2450results about "Vessel parts" patented technology

The invention discloses an intelligent water quality real-time monitoring and early warning unmanned ship and an unmanned ship system, and relates to the field of water quality monitoring and unmanned ships, and the unmanned ship adopts a modular structure and comprises a cabin which is internally provided with a GNSS module, a communication module and a main control module; the double ship bodies are fixed to the two sides of the cabin respectively, and lithium battery packs used for storing energy and supplying power are arranged in the two ship bodies; the top plate is fixed on the top surface of the cabin, and a GNSS antenna, an environment sensing module and a solar panel for converting solar energy into electric energy to assist power supply are arranged on the top plate; the two propellers are fixed to the two sides of the rear portion of the bottom of the cabin respectively and used for providing power for the unmanned ship. The lifting mechanism is arranged in the cabin, carries a water quality monitoring module and is used for driving the water quality monitoring module to ascend and descend. The system realizes the functions of water quality real-time monitoring, environment perception, automatic obstacle avoidance and the like, and has the advantages of modular design, high intelligent level and wide application scenarios.

The invention provides a floating attitude adjustment and optimization system for a floating type offshore wind power equipment group, and relates to the technical field of offshore wind power equipment, and the system comprises a sensing monitoring module which collects an equipment operation attitude parameter set and a marine environment data set in real time; the information is transmitted to the central control unit through the data transmission module, and is analyzed and processed by the equipment attitude prediction module to generate equipment attitude prediction information; the adjustment strategy generation module obtains a target attitude adjustment strategy based on the equipment attitude prediction information and the construction information of the buoyancy attitude adjustment device; the adjustment parameter generation module obtains attitude dynamic adjustment parameters; and the attitude adjustment execution module performs multi-point attitude adjustment and dynamic feedback optimization on the equipment group. The technical problem that an existing floating type wind power equipment set lacks a flexible floating posture adjusting means and is difficult to cope with floating posture changes caused by a complex marine environment is solved, the operation stability of the equipment set is improved, and therefore the power generation efficiency is improved, and the service life of the equipment is prolonged.

A fail-safe sealing system for a watercraft includes a self-bailing drain plug having an outer wall with a proximal end having a proximal opening, a distal end having a distal opening, and a fluid conduit that extends from the proximal opening to the distal opening. The sealing system includes a check valve including a ball disposed within the fluid conduit and being surrounded by the outer wall, and a ball retaining pin extending between opposite lateral sides of the outer wall adjacent the proximal opening for preventing the ball from passing through the proximal opening. The sealing system includes a sealing cap having a bayonet-style locking assembly that locks onto the ball retaining pin for securing the sealing cap to the proximal end of the outer wall for forming a water-tight seal with the proximal end of the outer wall of the self-bailing drain plug.

The invention relates to the technical field of comprehensive corrosion prevention and pollution prevention of ships, in particular to a marine high-power ultrasonic pipeline pollution prevention device and a control method thereof. The contact type ultrasonic transducer is mounted on the outer wall of the seawater pipeline and is matched with the high-power driving controller, so that high-power ultrasonic waves can be used for repelling, preventing and treating contaminated marine organisms, and attached marine organisms can be removed to a certain extent; the transducer is arranged on the outer wall of a ship seawater pipeline or a valve box in a contact type installation mode and is connected through a profiling base stud to be installed, so that the whole device is convenient to disassemble, assemble, arrange and maintain, and flowing of seawater in the pipeline is not affected; according to the ultrasonic pipeline anti-fouling device, wheel control logic is adopted, automatic adjustment and alternate intermittent operation are achieved by adding the switching circuit, the power consumption and heat production can be effectively controlled while the ship seawater pipeline anti-fouling effect is guaranteed, the reliability of the device is improved, the size of the device is reduced, and the application prospect is wide.

Disclosed is a marine fuel cell-based integrated heat, electricity, and cooling supply system comprising a power supply system and a waste heat recovery system; the power supply system comprises wind turbine generator sets, solar generator sets, and a fuel cell power module; the waste heat recovery system encompasses a turbine power generation module and a lithium bromide refrigeration module; the fuel cell power module is connected to both the turbine power generation module and the lithium bromide refrigeration module; the turbine power generation module is used to generate electricity using waste heat. This approach fully exploits the waste heat from the exhaust gas generated by the fuel cell power module, resulting in a high overall energy utilization rate. The self-consumption electricity and pure hydrogen fuel for the integrated energy supply system can be obtained from solar and wind energy, ensuring low carbon emissions for the entire system.

The invention provides a hydrometeorological unmanned ship based on a visual inertia laser radar and an SLAM navigation method thereof.The unmanned ship comprises a ship protection cover, a ship shell, the laser radar, a depth camera, an IMU module, an intelligent development board and the like, and the laser radar, the depth camera and the IMU module are connected with the intelligent development board; the unmanned ship further comprises a Beidou positioning module, a sensor module, an STM32 driving board, a brushless motor driving module and an electronic speed regulator, the unmanned ship can achieve precise positioning and path planning of a ship body, environment monitoring and sampling and has the functions of automatic cruise, obstacle avoidance and the like, laser radar information and binocular vision IMU attitude estimation are fused through tight coupling, and the navigation precision is improved. According to the SLAM front-end attitude estimator, a VILO front-end attitude estimator is formed, and laser radar observation is added to further limit the attitude, so that the accuracy and robustness of the SLAM front-end attitude estimator in indoor and outdoor environments are improved.

The invention discloses a ship bulwark drainage intelligent management system combined with multi-sensor data monitoring, and relates to the technical field of ship intelligent control and automation, and the ship bulwark drainage intelligent management system comprises a sensor group, a dynamic trust chain fusion decision module, a multi-modal cross validation module, a fault-tolerant execution and reverse verification module and a central controller. According to the ship bulwark drainage intelligent management system combined with multi-sensor data monitoring, by constructing a dynamic trust chain fusion decision model and a multi-modal cross validation mechanism, the accuracy and timeliness of multi-source sensor data fusion under complex sea conditions are improved; sensor misjudgment caused by mechanical vibration, bubble interference and the like is effectively suppressed, the false triggering rate of a drainage instruction is reduced and response delay is shortened in combination with digital twin rehearsal and a reverse verification closed loop, and cooperative fault tolerance of a sensor cluster is realized through two-stage screening and a majority voting mechanism. And continuous and stable operation of the system under single-point fault or abnormal interference is ensured.

The invention discloses a transverse wave motion compensation mechanism for an offshore platform personnel embarkation gangway ladder, which comprises an offshore platform fixing frame, an embarkation ladder and a ship body, the embarkation ladder and the ship body are arranged on the front side of the offshore platform fixing frame, and the front side of the offshore platform fixing frame is fixedly connected with a plurality of traffic ship berthing rubber fenders. By arranging a series of structures, the lifting gangway ladder can be conveniently and accurately compensated left and right in a mode that friction measurement is matched with active distance control driving when a ship body swings left and right, so that the lifting gangway ladder and the ship body move left and right consistently to form a relative static effect, and the phenomenon that people fall off easily due to large inertia caused by direct movement to static is reduced; a person can conveniently and stably climb to the lifting gangway ladder, the use stability is improved, hard impact force generated by instant movement can be conveniently and elastically buffered and unloaded during movement compensation, compensation work is more flexible and stable, discomfort is reduced, the comfort of the person during initial climbing is improved, and the service life of the person is prolonged. In addition, the buffering damping force and the elastic swing amplitude balance can be adjusted accurately, and the using effect is further improved.

The invention relates to the technical field of ships, and discloses an ice flowing prevention device applied to a polar region ship moon pool, which comprises ice pushing manipulators, the ice pushing manipulators are arranged on the upstream and the downstream of the moon pool, and the ice pushing manipulators can push ice flowing to enable the ice flowing towards the moon pool to be far away from the moon pool; the underwater sound ice detector is mounted at the bottom of the ship, and the underwater sound ice detector can monitor position data of flowing ice in water relative to the ice pushing manipulator; the ice block crushers are installed at the positions, located on the upstream and the downstream of the moon pool, of the bottom of the ship, and the ice block crushers can crush flowing ice flowing to the ice block crushers; the ice stirring baffle is arranged at the bottom of the ship and located on the periphery of the moon pool, and when flowing ice flows through the ice stirring baffle, the flowing ice can be away from the moon pool along the outer surface of the ice stirring baffle; and the controller is electrically connected with the underwater sound ice detector, the ice pushing manipulator and the ice block crusher. Through the arrangement of the ice flowing prevention device, the flowing ice can be prevented from blocking the moon pool, and the flowing ice can also be prevented from colliding with underwater equipment.

An accessory mount allows accessories to be removably and adjustably mounted to a surface. In an example, the surface may be that of a watercraft, and the accessory may be a fishing rod. The mount may be used with a track fixable to an environmental surface or mounted directed to the environmental surface. When used with a track, a post of the accessory mount releasably engages the track. Slidable engagement of the post allows lateral or horizontal adjustment of the accessory. An accessory engaging member is adjustable in relation to the post about a horizontal axis and a vertical axis, so that angular and azimuthal rotational adjustments of the accessory are enabled. A single lever is used to make angular and rotational adjustments, and to release the accessory engaging member from the post.

The utility model relates to a submarine cable state on-line monitoring system, which belongs to the technical field of cable protection equipment and comprises a submarine cable temperature monitoring module, a submarine cable breakdown fault response module, a submarine cable surrounding environment monitoring module, a marine monitoring ship body, a submarine cable environment display module and a submarine cable GIS module. Two supports are fixedly installed at the top end of the marine monitoring ship body, and a wireless signal transceiver is fixedly installed at the top of the marine monitoring ship body. The device has the beneficial effects that the two U-shaped frames can be driven to move in the same direction or opposite directions through the rotation of the two-way screw rod, and then the canopy outside the U-shaped frames can be driven to unfold, so that each part on the marine monitoring ship body is prevented from being eroded by rainwater or severe weather, and the service life of the marine monitoring ship body is prolonged. And therefore, protection can be provided for components on the marine monitoring ship body, and the service life of the components on the marine monitoring ship body can be prolonged.

The invention relates to the technical field of low-flash-point fuel double-wall pipe devices, provides a low-flash-point fuel double-wall pipe device and an assembly method thereof, and forms a set of high-efficiency welding, folding and mounting process for an inner pipe and an outer pipe of a double-wall pipe to ensure that the welding requirement is fully met so as to improve the mechanical property of a welding seam and improve the forming quality of the welding seam. And the one-time inspection qualification rate is high.

The utility model relates to the technical field of ships, in particular to a ship with a liquid cargo tank detection channel. Wherein the detection channel is defined by a horizontal girder, a fence and the bulkhead of the liquid cargo tank, a first passing hole communicated with the detection channel is formed in a transverse strong frame of the liquid cargo tank, or an avoiding platform which is arranged on the outer side of the transverse strong frame in a striding mode and is provided with a communication channel is arranged on the longitudinal bulkhead of the liquid cargo tank, and the communication channel is communicated with the detection channels on the two sides of the transverse strong frame. The inherent horizontal girder of the ship liquid cargo tank and the liquid cargo tank wall are used as the main body of the detection channel, so that the manufacturing material is saved, and the cost is reduced; a first passing hole communicated with the detection channel is formed in a transverse strong frame of the liquid cargo tank, or an avoiding platform arranged on the outer side of the transverse strong frame in a crossing mode is arranged on the longitudinal bulkhead of the liquid cargo tank and used for being connected with the detection channel, so that the detection channel does not need to integrally cross the strong frame from the outside, parts are reduced, and cost is reduced.

A suspended load sediment sampling device comprises a remote control boat, a vertical rotating shaft is rotatably arranged at the tail of the remote control boat, a flow guide plate is fixedly connected through the rotating shaft, a sampling barrel is slidably arranged on the flow guide plate in the length direction, an opening is formed in the side, close to the flow guide plate, of the sampling barrel, and a steel wire filter screen is fixedly arranged on the side, close to the flow guide plate, of the sampling barrel. According to the suspended sediment sampling device disclosed by the utility model, the position is changed through the movement of the remote control boat, and the automatic angle adjustment of the flow guide plate is matched, so that the plurality of sampling barrels on the flow guide plate obtain representative suspended sediment samples at different depth positions; and the accuracy and the efficiency of the sampling process are improved.

The invention relates to the technical field of ships, in particular to a ship guardrail which comprises two stand columns, a get-off guardrail is installed between the two stand columns and comprises a plurality of metal plates, sliding grooves are formed in the left side and the right side of the bottom face of each metal plate, two sliding blocks are fixedly installed on the top face of each metal plate, and locking assemblies are further installed on the stand columns. Protective guardrails are further symmetrically arranged on the left side and the right side of the passenger getting-off guardrail and comprise inner guardrails and outer guardrails, a plurality of protective rods are further installed on the inner guardrails, the outer guardrails comprise rotating columns which are vertically and rotatably installed on a ship deck, lower transverse rods are horizontally fixed to the lower sides of the rotating columns, and a plurality of supporting plates are installed on each lower transverse rod. According to the telescopic passenger getting-off guardrail, the telescopic passenger getting-off guardrail is formed through the multiple metal plates, the passenger getting-off guardrail can stretch out and draw back to form a longer passenger getting-off channel, the supporting plate is arranged on the outer guardrail to support the bottom of the passenger getting-off guardrail, the length of the passenger getting-off guardrail is increased, and the strength of the passenger getting-off guardrail is guaranteed.

A fold assist bimini top includes a bimini frame with a front bow, a front support, a rear bow, and a rear support. The bimini frame is displaceable between an extended position and a retracted position. A canopy secured over the bimini frame is displaceable with the bimini frame between the extended position and the retracted position. A pair of assist straps are configured to facilitate displacement of the bimini frame from the extended position to the retracted position. One of the pair of assist straps is manually displaceable, and one of the assist straps is elastic and is secured at ends thereof to the bimini frame. The elastic assist strap biases the bimini frame toward the retracted position.

The present disclosure discloses an inflatable boat, including: a base, which includes a first side portion, a second side portion and a central portion; a first tube segment, which is connected to the first side portion of the base to form a first inflatable tube; and a second tube segment, which is connected to the second side portion of the base to form a second inflatable tube. In the inflatable boat disclosed in the present application, the inflatable tubes are connected to the base in a sealing manner at a bow and a stern, which can prevent water from entering a cockpit of the inflatable boat and improve the dynamic drag and appearance of the inflatable boat.

Convertible bimini top systems are for a marine vessel having a deck and being situated in a body of water. The systems have a bimini top having a cover configured to extend over the deck, an actuator configured to raise and lower the cover relative to the deck, a controller communicatively coupled to the actuator, the controller being configured to operate the actuator to raise and lower the cover relative to the deck, and a sensor communicatively coupled to the controller, the sensor being configured to sense an obstruction proximate to the marine vessel. The controller is configured to automatically operate the actuator to lower the cover when the sensor senses the obstruction proximate to the marine vessel. Methods are for controlling the convertible bimini top to lower the cover relative to the deck based on the existence of the obstruction.

The invention provides an anti-wave structure and an anti-wave method suitable for offshore new energy engineering, and belongs to the technical field of offshore new energy engineering, the anti-wave structure comprises a mounting cylinder fixed on the bottom end face of an offshore equipment platform, and an energy consumption assembly is arranged on the mounting cylinder; the energy consumption assembly comprises an outer side fixing ring and a friction metal ring, the outer side fixing ring is fixed to the outer wall of the mounting cylinder, the friction metal ring is arranged on the mounting cylinder in a sleeving mode and located below the outer side fixing ring, and the top of the friction metal ring is rotationally connected with the outer side fixing ring through a fixing ring sleeve; an annular friction strip is arranged at the position, close to the bottom of the friction metal ring, of the friction metal ring, and the surface of the annular friction strip is attached to the rough face in the friction metal ring. A wave receiving disc is arranged at the bottom end of the friction metal ring. According to the structure, through the deformation-friction synergistic effect, the wave impact effect of the offshore equipment platform under the complex sea condition is effectively weakened, and the wave resistance of the offshore equipment platform is improved.

A canopy system upon a floating structure includes a cover detachably coupled to a body of the floating structure; and a connector instantly detachable coupling the body with the cover having at least one force distribution assembly, wherein the at least one force distribution assembly moves substantially freely in respective to a connection point on the body and independent from a floating motion of the body of the floating structure so that a wind force received by the cover is reduced to be transferred to the body.

The invention relates to a three-degree-of-freedom redundant parallel mechanism suitable for a wave compensation ship and a compensation method thereof.The three-degree-of-freedom redundant parallel mechanism comprises a lower deck and an upper deck, the lower deck and the upper deck are arranged in parallel, a plurality of wave compensation branch chains are connected between the lower deck and the upper deck, and the wave compensation branch chains comprise redundant branch chains and non-redundant branch chains; the redundant branch chains and the non-redundant branch chains located in the same row or the same column are arranged in a crossed mode, the non-redundant branch chains comprise the first non-redundant branch chain and the second non-redundant branch chain, the non-redundant branch chains are arranged in an isosceles triangle mode with the second non-redundant branch chain as the vertex, and the rest of the non-redundant branch chains are the redundant branch chains. The position precision of the mechanism is guaranteed through the position control branch chains, time-varying nonlinear motion in the heaving, rolling and pitching directions is dynamically compensated in real time, meanwhile, the redundant structural force control branch chains balance driving force of all the branch chains by adjusting the driving force, the bearing capacity of the mechanism can be improved, and good overall rigidity is achieved.

The invention provides a ship service platform. The ship service platform comprises a deck, a supporting frame and a plurality of connecting pieces. The deck is laid on a hull frame structure of a ship; the supporting frame is provided with a transformer base platform frame and a frequency conversion equipment base platform frame, and the transformer base platform frame and the frequency conversion equipment base platform frame are arranged at the bottom of the deck and support corresponding areas on the deck; and the connecting piece is used for connecting the transformer base platform frame and the frequency conversion equipment base platform frame and connecting the ship body frame structure. The supporting frame is additionally arranged through the transformer base platform frame and the frequency conversion equipment base platform frame, the influence of vibration on the whole ship body structure is reduced, further caused damage is reduced, and the technical problem that in the prior art, a part of equipment is lacked for reducing damage to a ship body deck and reducing damage to a deck structure is solved.

The utility model discloses a console protection device of a water kail ship, which is arranged at the front end of a ship body and is used for protecting a console, a protection mechanism is detachably arranged above the ship body and above the console, and the protection mechanism comprises a protection cover main body, the protective cover main body is of a narrowing structure which is hollow inside and is gradually narrowed from back to front in the advancing direction of the ship body. The protective cover is suitable for parts of the water kail ship, the position nearby a console of the water kail ship can be protected through the protective cover, the protective cover body can adapt to the structural characteristics of the kail ship, the spaces on the two sides of the protective cover body are moderate in size, and when people sit on the kail ship, the legs can be better bent and straightened; and the operation of treading the pedal and getting on and off the ship is facilitated.

Apparatuses for marine vessels to maximize solar energy collection are provided, along with systems and methods relating thereto. In some embodiments, an apparatus is mounted on the top of a marine vessel and extends its surface area, facilitating optimal sun exposure for solar panels. In some embodiments, prior to docking, the apparatus can be folded and rotated to fit within the original ship's profile, allowing for efficient cargo loading and unloading from the top as is standard in the cargo industry. In some embodiments, an apparatus comprises a plurality of solar panels and a plurality of skids configured to trail behind a stern portion of a marine vessel.

The invention discloses a water rescue boat and a working method thereof, and relates to the field of water rescue, the water rescue boat comprises a bow and two boat wings, the boat wings are arranged below the bow and fixedly connected with the bow, the two boat wings are oppositely arranged, a rescue platform is arranged between the two boat wings, the rescue platform comprises a first-stage rescue frame and a second-stage rescue frame, and the first-stage rescue frame and the second-stage rescue frame are fixedly connected with the bow. The first end of the first-stage rescue frame is connected with the ship wings through a first-stage rotating device, the first end of the second-stage rescue frame is connected with the second end of the first-stage rescue frame through a second-stage rotating device, a water surface information collecting device is arranged on the ship head, and an underwater information collecting device is arranged at the second end of the second-stage rescue frame and used for collecting water surface and underwater information in real time. The water rescue boat can run without a driver on the boat, the rescue platform can adopt a proper rescue mode, rescue personnel can rescue without following the boat, preparation time is not needed when a dangerous case occurs, and the rescue platform can overcome a complex underwater environment through self movement to rescue drowning people losing action ability.

The utility model discloses a tail storage tank structure of an overwater Kailing ship, which is arranged in a Kailing ship body and used for storing tools and sundries, a seat is arranged in the Kailing ship body, a storage tank is detachably mounted in the Kailing ship body and positioned behind the seat, the storage tank comprises a tank body and a tank cover, a split structure is adopted between the tank body and the tank cover, and the tank body and the tank cover are arranged in parallel. The box body is installed in a preset space in a Kailing ship body in an inserted mode, the box cover is rotatably installed on the Kailing ship body through a force unloading rotating shaft, and a protection device is installed on the force unloading rotating shaft and used for protecting the storage box when a seat abnormally moves backwards. The storage box structure is suitable for the Kaiding ship, the storage box structure can protect the storage box from being extruded when the movement amplitude of the seat is too large, so that the purpose of protecting the storage box and articles in the storage box is achieved, and due to the structural design of the protection device, the use of the storage box cannot be affected when the whole protection device is applied.

The invention relates to the technical field of flow guiding, and discloses a flow guiding assembly for supercritical carbon dioxide, a drainage device and an aircraft, the flow guiding assembly comprises a flow guiding structure and a blocking structure, the flow guiding structure comprises a base plate, a first flow guiding piece and a second flow guiding piece, and the base plate is provided with a through first through hole; the first flow guide part and the base plate jointly form a mounting space, the first flow guide part, the second flow guide part and the base plate jointly form a first flow guide space, and a first flow guide part communicating with the mounting space and the first flow guide space is arranged on the peripheral wall of the first flow guide part; a second flow guide part communicating with the first flow guide part through the first flow guide space is arranged on the peripheral wall of the second flow guide part, at least part of the area of the second flow guide part is staggered from the first flow guide part in the axial direction and / or the circumferential direction of the first flow guide part, and the first through hole communicates with the mounting space when the plugging structure is opened. Therefore, a very good multi-layer speed reduction effect can be achieved on supercritical carbon dioxide, heat exchange with water is reduced, and the drainage efficiency is improved.

The invention relates to the technical field of cooler energy saving, in particular to an energy-saving method and system for a central cooling water system of a cable laying ship based on PID (Proportion Integration Differentiation) control. According to the method, the temperature of a seawater outlet on the seawater side of the central cooler, the pressure parameter of the water outlet end of the seawater pump and the temperature of fresh water inlet equipment on the fresh water side are monitored, the frequency conversion control technology is adopted, the minimum seawater pressure and the minimum cooling seawater amount serve as the target, and the seawater heat exchange effect is improved to the maximum degree. In a control strategy, the temperature of fresh water entering equipment at the fresh water side of the cooler is used as a main control quantity, the opening degree of a three-way temperature control valve is used as a secondary control quantity, and the temperature of a seawater outlet at the seawater side of the cooler is used as a safety control quantity, so that the efficient and energy-saving cooling effect is realized on the premise of not depending on additional equipment.

According to the marine LNG fuel supply system, a plurality of damping assemblies are arranged between a base and a fuel tank at intervals in the preset direction, and the damping assemblies are used for supporting the fuel tank and can reduce the displacement amount of the fuel tank relative to the base; the influence on the stability of the fuel tank due to shaking and vibration generated by water flow during ship navigation is avoided, and liquid shaking in the fuel tank is reduced, so that the shaking and vibration amplitude of the ship is reduced, and the stability and safety of ship navigation are improved; and meanwhile, when the fuel tank inclines due to shaking of the ship body, the damping assembly can move towards the descending side of the fuel tank, so that the supporting and damping effects are improved when the fuel tank inclines, and the stability of the fuel tank is further guaranteed.

The invention relates to the technical field of surveying and mapping, in particular to an obstacle crossing type unmanned surveying and mapping ship which comprises a surveying and mapping ship body, a mounting shell is mounted on the rear side of the bottom of the surveying and mapping ship body, and a ship body propeller is mounted in the mounting shell. During application, the obstacle crossing ability and navigation stability of the unmanned surveying and mapping ship can be optimized through cooperation of the turnover mechanism and the power mechanism, during use, a double-shaft motor is started, a lead screw drives an inner movable block to enable an inner bearing sliding ring, a driving motor and a cross to move inwards, a hinge seat and an obstacle crossing plate are pulled, and the obstacle crossing plate rotates in a hinge groove after making contact with the inner wall; when obstacle crossing is needed, a double-shaft motor is started to enable an obstacle crossing plate to move outwards, then a driving motor is started, the unfolded long obstacle crossing plate is used for pressing down an obstacle to assist a ship to cross over, the obstacle crossing plate can serve as a tire on the ground, and when the obstacle crossing plate is not used, the obstacle crossing plate can be automatically stored, and navigation surveying and mapping stability is guaranteed.