Combined unmanned ship for surveying and mapping

Abstract

The invention relates to the technical field of surveying and mapping unmanned ships, in particular to a combined surveying and mapping unmanned ship which comprises an unmanned ship body, a first sliding groove and a second sliding groove are formed in the top of the unmanned ship body, and a mounting structure, a quick release structure and a cleaning structure are arranged on the surface of the unmanned ship body. The mounting structure comprises first sliding blocks, a detection module, a first limiting block and a first L-shaped limiting rod, and the two first sliding blocks are slidably mounted in the first sliding groove and the second sliding groove correspondingly. By pressing the detection module and inserting a first limiting block on the detection module into a second clamping groove, the detection module can be quickly fixed in four directions, the working efficiency is improved, the time is saved, the detection module is fixed in four directions, and a square block is pressed to drive an H-shaped extrusion block to move downwards, so that the detection efficiency is improved. And the detection module can be quickly disassembled, so that the replacement time of different detection modules is further shortened.

Description

Technical Field

[0001] This invention relates to the field of unmanned surveying vessels, and more particularly to a combined unmanned surveying vessel. Background Technology

[0002] With the increasing global demand for the development and management of marine resources, rivers, lakes, reservoirs, and waterways, traditional manual surveying methods are gradually failing to meet the requirements of efficiency, accuracy, and cost control. The emergence of unmanned surface vessels (USVs) fills this gap, enabling them to independently perform surveying tasks in various complex waters. This not only improves work efficiency but also reduces the impact of human factors on measurement results. However, in current USV technology, the fixed position of the load-bearing buoys makes it difficult to adjust them according to actual conditions to optimize the hull's weight distribution. Under the impact of water currents and waves, it is difficult to effectively balance external forces, resulting in a higher risk of tilting or capsizing. Furthermore, it is not convenient to flexibly load equipment according to different task types, and the concentrated weight of equipment can easily cause navigational deviations, limiting operational capabilities in multiple scenarios and exhibiting poor adaptability to diverse tasks.

[0003] The prior art discloses a combined unmanned surface vessel (USV) for surveying, with announcement number CN119975687A. This USV adjusts the position of its load-bearing pontoons by moving the mounting blocks, thus optimizing the weight distribution of the hull, balancing water flow impact and wind and wave interference, reducing the risk of tilting or capsizing. The adjustable position allows the vessel to flexibly carry different equipment according to the mission type, avoiding navigational deviation caused by concentrated equipment weight, and improving multi-scenario operational capabilities. The position of the load-bearing pontoons and the deceleration of the hull during adjustment can be achieved through the cooperation of the adjustment components and the output of motor one, eliminating the need for additional output equipment. This reduces the number and complexity of parts on board, lowering the manufacturing and maintenance costs of the USV, reducing its weight, and improving its maneuverability.

[0004] However, the device still has the following problems: First, many surveying tasks may require the rapid replacement of different types of detection modules according to on-site needs, and the detection modules need to be quickly adjusted according to changes in the task or on-site conditions. The inability to install quickly will lead to delays in task execution, wasting time and reducing work efficiency. Second, the detection modules cannot be quickly disassembled. When encountering module failure or needing routine maintenance, more time and effort may be required for disassembly and repair, which will increase the downtime of the unmanned vessel and affect the overall work efficiency. Summary of the Invention

[0005] The purpose of this invention is to solve the problems in the background art by proposing a combined unmanned surface vessel for surveying.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A combined unmanned surface vessel for surveying includes an unmanned surface vessel body, with a first sliding groove and a second sliding groove opened on the top of the unmanned surface vessel body, and an installation structure, a quick-release structure and a cleaning structure provided on the surface of the unmanned surface vessel body. The installation structure includes a first sliding block, a detection module, a first limiting block, and a first L-shaped limiting rod. Two first sliding blocks are provided and slidably installed in a first sliding groove and a second sliding groove, respectively. The detection module is fixedly installed on the top of the first sliding block. First sliding grooves are formed on both sides of the detection module. The first limiting block is slidably installed in the first sliding groove. A second spring is fixedly installed between the first limiting block and the first sliding groove. A first retaining groove is formed on both sides of the outer wall of the detection module. A second retaining groove is formed on both sides of the inner wall of the first sliding block. A third sliding groove is formed on both sides of the first sliding block. Two first L-shaped limiting rods are symmetrically arranged and slidably installed in the third sliding groove. A first spring is fixedly installed between the first L-shaped limiting rod and the third sliding groove. A compression groove is formed on the top of the first sliding block.

[0007] The top of the first L-shaped limiting rod is set as an inclined surface, the extrusion groove is connected to the third sliding groove, and the side of the two first L-shaped limiting rods that are close to each other is set as an inclined surface.

[0008] The quick-release structure includes a square block, a first round rod, and an H-shaped extrusion rod. A second groove is provided on the surface of the detection module. The square block is slidably installed on the inner wall of the second groove. The first round rod is fixedly installed on the bottom of the square block. An H-shaped groove is provided inside the detection module. The H-shaped extrusion rod is slidably installed inside the H-shaped groove.

[0009] In the aforementioned combined unmanned surface vessel for surveying, the first round rod is slidably connected to the inside of the second slide groove, the bottom of the first round rod is fixedly connected to the H-shaped extrusion rod, and a third spring is fixedly installed on the outside of the first round rod between the square block and the second slide groove.

[0010] In the aforementioned combined unmanned surface vessel for surveying, the quick-release structure also includes a second round rod, a third round rod, and a square extrusion block. The surface of the first limiting block is provided with an inclined groove. The second round rod is slidably installed inside the inclined groove. The third round rod is fixedly installed at the bottom of the H-shaped extrusion rod, and the square extrusion block is fixedly installed at the bottom of the third round rod.

[0011] In the above-mentioned combined unmanned surface vessel for surveying, the two ends of the second round rod are fixedly connected to the H-shaped extrusion rod, the bottom of the detection module is provided with a third sliding groove, and the square extrusion block is slidably connected to the inner wall of the third sliding groove.

[0012] In the aforementioned combined unmanned surface vessel (USV) for surveying, the cleaning structure includes a first motor, a second motor, a propeller, a second circular shaft, and a third circular shaft. The first and second motors are both fixedly installed on the outside of the USV body. The second circular shaft is rotatably installed on the inner wall of the second sliding groove, and the third circular shaft is rotatably installed on the inner wall of the first sliding groove. The outer sides of both the second and third circular shafts are slidably connected to the first sliding block. Two symmetrical rotating grooves are opened at the bottom of the USV body, and the propeller is rotatably installed in the rotating grooves.

[0013] In the aforementioned combined unmanned surface vessel (USV) for surveying, filters are fixedly installed on the outer sides of both rotating slots. Several fixed blocks are fixedly installed on the outer side of the USV body. A ring is fixedly installed on the side of each fixed block away from the USV body. A first circular shaft is slidably installed inside the ring. A first groove is formed on the outer side of the second circular shaft. A second groove is formed on the outer side of the first circular shaft. A belt is fitted on the outer side of the first and second grooves. Two second sliding blocks are slidably installed on the outer side of the first circular shaft. An L-shaped sliding rod is fixedly installed at the bottom of each of the two second sliding blocks. A cleaning rod is fixedly installed on the side of the L-shaped sliding rod closer to the USV body.

[0014] Compared with existing technologies, the advantages of this invention are: By pressing the detection module, the first limiting block on the detection module is inserted into the second slot, and the first L-shaped limiting rod is inserted into the first slot. This allows for quick fixation of the detection module in four directions, improving work efficiency and saving time. Fixing the detection module in four directions also prevents vibration during the detection process, which could lead to inaccurate measurement data. At the same time, by pressing the square block, the square block moves the H-shaped extrusion block downwards, allowing for quick disassembly of the detection module and further reducing the time required to replace different detection modules. The first and second motors can slide the first sliding block to prevent blind spots or obstructions during surveying. The moving detection module can improve the surveying process. At the same time, the rotation of the second circular shaft drives the rotation of the first circular shaft, which in turn moves the L-shaped sliding rod to clean weeds from the surface of the filter screen, preventing weeds from getting tangled on the propeller and causing the unmanned boat to fail to start, thus reducing the detection efficiency. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the unmanned vessel body of the present invention; Figure 2 This is a schematic diagram of the planar structure of the detection module of the present invention; Figure 3 This is a three-dimensional structural diagram of the first sliding block of the present invention; Figure 4This is a schematic diagram of the cross-sectional structure of the first sliding block of the present invention; Figure 5 This is a cross-sectional structural diagram of the detection module of the present invention; Figure 6 This is a schematic diagram of the H-shaped chute planar structure of the present invention; Figure 7 This is a three-dimensional structural diagram of the H-shaped extrusion plate of the present invention; Figure 8 This is a three-dimensional structural diagram of the L-shaped sliding rod of the present invention; Figure 9 This is the invention Figure 8 A schematic diagram of the enlarged structure of A in the middle; Figure 10 This is a schematic diagram of the three-dimensional structure of the first circular shaft of the present invention.

[0016] In the diagram: 1. Unmanned vessel body; 2. Sliding groove 1; 3. Sliding groove 2; 41. Sliding block 1; 42. Detection module; 43. Limiting block 1; 44. Slot 1; 45. Slot 2; 46. Sliding groove 3; 47. L-shaped limiting rod 1; 48. Compression groove; 49. Spring 1; 410. First sliding groove; 411. Spring 2; 51. Second sliding groove; 52. Square block; 53. Round rod 1; 54. Spring 3; 55. H-shaped sliding groove; 56. H-shaped compression rod; 57. Third chute; 58. Second round rod; 59. Third round rod; 510. Square extrusion block; 511. Inclined groove; 61. Rotating groove; 62. Propeller; 63. Filter screen; 64. Belt; 65. Fixing block; 66. Ring; 67. First round shaft; 68. First groove; 69. Second groove; 610. Second sliding block; 611. L-shaped sliding rod; 612. Cleaning rod; 614. Second round shaft; 615. Third round shaft; 616. First motor; 617. Second motor. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0019] Reference Figures 1-10A combined unmanned surface vessel for surveying includes an unmanned surface vessel body 1. The top of the unmanned surface vessel body 1 has a first sliding groove 2 and a second sliding groove 3. The surface of the unmanned surface vessel body 1 is provided with an installation structure, a quick-release structure and a cleaning structure. The installation structure includes a first sliding block 41, a detection module 42, a first limiting block 43, and a first L-shaped limiting rod 47. Two first sliding blocks 41 are provided and slidably installed in a first sliding groove 2 and a second sliding groove 3, respectively. The detection module 42 is fixedly installed on the top of the first sliding block 41. First sliding grooves 410 are formed on both sides of the detection module 42. The first limiting block 43 is slidably installed in the first sliding groove 410. A second spring 411 is fixedly installed between the first limiting block 43 and the first sliding groove 410. The detection module 42... 2. A slot 44 is provided on both sides of the outer wall. A slot 45 is provided on both sides of the inner wall of the first sliding block 41. A sliding groove 46 is provided on both sides of the first sliding block 41. Two L-shaped limiting rods 47 are symmetrically arranged and slidably installed in the sliding groove 46. A spring 49 is fixedly installed between the L-shaped limiting rod 47 and the sliding groove 46. A pressing groove 48 is provided on the top of the first sliding block 41. The detection module 42 is locked and fixed in all directions by the first limiting block 43 and the L-shaped limiting rod 47.

[0020] The top of the No. 1 L-shaped limiting rod 47 is set as an inclined surface, the extrusion groove 48 is connected to the No. 3 sliding groove 46, and the side of the two No. 1 L-shaped limiting rods 47 that are close to each other is set as an inclined surface to facilitate the extrusion of the No. 1 L-shaped limiting rod 47.

[0021] The quick-release structure includes a square block 52, a first round rod 53, and an H-shaped pressing rod 56. A second sliding groove 51 is provided on the surface of the detection module 42. The square block 52 is slidably installed on the inner wall of the second sliding groove 51. The first round rod 53 is fixedly installed on the bottom of the square block 52. An H-shaped sliding groove 55 is provided inside the detection module 42. The H-shaped pressing rod 56 is slidably installed inside the H-shaped sliding groove 55 to facilitate pressing the square block 52.

[0022] The first round rod 53 is slidably connected to the second slide groove 51. The bottom of the first round rod 53 is fixedly connected to the H-shaped extrusion rod 56. The third spring 54 is fixedly installed on the outside of the first round rod 53 and between the square block 52 and the second slide groove 51, so that the square block 52 can be reset by the elastic force of the third spring 54.

[0023] The quick-release structure also includes a second round rod 58, a third round rod 59, and a square extrusion block 510. The surface of the first limiting block 43 is provided with a sloping groove 511. The second round rod 58 is slidably installed inside the sloping groove 511. The third round rod 59 is fixedly installed at the bottom of the H-shaped extrusion rod 56. The square extrusion block 510 is fixedly installed at the bottom of the third round rod 59. The first limiting block 43 is moved by the second round rod 58 extruding the sloping groove 511.

[0024] The two ends of the second round rod 58 are fixedly connected to the H-shaped extrusion rod 56. The bottom of the detection module 42 is provided with a third slide groove 57. The square extrusion block 510 is slidably connected to the inner wall of the third slide groove 57 to facilitate the sliding of the square extrusion block 510.

[0025] The cleaning structure includes a first motor 616, a second motor 617, a propeller 62, a second circular shaft 614, and a third circular shaft 615. The first motor 616 and the second motor 617 are both fixedly installed on the outside of the unmanned vessel body 1. The second circular shaft 614 is rotatably installed on the inner wall of the second sliding groove 3, and the third circular shaft 615 is rotatably installed on the inner wall of the first sliding groove 2. The outer sides of the second circular shaft 614 and the third circular shaft 615 are slidably connected to the first sliding block 41. Two symmetrical rotating grooves 61 are opened at the bottom of the unmanned vessel body 1. The propeller 62 is rotatably installed in the rotating groove 61. The first motor 616 and the second motor 617 drive the first sliding block 41 to slide.

[0026] A filter screen 63 is fixedly installed on the outer side of each of the two rotating slots 61. Several fixing blocks 65 are fixedly installed on the outer side of the unmanned vessel body 1. A ring 66 is fixedly installed on the side of the fixing blocks 65 away from the unmanned vessel body 1. A first circular shaft 67 is slidably installed inside the ring 66. A first groove 68 is opened on the outer side of the second circular shaft 614. A second groove 69 is opened on the outer side of the first circular shaft 67. A belt 64 is sleeved on the outer side of the first groove 68 and the second groove 69. Two second sliding blocks 610 are slidably installed on the outer side of the first circular shaft 67. An L-shaped sliding rod 611 is fixedly installed at the bottom of each of the two second sliding blocks 610. A cleaning rod 612 is fixedly installed on the side of the L-shaped sliding rod 611 close to the unmanned vessel body 1. The first circular shaft 67 drives the second sliding block 610 to slide, and the cleaning rod 612 cleans the filter screen 63.

[0027] The working principle and usage of this invention are explained in detail below: In use, the detection module 42 is placed on top of the first sliding block 41, and then the detection module 42 is pressed. When the detection module 42 is pressed, the first limiting block 43 contacts the first sliding block 41, and the first sliding block 41 squeezes the first limiting block 43. The first limiting block 43 moves towards the detection module 42 under the squeezing force. When the first limiting block 43 moves to correspond with the second slot 45, the first limiting block 43 is reset by the elastic force of the second spring 411, thus aligning the two sides of the detection module 42. When the detection module 42 moves downward, it contacts and presses against the first L-shaped limiting rod 47. Under the pressure, the first L-shaped limiting rod 47 moves away from the detection module 42. When the detection module 42 continues to move downward, the first slot 44 aligns with the first L-shaped limiting rod 47. The first L-shaped limiting rod 47 is then reset by the elastic force of the first spring 49. The reset of the first L-shaped limiting rod 47 fixes the other two sides of the detection module 42, which can quickly fix the detection module 42 in all directions and improve work efficiency.

[0028] When a different detection module 42 needs to be replaced, press the square block 52. The square block 52 moves downward under the pressure, which causes the first round rod 53 to slide downward. The first round rod 53 slides downward, which causes the H-shaped extrusion rod 56 to slide downward. The H-shaped extrusion rod 56 slides downward, which causes the second round rod 58 to slide downward. The second round rod 58 slides downward and extrudes the inclined groove 511. The inclined groove 511 is subjected to the pressure, which causes the first limiting block 43 to move closer to the detection module 42. The first limiting block 43 moves closer to the detection module 42 and disengages from the second slot 45, thus releasing the contact. The detection module 42 is limited, and at the same time, the H-shaped extrusion rod 56 slides down, causing the third round rod 59 to slide down. The third round rod 59 slides down, causing the square extrusion block 510 to slide down. The square extrusion block 510 slides down and contacts the first L-shaped limiting rod 47 and extrudes the first L-shaped limiting rod 47. The first L-shaped limiting rod 47 slides away from the detection module 42 under the extrusion force, and releases the limitation on the detection module 42, so that the detection module 42 can be quickly disassembled, improving the overall work efficiency.

[0029] The filter screen 63 prevents aquatic plants from getting tangled on the propeller 62, thus preventing damage. By starting the first motor 616 and the second motor 617, the third circular shaft 615 and the second circular shaft 614 are rotated respectively. The third circular shaft 615 and the second circular shaft 614 drive the first sliding block 41 to move. The sliding of the first sliding block 41 drives the detection module 42 to slide, which can prevent blind spots or obstructions from causing inaccurate mapping. At the same time, the rotation of the second circular shaft 614 drives the first circular shaft 67 to rotate through the belt 64. The rotation of the first circular shaft 67 drives the second sliding block 610 to slide. The sliding of the second sliding block 610 drives the L-shaped sliding rod 611 to slide. The sliding of the L-shaped sliding rod 611 drives the cleaning rod 612 to slide. The sliding of the cleaning rod 612 cleans the weeds on the surface of the filter screen 63, preventing weeds from clogging the filter screen 63 and causing damage to the unmanned vessel during operation.

[0030] To further clarify, the aforementioned fixed connection should be interpreted broadly unless otherwise explicitly specified and limited. For example, it may be welding, gluing, or integral molding, or other conventional methods well known to those skilled in the art.

[0031] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A combined unmanned surface vessel (USV) for surveying, comprising a USV body, wherein a first sliding groove and a second sliding groove are formed on the top of the USV body, characterized in that: The surface of the unmanned vessel is equipped with an installation structure, a quick-release structure, and a cleaning structure. The installation structure includes a first sliding block, a detection module, a first limiting block, and a first L-shaped limiting rod. Two first sliding blocks are provided and are slidably installed in a first sliding groove and a second sliding groove, respectively. The detection module is fixedly installed on the top of the first sliding block. First sliding grooves are opened on both sides of the detection module. The first limiting block is slidably installed in the first sliding groove. A second spring is fixedly installed between the first limiting block and the first sliding groove. A first slot is opened on both sides of the outer wall of the detection module. A second slot is opened on both sides of the inner wall of the first sliding block. A third sliding groove is opened on both sides of the first sliding block. Two first L-shaped limiting rods are symmetrically provided and are slidably installed in the third sliding groove. A first spring is fixedly installed between the first L-shaped limiting rod and the third sliding groove. A compression groove is opened on the top of the first sliding block. The top of the No. 1 L-shaped limiting rod is set as an inclined surface, the extrusion groove is connected to the No. 3 sliding groove, and the side of the two No. 1 L-shaped limiting rods that are close to each other is set as an inclined surface. The quick-release structure includes a square block, a first round rod, and an H-shaped extrusion rod. The surface of the detection module has a second sliding groove. The square block is slidably installed on the inner wall of the second sliding groove. The first round rod is fixedly installed on the bottom of the square block. The inside of the detection module has an H-shaped sliding groove. The H-shaped extrusion rod is slidably installed inside the H-shaped sliding groove.

2. A combined unmanned surface vessel for surveying according to claim 1, characterized in that: The first round rod is slidably connected to the inside of the second slide groove, the bottom of the first round rod is fixedly connected to the H-shaped extrusion rod, and the third spring is fixedly installed on the outside of the first round rod between the square block and the second slide groove.

3. A combined unmanned surface vessel for surveying according to claim 1, characterized in that: The quick-release structure also includes a second round rod, a third round rod, and a square extrusion block. The surface of the first limiting block is provided with a sloping groove. The second round rod is slidably installed inside the sloping groove. The third round rod is fixedly installed at the bottom of the H-shaped extrusion rod. The square extrusion block is fixedly installed at the bottom of the third round rod.

4. A combined unmanned surface vessel for surveying according to claim 3, characterized in that: The two ends of the second round rod are fixedly connected to the H-shaped extrusion rod, and a third sliding groove is opened at the bottom of the detection module, with the square extrusion block slidingly connected to the inner wall of the third sliding groove.

5. A combined unmanned surface vessel for surveying according to claim 1, characterized in that: The cleaning structure includes a first motor, a second motor, a propeller, a second circular shaft, and a third circular shaft. The first and second motors are fixedly installed on the outside of the unmanned vessel body. The second circular shaft is rotatably installed on the inner wall of the second sliding groove, and the third circular shaft is rotatably installed on the inner wall of the first sliding groove. The outer sides of the second and third circular shafts are slidably connected to the first sliding block. Two symmetrical rotating grooves are opened at the bottom of the unmanned vessel body, and the propeller is rotatably installed in the rotating grooves.

6. A combined unmanned surface vessel for surveying according to claim 5, characterized in that: Both rotating slots are fixedly fitted with filter screens on their outer sides. Several fixed blocks are fixedly fitted on the outer side of the unmanned vessel body. A ring is fixedly fitted on the side of the fixed blocks away from the unmanned vessel body. A first circular shaft is slidably fitted inside the ring. A first groove is opened on the outer side of the second circular shaft. A second groove is opened on the outer side of the first circular shaft. A belt is fitted on the outer side of the first and second grooves. Two second sliding blocks are slidably fitted on the outer side of the first circular shaft. An L-shaped sliding rod is fixedly fitted at the bottom of each of the two second sliding blocks. A cleaning rod is fixedly fitted on the side of the L-shaped sliding rod closer to the unmanned vessel body.

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