Underwater topographic surveying and mapping device

Abstract

The utility model discloses an underwater topographic surveying and mapping device which comprises a case, and a crawler wheel mechanism is arranged at the bottom of the case; a grabber is arranged on one side of the front of the top of the case, a surveying and mapping component is mounted on the grabber, and an illuminating lamp assembly is arranged on one side of the rear of the top of the case; the grabber comprises an arm, the arm comprises a first rod body, a second rod body and a third rod body, the first rod body, the second rod body and the third rod body are sequentially pivoted, and the grabber further comprises a grabbing component arranged at the front end of the third rod body; the bottom of the first rod body is connected with the case through a first driving part; a second driving part is arranged at the pivoted part of the second rod body and the first rod body; the surveying and mapping device is in a water entry mode and is combined with a bottom crawler wheel mechanism, all-terrain and all-weather running can be achieved, and the effect that surveying and mapping are more accurate is achieved.

Description

Technical Field

[0001] The utility model relates to an underwater topographic surveying and mapping device, belonging to the technical field of surveying and mapping devices. Background Technique

[0002] Underwater topographic survey is a specific survey in engineering survey, which measures the plane position and elevation of underwater points in rivers, lakes, reservoirs, harbors and coastal waters for the surveying and mapping work of drawing underwater topographic maps. The main contents are to establish a control network on land and conduct underwater topographic surveying and mapping. Underwater topographic surveying and mapping includes sounding point positioning, water depth measurement, water level observation and mapping. The methods of sounding point positioning include section cable method, forward intersection method of theodolite or plane table, back intersection method of sextant, polar coordinate method of total station tachymeter, radio positioning method, underwater acoustic positioning and differential GPS positioning method, etc. Water depth measurement uses tools such as sounding rods, sounding hammers and echo sounders. The underwater elevation is calculated based on the results of water depth measurement and water level observation, and finally the underwater terrain is represented by isobaths (or contour lines).

[0003] At present, during the process of underwater topographic surveying and mapping, the existing measuring devices have a simple structure. Due to the complex underwater environment, they cannot reach into the water, but use floating boats for floating surveying and mapping. The floating boat structure refers to the content disclosed in Chinese Utility Model Patent No. 2019219099695. This method has the problem that it cannot perform multi-directional and refined measurement of the underwater terrain, resulting in inaccurate measurement accuracy and low practicability. Content of the Utility Model

[0004] The purpose of the utility model is to provide an underwater topographic surveying and mapping device to solve the above problems.

[0005] The technical solution adopted by the utility model is: an underwater topographic surveying and mapping device, including a chassis, and a crawler wheel mechanism is arranged at the bottom of the chassis;

[0006] On one side in front of the top of the chassis, a gripper is arranged, a surveying and mapping component is installed on the gripper, and an illuminating lamp assembly is arranged on one side at the rear of the top of the chassis;

[0007] The gripper includes an arm, and the arm includes a first rod body, a second rod body and a third rod body. The first rod body, the second rod body and the third rod body are pivotally connected in sequence, and a grasping component is further arranged at the front end of the third rod body;

[0008] The bottom of the first rod body is connected to the chassis through a first driving component;

[0009] A second driving component is arranged at the pivotal connection between the second rod body and the first rod body;

[0010] A third driving component is arranged at the pivotal connection between the third rod body and the second rod body.

[0011] Furthermore, the grasping component includes a claw body, a first driving cylinder, and a second driving cylinder;

[0012] The first driving cylinder is used to drive the claw body to open and close;

[0013] The second driving cylinder is used to drive the claw body to rotate.

[0014] Furthermore, a storage box is provided at the top of the chassis.

[0015] Furthermore, the first driving component includes a first motor, a first driving wheel, and a first driven wheel;

[0016] The axes of the first driving wheel and the first driven wheel are both arranged in the up-down direction;

[0017] The first driving wheel is mounted on the main shaft of the first motor, the first motor is mounted on the chassis, and the first driven wheel is mounted at the bottom of the first rod;

[0018] The first driving wheel and the first driven wheel are meshed with each other.

[0019] Furthermore, the second driving component includes a second motor, a second driving wheel, and a second driven wheel;

[0020] The axes of the second driving wheel and the second driven wheel are both arranged in the horizontal direction;

[0021] The second driving wheel is mounted on the main shaft of the second motor, the second motor is mounted on the second rod, and the second driven wheel is mounted on the side surface of the first rod;

[0022] The second driving wheel and the second driven wheel are meshed with each other.

[0023] Furthermore, the third driving component includes a third motor, a third driving wheel, and a third driven wheel;

[0024] The axes of the third driving wheel and the third driven wheel are both arranged in the horizontal direction;

[0025] The third driving wheel is mounted on the main shaft of the third motor, the third motor is mounted on the third rod, and the third driven wheel is mounted on the side surface of the second rod;

[0026] The third driving wheel and the third driven wheel are meshed with each other.

[0027] Beneficial effects:

[0028] 1. This surveying and mapping device adopts a water-entry type and combines with a bottom crawler wheel mechanism, which can achieve all-terrain and all-weather driving, and has a more accurate surveying and mapping effect;

[0029] 2. There is a gripper at the front for gripping the items in front and clearing the obstacles in the forward path;

[0030] 3. There is a storage box for storing items at the top of the chassis, which is used to store the surveying and mapping components and facilitate the storage of items on land. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 and Figure 2 are the structural schematic diagrams of the present utility model;

[0032] Figures 3 to 5 is the schematic diagram of the gripper of the present utility model;

[0033] Wherein:

[0034] 1 - crawler wheel mechanism;

[0035] 2 - chassis;

[0036] 3 - lighting component, 3a - bracket, 3b - lighting body;

[0037] 4 - gripper;

[0038] 5 - surveying and mapping component;

[0039] 4a - arm, 4b - first driving component, 4c - second driving component, 4d - third driving component, 4e - gripping component;

[0040] 4aa - first rod, 4ab - second rod, 4ac - third rod;

[0041] 4ba - first motor, 4bb - first driving wheel, 4bc - first driven wheel;

[0042] 4ca - second motor, 4cb - second driving wheel, 4cc - second driven wheel;

[0043] 4da - third motor, 4db - third driving wheel, 4dc - third driven wheel;

[0044] 4ea - claw body, 4eb - first driving cylinder, 4ec - second driving cylinder. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] To further elaborate on the technical means and effects adopted by the present utility model to achieve the predetermined utility model purpose, the following, in combination with the accompanying drawings and preferred embodiments, details the specific embodiments, structures, features and their effects according to the present utility model as follows.

[0046] Please refer to Figures 1 to 4, an underwater terrain mapping device, including a chassis 2, and a crawler wheel mechanism 1 is provided at the bottom of the chassis 2;

[0047] On one side in front of the top of the chassis 2, a gripper 4 is provided, and a mapping component 5 is installed on the gripper 4. On one side at the rear of the top of the chassis 2, a lighting component 3 is provided;

[0048] The lighting component 3 includes a bracket 3a connected to the chassis 2 and a lighting body 3b installed on the top of the bracket 3a;

[0049] The gripper 4 includes an arm 4a, and the arm 4a includes a first rod body 4aa, a second rod body 4ab, and a third rod body 4ac. The first rod body 4aa, the second rod body 4ab, and the third rod body 4ac are pivotally connected in sequence. It also includes a grasping component 4e provided at the front end of the third rod body 4ac;

[0050] The bottom of the first rod body 4aa is connected to the chassis 2 through a first driving component 4b;

[0051] A second driving component 4c is provided at the pivotal connection of the second rod body 4ab and the first rod body 4aa;

[0052] A third driving component 4d is provided at the pivotal connection of the third rod body 4ac and the second rod body 4ab.

[0053] This mapping device adopts a water-entry type and combines with a bottom crawler wheel mechanism, which can achieve all-terrain and all-weather driving, and has a more accurate mapping effect;

[0054] A gripper is provided in the front for grasping items in the front and clearing obstacles in the forward direction.

[0055] Please refer to Figure 5 , the grasping component 4e includes a claw body 4ea, a first driving cylinder 4eb, and a second driving cylinder 4ec;

[0056] The first driving cylinder 4eb is used to drive the claw body 4ea to open and close;

[0057] The second driving cylinder 4ec is used to drive the claw body 4ea to rotate.

[0058] In a further solution, a storage box 2a is provided on the top of the chassis 2. In this embodiment, the storage box 2a is provided for storing mapping components and facilitating the storage of items on land.

[0059] Please refer to Figures 3 to 4 , the first driving component 4b includes a first motor 4ba, a first driving wheel 4bb, and a first driven wheel 4bc;

[0060] The axes of the first driving wheel 4bb and the first driven wheel 4bc are both arranged in the vertical direction;

[0061] The first driving wheel 4bb is installed on the main shaft of the first motor 4ba, the first motor 4ba is installed on the chassis 2, and the first driven wheel 4bc is installed at the bottom of the first rod 4aa;

[0062] The first driving wheel 4bb and the first driven wheel 4bc are meshed with each other.

[0063] The second driving component 4c includes a second motor 4ca, a second driving wheel 4cb and a second driven wheel 4cc;

[0064] The axes of the second driving wheel 4cb and the second driven wheel 4cc are both arranged in the horizontal direction;

[0065] The second driving wheel 4cb is installed on the main shaft of the second motor 4ca, the second motor 4ca is installed on the second rod 4ab, and the second driven wheel 4cc is installed on the side of the first rod 4aa;

[0066] The second driving wheel 4cb and the second driven wheel 4cc are meshed with each other.

[0067] The third driving component 4d includes a third motor 4da, a third driving wheel 4db and a third driven wheel 4dc;

[0068] The axes of the third driving wheel 4db and the third driven wheel 4dc are both arranged in the horizontal direction;

[0069] The third driving wheel 4db is installed on the main shaft of the third motor 4da, the third motor 4da is installed on the third rod 4ac, and the third driven wheel 4db is installed on the side of the second rod 4ab;

[0070] The third driving wheel 4db and the third driven wheel 4dc are meshed with each other.

[0071] By providing the first driving component 4b, the second driving component 4c and the third driving component 4d, the arm 4a is driven to rotate and bend so as to adapt to the change of the grasping position.

[0072] The above are only the preferred embodiments of the present utility model, and there is no limitation to the present utility model in any form. Although the present utility model has been disclosed above with the preferred embodiments, it is not intended to limit the present utility model. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the disclosed technical content within the scope of the technical solution of the present utility model. However, as long as it does not depart from the content of the technical solution of the present utility model, any brief modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present utility model still fall within the scope of the technical solution of the present utility model.

Claims

1. An underwater topographic mapping device, characterized in that: It comprises a chassis, and a crawler wheel mechanism is provided at the bottom of the chassis; A gripper is provided on the front side of the top of the chassis, a surveying and mapping component is installed on the gripper, and a lighting assembly is provided on the rear side of the top of the chassis; The grabber comprises an arm, the arm comprises a first rod, a second rod and a third rod, the first rod, the second rod and the third rod are pivotally connected in sequence, and further comprises a grabbing component arranged at the front end of the third rod; The bottom of the first rod body is connected to the chassis through a first driving component; A second driving component is provided at the pivotal connection between the second rod body and the first rod body; A third driving component is provided at the pivotal connection between the third rod body and the second rod body.

2. The underwater topographic mapping device according to claim 1, characterized in that: The gripping member comprises a claw body, a first driving cylinder and a second driving cylinder; The first driving cylinder is used to drive the claw body to open and close; The second driving cylinder is used for driving the claw body to rotate.

3. The underwater topographic mapping device according to claim 2, characterized in that: A storage box is arranged on the top of the chassis.

4. The underwater topographic mapping device according to claim 3, characterized in that: The first driving component includes a first motor, a first driving wheel and a first driven wheel; The axes of the first driving wheel and the first driven wheel are arranged in the up-down direction; The first driving wheel is mounted on the main shaft of the first motor, the first motor is mounted on the chassis, and the first driven wheel is mounted on the bottom of the first rod body; The first driving wheel is meshed with the first driven wheel.

5. The underwater topographic surveying and mapping device according to claim 4, characterized in that: The second driving component includes a second motor, a second driving wheel and a second driven wheel; The axes of the second driving wheel and the second driven wheel are both arranged in the horizontal direction; The second driving wheel is mounted on the main shaft of the second motor, the second motor is mounted on the second rod body, and the second driven wheel is mounted on the side of the first rod body; The second driving wheel is meshed with the second driven wheel.

6. The underwater topographic mapping device according to claim 5, characterized in that: The third driving component includes a third motor, a third driving wheel and a third driven wheel; The axes of the third driving wheel and the third driven wheel are both arranged in the horizontal direction; The third driving wheel is mounted on the main shaft of the third motor, the third motor is mounted on the third rod body, and the third driven wheel is mounted on the side of the second rod body; The third driving wheel is meshed with the third driven wheel.

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