Underwater topographic survey unmanned ship

Abstract

The utility model relates to the technical field of surveying ships, and provides an underwater topographic survey unmanned ship which comprises a ship body and an unmanned ship controller, an inner partition plate is horizontally arranged in the ship body, a battery mounting groove is formed in the inner partition plate, and a sliding mechanism is arranged at the bottom of the battery mounting groove; the unmanned ship controller is connected with a battery assembly; the bottom of the battery assembly is connected with a sliding piece in the sliding mechanism, and the battery assembly slides in the battery installation groove in the axis direction of the ship body. After a miniaturized tester is carried on the ship body or external equipment is additionally arranged on the ship body, the battery assembly slides along the battery mounting groove, and the proper gravity center position of the ship body is found by adjusting the position of the battery assembly, so that the gravity center of the ship body is adjusted; and the battery assembly is locked and fixed by using a screw, a clamping piece or a bandage and the like so as to ensure the stability and reliability of the unmanned ship in the use process.

Description

Technical Field

[0001] The utility model relates to the technical field of survey ships, and more specifically, to an unmanned ship for underwater topographic survey. Background Technique

[0002] Underwater topographic survey is a specific survey work in engineering survey, mainly measuring the plane positions and elevations of rivers, lakes, reservoirs, port bays, and offshore points for drawing underwater topographic maps. Underwater topographic survey mainly uses acoustic and optical devices for data collection. With the development of technology, unmanned ships carrying surveying and mapping equipment are commonly used to replace manual surveying. In the prior art, unmanned ships usually use ducted propellers to provide power and rely on the rotational speed difference between two propellers for direction control. However, since the unmanned ship floats on the water surface, the thrust generated by the propellers is not an ideal horizontal force. Therefore, the hull generally travels in the water at a certain upward tilt angle. As Figure 1 shown, it is a schematic diagram of the actual state of the unmanned ship during the traveling process on the water surface. During its actual traveling process, the hull axis always forms a certain angle α with the water surface, which is the upward tilt angle α of the hull. Since the parameters of the surveying equipment are generally configured on the premise that the detection end is perpendicular to the water surface, the greater the upward tilt angle of the hull, the lower the accuracy of the data measured by the surveying equipment. For example, when using an ADCP to measure the flow velocity and flow rate of a river cross-section, it has relatively high requirements for the parallelism between the hull and the water surface because it mainly measures the data of the vertical cross-section of the river. If the hull inclination is too large, the actual area of the cross-section will increase significantly, and at this time, the test data no longer has reference significance. Therefore, the control of the hull's counterweight and center of gravity is particularly important.

[0003] In order to control the center of gravity of the hull, it has been proposed to install counterweight blocks and cooperate with a guiding mechanism and a transmission mechanism to enable the counterweight blocks to move reciprocally along the horizontal direction of the hull. When the hull is in a balanced and stationary state, the center of gravity position of the counterweight blocks is adjusted to achieve the adjustment of the hull's center of gravity. However, for an unmanned ship for underwater topographic survey, according to different measurement task requirements, different surveying and mapping equipment needs to be mounted, such as miniaturized testers, ADCP (Acoustic Doppler Current Profiler), and other water depth equipment. Directly adding counterweight blocks and the supporting transmission mechanism and guiding mechanism to the hull requires a large amount of space on the hull, which will affect the installation space and installation position of the surveying and mapping equipment. Summary of the Utility Model

[0004] The utility model aims to overcome the defect that the installation of counterweight blocks in the hull in the above-mentioned prior art occupies a large area, and provides an unmanned ship for underwater topographic survey.

[0005] To solve the above technical problems, the technical solution of the utility model is as follows:

[0006] An unmanned ship for underwater topographic survey, comprising a hull and an unmanned ship controller. A partition board is horizontally arranged inside the hull. A battery installation groove is arranged on the partition board, and a sliding mechanism is arranged at the bottom of the battery installation groove. The unmanned ship controller is connected with a battery assembly. The bottom of the battery assembly is connected with a sliding part in the sliding mechanism, and the battery assembly slides along the axis direction of the hull in the battery installation groove.

[0007] In this technical solution, after a miniaturized tester is carried on the hull or an external device is added, the battery assembly is slid along the battery installation groove, and the appropriate center of gravity position of the hull is found by adjusting the position of the battery assembly, so as to realize the adjustment of the center of gravity of the hull. Then, screws, clamping parts or straps are used to lock and fix the battery assembly to ensure the stable reliability during the use of the unmanned ship.

[0008] As a preferred solution, the sliding mechanism comprises a plurality of ball bearings and fixed seats. A fixed shaft penetrates through the inner ring of the ball bearing, and both ends of the fixed shaft are respectively connected with the fixed seats. The outer ring of the ball bearing is slidably connected with the bottom of the battery assembly. The bottom of the fixed seat is fixedly arranged at the bottom of the battery installation groove.

[0009] As a preferred solution, a strip-shaped groove is arranged on the partition board along the axis direction of the hull. One end of the sliding part is slidably connected with the strip-shaped groove, and the other end is connected with the bottom of the battery assembly.

[0010] As a preferred solution, the battery assembly comprises a storage battery and a carrier for placing the storage battery. The outer edges extending outwards on both sides of the carrier are slidably connected with the opening position of the battery installation groove.

[0011] As a preferred solution, an elastic clamping part is arranged on the partition board, and the elastic clamping part is clamped with the battery assembly.

[0012] As a preferred solution, a plurality of chamfer grooves are arranged at equal intervals on the outer edge of the carrier, and the elastic clamping part is clamped with the chamfer grooves.

[0013] As a preferred solution, the hull is detachably spliced and composed of an upper cover assembly and a lower cover assembly.

[0014] As a preferred solution, the upper cover assembly comprises an upper cover main body and a cabin cover, and the cabin cover is connected with the upper cover main body through a folding hinge.

[0015] As a preferred solution, a waterproof ring is arranged at the connection position between the upper cover main body and the cabin cover.

[0016] As a preferred solution, a moonpool is provided in the middle of the hull; the upper cover assembly further includes a moonpool hatch cover, which is detachably connected to the upper cover body; the moonpool hatch cover is detachably connected to the upper opening position of the moonpool.

[0017] Compared with the prior art, the beneficial effect of the technical solution of the present utility model is that the battery assembly is used as a counterweight in the present utility model, and no other additional counterweights are required. By adjusting the installation position of the battery assembly to find the appropriate center of gravity position of the hull, the center of gravity of the hull is adjusted, and then the angle of the detection end of the mounted device is adjusted, effectively improving the accuracy of the water depth test data. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the actual state of an existing unmanned ship during navigation on the water surface.

[0019] Figure 2 It is a schematic diagram of the structure of the underwater terrain survey unmanned ship of Embodiment 1.

[0020] Figure 3 It is an exploded view of the underwater terrain survey unmanned ship of Embodiment 1.

[0021] Figure 4 It is a schematic diagram of the position adjustment of the battery assembly of Embodiment 1.

[0022] Figure 5 It is an exploded view of the sliding mechanism of Embodiment 2.

[0023] Figure 6 It is a schematic diagram of the structure of the elastic clamping member of Embodiment 2.

[0024] Figure 7 It is a schematic diagram of the structure of the hull of Embodiment 3.

[0025] Among them, 1 - hull, 110 - upper cover assembly, 111 - upper cover body, 112 - cabin cover, 120 - lower cover assembly, 130 - moonpool, 2 - unmanned ship controller, 3 - inner partition, 301 - battery installation groove, 302 - strip groove, 4 - sliding mechanism, 401 - sliding member, 402 - ball bearing, 403 - fixed seat, 5 - battery assembly, 510 - storage battery, 520 - carrier, 521 - chamfer groove, 6 - elastic clamping member. Detailed Embodiments

[0026] The drawings are only for illustrative purposes and should not be construed as a limitation to this application;

[0027] For better illustrating this embodiment, some components in the drawings are omitted, enlarged or reduced, and do not represent the actual size of the product;

[0028] For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0029] The technical solution of the present utility model will be further described below with reference to the drawings and embodiments.

[0030] Embodiment 1

[0031] This embodiment provides an unmanned boat for underwater topographic survey, as Figure 2 、 3 shown, which is a schematic structural diagram of the unmanned boat for underwater topographic survey in this embodiment.

[0032] In the unmanned boat for underwater topographic survey provided in this embodiment, it includes a hull 1 and an unmanned boat controller 2. A horizontal inner partition 3 is arranged inside the hull 1. A battery installation groove 301 is arranged on the inner partition 3. A sliding mechanism 4 is arranged at the bottom of the battery installation groove 301. The unmanned boat controller 2 is connected to a battery assembly 5. The bottom of the battery assembly 5 is connected to a sliding member 401 in the sliding mechanism 4. The battery assembly 5 slides along the axis direction of the hull 1 in the battery installation groove 301.

[0033] The battery of the unmanned boat is the main source of power for the unmanned boat and is also an important part of the weight of the hull 1. Generally, the weight of the battery of the unmanned boat will reach about 5 kg. However, for the stable and reliable use of the unmanned boat, a fixed installation position is set and the position cannot be easily adjusted.

[0034] In this embodiment, the battery assembly 5 is used as a counterweight block. By adjusting the installation position of the battery assembly 5, a suitable center of gravity position of the hull 1 is found to realize the adjustment of the center of gravity of the hull 1. As Figure 4 shown, which is a schematic diagram of the position adjustment of the battery assembly 5 in this embodiment.

[0035] Among them, Figure 4 (a) shows the initial state of the battery assembly 5. After the hull 1 is equipped with a miniaturized tester or additional external equipment, the change in the center of gravity of the hull 1 causes a large upward tilt angle of the hull 1. By sliding the battery assembly 5 along the battery installation groove 301, a suitable center of gravity position of the hull 1 is found by adjusting the position of the battery assembly 5 to realize the adjustment of the center of gravity of the hull 1. Then, screws, clips or straps are used to lock and fix the battery assembly 5 to ensure the stable and reliable use process of the unmanned boat. After the position of the battery assembly 5 is adjusted, as Figure 4 (b) shows, at this time, the upward tilt angle of the hull 1 decreases, and the detection end of the mounted equipment is close to being perpendicular to the water surface.

[0036] Exemplarily, the length of the battery installation groove in this embodiment is designed according to the parameters of the unmanned boat hull and parameters such as the water depth equipment and the tester, and meets the following conditions:

[0037] (1) When the unmanned boat has no additional load, move the battery assembly to one side close to the stern in the battery installation groove, that is, the battery assembly is in the initial position. At this time, the unmanned boat is parallel to the water surface during operation;

[0038] When the unmanned boat has an additional load with the maximum allowable load, move the battery assembly to the other side of the battery installation groove, that is, the battery assembly is in the maximum allowable displacement position. At this time, the unmanned boat is parallel to the water surface during operation.

[0039] In this embodiment, by adjusting the position of the battery in the hull 1, the center of gravity of the hull 1 is adjusted, and then the angle of the detection end of the mounted device is adjusted, effectively improving the accuracy of the water depth test data.

[0040] Embodiment 2

[0041] This embodiment is an improvement based on the underwater terrain survey unmanned boat proposed in Embodiment 1.

[0042] In the underwater terrain survey unmanned boat proposed in this embodiment, it includes a hull 1 and an unmanned boat controller 2. A horizontal inner partition 3 is arranged in the hull 1. A battery installation groove 301 is arranged on the inner partition 3. A sliding mechanism 4 is arranged at the bottom of the battery installation groove 301; the unmanned boat controller 2 is connected to a battery assembly 5; the bottom of the battery assembly 5 is connected to a sliding member 401 in the sliding mechanism 4, and the battery assembly 5 slides along the axis direction of the hull 1 in the battery installation groove 301.

[0043] Further, the sliding mechanism 4 includes a plurality of ball bearings 402 and a fixed seat 403; a fixed shaft penetrates through the inner ring of the ball bearing 402, and both ends of the fixed shaft are respectively connected to the fixed seat 403; the outer ring of the ball bearing 402 is slidably connected to the bottom of the battery assembly 5; the bottom of the fixed seat 403 is fixedly arranged at the bottom of the battery installation groove 301.

[0044] As Figure 5 shown, it is an exploded view of the sliding mechanism 4 of this embodiment.

[0045] In this embodiment, the sliding mechanism 4 is composed of ball bearings 402 to realize the sliding of the battery assembly 5 along the axis direction of the hull 1 in the battery installation groove 301, and at the same time ensure the minimum resistance during the sliding process of the battery assembly 5.

[0046] Further optionally, a plurality of openings for the ball bearings 402 to pass through are provided on the bottom of the battery installation groove 301 in the inner partition 3. Installation posts are provided on both sides of the openings and on the other side of the inner partition 3. The fixing seat 403 is fixedly connected to the installation posts by screws. The outer ring of the ball bearing 402 passes through the through holes in the inner partition 3 and is slidably connected to the battery assembly 5 placed in the battery installation groove 301.

[0047] Further, in an alternative embodiment, a strip-shaped groove 302 is formed along the axis direction of the hull 1 on the bottom of the battery installation groove 301 in the inner partition 3; one end of the sliding member 401 is slidably connected to the strip-shaped groove 302, and the other end is connected to the bottom of the battery assembly 5.

[0048] The added strip-shaped groove 302 in this embodiment is used to guide the sliding of the battery assembly 5, ensure that the battery assembly 5 moves along the axis direction of the hull 1, and prevent the battery assembly 5 from getting stuck during the sliding process due to the compact internal space of the hull 1.

[0049] Further optionally, two parallel strip-shaped grooves 302 are formed along the axis direction of the hull 1 on the bottom of the battery installation groove 301 in the inner partition 3. The sliding member 401 has a U-shaped structure. After both ends of the sliding member 401 extend out from the two parallel strip-shaped grooves 302 respectively, they are connected to the bottom of the battery assembly 5.

[0050] Further, in an alternative embodiment, the battery assembly 5 includes a storage battery 510 and a carrier 520 for placing the storage battery 510; the outer edges extending outward from both sides of the carrier 520 are slidably connected to the opening position of the battery installation groove 301; the output end of the storage battery 510 is electrically connected to the power supply end of the unmanned ship controller 2.

[0051] Further, in an alternative embodiment, an elastic clamping member 6 is provided on the inner partition 3. The elastic clamping member 6 is clamped with the battery assembly 5 to fix the battery assembly 5 to ensure the stable and reliable operation of the unmanned ship during use.

[0052] Further, in an alternative embodiment, a plurality of equally spaced chamfered grooves 521 are formed on the outer edge of the carrier 520. The elastic clamping member 6 is clamped with the chamfered grooves 521.

[0053] Among them, the spacing of the chamfered grooves 521 formed on the outer edge of the carrier 520 can be adjusted according to the sensitivity of different hulls 1 as required to adapt to different hulls 1 and the corresponding mounting devices.

[0054] As Figure 6 shown, it is a schematic structural diagram of the elastic clamping member 6 in this embodiment.

[0055] Exemplarily, the elastic clamping member 6 in this embodiment includes a mounting base and a hook member. One end of the hook member is provided with a boss, the other end of the hook member is connected to the mounting base through a connecting shaft, and a spring is provided between the other end of the hook member and the mounting base. The spring is used to provide an upward elastic force for the hook member. In addition, threaded holes are provided on the hook member and the mounting base. After the boss provided on the hook member is clamped with the chamfered groove 521 provided on the bearing member 520, optionally, a wing screw is threadedly connected to the threaded hole to realize the locking and fixing of the structure of the elastic clamping member 6.

[0056] During the position adjustment of the battery assembly 5, first screw out the wing screw. After the battery assembly 5 is subjected to a horizontal thrust, relative movement occurs between the inclined surface of the boss of the hook member and the inclined surface of the corresponding chamfered groove 521 on the bearing member 520. The boss slides out of the chamfered groove 521 and, under the action of the spring, is clamped with the next slot until the hull 1 finds a suitable center of gravity position. Then, use the wing screw to be threadedly connected to the threaded hole on the elastic clamping member 6 to complete the locking and fixing of the position of the elastic clamping member 6 and the battery assembly 5.

[0057] In this embodiment, the bearing member 520 is press-fitted and fixed by the elastic clamping member 6 to ensure that the hull 1 is not prone to looseness due to vibrations generated during actual tests.

[0058] Embodiment 3

[0059] This embodiment makes improvements on the basis of the unmanned underwater terrain survey ship proposed in Embodiment 1 or Embodiment 2.

[0060] In the unmanned underwater terrain survey ship proposed in this embodiment, it includes a hull 1 and an unmanned ship controller 2. A partition 3 is horizontally arranged inside the hull 1. A battery installation groove 301 is provided on the partition 3. A sliding mechanism 4 is provided at the bottom of the battery installation groove 301; the unmanned ship controller 2 is connected to a battery assembly 5; the bottom of the battery assembly 5 is connected to a sliding member 401 in the sliding mechanism 4, and the battery assembly 5 slides along the axis direction of the hull 1 in the battery installation groove 301.

[0061] Further, the hull 1 is composed of a detachable splicing of an upper cover assembly 110 and a lower cover assembly 120. As Figure 7 shown, it is a schematic structural diagram of the hull 1 of this embodiment.

[0062] In an optional embodiment, the upper cover assembly 110 includes an upper cover main body 111 and a cabin cover 112. The cabin cover 112 is connected to the upper cover main body 111 through a folding hinge.

[0063] Exemplarily, the cabin cover 112 may optionally include a front cabin cover 112 and a rear cabin cover 112.

[0064] Among them, the front cabin cover 112 and the upper cover main body 111 are hinged by a folding hinge to perform a flip of more than 90 degrees, which is convenient for opening the cabin cover 112 to place, adjust the position and replace the battery assembly 5, and is also convenient for installing and debugging the internal equipment of the hull 1.

[0065] The rear cabin cover 112 and the upper cover main body 111 are hinged by a folding hinge to perform a flip of more than 90 degrees, which is convenient for installing and debugging the unmanned ship controller 2 and other equipment inside the hull 1.

[0066] In an optional embodiment, a waterproof ring is provided at the connection position between the upper cover main body 111 and the cabin cover 112 to meet the waterproof requirement of the hull 1 after the installation of the cabin cover 112 is completed.

[0067] In an optional embodiment, a moonpool 130 is provided in the middle of the hull 1; the upper cover assembly 110 further includes a moonpool hatch cover, which is detachably connected to the upper cover main body 111; the moonpool hatch cover is detachably connected to the upper opening position of the moonpool 130. Among them, the moonpool 130 can fill the hollow part of the hull 1, so that the hull 1 is not prone to vortex phenomenon during the traveling process, thereby ensuring the accuracy of the measured water depth data.

[0068] In another optional embodiment, other water depth equipment is filled in the hollow position in the middle of the hull 1.

[0069] The same or similar reference numerals correspond to the same or similar components;

[0070] The terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be construed as a limitation to this application;

[0071] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An underwater topography survey unmanned vessel, comprising a vessel body (1) and an unmanned vessel controller (2), characterized in that: An inner partition (3) is horizontally arranged in the hull (1); a battery installation groove (301) is arranged on the inner partition (3); a sliding mechanism (4) is arranged at the bottom of the battery installation groove (301); the unmanned boat controller (2) is connected to a battery assembly (5); the bottom of the battery assembly (5) is connected to a sliding member (401) in the sliding mechanism (4), and the battery assembly (5) slides in the battery installation groove (301) along the axis direction of the hull (1).

2. The underwater topography survey unmanned vessel according to claim 1, characterized in that: The sliding mechanism (4) comprises a plurality of ball bearings (402) and a fixing seat (403); a fixing shaft is provided through the inner ring of the ball bearing (402), and both ends of the fixing shaft are respectively connected to the fixing seat (403); the outer ring of the ball bearing (402) is slidably connected to the bottom of the battery assembly (5); and the bottom of the fixing seat (403) is fixedly arranged at the bottom of the battery installation slot (301).

3. The underwater topography survey unmanned vessel according to claim 2, characterized in that: The inner partition (3) is provided with a strip groove (302) along the axial direction of the hull (1); one end of the sliding member (401) is slidably connected to the strip groove (302), and the other end is connected to the bottom of the battery assembly (5).

4. The underwater topography survey unmanned vessel according to claim 2, characterized in that: The battery assembly (5) comprises a storage battery (510) and a carrier (520) for placing the storage battery (510); outer edges of both sides of the carrier (520) arranged outwardly are slidably connected to the opening position of the battery installation groove (301).

5. The underwater topography survey unmanned vessel according to claim 4, characterized in that: An elastic clamp (6) is provided on the inner partition (3), and the elastic clamp (6) is clamped with the battery assembly (5).

6. The underwater topography survey unmanned vessel according to claim 5, characterized in that: A plurality of chamfered grooves (521) arranged at equal intervals are formed on the outer edge of the carrier (520), and the elastic clamp (6) is clamped with the chamfered grooves (521).

7. The unmanned underwater topography surveying vessel according to any one of claims 1 to 6, characterized in that: The hull (1) is composed of an upper cover assembly (110) and a lower cover assembly (120) which are detachably connected.

8. The underwater topography survey unmanned vessel according to claim 7, characterized in that: The upper cover assembly (110) comprises an upper cover body (111) and a cabin cover (112), and the cabin cover (112) is connected to the upper cover body (111) via a folding hinge.

9. The underwater topography surveying unmanned vessel according to claim 8, characterized in that: A waterproof ring is provided at the connection position between the upper cover body (111) and the cabin cover (112).

10. The underwater topography survey unmanned vessel according to claim 8, characterized in that: A moon pool (130) is arranged in the middle of the hull (1); the upper cover assembly (110) further comprises a moon pool hatch cover, the moon pool hatch cover is detachably connected to the upper cover body (111); the moon pool hatch cover is detachably connected to the upper opening position of the moon pool (130).

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