sleeve 44, while the bottom end of the positioning oblique protrusion 453 does not contact the limiting ring sleeve 44. The rotation of the positioning oblique protrusion 453 can be limited, so that the positioning oblique protrusion 453 can only rotate downwards. A rotating horizontal shaft 454 is fixedly installed at the shaft end of the rotating column 452. The rotating horizontal shaft 454 is rotatably installed in two mounting side cylinders 451. A torsion spring 455 is installed between the outer side of the rotating horizontal shaft 454 and the inner wall of the corresponding mounting side cylinder 451. When the depth measuring vertical cylinder 41 continues to descend, the limiting ring 44 continues to slide relative to the outer side of the depth measuring vertical cylinder 41. The positioning oblique protrusion 453 rotates downward in sequence and gradually gets stuck in the positioning groove 412. The torsion spring 455 is twisted and reset until the limiting ring 44 stops sliding on the outer side of the depth measuring vertical cylinder 41. At this time, under the upper limit rotation action of the positioning oblique protrusion 453, the limiting ring 44 is limited to slide downward, preventing the limiting ring 44 from sliding down on its own, improving the accuracy of the scale pointing to the limiting ring 44, thereby improving the accuracy of the thickness measurement of the underwater sediment.

[0038] The bottom end of the sounding cylinder 41 is fixedly fitted with multiple pressure measuring components 47 arranged in a ring array. The pressure measuring components 47 include a pressure measuring outer frame 471, which is fixedly fitted at the bottom end of the sounding cylinder 41. A bottom contact rod 472 is movably fitted at the bottom of the pressure measuring outer frame 471. A top pressure rod 473 is fixedly installed at the top of the bottom contact rod 472. A pressure sensor 474 is fixedly fitted at the top of the inner side of the pressure measuring outer frame 471. The top of the top pressure rod 473 contacts the contact end of the pressure sensor 474. A compression spring 475 is movably sleeved on the outer side of the top pressure rod 473.

[0039] The inner bottom of the sounding tube 41 is equipped with an end sealing plate 48. In the initial state, the end sealing plate 48 is in a vertical position, and the sediment at the bottom of the sounding tube 41 can be gradually introduced into the sounding tube 41 for sampling. The middle of the end sealing plate 48 is equipped with a rotating horizontal shaft 481, which is rotatably installed at the bottom of the sounding tube 41. Both sides of the end sealing plate 48 are equipped with arc-shaped sealing strips 482, which are fixedly installed at the inner bottom of the sounding tube 41. The two arc-shaped sealing strips 482 are not in the same horizontal position, and sealing strips 4821 are fixedly installed on the opposite sides of the two arc-shaped sealing strips 482. Both ends of the rotating horizontal shaft 481 are equipped with first gears 483. The outer sides of the first gears 483 are meshed with first racks 484. The first racks 484 are longitudinally slidably engaged inside the sounding cylinder 41. The top of the first racks 484 is equipped with an electric telescopic rod 485, which is fixedly installed inside the sounding cylinder 41. An inner sinking groove 4841 is opened in the middle of the top of the first racks 484. The telescopic end of the electric telescopic rod 485 is fixedly installed on the lower inner wall of the inner sinking groove 4841. When it touches the bottom, the electric telescopic rod 485 is controlled to retract, which drives the first racks 484 on both sides to move upward, driving the first gears 483 to drive the rotating horizontal shaft 481 to rotate. This controls the end sealing plate 48 to rotate from a vertical state to a horizontal state, sealing the bottom of the sounding cylinder 41, preventing sample leakage, and improving the quality of underwater sediment sampling.

[0040] Each depth sounding cylinder 41 has a wire guide compartment 401 at the bottom near the pressure measuring element 47. Multiple wire guide compartments 401 are connected by a ring compartment 402. The ring compartment 402 is located above the electric telescopic rod 485. One of the wire guide compartments 401 extends to the top of the inner side of the depth sounding cylinder 41. The wire guide compartment 401 is used to guide the electrical wires in each pressure measuring element 47 and concentrate them in one wire guide compartment 401 through the ring compartment 402. At the same time, the electrical wires of the electric telescopic rod 485 are concentrated in one wire guide compartment 401 through the ring compartment 402 and extend to the top of the inner side of the depth sounding cylinder 41.

[0041] Multiple mounting bases 46 arranged in a ring array are fixedly installed on the outer side of the limiting ring 44. A mounting rod 461 is vertically installed on the mounting base 46. A mounting bracket 462 is vertically installed at the top of the mounting rod 461. A camera module 463 is fixedly installed at the end of the mounting bracket 462. By setting multiple camera modules 463, the underwater bottom is filmed to observe the underwater conditions. The inner side of the limiting ring sleeve 44 is fitted with multiple rolling balls 442 arranged in a ring array. The rolling balls 442 are in contact with the outer wall of the depth measuring cylinder 41. By setting multiple rolling balls 442, the sliding friction of the limiting ring sleeve 44 is reduced.

[0042] The longitudinal connecting assembly 5 includes multiple vertically distributed longitudinal connecting tubes 51. The bottom of the longitudinal connecting tube 51 is integrally formed with a connecting clamp tube 511. The connecting clamp tube 511 on the top longitudinal connecting tube 51 is movably clamped to the top of the bottom longitudinal connecting tube 51. A fixing bolt 512 is threaded between the connecting clamp tube 511 and the top of the corresponding longitudinal connecting tube 51. The fixing bolt 512 is used to quickly install and fix two adjacent longitudinal connecting tubes 51. The longitudinal connecting tube 51 has a wire longitudinal groove 501 inside. The position of the wire longitudinal groove 501 is vertically corresponding to the position of the wire longitudinal compartment 401. The outer side of the longitudinal connecting tube 51 is integrally formed with a second toothed rack 52. The wire longitudinal groove 501 is provided with a connecting wire 502. The connecting wires 502 in adjacent longitudinal connecting tubes 51 are electrically connected with a sealing end. The connection method between the bottom longitudinal connecting pipe 51 and the depth sounding longitudinal cylinder 41 is the same as the connection method between adjacent longitudinal connecting pipes 51. A quick connection is made between the bottom longitudinal connecting pipe 51 and the depth sounding longitudinal cylinder 41, and the bottom connecting wire 502 and the electrical wiring inside the bottom measuring component 4 are connected. This enables electrical control of multiple pressure measuring components 47 and electric telescopic rods 485 on the moving hull 1. This cable layout ensures reliable transmission of electrical signals in deep water environments.

[0043] The drive assembly 6 includes a drive sleeve 61, which is fixedly installed in the mounting support frame 7. The drive sleeve 61 is movably fitted onto the outside of the longitudinal connecting pipe 51. A second gear 62 is rotatably installed inside the drive sleeve 61. The second gear 62 is meshed with the second rack 52. A drive horizontal shaft 621 is fixedly installed in the middle of the second gear 62. The drive horizontal shaft 621 is rotatably installed on the drive sleeve 61. A worm gear motor 63 is fixedly installed on the outside of the drive sleeve 61. The drive end of the worm gear motor 63 is fixedly installed with the shaft end of the drive horizontal shaft 621. By turning on the worm gear motor 63, the second gear 62 is driven to rotate, thereby controlling the second rack 52 and the corresponding longitudinal connecting pipe 51 to automatically descend, thus controlling the automatic descent of the bottom measuring assembly 4.

[0044] The balancing mechanism 3 includes a mounting support 31, which is fixedly installed on the outside of the mobile hull 1. A bottom ring seat 32 is fixedly installed on the mounting support 31, and a top ring seat 33 is provided above the bottom ring seat 32. The detection mechanism 2 moves through the bottom ring seat 32 and the top ring seat 33. The mounting frame 7 is fixedly installed on the top of the top ring seat 33. Multiple first universal joints 34 are fixedly installed on the top of the bottom ring seat 32, and multiple second universal joints 35 are fixedly installed on the bottom of the top ring seat 33, corresponding to the first universal joints 34. Telescopic cylinders 36 are fixedly installed between the corresponding first universal joints 34 and second universal joints 35. By setting multiple telescopic cylinders 36 connected by the first universal joints 34 and the second universal joints 35, the top ring seat 33 can be automatically compensated according to the fluctuation of the mobile hull 1 on the water surface, so that the top ring seat 33 is controlled in a stable horizontal direction, thereby controlling the bottom measuring component 4 and the longitudinal connecting component 5 to always remain in a vertical state.

[0045] A surveying method for a water conservancy engineering surveying device includes the following steps: Step 1: Move the hull 1 to the preset measuring point on the water surface. During the navigation, the surveying instrument 12 continuously and automatically surveys the terrain on both sides of the river and the surrounding area to obtain river terrain data. At the same time, the operator receives the monitoring data of the pressure sensor 474 in the pressure measuring component 47 in real time through the connecting wire 502 inside the longitudinal connecting component 5 and the electrical wiring inside the bottom measuring component 4, and remotely controls the opening and closing status of the electric telescopic rod 485. The worm gear motor 63 in the drive component 6 is in standby mode, and the second gear 62 and the second rack 52 are engaged and locked, so that the detection mechanism 2 is kept at the transport height. Step 2: After arriving at the preset measuring point, start the worm gear motor 63 to drive the second gear 62 to rotate, control the second rack 52 and the corresponding longitudinal connecting pipe 51 to descend automatically, drive the entire detection mechanism 2 to move vertically downward, and the detection mechanism 2 passes through the top ring seat 33 and the bottom ring seat 32 in sequence, gradually approaching the water surface. During this process, the balancing mechanism 3 continues to work. When the moving hull 1 rolls or pitches on the water surface, the control system controls each telescopic cylinder 36 to perform differential telescopic extension and retraction based on the attitude sensor signal (for example, when the hull tilts to the left, the left telescopic cylinder 36 extends and the right cylinder shortens. Through the multi-degree-of-freedom hinge transmission of the first universal joint 34 and the second universal joint 35, the top ring seat 33 is always kept in a horizontal state). The mounting frame 7 at the top of the top ring seat 33 is kept horizontal, thereby ensuring that the longitudinal connecting assembly 5 and the bottom measuring assembly 4 always maintain a vertical attitude, providing a vertical reference for subsequent thickness measurement and sampling. Step 3: The detection mechanism 2 continues to descend while maintaining a vertical position. The bottom measuring component 4 first contacts the surface of the sediment at the bottom of the water. The bottom end of the outer support rod 441 first contacts the surface of the sediment. The limiting ring 44 stops descending after contacting the surface of the sediment, while the depth measuring cylinder 41 continues to descend into the sediment under the drive of the longitudinal connecting component 5. During this process, the sounding cylinder 41 and the limiting ring 44 slide relative to each other. The surface of the sounding cylinder 41 is marked with a scale, and the scale that the limiting ring 44 points to is the depth to which the sounding cylinder 41 is inserted into the sediment. When the depth measuring cylinder 41 descends, the positioning oblique protrusion 453 slides into the corresponding positioning groove 412 in sequence. Under the action of the torsion spring 455, it automatically resets and is locked into the next groove. Under the action of the upper limit of the positioning oblique protrusion 453, the limiting ring 44 is limited to slide downward. The limiting ring 44 can slide upward on the depth measuring cylinder 41 (corresponding to the depth measuring cylinder 41 descending), but it cannot slide downward to reset itself, ensuring that the limiting ring 44 can still accurately stay at the final scale position after the depth measuring cylinder 41 stops descending. Among them, the bottom measuring component 4 continues to descend, and an appropriate number of longitudinal connecting pipes 51 can be installed according to the descent depth of the bottom measuring component 4; Step 4: The depth measuring cylinder 41 continues to descend. Before touching the bottom, the bottom contact rod 472 is in the maximum downward extension position under the elastic force of the compression spring 475. The bottom contact rod 472 gently presses against the contact end of the pressure sensor 474 through the top pressure rod 473. The pressure sensor 474 outputs a stable and small initial pressure value (generated by the spring preload). The control system records this value as a reference. Until its bottom reaches the hard bottom layer, the bottom contact rod 472 contacts the hard riverbed or hard sediment layer and receives an upward reaction force. This reaction force overcomes the elastic force of the compression spring 475 and pushes the bottom contact rod 472 and the top pressure rod 473 to slide upward together, so that the top pressure rod 473 presses against the pressure sensor 474 with greater pressure. The pressure value sensed by the pressure sensor 474 jumps from the initial value to a significantly high value instantly. The judgment logic of the control system is: when the detection value of the pressure sensor 474 exceeds the preset threshold and the rate of change exceeds the set value, it is determined that the device has reached the hard bottom layer. Upon receiving the bottoming signal, the control system immediately stops the worm gear motor 63 from rotating and the depth measuring cylinder 41 from descending. Simultaneously initiate the sampling and sealing procedure: During the entire process of the sounding tube 41 descending, the bottom sediment has gradually entered the interior of the sounding tube 41 through the bottom of the sounding tube 41, completing the sampling operation. When the sampling and sealing procedure is started, the control system controls the electric telescopic rod 485 installed inside the sounding tube 41 to retract, which drives the first racks 484 on both sides to move upward synchronously, drives the first gear 483 to rotate, drives the horizontal shaft 481 to rotate, thereby causing the end sealing plate 48 to rotate from the vertical state to the horizontal state. The end sealing plate 48 and the sealing strips 4821 of the two arc-shaped sealing strips 482 are tightly fitted, forming a complete seal on the bottom of the sounding tube 41 to prevent sample leakage. During the entire process of the sounding tube 41 descending, multiple camera modules 463 work simultaneously to capture real-time images of the underwater sediment bedding structure, bottom sediment type, and surrounding environment. Step 5: After the bottoming judgment is completed and the end sealing plate 48 is in place, the control system controls the worm gear motor 63 to reverse. Through the meshing transmission of the second gear 62 and the second rack 52, the longitudinal connecting assembly 5 and the bottom measuring assembly 4 are driven to be lifted and retracted as a whole. During the recovery process, due to the one-way limiting effect of the positioning component 45, the limiting ring 44 remains at the scale indicated by the final position of the depth sounding cylinder 41 as it descends, and will not slide due to the vibration of the recovery. The operator can clearly and accurately read the scale value, which is the precise thickness of the sediment at the bottom of the water. After the sounding tube 41 and the side seal 42 are retrieved to the water surface, the side seal 42 can be removed from the sounding tube 41 by disassembling the fixing screws 423. The inside of the sounding tube 41 is open, and the operator can take out sediment samples for subsequent laboratory analysis.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A hydraulic engineering surveying device, comprising a mobile hull (1), characterized in that: A detection mechanism (2) is provided on the outside of the mobile hull (1), and a balancing mechanism (3) is provided between the mobile hull (1) and the detection mechanism (2). A mounting frame (11) is fixedly installed on the front of the mobile hull (1), and a surveying instrument (12) is fixedly installed on the mounting frame (11). The detection mechanism (2) includes a bottom measuring component (4), the top of the bottom measuring component (4) is provided with a longitudinal connecting component (5), the top of the balancing mechanism (3) is fixedly installed with a mounting frame (7), and a driving component (6) is fixedly installed in the mounting frame (7). The bottom measuring component (4) includes a depth measuring cylinder (41). A cylinder side seal (42) is movably provided on the outer side of the depth measuring cylinder (41). A bottom drill pipe (43) is fixedly fitted on the bottom of the depth measuring cylinder (41). A limiting ring sleeve (44) is movably fitted on the outer side of the depth measuring cylinder (41). An outer support rod (441) is fixedly installed on the outer side of the limiting ring sleeve (44). A longitudinal protrusion (411) is integrally formed on the side of the depth measuring cylinder (41) away from the cylinder side seal (42). The longitudinal protrusion (411) is movably locked on the inner side of the limiting ring sleeve (44). A positioning element (45) is provided on the inner side of the limiting ring sleeve (44) near the longitudinal protrusion (411). A vertically evenly spaced opening is provided on the outer side of the longitudinal protrusion (411). The depth measuring cylinder (41) has multiple evenly distributed positioning grooves (412). The bottom end of the depth measuring cylinder (41) is fixedly fitted with multiple pressure measuring elements (47) arranged in a ring array. The inner bottom of the depth measuring cylinder (41) is movably fitted with an end sealing plate (48). The middle part of the end sealing plate (48) is provided with a rotating horizontal shaft (481). The rotating horizontal shaft (481) is rotatably installed at the bottom of the depth measuring cylinder (41). Both sides of the end sealing plate (48) are provided with arc-shaped sealing strips (482). The arc-shaped sealing strips (482) are fixedly installed at the inner bottom of the depth measuring cylinder (41). The two arc-shaped sealing strips (482) are not in the same horizontal position. The opposite sides of the two arc-shaped sealing strips (482) are fixedly installed with sealing strips (4821).

2. The water conservancy engineering surveying device according to claim 1, characterized in that: Both ends of the rotating horizontal shaft (481) are provided with a first gear (483). The outer side of the first gear (483) is meshed with a first rack (484). The first rack (484) is longitudinally slidably engaged inside the depth measuring cylinder (41). The top end of the first rack (484) is provided with an electric telescopic rod (485). The electric telescopic rod (485) is fixedly installed inside the depth measuring cylinder (41). The top center of the first rack (484) is provided with an inner sinking groove (4841). The telescopic end of the electric telescopic rod (485) is fixedly installed on the inner lower wall of the inner sinking groove (4841).

3. The water conservancy engineering surveying device according to claim 2, characterized in that: The positioning component (45) includes two mounting side cylinders (451), which are fixedly installed inside the limiting ring sleeve (44). A rotating column (452) is movably engaged between the two mounting side cylinders (451). The bottom of the rotating column (452) is integrally formed with a positioning oblique protrusion (453). The positioning oblique protrusion (453) is rotatably engaged inside the limiting ring sleeve (44), and the end of the positioning oblique protrusion (453) is movably engaged with the corresponding positioning recess. In the groove (412), the upper surface of the positioning oblique protrusion (453) contacts the limiting ring sleeve (44), and the bottom end of the positioning oblique protrusion (453) does not contact the limiting ring sleeve (44). The shaft end of the rotating column (452) is fixedly installed with a rotating horizontal shaft (454). The rotating horizontal shaft (454) is rotatably installed in two mounting side cylinders (451). A torsion spring (455) is installed between the outer side of the rotating horizontal shaft (454) and the inner wall of the corresponding mounting side cylinder (451).

4. The water conservancy engineering surveying device according to claim 3, characterized in that: The pressure measuring component (47) includes a pressure measuring outer frame (471), which is fixedly mounted on the bottom end of the depth measuring cylinder (41). A bottom contact rod (472) is movably mounted on the bottom of the pressure measuring outer frame (471), and a top pressure rod (473) is fixedly mounted on the top of the bottom contact rod (472). A pressure sensor (474) is fixedly mounted on the top of the inner side of the pressure measuring outer frame (471). The top of the top pressure rod (473) contacts the contact end of the pressure sensor (474), and a compression spring (475) is movably sleeved on the outer side of the top pressure rod (473). Each of the depth measuring cylinders (41) has a wire guide compartment (401) at the bottom near the pressure measuring component (47). A ring compartment (402) is connected between the multiple wire guide compartments (401). The ring compartment (402) is located above the electric telescopic rod (485). One of the wire guide compartments (401) extends to the top of the inner side of the depth measuring cylinder (41).

5. A water conservancy engineering surveying device according to claim 4, characterized in that: The outer side of the limiting ring (44) is fixedly installed with multiple mounting bases (46) arranged in a ring array. A mounting rod (461) is vertically installed on the mounting base (46). A mounting bracket (462) is vertically installed at the top of the mounting rod (461). A camera module (463) is fixedly installed at the end of the mounting bracket (462). The inner side of the limiting ring sleeve (44) is fitted with a plurality of balls (442) arranged in a ring array, and the balls (442) are in contact with the outer wall of the depth measuring cylinder (41).

6. The water conservancy engineering surveying device according to claim 5, characterized in that: The depth measuring cylinder (41) has an inner groove (421) on the side near the cylinder side seal (42). The end of the cylinder side seal (42) near the depth measuring cylinder (41) is movably locked in the inner groove (421). A sealing gasket (422) is movably locked in the inner groove (421). The sealing gasket (422) and the side of the cylinder side seal (42) near the depth measuring cylinder (41) are in contact. A plurality of vertically evenly distributed fixing screws (423) are movably locked on the side of the cylinder side seal (422) near the sealing gasket (422). The end of the fixing screw (423) passes through the corresponding sealing gasket (422) and is threaded onto the depth measuring cylinder (41).

7. A water conservancy engineering surveying device according to claim 6, characterized in that: The longitudinal connecting assembly (5) includes a plurality of vertically distributed longitudinal connecting tubes (51). The bottom of the longitudinal connecting tube (51) is integrally formed with a connecting clamp tube (511). The interior of the longitudinal connecting tube (51) is provided with a wire longitudinal groove (501). The position of the wire longitudinal groove (501) corresponds vertically to the position of the wire longitudinal compartment (401). The outer side of the longitudinal connecting tube (51) is integrally formed with a second toothed rack (52). A connecting wire (502) is provided in the wire longitudinal groove (501). The connecting clamp tube (511) on the top of the longitudinal connecting tube (51) is movably clamped to the top of the longitudinal connecting tube (51) at the bottom position. A fixing bolt (512) is threaded between the connecting clamp tube (511) and the top of the corresponding longitudinal connecting tube (51). The connecting wires (502) in adjacent longitudinal connecting tubes (51) are electrically connected with a sealing end. The connection method between the longitudinal connecting pipe (51) at the bottom position and the depth measuring longitudinal cylinder (41) is the same as the connection method between the adjacent longitudinal connecting pipes (51).

8. A water conservancy engineering surveying device according to claim 7, characterized in that: The drive assembly (6) includes a drive sleeve (61), which is fixedly installed in the mounting support frame (7). The drive sleeve (61) is movably fitted on the outside of the longitudinal connecting pipe (51). A second gear (62) is rotatably installed inside the drive sleeve (61). The second gear (62) meshes with the second rack (52). A drive horizontal shaft (621) is fixedly installed in the middle of the second gear (62). The drive horizontal shaft (621) is rotatably installed on the drive sleeve (61). A worm gear motor (63) is fixedly installed on the outside of the drive sleeve (61). The drive end of the worm gear motor (63) and the shaft end of the drive horizontal shaft (621) are fixedly installed.

9. A water conservancy engineering surveying device according to claim 8, characterized in that: The balancing mechanism (3) includes a mounting bracket (31), which is fixedly mounted on the outside of the moving hull (1). A bottom ring seat (32) is fixedly mounted on the mounting bracket (31). A top ring seat (33) is provided above the bottom ring seat (32). The detection mechanism (2) moves through the bottom ring seat (32) and the top ring seat (33). The mounting frame (7) is fixedly mounted on the top of the top ring seat (33). A plurality of first universal joints (34) are fixedly mounted on the top of the bottom ring seat (32). A plurality of second universal joints (35) are fixedly mounted on the bottom of the top ring seat (33) and correspond to the first universal joints (34). A telescopic cylinder (36) is fixedly mounted between the first universal joints (34) and the second universal joints (35).

10. A surveying method using the water conservancy engineering surveying device according to claim 9, characterized in that, Includes the following steps: Step 1: Move the hull (1) and sail on the water to the preset measurement point. During the sailing process, the surveying instrument (12) continuously performs automatic surveying of the terrain on both sides of the river and the surrounding area to obtain river terrain data. At the same time, the operator receives the monitoring data of the pressure sensor (474) in the pressure measuring component (47) in real time through the connecting wire (502) inside the longitudinal connecting component (5) and the electrical wiring inside the bottom measuring component (4), and remotely controls the opening and closing status of the electric telescopic rod (485). The worm gear motor (63) in the drive component (6) is in standby mode, and the second gear (62) and the second rack (52) are locked in mesh, so that the detection mechanism (2) is kept at the transport height. Step 2: After arriving at the preset measuring point, start the worm gear motor (63) to drive the second gear (62) to rotate, control the second rack (52) and the corresponding longitudinal connecting pipe (51) to descend automatically, drive the entire detection mechanism (2) to feed vertically downward, and the detection mechanism (2) passes through the top ring seat (33) and the bottom ring seat (32) in sequence, gradually approaching the water surface; During this process, the balancing mechanism (3) continues to work. When the moving hull (1) rolls or pitches on the water surface, the control system controls each telescopic cylinder (36) to perform differential telescopic movement according to the attitude sensor signal (for example, when the hull tilts to the left, the left telescopic cylinder (36) extends and the right telescopic cylinder shortens. Through the multi-degree-of-freedom hinge transmission of the first universal joint (34) and the second universal joint (35), the top ring seat (33) is kept in a horizontal state. The mounting support frame (7) at the top of the top ring seat (33) is kept horizontal, thereby ensuring that the longitudinal connecting assembly (5) and the bottom measuring assembly (4) always maintain a vertical attitude, providing a vertical reference for subsequent thickness measurement and sampling. Step 3: The detection mechanism (2) continues to descend while maintaining a vertical position. The bottom measuring component (4) first contacts the surface of the sediment at the bottom of the water. The bottom end of the outer support rod (441) first contacts the surface of the sediment. The limiting ring (44) stops descending after contacting the surface of the sediment, while the depth measuring cylinder (41) continues to descend into the sediment under the drive of the longitudinal connecting component (5). During this process, the sounding tube (41) and the limiting ring (44) slide relative to each other. The surface of the sounding tube (41) is marked with a scale, and the scale pointed to by the limiting ring (44) is the depth to which the sounding tube (41) is inserted into the sediment. When the depth measuring cylinder (41) descends, the positioning convex (453) slides into the corresponding positioning groove (412) in sequence. Under the action of the torsion spring (455), it automatically resets and is locked into the next groove. Under the action of the upper limit of the positioning convex (453), the limiting ring (44) is limited to slide downward. The limiting ring (44) can slide upward on the depth measuring cylinder (41) (corresponding to the depth measuring cylinder (41) descending), but it cannot slide downward to reset itself. This ensures that the limiting ring (44) can still accurately stay at the final scale position after the depth measuring cylinder (41) stops descending. Among them, the bottom measuring component (4) continues to descend, and an appropriate number of longitudinal connecting pipes (51) can be installed according to the descending depth of the bottom measuring component (4). Step 4: The depth measuring cylinder (41) continues to descend. Before touching the bottom, the bottom contact rod (472) is in the maximum downward extension position under the elastic force of the compression spring (475). The bottom contact rod (472) gently presses against the contact end of the pressure sensor (474) through the top pressure rod (473). The pressure sensor (474) outputs a stable and small initial pressure value (generated by the spring preload). The control system records this value as a reference. Until its bottom reaches the hard bottom layer, the bottom contact rod (472) contacts the hard riverbed or hard sediment layer and is subjected to an upward reaction force. This reaction force overcomes the elastic force of the compression spring (475) and pushes the bottom contact rod (472) and the top pressure rod (473) to slide upward together, so that the top pressure rod (473) presses against the pressure sensor (474) with greater pressure. The pressure value sensed by the pressure sensor (474) jumps from the initial value to a significantly high value instantly. The judgment logic of the control system is: when the detection value of the pressure sensor (474) exceeds the preset threshold and the rate of change exceeds the set value, it is determined that the device has reached the hard bottom layer. After receiving the bottoming signal, the control system immediately controls the worm gear motor (63) to stop rotating and the depth measuring cylinder (41) to stop descending. Simultaneously initiate the sampling and sealing procedure: During the entire process of the sounding tube (41) descending, the bottom sediment has gradually entered the interior of the sounding tube (41) through the bottom of the sounding tube (41) to complete the sampling operation. When the sampling and sealing procedure is started, the control system controls the electric telescopic rod (485) installed inside the sounding tube (41) to retract, which drives the first racks (484) on both sides to move upward synchronously, drives the first gear (483) to rotate, drives the rotating horizontal shaft (481) to rotate, thereby causing the end sealing plate (48) to rotate from the vertical state to the horizontal state. The end sealing plate (48) and the sealing strips (4821) of the two arc-shaped sealing strips (482) are tightly fitted, forming a complete seal on the bottom of the sounding tube (41) to prevent sample leakage. During the entire process of the sounding tube (41) descending, multiple camera modules (463) work simultaneously to take real-time photos of the bottom sediment bedding structure, bottom sediment type and surrounding environment; Step 5: After the bottoming judgment is completed and the end sealing plate (48) is in place, the control system controls the worm gear motor (63) to reverse. Through the meshing transmission of the second gear (62) and the second rack (52), the longitudinal connecting assembly (5) and the bottom measuring assembly (4) are driven to be lifted and retracted as a whole. During the recovery process, due to the one-way limiting effect of the positioning component (45), the limiting ring (44) remains at the scale indicated by the final position of the depth sounding cylinder (41) and will not slide due to the vibration of the recovery. The operator can clearly and accurately read the scale value, which is the precise thickness of the sediment at the bottom of the water. After the sounding tube (41) and the side seal (42) are recovered to the water surface, the side seal (42) can be removed from the sounding tube (41) by disassembling the fixing screw (423). The inside of the sounding tube (41) is open, and the operator can take out sediment samples for subsequent laboratory analysis.

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