Ocean archaeological unmanned ship

Abstract

The utility model relates to the technical field of unmanned ships, in particular to a marine archaeological unmanned ship which comprises a ship body, a lifting frame, a traction assembly and a detector. The lifting frame comprises a supporting frame, a guide wheel set and a suspension rod, the supporting frame is fixedly connected to one side of the ship body, the guide wheel set is rotationally connected to the supporting frame, and the suspension rod is fixedly connected to the supporting frame. The traction assembly comprises a winding piece, a traction rope and a traction driving piece, the winding piece is fixedly connected to the ship body, the traction rope is connected to the winding piece, and the traction driving piece is connected with the winding piece. The detector is fixedly connected with a hook, the end, away from the opening, of the hook is fixedly connected with the pulling rope, and the guide wheel set is located on the side, close to the ship body, of the hanging rod so that the pulling rope can pull the hook to be hung on the hanging rod. The detector is hung on the hanging rod through the hook, so that when the detector is in a storage state, the traction rope is in a relaxed state, damage to the traction rope caused by long-time use is reduced, and the detector has the effect of prolonging the service life of the traction rope.

Description

Technical Field

[0001] This application relates to the technical field of unmanned vessels, and in particular to an unmanned vessel for marine archaeology. Background Technology

[0002] Marine archaeology is an integral part of historical research, and as a cutting-edge field in the protection and research of underwater cultural heritage, it has entered a new phase in recent years driven by technological breakthroughs and major discoveries. Chinese marine archaeology is now transitioning from coastal shallow waters to full-ocean coverage.

[0003] A recovery device and navigation equipment, currently disclosed in CN212195841U, includes a wheel frame for mounting on the navigation equipment; a lifting platform mounted on the wheel frame, movable along the length of the wheel frame; a capture mechanism mounted on the lifting platform, including a positioning clamp with an expanding shape; and a traction mechanism equipped with a traction rope for connecting an underwater detection device, one end of which is wrapped around the wheel frame and connected to the capture mechanism. The traction mechanism recovers the traction rope, and the underwater detection device moves towards the positioning clamp along the traction rope. Once the underwater detection device is in position, the moving lifting platform drives the capture mechanism to rise along the depth direction of the moon pool, lifting the underwater detection device to a suitable containment position.

[0004] Regarding the aforementioned technologies, after moving the underwater detection equipment into position using a traction rope, the traction rope needs to be kept taut at all times to position the underwater detection equipment within the positioning clamp. However, keeping the traction rope taut for extended periods can easily damage the connection between the traction rope and the underwater detection equipment, resulting in a shorter service life for the traction rope. Utility Model Content

[0005] To extend the service life of the towing rope, this application provides an unmanned marine archaeological vessel.

[0006] The marine archaeology unmanned vessel provided in this application adopts the following technical solution:

[0007] A marine archaeology unmanned vessel includes:

[0008] hull;

[0009] The lifting frame includes a support frame, a guide wheel assembly, and a suspension rod. The support frame is fixedly connected to one side of the hull, the guide wheel assembly is rotatably connected to the support frame, and the suspension rod is fixedly connected to the support frame.

[0010] The traction assembly includes a take-up member, a traction rope, and a traction drive. The take-up member is fixedly connected to the hull, the traction rope is connected to the take-up member, and the traction drive is connected to the take-up member to drive the take-up member to take up or unwind the traction rope.

[0011] A detector, wherein a hook is fixedly connected to the detector, and the end of the hook away from the opening is fixedly connected to the traction rope; and

[0012] The guide wheel assembly is located on the side of the suspension rod closer to the hull, so that the towing rope can pull the hook to hang on the suspension rod.

[0013] By adopting the above technical solution, the detector's hook is attached to the suspension rod. The hull moves to the vicinity of the detection area and, once the hull is stationary, the traction drive unit drives the winding unit to wind up the traction rope. This causes the traction rope to slowly pull the detector, disengaging the hook on the detector from the suspension rod. Then, under its own weight, the detector is in a vertical position. At this point, the traction drive unit drives the winding unit to unwind the traction rope, allowing the detector to enter the water vertically. The hull can then move within the detection area, allowing the traction rope to pull the detector for detection.

[0014] After the inspection is completed, the boat returns while the traction drive unit drives the winding unit to wind up the traction rope. At this time, the detector is tilted under the push of the water flow. After the winding unit winds the traction rope to the top, it slowly unwinds it, causing the detector to tilt towards the suspension rod under the push of the water flow, so that the hook is hooked on the suspension rod. At this time, the traction rope is in a relaxed state.

[0015] When the detector is in the retracted state, it is suspended from the suspension rod by a hook. Therefore, the traction rope is in a relaxed state when the detector is in the retracted state, which can reduce the damage of the traction rope after long-term use and thus extend the service life of the traction rope.

[0016] Optionally, the guide wheel assembly includes several guide wheels, which are arranged in pairs, and the traction rope is located between two guide wheels in the same pair.

[0017] By adopting the above technical solution, several guide wheels are used to guide the traction rope, which facilitates the winding component to wind or unwind the traction rope. At the same time, two guide wheels in the same group clamp the traction rope to prevent it from detaching from the guide wheels.

[0018] Optionally, the support frame is also fixedly connected to two mirror-shaped guide plates, the openings of the two guide plates gradually increasing in size towards the bottom.

[0019] By adopting the above technical solution, the detector's running path is guided by the setting of two guide plates, and the guide hook is accurately returned to its position, so that the detector can be smoothly suspended on the suspension rod.

[0020] Optionally, the winding component includes a winding frame, a guide rod, a guide seat, a winding roller, and a transmission component. The winding frame is fixedly connected to the hull, the guide rod is rotatably connected to the winding frame, and the guide rod is a reciprocating lead screw. The traction drive component is connected to the guide rod to drive the guide rod to rotate. The guide seat is connected to the guide rod, and the traction rope passes through the guide seat. The guide rod is fixedly connected to the winding frame, and the guide rod is arranged parallel to the guide rod. The guide seat is slidably connected to the guide rod along the axial direction of the guide rod. The winding roller is rotatably connected to the winding frame. One end of the transmission component is connected to the guide rod, and the other end is connected to the winding roller, so that the rotation of the winding roller drives the winding roller to rotate.

[0021] By adopting the above technical solution, when the traction drive unit drives the take-up unit to take up the winding, the traction drive unit drives the guide rod to rotate. The guide rod drives the take-up roller to rotate synchronously through the transmission component. At the same time, the guide rod drives the guide seat to move back and forth along the length of the guide rod under the guidance of the guide rod through the reciprocating screw, thereby driving the traction rope passing through the guide seat to move back and forth, avoiding the traction rope from accumulating in one area of ​​the take-up roller when winding up, which would cause the winding to be unsmooth.

[0022] Optionally, the transmission component includes a driving gear, a driven gear, and a transmission chain. The driving gear is coaxially and fixedly connected to the guide rod, the driven gear is coaxially and fixedly connected to the take-up roller, and the transmission chain is wound around the driving gear and the driven gear respectively.

[0023] By adopting the above technical solution, the cooperation of the driving gear, driven gear and transmission chain is used to make the guide rod rotate while driving the driving gear to rotate. The rotation of the driving gear drives the driven gear to rotate synchronously through the transmission chain, thereby driving the take-up roller to rotate.

[0024] Optionally, the hull is also equipped with a three-dimensional depth sounding component, which is used to measure the depth of the seabed.

[0025] By adopting the above technical solution and using a three-dimensional depth sounding component to measure the depth of the seabed, the distance and water depth of various points on the seabed can be accurately measured, thus improving archaeological efficiency.

[0026] Optionally, the three-dimensional depth sounding assembly includes a depth sounding frame, a depth sounding drive, a depth sounding guide rail, a depth sounding slider, and a three-dimensional depth sounder. The depth sounding frame is fixedly connected to the hull, the depth sounding drive is fixedly connected to the depth sounding frame, the depth sounding guide rail is fixedly connected to the depth sounding frame, and the length direction of the depth sounding guide rail faces the bottom of the hull. The depth sounding slider is slidably connected to the depth sounding guide rail, the three-dimensional depth sounder is fixedly connected to the depth sounding slider, and the driving end of the depth sounding drive is fixedly connected to the three-dimensional depth sounder to drive the three-dimensional depth sounder to move along the length direction of the depth sounding guide rail.

[0027] By adopting the above technical solution, and utilizing the cooperation of the sounding frame, sounding drive, sounding guide rail, sounding slider, and three-dimensional sounder, the three-dimensional sounder can be driven to rise and fall vertically. During rapid navigation, the three-dimensional sounder can be stored and protected, reducing damage to the three-dimensional sounder.

[0028] Optionally, the hull is also equipped with a profiling assembly for measuring underwater buried objects.

[0029] By adopting the above technical solution, the profile component is used to measure the buried objects in the water, which facilitates the detection of underwater buried cultural relics.

[0030] Optionally, the profiling assembly includes a profiling frame, a profiling drive, a profiling guide rail, a profiling guide rod, and a shallow bottom profiler. The profiling frame is fixedly connected to the hull, the profiling drive is fixedly connected to the profiling frame, the profiling guide rail is fixedly connected to the profiling frame, and the length direction of the profiling guide rail faces the bottom of the hull. The profiling guide rod is slidably connected to the profiling guide rail, the shallow bottom profiler is fixedly connected to the profiling guide rod, and the driving end of the profiling drive is fixedly connected to the shallow bottom profiler to drive the shallow bottom profiler to move along the length direction of the profiling guide rail.

[0031] By adopting the above technical solution, the shallow bottom profiler is driven by the profile driving component and guided by the profile guide rail and profile guide rod, thus enabling it to move smoothly vertically. This facilitates the shallow bottom profiler's measurement of silt and detection of buried objects in river areas.

[0032] Optionally, a plurality of balancing fins are fixedly connected to the detector, and the length direction of the balancing fins is parallel to the length direction of the detector.

[0033] By adopting the above technical solutions, the setting of the balancing fins enables the detector to navigate smoothly, reduces underwater swaying of the detector, and ensures the quality of the detection data.

[0034] In summary, this application includes at least one of the following beneficial technical effects:

[0035] Through the cooperation of the hull, support frame, guide wheel assembly, suspension rod, winding component, traction rope, traction drive component, detector and hook, since the detector is suspended on the suspension rod by the hook when it is in the storage state, the traction rope is in a relaxed state when the detector is in the storage state, which can reduce the damage of the traction rope after long-term use and thus achieve the effect of extending the service life of the traction rope.

[0036] By coordinating the winding frame, guide rod, guide seat, guide rod, winding roller, and transmission components, the traction rope is prevented from accumulating in one area of ​​the winding roller during winding, making the winding of the traction rope smoother.

[0037] By utilizing the cooperation of the driving gear, driven gear, and transmission chain, the guide rod rotates while simultaneously driving the driving gear. The rotation of the driving gear, through the transmission chain, synchronously drives the driven gear, thereby driving the take-up roller to rotate. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the marine archaeological unmanned vessel in the embodiments of this application.

[0039] Figure 2 This is a structural schematic diagram of the hoisting frame and traction assembly in the embodiments of this application.

[0040] Figure 3 This is a schematic diagram of the traction component in an embodiment of this application.

[0041] Figure 4 This is a schematic diagram of the bottom of the marine archaeological unmanned vessel in the embodiments of this application.

[0042] Figure 5 This is a schematic diagram of the structure of the three-dimensional depth sounding component in the embodiments of this application.

[0043] Figure 6 This is a schematic diagram of the cross-sectional component in an embodiment of this application.

[0044] Explanation of reference numerals in the attached figures:

[0045] 1. Hull; 2. Lifting frame; 21. Support frame; 22. Guide wheel assembly; 221. Guide wheel; 23. Suspension rod; 3. Traction assembly; 31. Rewinding component; 311. Rewinding frame; 312. Guide rod; 313. Guide seat; 314. Guide rod; 315. Rewinding roller; 316. Transmission component; 3161. Drive gear; 3162. Driven gear; 3163. Transmission chain; 32. Traction rope; 33. Traction drive component; 4. Detector; 41. Hook; 42. Balance fin; 5. Guide plate; 6. 3D depth sounding assembly; 61. Depth sounding frame; 62. Depth sounding drive component; 63. Depth sounding guide rail; 64. Depth sounding slider; 65. 3D depth sounder; 7. Profile assembly; 71. Profile frame; 72. Profile drive component; 73. Profile guide rail; 74. Profile guide rod; 75. Shallow bottom profiler. Detailed Implementation

[0046] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0047] This application discloses an unmanned marine archaeology vessel.

[0048] Reference Figure 1 and Figure 2 The unmanned surface vessel (USV) for marine archaeology includes a hull 1, a hoisting frame 2, a traction assembly 3, and a detector 4. The hoisting frame 2 includes a support frame 21, a set of guide wheels 221, and a suspension rod 23. The support frame 21 is fixedly connected to the stern of the hull 1, the set of guide wheels 221 is rotatably connected to the support frame 21, and the suspension rod 23 is fixedly connected to the support frame 21. The traction assembly 3 includes a winding component 31, a traction rope 32, and a traction drive component 33. The winding component 31 is fixedly connected to the hull 1, the traction rope 32 is connected to the winding component 31, and the traction drive component 33 is connected to the winding component 31. A hook 41 is fixedly connected to the detector 4. The end of the hook 41 furthest from the opening is fixedly connected to the traction rope 32. The guide wheel set 22 is located on the side of the suspension rod 23 closer to the hull 1, allowing the traction rope 32 to pull the hook 41 to hang on the suspension rod 23. Since the detector 4 is suspended on the suspension rod 23 by the hook 41 when it is in the storage state, the traction rope 32 is in a relaxed state when the detector 4 is in the storage state, which can reduce the damage of the traction rope 32 after long-term use and thus extend the service life of the traction rope 32.

[0049] The guide wheel group 221 includes several guide wheels 221. In this embodiment, four guide wheels 221 are provided. The four guide wheels 221 are used to guide the traction rope 32, so that the winding member 31 can wind or unwind the traction rope 32.

[0050] The guide wheels 221 are arranged in pairs, with two sets in total. Each set of guide wheels 221 is rotatably connected to the lifting frame 2, and the traction rope 32 is located between the two guide wheels 221 in the same set. The two guide wheels 221 in the same set clamp the traction rope 32 to prevent the traction rope 32 from detaching from the guide wheels 221.

[0051] Two mirror-shaped guide plates 5 are also fixedly connected to the support frame 21, with the openings of the two guide plates 5 gradually increasing towards the bottom. The two guide plates 5 are used to guide the running path of the detector 4, and the guide hook 41 is accurately positioned, so that the detector 4 can be smoothly suspended on the suspension rod 23.

[0052] Reference Figure 3 The winding component 31 includes a winding frame 311, a guide rod 312, a guide seat 313, a guide rod 314, a winding roller 315, and a transmission component 316. The take-up frame 311 is fixedly connected to the hull 1. The guide rod 312 is rotatably connected to the take-up frame 311 and is a reciprocating screw. The traction drive 33 is connected to the guide rod 312 to drive the guide rod 312 to rotate. The guide seat 313 is connected to the guide rod 312. The traction rope 32 passes through the guide seat 313. The guide rod 314 is fixedly connected to the take-up frame 311 and is parallel to the guide rod 312. The guide seat 313 is slidably connected to the guide rod 314 along the axial direction of the guide rod 314. The take-up roller 315 is rotatably connected to the take-up frame 311. One end of the transmission component 316 is connected to the guide rod 312 and the other end is connected to the take-up roller 315 so that the take-up roller 315 rotates and drives the take-up roller 315 to rotate.

[0053] In this embodiment, the traction drive component 33 is a right-angle motor, which drives the guide rod 312 to rotate. The right-angle motor can optimize the spatial arrangement of the traction component 3.

[0054] The traction drive 33 drives the take-up member 31 to take up the winding. The traction drive 33 drives the guide rod 312 to rotate. The guide rod 312 drives the take-up roller 315 to rotate synchronously through the transmission member 316. At the same time, the guide rod 312 drives the guide seat 313 to move back and forth along the length of the guide rod 312 under the guidance of the guide rod 314 through the reciprocating screw. This drives the traction rope 32 passing through the guide seat 313 to move back and forth, so as to avoid the traction rope 32 accumulating in one area of ​​the take-up roller 315 during winding, which would cause the winding to be unsmooth.

[0055] In one optional embodiment, the transmission component 316 includes a driving gear 3161, a driven gear 3162, and a transmission chain 3163. In other embodiments, a gear set or a transmission belt can also be used for transmission. The driving gear 3161 is coaxially and fixedly connected to the guide rod 312, and the driven gear 3162 is coaxially and fixedly connected to the take-up roller 315. The transmission chain 3163 is wound around the driving gear 3161 and the driven gear 3162 respectively. When the guide rod 312 rotates, it drives the driving gear 3161 to rotate. The rotation of the driving gear 3161 synchronously drives the driven gear 3162 to rotate through the transmission chain 3163, thereby driving the take-up roller 315 to rotate.

[0056] Reference Figure 4 and Figure 5 In this embodiment, a three-dimensional depth sounding assembly 6 is also installed on the hull 1. The three-dimensional depth sounding assembly 6 includes a depth sounding frame 61, a depth sounding drive 62, a depth sounding guide rail 63, a depth sounding slider 64, and a three-dimensional depth sounder 65. The depth sounding frame 61 is fixedly connected to the middle position of the bottom of the hull 1. The depth sounding drive 62 is fixedly connected to the depth sounding frame 61. The depth sounding guide rail 63 is fixedly connected to the depth sounding frame 61, and its length direction faces the bottom of the hull 1. The depth sounding slider 64 is slidably connected to the depth sounding guide rail 63. The three-dimensional depth sounder 65 is fixedly connected to the depth sounding slider 64, and the driving end of the depth sounding drive 62 is fixedly connected to the three-dimensional depth sounder 65 to drive the three-dimensional depth sounder 65 to move along the length direction of the depth sounding guide rail 63. The three-dimensional depth sounding assembly 6 is used to measure the depth of the seabed, which can accurately measure the distance and water depth of various points on the seabed, improving archaeological efficiency.

[0057] When the three-dimensional depth sounder 65 needs to perform measurements, the depth sounding drive 62 pushes the three-dimensional depth sounder 65 towards the bottom. With the cooperation of the depth sounding slider 64 and the depth sounding guide rail 63, the three-dimensional depth sounder 65 moves vertically downward until it moves to the outside of the hull 1, so that the three-dimensional depth sounder 65 can perform accurate measurements.

[0058] When the hull 1 moves, the depth sounding drive 62 pushes the three-dimensional depth sounder 65 toward the interior of the hull 1. With the cooperation of the depth sounding slider 64 and the depth sounding guide rail 63, the three-dimensional depth sounder 65 moves vertically upward until it moves into the interior of the hull 1, so that the three-dimensional depth sounder 65 can be stored and protected during the rapid navigation process, reducing the damage to the three-dimensional depth sounder 65.

[0059] Reference Figure 6The hull 1 is also equipped with a profiling assembly 7. In this embodiment, the profiling assembly 7 includes a profiling frame 71, a profiling drive 72, a profiling guide rail 73, a profiling guide rod 74, and a shallow bottom profiler 75. The profiling frame 71 is fixedly connected to the hull 1, the profiling drive 72 is fixedly connected to the profiling frame 71, the profiling guide rail 73 is fixedly connected to the profiling frame 71, and the length direction of the profiling guide rail 73 faces the bottom of the hull 1. The profiling guide rod 74 is slidably connected to the profiling guide rail 73. The shallow bottom profiler 75 is fixedly connected to the profiling guide rod 74, and the driving end of the profiling drive 72 is fixedly connected to the shallow bottom profiler 75 to drive the shallow bottom profiler 75 to move along the length direction of the profiling guide rail 73. The profiling assembly 7 is used to measure the buried objects in the water area, which facilitates the detection of underwater buried cultural relics.

[0060] The shallow bottom profiler 75 is driven by the profile drive component 72 and guided downward by the profile guide rail 73 and the profile guide rod 74, thereby facilitating the measurement of silt and detection of buried objects in the river area by the shallow bottom profiler 75.

[0061] In this embodiment, the depth measuring drive 62 and the profile driving drive 72 are electric push rods. In other embodiments, hydraulic / pneumatic cylinders, lead screw and nut assemblies, or gear teeth can also be used.

[0062] A number of balancing fins 42 are fixedly connected to the detector 4. In this embodiment, four balancing fins 42 are provided, which are evenly distributed around the detector 4, and the length direction of the balancing fins 42 is parallel to the length direction of the detector 4. The arrangement of the balancing fins 42 enables the detector 4 to navigate smoothly, reducing underwater sway and ensuring the quality of the detection data.

[0063] The implementation principle of an unmanned marine archaeological vessel according to an embodiment of this application is as follows: The hook 41 of the detector 4 is hung on the suspension rod 23. The hull 1 moves to the vicinity of the detection area. After the hull 1 stops, the traction drive 33 drives the winding roller 315 to wind up the traction rope 32, so that the traction rope 32 slowly pulls the detector 4, causing the hook 41 on the detector to disengage from the suspension rod 23. Then, the detector is in a vertical position under its own weight. At this time, the traction drive 33 drives the winding component 31 to unwind the traction rope 32, so that the detector enters the water area in a vertical direction. Then, the hull 1 can move in the detection area, so that the traction rope 32 pulls the detector 4 for detection.

[0064] After the inspection is completed, the boat returns while the hull 1 is driven by the traction drive 33 to drive the winding roller 315 to wind up the traction rope 32. At this time, the detector 4 is tilted under the push of the water flow. After the winding component 31 winds the traction rope 32 to the top, it is slowly unwound, so that the detector 4 tilts towards the suspension rod 23 under the push of the water flow, so that the hook 41 is hooked on the suspension rod 23. At this time, the traction rope 32 is in a relaxed state.

[0065] Since the detector 4 is suspended on the suspension rod 23 by the hook 41 when it is in the storage state, the traction rope 32 is in a relaxed state when the detector 4 is in the storage state, which can reduce the damage of the traction rope 32 after long-term use and thus extend the service life of the traction rope 32.

[0066] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A marine archaeological unmanned vessel, characterized in that, include: hull(1); The hoisting frame (2) includes a support frame (21), a guide wheel assembly (22), and a suspension rod (23). The support frame (21) is fixedly connected to one side of the hull (1), the guide wheel assembly (22) is rotatably connected to the support frame (21), and the suspension rod (23) is fixedly connected to the support frame (21). The traction assembly (3) includes a winding member (31), a traction rope (32), and a traction drive member (33). The winding member (31) is fixedly connected to the hull (1), the traction rope (32) is connected to the winding member (31), and the traction drive member (33) is connected to the winding member (31) to drive the winding member (31) to wind or unwind the traction rope (32). Detector (4), on which a hook (41) is fixedly connected, the end of the hook (41) away from the opening being fixedly connected to the traction rope (32); and The guide wheel assembly (22) is located on the side of the suspension rod (23) close to the hull (1) so that the traction rope (32) can pull the hook (41) to hang on the suspension rod (23).

2. The unmanned marine archaeological vessel according to claim 1, characterized in that: The guide wheel group (22) includes a plurality of guide wheels (221), the guide wheels (221) are in pairs, and the traction rope (32) is located between two of the guide wheels (221) in the same group.

3. The unmanned marine archaeological vessel according to claim 1, characterized in that: Two mirror-shaped guide plates (5) are also fixedly connected to the support frame (21), and the openings of the two guide plates (5) towards the bottom gradually increase.

4. The unmanned marine archaeological vessel according to any one of claims 1-3, characterized in that: The winding component (31) includes a winding frame (311), a guide rod (312), a guide seat (313), a guide rod (314), a winding roller (315), and a transmission component (316). The winding frame (311) is fixedly connected to the hull (1). The guide rod (312) is rotatably connected to the winding frame (311), and the guide rod (312) is a reciprocating lead screw. The traction drive component (33) is connected to the guide rod (312) to drive the guide rod (312) to rotate. The guide seat (313) is connected to the guide rod (312). The traction rope (32) passes through the guide rod. The guide seat (313) is fixedly connected to the take-up frame (311) and the guide rod (314) is parallel to the guide rod (312). The guide seat (313) is slidably connected to the guide rod (314) along the axial direction of the guide rod (314). The take-up roller (315) is rotatably connected to the take-up frame (311). One end of the transmission member (316) is connected to the guide rod (312) and the other end is connected to the take-up roller (315) so that the take-up roller (315) rotates and drives the take-up roller (315) to rotate.

5. The unmanned marine archaeological vessel according to claim 4, characterized in that: The transmission component (316) includes a drive gear (3161), a driven gear (3162), and a transmission chain (3163). The drive gear (3161) is coaxially and fixedly connected to the guide rod (312). The driven gear (3162) is coaxially and fixedly connected to the take-up roller (315). The transmission chain (3163) is wound around the drive gear (3161) and the driven gear (3162) respectively.

6. The unmanned marine archaeological vessel according to claim 1, characterized in that: The hull (1) is also equipped with a three-dimensional depth sounding component (6), which is used to measure the depth of the seabed.

7. The unmanned marine archaeological vessel according to claim 6, characterized in that: The three-dimensional depth sounding assembly (6) includes a depth sounding frame (61), a depth sounding drive (62), a depth sounding guide rail (63), a depth sounding slider (64), and a three-dimensional depth sounder (65). The depth sounding frame (61) is fixedly connected to the hull (1). The depth sounding drive (62) is fixedly connected to the depth sounding frame (61). The depth sounding guide rail (63) is fixedly connected to the depth sounding frame (61), and the length direction of the depth sounding guide rail (63) faces the bottom of the hull (1). The depth sounding slider (64) is slidably connected to the depth sounding guide rail (63). The three-dimensional depth sounder (65) is fixedly connected to the depth sounding slider (64), and the driving end of the depth sounding drive (62) is fixedly connected to the three-dimensional depth sounder (65) to drive the three-dimensional depth sounder (65) to move along the length direction of the depth sounding guide rail (63).

8. The unmanned marine archaeological vessel according to claim 1, characterized in that: The hull (1) is also equipped with a profile assembly (7) for measuring buried objects in water.

9. The unmanned marine archaeological vessel according to claim 8, characterized in that: The profile assembly (7) includes a profile frame (71), a profile drive (72), a profile guide rail (73), a profile guide rod (74), and a bottom profiler (75). The profile frame (71) is fixedly connected to the hull (1), the profile drive (72) is fixedly connected to the profile frame (71), the profile guide rail (73) is fixedly connected to the profile frame (71), and the length direction of the profile guide rail (73) faces the bottom of the hull (1). The profile guide rod (74) is slidably connected to the profile guide rail (73). The bottom profiler (75) is fixedly connected to the profile guide rod (74), and the driving end of the profile drive (72) is fixedly connected to the bottom profiler (75) to drive the bottom profiler (75) to move along the length direction of the profile guide rail (73).

10. The unmanned marine archaeological vessel according to claim 1, characterized in that: A number of balancing fins (42) are fixedly connected to the detector (4), and the length direction of the balancing fins (42) is parallel to the length direction of the detector (4).

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