Double-body type underwater section surveying and mapping unmanned ship

Abstract

The utility model relates to the technical field of surveying and mapping unmanned ships, and discloses a double-body type underwater section surveying and mapping unmanned ship which comprises a ship body, connecting rods are fixedly connected to the two sides of the ship body, the other ends of the connecting rods are fixedly connected with side ship bodies, and a cleaning assembly is arranged at the position of the bow of the ship body. The cleaning assembly is used for removing sundries in the moving direction of the unmanned ship, a mounting plate is fixedly connected into a cabin of the ship body, a surveying and mapping equipment body is arranged on the top of the mounting plate, and a plurality of mounting assemblies are arranged on the surface of the mounting plate. According to the utility model, the electric push rod drives the rocking rod to continuously swing back and forth and drives the push plate to move, so that impurities or floating objects in front of the push plate are cleaned to the side when the unmanned ship moves, the ship can smoothly run, the floating objects are prevented from hindering sailing, and meanwhile, the measurement precision and reliability can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of surveying and mapping unmanned vessels, in particular to a catamaran underwater cross-section surveying and mapping unmanned vessel. Background Art

[0002] Underwater cross-sectional mapping refers to the acquisition of cross-sectional data of the bottom of the water area or underwater structures through underwater measuring equipment, such as underwater sonar or laser scanners. This data is usually used to draw topographic maps of the water area or measure the morphology of underwater buildings, pipelines and other structures, and help analyze changes in water depth, bottom quality and the surrounding environment. In the fields of waterway design, port construction and seabed exploration, underwater cross-sectional mapping is an important technical means, and unmanned vessels are usually used for mapping.

[0003] The working principle of the surveying and mapping unmanned vessel is based on sonar technology and autonomous navigation system. The unmanned vessel is equipped with a multi-beam or single-beam sonar system. When moving on the water surface, it emits sound waves underwater and receives the signals reflected by the sound waves to measure the water depth and bottom topography. The vessel scans along the water area under the control of a preset route or autonomous navigation to obtain underwater depth data in real time.

[0004] However, during operation, unmanned boats often encounter problems such as impurities or floating objects in front of the unmanned boat that hinder navigation. These floating objects not only affect the speed and stability of the unmanned boat, but also interfere with the normal operation of the surveying and mapping equipment, reducing the accuracy and reliability of the measurement. In addition, the unmanned boat is easily entangled by or collides with floating objects on the water surface during driving, resulting in inability to travel smoothly and may even damage the surveying and mapping equipment, affecting the smooth progress of the surveying and mapping task. For this reason, technical personnel in this field have proposed a catamaran underwater section mapping unmanned boat to solve the above problems. Utility Model Content

[0005] In order to make up for the above shortcomings, the utility model provides a catamaran underwater cross-section mapping unmanned vessel, which aims to improve the problem in the existing technology that when the mapping unmanned vessel moves on the water surface, impurities or floating objects in front of the unmanned vessel will hinder navigation, thereby interfering with the normal operation of the mapping equipment, resulting in reduced measurement accuracy and reliability.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a catamaran underwater cross-section mapping unmanned boat, comprising a hull body, both sides of the hull body are fixedly connected to connecting rods, the other ends of the connecting rods are fixedly connected to side hulls, a cleaning assembly is provided at the bow of the hull body, the cleaning assembly is used to clear debris in the direction of movement of the unmanned boat, a mounting plate is fixedly connected inside the cabin of the hull body, a mapping equipment body is provided on the top of the mounting plate, a plurality of mounting assemblies are provided on the surface of the mounting plate, the mounting assemblies are used to install and fix the mapping equipment body;

[0007] The cleaning assembly includes an electric push rod, which is fixedly connected to the bow of the hull body, and the output end of the electric push rod is fixedly connected to a double-sided rack. The bow of the hull body is fixedly connected to a fixing seat, and the internal rotation of the fixing seat is connected to two rotating shafts. The top of the rotating shaft is fixedly connected to a gear, and the outer side of the gear is meshed with the outer side of the double-sided rack. The outside of the rotating shaft is fixedly connected to a rocking rod, and the outer wall of the rocking rod is fixedly connected to a push plate.

[0008] Furthermore, the mounting assembly includes a connecting plate and a rotating rod, the connecting plate is fixedly connected to the bottom of the surveying and mapping equipment body, the bottom surface of the connecting plate is in contact with the surface of the mounting plate, the rotating rod is rotatably connected to the top of the mounting plate, and the top of the rotating rod is fixedly connected to a fixed plate.

[0009] Furthermore, a pull rod is fixedly connected to the bottom of the fixed plate in a sliding manner, and a limit block is fixedly connected to the bottom of the pull rod.

[0010] Furthermore, a clamping block is fixedly connected to the bottom of the limit block, and a clamping groove is provided on the surface of the connecting plate, and the clamping groove is engaged with the clamping block.

[0011] Furthermore, a spring is sleeved on the outside of the pull rod, one end of the spring is fixedly connected to the bottom wall of the fixed plate, and one end of the spring is fixedly connected to the top of the limit block.

[0012] Furthermore, the two rotating shafts are symmetrically arranged, and a plurality of strip-shaped through holes are evenly opened inside the push plate.

[0013] Furthermore, a propeller propeller is installed at the stern of the hull body, and a protective cover is provided on the outside of the propeller propeller.

[0014] Furthermore, both sides of the surveying and mapping equipment body are rotatably connected with handles, and the surfaces of the handles are provided with anti-slip pads.

[0015] The utility model has the following beneficial effects:

[0016] 1. In the present invention, the double-sided rack is driven to move back and forth by an electric push rod, so that the two gears rotate simultaneously under the support of the rotating shaft. At this time, the rotating shaft drives the rocking rod to rotate, so that the rocking rod swings back and forth continuously and drives the push plate to move. As a result, the push plate clears the impurities or floating objects in front of the unmanned boat to the side when the unmanned boat moves, ensuring that the boat can travel smoothly and avoiding floating objects from obstructing navigation. At the same time, the accuracy and reliability of the measurement can be improved.

[0017] 2. In the present invention, the limit block is moved by pulling the pull rod, so that the limit block presses the spring to shrink, and at the same time drives the card block out of the card slot, and then the rotating rod is rotated to move it to another direction, so that the surveying and mapping equipment body can be quickly disassembled. Through the above method, the surveying and mapping equipment body can be quickly fixed and disassembled, which reduces the installation and maintenance time, facilitates the transfer of surveying and mapping data, and avoids the problem that the bolts are difficult to disassemble when they are rusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional diagram of a double-body underwater cross-section mapping unmanned vessel proposed in the present invention;

[0019] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0020] Figure 3 This is a schematic diagram of the mounting plate structure of a catamaran underwater cross-section mapping unmanned vessel proposed in the present invention;

[0021] Figure 4 for Figure 3 Enlarged view of point B in the middle.

[0022] Legend:

[0023] 1. Hull body; 2. Connecting rod; 3. Side hull; 4. Electric push rod; 5. Fixed seat; 6. Double-sided rack; 7. Rotating shaft; 8. Gear; 9. Rocking rod; 10. Push plate; 11. Mounting plate; 12. Surveying and mapping equipment body; 13. Connecting plate; 14. Slot; 15. Rotating rod; 16. Fixed plate; 17. Pull rod; 18. Limit block; 19. Block; 20. Spring; 21. Handle; 22. Propeller. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] Reference Figure 1 and Figure 2The present invention provides an embodiment of a catamaran underwater cross-section surveying and mapping unmanned boat, including a hull body 1, which is the core part of the unmanned boat and carries various important equipment and components. Both sides of the hull body 1 are fixedly connected with connecting rods 2, and the other end of the connecting rod 2 is fixedly connected with a side hull 3. The connecting rod 2 plays the role of connecting the hull body 1 and the side hull 3. Under the action of the side hull 3, the unmanned boat is more stable during the driving process, reducing the impact of shaking on the surveying and mapping equipment. A cleaning component is provided at the bow of the hull body 1, and the cleaning component is used to clear debris in the moving direction of the unmanned boat. A mounting plate 11 is fixedly connected to the cabin of the hull body 1, and a surveying and mapping equipment body 12 is provided on the top of the mounting plate 11. The existing technology product can accurately measure underwater terrain, water depth and other data when the unmanned boat is moving. The surface of the mounting plate 11 is provided with multiple mounting components, which are used to install and fix the surveying and mapping equipment body 12. A propeller propeller 22 is installed at the stern of the hull body 1 as a power source to propel the unmanned boat. A protective cover is provided on the outside of the propeller propeller 22 to prevent the propeller from being entangled or damaged by debris in the water, ensuring the normal operation of the propeller. Both sides of the surveying and mapping equipment body 12 are rotatably connected to a handle 21, and the surface of the handle 21 is provided with an anti-slip pad. The handle 21 facilitates the operator to hold the surveying and mapping equipment body 12 when installing and removing it, thereby improving the convenience and safety of operation.

[0026] The cleaning component includes an electric push rod 4, which is fixedly connected to the bow of the hull body 1. The output end of the electric push rod 4 is fixedly connected to a double-sided rack 6, which serves as a power source to push the double-sided rack 6 to move, thereby realizing the cleaning operation. The bow of the hull body 1 is fixedly connected to a fixed seat 5, and the internal rotation of the fixed seat 5 is connected to two rotating shafts 7. The fixed seat 5 provides a stable support for the rotating shaft 7 to ensure that the rotating shaft 7 can rotate smoothly. The top of the rotating shaft 7 is fixedly connected to a gear 8, and the outer side of the gear 8 is meshed with the outer side of the double-sided rack 6. The function of the gear 8 is to convert the linear motion of the double-sided rack 6 into the rotational motion of the rotating shaft 7, thereby realizing the transmission and conversion of power. The outside of the rotating shaft 7 is fixedly connected to a rocking rod 9, and the outer wall of the rocking rod 9 is fixedly connected to a push plate 10. The rocking rod 9 drives the push plate 10 to move by swinging back and forth, thereby cleaning the impurities or floating objects in front of the unmanned boat to the side. The two rotating shafts 7 are symmetrically arranged, and a plurality of strip through holes are evenly opened inside the push plate 10.

[0027] Specifically, when the unmanned boat is performing underwater mapping operations, the propeller thruster 22 located at the tail of the hull body 1 starts to run, pushing the hull body 1 to move on the water surface. The protective cover outside the propeller thruster 22 can effectively prevent the propeller from being entangled or damaged by debris in the water, ensuring that the power system of the unmanned boat is stable and reliable. At the same time, in order to ensure that the unmanned boat is not hindered by debris and floating objects in front during driving, and to improve the accuracy and reliability of measurement, the cleaning component at the head of the hull body 1 can be started. Specifically, the electric push rod 4 is started, and the electric push rod 4 drives the double-sided rack 6 to move back and forth, and the cleaning component is started. The two sides of the double-sided rack 6 are meshed with the outer sides of the gears 8 at the top of the two rotating shafts 7 in the fixed seat 5, so the movement of the double-sided rack 6 will cause the two gears 8 to rotate simultaneously under the support of the rotating shaft 7. When the rotating shaft 7 rotates, it will drive the rocking rod 9 fixed to the outside to rotate, and then make the rocking rod 9 swing back and forth continuously, and drive the push plate 10 fixed to its outer wall to move. When the unmanned boat moves, the push plate 10 can clean up the impurities or floating objects in front to the side, ensuring that the ship can travel smoothly. The multiple strip-shaped through holes evenly opened inside the push plate 10 can reduce water resistance and improve cleaning efficiency.

[0028] Reference Figure 3 and Figure 4 The mounting assembly includes a connecting plate 13 and a rotating rod 15. The connecting plate 13 is fixedly connected to the bottom of the surveying and mapping equipment body 12. The connecting plate 13 can be fixed to the surveying and mapping equipment body 12 by cooperating with other components of the mounting assembly. The bottom surface of the connecting plate 13 contacts the surface of the mounting plate 11. The rotating rod 15 is rotatably connected to the top of the mounting plate 11. The top of the rotating rod 15 is fixedly connected to a fixed plate 16. The bottom of the fixed plate 16 is fixedly internally slidably connected to a pull rod 17. The bottom of the pull rod 17 is fixedly connected to a limit block 18. The bottom of the limit block 18 is fixedly connected to a card block 19. The pull rod 17 is fixedly connected to the bottom of the limit block 18. The function is to pull the limit block 18 to disengage the block 19 from the slot 14, thereby realizing the disassembly of the surveying and mapping equipment body 12. A slot 14 is provided on the surface of the connecting plate 13, and the slot 14 is engaged with the block 19, which can realize the fixation of the surveying and mapping equipment body 12. The outer sleeve of the pull rod 17 is provided with a spring 20, one end of the spring 20 is fixedly connected to the bottom wall of the fixing plate 16, and one end of the spring 20 is fixedly connected to the top of the limit block 18. The function of the spring 20 is to provide a rebound force when installing the surveying and mapping equipment body 12, pushing the block 19 to complete the engagement with the slot 14, thereby realizing the fixation of the surveying and mapping equipment body 12.

[0029] Specifically, when installing and disassembling the surveying and mapping equipment body 12, the mounting components on the surface of the mounting plate 11 can be used. If the surveying and mapping equipment body 12 needs to be disassembled, the limit block 18 can be moved by pulling the pull rod 17. During the movement, the limit block 18 will put pressure on the spring 20 to make it contract, and at the same time drive the block 19 fixed at the bottom to disengage from the slot 14, and then rotate the rotating rod 15 to move it to the other direction, so that the surveying and mapping equipment body 12 can be quickly disassembled. When installing, it is only necessary to repeat the above operation and release the pull rod 17 when the block 19 is aligned with the slot 14. At this time, the spring 20 rebounds and pushes the block 19 to complete the engagement with the slot 14, thereby fixing the surveying and mapping equipment body 12. This installation method can achieve rapid fixation and disassembly of the surveying and mapping equipment body 12, reduces the time of installation and maintenance, facilitates the transfer of surveying and mapping data, and avoids the problem that the bolts are difficult to disassemble when they are rusted.

[0030] Working principle: When the unmanned boat is conducting underwater mapping, the operation of the propeller thruster 22 will push the hull body 1 to move on the water surface, and while moving, the electric push rod 4 can be started, so that the electric push rod 4 drives the double-sided rack 6 to move back and forth, and then the two gears 8 rotate at the same time under the support of the rotating shaft 7. At this time, the rotating shaft 7 will drive the rocking rod 9 to rotate, so that the rocking rod 9 continuously swings back and forth, and drives the push plate 10 to move, so that the push plate 10 clears the impurities or floating objects in front of the unmanned boat to the side when the unmanned boat moves, ensuring that the ship can travel smoothly and avoid floating objects hindering navigation. At the same time, the accuracy and reliability of the measurement can be improved. Secondly, the limit block can be driven by pulling the pull rod 17 18 moves, so that the limit block 18 applies pressure to the spring 20 to make it contract, and at the same time drives the block 19 to disengage from the slot 14, and then rotates the rotating rod 15 to move it to the other direction, so that the surveying and mapping equipment body 12 can be quickly disassembled. When installing, it is only necessary to repeat the above operation, and when the block 19 is aligned with the slot 14, release the pull rod 17, so that the spring 20 rebounds and pushes the block 19 to complete the engagement with the slot 14, thereby fixing the surveying and mapping equipment body 12. In the above manner, the surveying and mapping equipment body 12 can be quickly fixed and disassembled, which reduces the time of installation and maintenance, facilitates the transfer of surveying and mapping data, and avoids the problem that the bolts are difficult to disassemble when they are rusted.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A catamaran underwater cross-section mapping unmanned vessel, comprising a main body (1), characterized in that: Both sides of the hull body (1) are fixedly connected with connecting rods (2), and the other ends of the connecting rods (2) are fixedly connected with side hulls (3). A cleaning component is provided at the bow of the hull body (1), and the cleaning component is used to clear debris in the moving direction of the unmanned boat. A mounting plate (11) is fixedly connected in the cabin of the hull body (1), and a surveying and mapping equipment body (12) is provided on the top of the mounting plate (11). A plurality of mounting components are provided on the surface of the mounting plate (11), and the mounting components are used to install and fix the surveying and mapping equipment body (12); The cleaning assembly comprises an electric push rod (4), the electric push rod (4) is fixedly connected to the bow of the hull body (1), the output end of the electric push rod (4) is fixedly connected to a double-sided rack (6), the bow of the hull body (1) is fixedly connected to a fixing seat (5), the interior of the fixing seat (5) is rotatably connected to two rotating shafts (7), the top end of the rotating shaft (7) is fixedly connected to a gear (8), the outer side of the gear (8) is meshed with the outer side of the double-sided rack (6), the outer side of the rotating shaft (7) is fixedly connected to a rocking rod (9), and the outer wall of the rocking rod (9) is fixedly connected to a push plate (10).

2. The catamaran underwater cross-section mapping unmanned vessel according to claim 1, characterized in that: The mounting assembly comprises a connecting plate (13) and a rotating rod (15), wherein the connecting plate (13) is fixedly connected to the bottom of the surveying and mapping equipment body (12), the bottom surface of the connecting plate (13) contacts the surface of the mounting plate (11), the rotating rod (15) is rotatably connected to the top of the mounting plate (11), and the top of the rotating rod (15) is fixedly connected to a fixed plate (16).

3. The catamaran underwater cross-section mapping unmanned vessel according to claim 2, characterized in that: The bottom of the fixed plate (16) is fixedly and internally connected to a pull rod (17) for sliding connection, and the bottom of the pull rod (17) is fixedly connected to a limiting block (18).

4. The catamaran underwater cross-section mapping unmanned vessel according to claim 3, characterized in that: A clamping block (19) is fixedly connected to the bottom of the limit block (18), and a clamping groove (14) is provided on the surface of the connecting plate (13), and the clamping groove (14) is engaged with the clamping block (19).

5. The catamaran underwater cross-section mapping unmanned vessel according to claim 3, characterized in that: The outer sleeve of the pull rod (17) is provided with a spring (20), one end of the spring (20) is fixedly connected to the bottom wall of the fixed plate (16), and one end of the spring (20) is fixedly connected to the top of the limit block (18).

6. The catamaran underwater cross-section mapping unmanned vessel according to claim 1, characterized in that: The two rotating shafts (7) are symmetrically arranged, and a plurality of strip-shaped through holes are evenly opened inside the push plate (10).

7. The catamaran underwater cross-section mapping unmanned vessel according to claim 1, characterized in that: A propeller propeller (22) is installed at the stern of the hull body (1), and a protective cover is provided outside the propeller propeller (22).

8. The catamaran underwater cross-section mapping unmanned vessel according to claim 1, characterized in that: Both sides of the surveying and mapping equipment body (12) are rotatably connected to handles (21), and the surfaces of the handles (21) are provided with anti-slip pads.

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