Unmanned ship for hydrographic surveying and mapping

Abstract

The invention belongs to the technical field of hydrographic surveying and mapping, and particularly relates to an unmanned ship for hydrographic surveying and mapping, which comprises an unmanned ship body, a flow guide cone, a water diversion mechanism and a continuation increasing mechanism, the flow guide cone is arranged on the bottom wall of one end of the unmanned ship body, the water diversion mechanism is arranged on the unmanned ship body, and the continuation increasing mechanism is arranged on the bottom wall of the unmanned ship body; the water diversion mechanism comprises driving assemblies, weight increasing assemblies and flushing assemblies, the driving assemblies are arranged on the two sides of the unmanned ship body, the weight increasing assemblies are arranged on the bottom walls of the unmanned ship body on the two sides of the weight increasing mechanism, and the flushing assemblies are arranged at the ends, away from the unmanned ship body, of the weight increasing assemblies. According to the unmanned ship for hydrographic surveying and mapping, the gravity center of the ship body can be adjusted in a self-adaptive mode according to the water flow impact strength, the water flow impact force can be recovered synchronously when the weight of the bottom of the ship body is increased, and the sailing duration is guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of hydrographic surveying and mapping, and specifically relates to an unmanned ship for hydrographic surveying and mapping. BACKGROUND

[0002] The unmanned ship for hydrographic surveying and mapping is a water surface operation robot integrating a high-precision navigation system, an intelligent control module and multi-element sensor technology, and can efficiently perform key tasks such as accurate mapping of underwater topography and real-time monitoring of water flow speed and flow rate, and has gradually become an indispensable efficient tool in the modern hydrographic field.

[0003] The existing unmanned ship for hydrographic surveying and mapping has the following problems: The existing unmanned ship for hydrographic surveying and mapping does not have the ability to adaptively adjust the center of gravity of the ship body, when the unmanned ship encounters large waves, the impact force of the water flow will cause the ship body to overturn, affecting the hydrographic surveying and mapping operation, thereby reducing the use efficiency of the unmanned ship. And to ensure the running stability of the ship body, the traditional unmanned ship often increases the weight of the ship body at the bottom, thereby reducing the center of gravity of the ship body, and this method greatly reduces the endurance time of the unmanned ship and shortens the hydrographic surveying and mapping time, and it is difficult to ensure the integrity of the surveying and mapping task. Therefore, it cannot meet the use requirements of the existing unmanned ship for hydrographic surveying and mapping. SUMMARY

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present scheme provides an unmanned ship for hydrographic surveying and mapping, which can adaptively adjust the center of gravity of the ship body according to the water flow impact strength, and can simultaneously recover the water flow impact force when increasing the weight of the ship body at the bottom, thereby ensuring the sailing time.

[0005] The technical scheme adopted by the scheme is as follows: the scheme provides an unmanned ship for hydrographic surveying, comprising an unmanned ship body, a flow guide cone, a water guiding mechanism and a continuation mechanism, the flow guide cone is arranged on the bottom wall of one end of the unmanned ship body, the water guiding mechanism is arranged on the unmanned ship body, and the continuation mechanism is arranged on the bottom wall of the unmanned ship body; the water guiding mechanism comprises a driving assembly, a weight increasing assembly and a flow impacting assembly, the driving assembly is arranged on both sides of the unmanned ship body, the weight increasing assembly is arranged on the bottom wall of the unmanned ship body on both sides of the continuation mechanism, and the flow impacting assembly is arranged on one end of the weight increasing assembly away from the unmanned ship body; the continuation mechanism comprises a pushing away assembly, a guiding out assembly and an energy collecting assembly, the pushing away assembly is arranged in the weight increasing assembly, the guiding out assembly is arranged on the bottom wall of the unmanned ship body between the weight increasing assemblies, and the energy collecting assembly is arranged on the guiding out assembly; the weight increasing assembly comprises gravity boxes symmetrically arranged on the bottom wall of the unmanned ship body, water guiding channels communicating with the side walls of the gravity boxes, water guiding sleeves arranged on the inner walls of one end of the water guiding channels away from the gravity boxes, and water inlets arranged on the inner walls of the water guiding sleeves and communicating with the water guiding channels; the flow impacting assembly comprises waterproof plugs slidingly arranged on one end of the water guiding sleeves away from the water guiding channels, and water increasing springs connecting the waterproof plugs and the inner walls of the water guiding sleeves; the pushing away assembly comprises sliding magnetic plates slidingly arranged on the inner walls of the gravity boxes, fixed electromagnets arranged on the inner walls of the gravity boxes on one side of the sliding magnetic plates away from the water guiding channels, and pushing away springs connecting the sliding magnetic plates and the inner walls of the gravity boxes; and the energy collecting assembly comprises water impact impellers linked with the sliding magnetic plates through the guiding out assembly, energy collecting magnets arranged on the guiding out assembly, coils arranged on the inner walls of energy collecting sleeves opposite to the energy collecting magnets, and rectifiers arranged on the unmanned ship body and electrically connected with the coils.

[0006] As a further preferred embodiment of the scheme, the driving assembly comprises a motor seat arranged on the bottom side wall of the unmanned ship body, a waterproof motor arranged on the inner wall of the motor seat, and a propeller blade arranged on the power end of the waterproof motor.

[0007] Preferably, the weight increasing assembly further comprises a plurality of groups of one-way water drainage valves arranged on the bottom side wall of the gravity box.

[0008] Preferably, the flow impacting assembly further comprises a distance measuring sensor arranged on one side of the waterproof plug close to the water guiding channel.

[0009] Preferably, the guiding out assembly comprises a guide cylinder arranged on the bottom wall of the unmanned ship body between the gravity boxes, a guide column penetrating through the gravity boxes and the guide cylinder and having one end connected with the sliding magnetic plate, a guiding out magnet arranged on one end of the guide column away from the sliding magnetic plate and located in the guide cylinder, and a magnetic shielding layer arranged on one side of the guiding out magnet away from the guide column.

[0010] Preferably, the energy collecting assembly further comprises a rotation-preventing magnetic ring sleeved outside the guide column and arranged on the guide cylinder near the side of the propeller blade, a pushing-out magnet arranged on the side of the guide column near the leading-out magnet and having the same polarity as the leading-out magnet, a impeller magnetic seat arranged on the side of the guide column far from the pushing-out magnet and having the opposite polarity to the rotation-preventing magnetic ring, an annular rotating block rotatably arranged on the side wall of the guide cylinder outside the rotation-preventing magnetic ring, and a locking spring connecting the annular rotating block and the impeller magnetic seat; the water-washing impeller is arranged on the side of the impeller magnetic seat far from the guide column.

[0011] Preferably, the upper wall of the unmanned ship body is provided with a controller electrically connected with the waterproof motor, the distance measuring sensor and the fixed electromagnet respectively.

[0012] In use, the hydrographic surveying instrument and the storage battery are installed on the unmanned ship body, the unmanned ship body is placed on the water surface to be surveyed, the propeller blade is immersed in water, the waterproof motor drives the propeller blade to rotate, the propeller blade rotates to push the unmanned ship body to move forward, and the unmanned ship body drives the instrument to enter the area designated by the operator to perform hydrographic surveying operation. Under the condition that the unmanned ship body moves forward at a normal speed, the water inlet is not exposed to water. When the water surface produces waves, the waterproof plug is impacted by the water flow, the water flow with a certain impact strength pushes the waterproof plug into the water guide sleeve inside by the deformation of the water increasing spring, so that the water inlet is exposed, the water flow enters the water guide channel inside through the water inlet, and then enters the gravity box inside under the guidance of the water guide channel, thereby increasing the weight of the bottom of the unmanned ship body, reducing the overall gravity center of the unmanned ship body, improving the stability of the unmanned ship body, and ensuring smooth movement of the unmanned ship body in waves.

[0013] In use, when the waterproof plug slides to shorten the distance between the distance measuring sensor and the inner wall of the water guide sleeve to the position of the first group of water inlets, the fixed electromagnet is electrified to generate a magnetic field with the opposite polarity to the sliding magnetic plate. The fixed electromagnet is fixed on the inner wall of the gravity box by magnetic force adsorption of the sliding magnetic plate. The sliding magnetic plate moves away from the water guide channel by the deformation of the pushing-away spring. The weight increasing space of the gravity box is expanded. The sliding magnetic plate drives the leading-out magnet to move relatively by the guide column. The leading-out magnet moves to the position coaxial with the pushing-out magnet. The leading-out magnet is fixed on one side of the guide column and pushes the pushing-out magnet by repulsion. The pushing-out magnet drives the guide column to slide out of the guide cylinder by the deformation of the locking spring. The guide column drives the water-washing impeller to move away from the rotation-preventing magnetic ring by the impeller magnetic seat. The impeller magnetic seat changes from the fixed state to the active state. The water-washing impeller rotates under the impact of the water flow. The water-washing impeller drives the guide column to rotate by the impeller magnetic seat. The guide column drives the energy collecting magnet to cut the magnetic induction lines in the coil. The current generated by the coil is stored in the storage battery after integration by the rectifier, thereby supplementing the energy consumed by the weight increase of the unmanned ship body and ensuring the endurance time of the unmanned ship body.

[0014] By adopting the above structure, the present application has the following beneficial effects: Compared with the prior art, the scheme adopts the combination of the water diversion mechanism and the power increasing mechanism, through the driving assembly, the weight increasing assembly, the flow impacting assembly, the pushing away assembly, the guiding out assembly and the energy collecting assembly, the gravity of the bottom of the unmanned ship body can be adjusted according to the impact force of the external wind and wave, the gravity center of the unmanned ship body during running is reduced, the stable running is ensured, the probability of overturning in the wind and wave is reduced, and when the unmanned ship body runs under load, the water flow impact force caused by the wind and wave is recycled by the water impacting impeller, the fixed electromagnet is fixed on the inner wall of the gravity box and magnetically attracts the sliding magnetic plate, the sliding magnetic plate moves away from the one end of the water diversion channel by the deformation of the pushing away spring, the weight increasing space of the gravity box is enlarged, the sliding magnetic plate drives the guiding out magnet to move relatively by the guiding column, the guiding out magnet moves to the coaxial position of the pushing out magnet, the pushing out magnet is pushed by the repulsive force of the fixed electromagnet on one side of the guiding column, the pushing out magnet drives the guiding column to slide out of the guiding cylinder by the deformation of the locking spring, the guiding column drives the water impacting impeller to move away from the anti-rotation magnetic ring by the impeller magnetic base, the impeller magnetic base changes from the fixed state to the active state, the water impacting impeller rotates under the impact of the water flow, the water impacting impeller drives the guiding column to rotate by the impeller magnetic base, the guiding column drives the energy collecting magnet to cut the magnetic induction line in the coil, and the current generated by the coil is stored in the storage battery after being integrated by the rectifier, so that the endurance of the unmanned ship body during running under load is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a schematic view of the overall structure of the scheme; Figure 2 It is a front view of the scheme; Figure 3 It is a bottom view of the scheme; Figure 4 It is a schematic view of the structure of the energy collecting assembly of the scheme; Figure 5 It is a combined schematic view of the pushing away assembly and the guiding out assembly of the scheme; Figure 6 It is a schematic view of the structure of the weight increasing assembly of the scheme; Figure 7 It is a front view of the scheme; Figure 8 It is a side view of the scheme; Figure 9 It is a top view of the scheme; Figure 10 It is a A-A sectional view of Figure 9 ; Figure 11 It is a B-B sectional view of Figure 9 ; Figure 12 It is a C-C sectional view of Figure 9 ; Figure 13An enlarged structural view of Part I of Figure 11 An enlarged structural view of Part I of Figure 14 An enlarged structural view of Part II of Figure 12 An enlarged structural view of Part II of

[0016] 1, unmanned ship body, 2, flow cone, 3, water guide mechanism, 4, drive assembly, 5, waterproof motor, 6, propeller blade, 7, weight assembly, 8, gravity box, 9, water guide channel, 10, water inlet, 11, flow component, 12, waterproof plug, 13, distance measuring sensor, 14, extension mechanism, 15, push away component, 16, sliding magnetic plate, 17, fixed electromagnet, 18, push away spring, 19, guide component, 20, guide column, 21, guide magnet, 22, anti-magnetic layer, 23, energy collection component, 24, energy collection sleeve, 25, energy collection column, 26, energy collection magnet, 27, coil, 28, rectifier, 29, anti-rotation magnetic ring, 30, water impact impeller, 31, guide cylinder, 32, motor base, 33, water guide sleeve, 34, water increasing spring, 35, push-out magnet, 36, impeller magnetic base, 37, annular rotating block, 38, locking spring, 39, controller, 40, one-way drain valve.

[0017] The accompanying drawings are used to provide a further understanding of the present scheme, and constitute a part of the specification, and are used to explain the present scheme together with embodiments of the present scheme, and do not constitute a limitation on the present scheme. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present scheme will be clearly and completely described below in conjunction with the drawings in the embodiments of the present scheme. Obviously, the described embodiments are only part of the embodiments of the present scheme, rather than all the embodiments of the present scheme; based on the embodiments in the present scheme, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present scheme.

[0019] In the description of the present scheme, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present scheme and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present scheme.

[0020] As Figures 1-14As shown, the scheme proposes a hydrological surveying and mapping unmanned ship, including unmanned ship body 1, flow cone 2, water guide mechanism 3 and continuation mechanism 14, the flow cone 2 is arranged on one end of the bottom wall of the unmanned ship body 1, the water guide mechanism 3 is arranged on the unmanned ship body 1, the continuation mechanism 14 is arranged on the bottom wall of the unmanned ship body 1, the water guide mechanism 3 includes driving assembly 4, weight increasing assembly 7 and flow impacting assembly 11, the driving assembly 4 is arranged on both sides of the unmanned ship body 1, the weight increasing assembly 7 is arranged on the bottom wall of the unmanned ship body 1 on both sides of the continuation mechanism 14, the flow impacting assembly 11 is arranged on one end of the weight increasing assembly 7 away from the unmanned ship body 1, the continuation mechanism 14 includes push away assembly 15, guide out assembly 19 and energy collecting assembly 23, the push away assembly 15 is arranged inside the weight increasing assembly 7, the guide out assembly 19 is arranged on the bottom wall of the unmanned ship body 1 between the weight increasing assembly 7, and the energy collecting assembly 23 is arranged on the guide out assembly 19.

[0021] The driving assembly 4 includes waterproof motor 5, propeller blade 6 and motor seat 32, the motor seat 32 is arranged on the bottom side wall of the unmanned ship body 1, the waterproof motor 5 is arranged on the inner wall of the motor seat 32, and the propeller blade 6 is arranged on the power end of the waterproof motor 5; the weight increasing assembly 7 includes gravity box 8, water guide channel 9, water inlet 10, water guide sleeve 33 and one-way drain valve 40, the gravity box 8 is symmetrically arranged on the bottom wall of the unmanned ship body 1, the water guide channel 9 is communicated and arranged on the side wall of the gravity box 8, the water guide sleeve 33 is arranged on the inner wall of one end of the water guide channel 9 away from the gravity box 8, a plurality of water inlets 10 are arranged on the inner side wall of the water guide sleeve 33, the water guide sleeve 33 is communicated with the water guide channel 9 through the water inlet 10, and a plurality of one-way drain valves 40 are communicated and arranged on the bottom side wall of the gravity box 8; the flow impacting assembly 11 includes waterproof plug 12, distance measuring sensor 13 and water increasing spring 34, the waterproof plug 12 is slidingly arranged on one end of the water guide sleeve 33 away from the water guide channel 9, the distance measuring sensor 13 is arranged on one side of the waterproof plug 12 close to the water guide channel 9, and the water increasing spring 34 is arranged between the waterproof plug 12 and the inner wall of the water guide sleeve 33.

[0022] The push-off assembly 15 comprises a sliding magnetic plate 16, a fixed electromagnet 17 and a push-off spring 18, the sliding magnetic plate 16 is slidably arranged on the inner wall of the gravity tank 8, the sliding magnetic plate 16 is vertically arranged, the fixed electromagnet 17 is arranged on the inner wall of the gravity tank 8 on the side of the sliding magnetic plate 16 away from the water channel 9, and the push-off spring 18 is arranged between the sliding magnetic plate 16 and the inner wall of the gravity tank 8; the guide-out assembly 19 comprises a guide column 20, a guide-out magnet 21, a magnetic shielding layer 22 and a guide cylinder 31, the guide cylinder 31 is arranged on the bottom wall of the unmanned ship body 1 between the gravity tanks 8, the guide column 20 penetrates through the gravity tank 8 and the guide cylinder 31 and is arranged on the side wall of the sliding magnetic plate 16, the guide-out magnet 21 is arranged on the side of the guide column 20 away from the sliding magnetic plate 16, the guide-out magnet 21 is arranged in the guide cylinder 31, and the magnetic shielding layer 22 is arranged on the side of the guide-out magnet 21 away from the guide column 20; the energy collecting assembly 23 comprises an energy collecting sleeve 24, an energy collecting column 25, energy collecting magnets 26, a coil 27, a rectifier 28, an anti-rotation magnetic ring 29, a water flushing impeller 30, a push-out magnet 35, an impeller magnetic seat 36, an annular rotating block 37 and a locking spring 38, the energy collecting sleeve 24 is arranged on the inner wall of one end of the guide cylinder 31 close to the propeller blade 6, the energy collecting column 25 penetrates through the energy collecting sleeve 24 and is arranged on the inner wall of the guide cylinder 31, the inner diameter of the energy collecting sleeve 24 is larger than the outer diameter of the energy collecting column 25, a plurality of energy collecting magnets 26 are arranged on the side wall of the guide column 20, the coil 27 is arranged on the inner wall of the energy collecting sleeve 24, the coil 27 is arranged opposite to the energy collecting magnets 26, the rectifier 28 is arranged on the upper wall of the unmanned ship body 1, the rectifier 28 is electrically connected with the coil 27, the anti-rotation magnetic ring 29 is arranged on the side of the guide cylinder 31 close to the propeller blade 6 and is sleeved outside the guide column 20, the push-out magnet 35 is arranged on the side of the guide column 20 close to the guide-out magnet 21, the push-out magnet 35 is arranged with the same polarity as the guide-out magnet 21, the impeller magnetic seat 36 is arranged on the side of the guide column 20 away from the push-out magnet 35, the impeller magnetic seat 36 is arranged with different polarity from the anti-rotation magnetic ring 29, the water flushing impeller 30 is arranged on the side of the impeller magnetic seat 36 away from the guide column 20, the annular rotating block 37 is rotatably arranged on the side wall of the guide cylinder 31 outside the anti-rotation magnetic ring 29, and the locking spring 38 is arranged between the annular rotating block 37 and the impeller magnetic seat 36.

[0023] The upper wall of the unmanned ship body 1 on the side of the rectifier 28 is provided with a controller 39.

[0024] The controller 39 is electrically connected with the waterproof motor 5, the fixed electromagnet 17 and the distance measuring sensor 13 respectively.

[0025] In specific use, the hydrological surveying instrument and the battery are installed on the unmanned hull 1, the unmanned hull 1 is placed on the water surface to be surveyed, the propeller blade 6 is immersed in water, the controller 39 controls the waterproof motor 5 to start, the waterproof motor 5 drives the propeller blade 6 to rotate through the power end, the propeller blade 6 rotates to push the unmanned hull 1 forward, the unmanned hull 1 drives the instrument into the area specified by the operator, the operator remotely controls the instrument to perform the hydrological surveying operation, in the initial state, the water-increasing spring 34 and the locking spring 38 are in the elongated state, when the unmanned hull 1 advances at a normal speed, the water flow cannot push the waterproof plug 12 into the water guide sleeve 33, so that the water inlet 10 is not exposed to water; When the water surface produces waves, the impact force of the water flow on the waterproof plug 12 increases, the water flow pushes the waterproof plug 12 into the water guide sleeve 33 by the deformation of the water-increasing spring 34, so that the water inlet 10 is exposed, the water flow enters the water guide channel 9 through the water inlet 10, and enters the gravity box 8 under the guidance of the water guide channel 9, the distance threshold of the distance sensor 13 is set in advance, the controller 39 controls the distance sensor 13 to start, when the distance sensor 13 detects that the distance between the waterproof plug 12 and the inner wall of the water guide sleeve 33 is shortened to the position of the first group of water inlets 10, the controller 39 controls the fixed electromagnet 17 to start, the fixed electromagnet 17 generates a magnetic field with an opposite magnetic pole to the sliding magnetic plate 16 by electrification, the fixed electromagnet 17 is fixed on the inner wall of the gravity box 8 and attracts the sliding magnetic plate 16 by magnetic force, the sliding magnetic plate 16 moves away from the water guide channel 9 by the deformation of the repulsion spring 18, the weight-increasing space of the gravity box 8 is expanded, more water flow can enter, so that the weight of the bottom of the unmanned hull 1 is increased, the overall gravity center of the unmanned hull 1 is lowered, the stability is improved, and the smooth progress in the waves is ensured; The magnetic field strength between the leading-out magnet 21 and the pushing-out magnet 35 is greater than that between the anti-rotation magnetic ring 29 and the impeller magnetic seat 36, the sliding magnetic plate 16 drives the leading-out magnet 21 to move relatively through the guide column 20, the leading-out magnet 21 moves to a position coaxial with the pushing-out magnet 35, the leading-out magnet 21 is fixed on one side of the guide column 20 and pushes the pushing-out magnet 35 by repulsion, the pushing-out magnet 35 drives the guide column 20 to slide out of the guide cylinder 31 by the deformation of the locking spring 38, the guide column 20 drives the water flushing impeller 30 to move away from the anti-rotation magnetic ring 29 through the impeller magnetic seat 36, the impeller magnetic seat 36 changes from the fixed state to the active state, the water flushing impeller 30 rotates under the impact of the water flow, the water flushing impeller 30 drives the guide column 20 to rotate through the impeller magnetic seat 36, the guide column 20 drives the energy collecting magnet 26 to cut the magnetic induction lines in the coil 27, and the current generated by the coil 27 is stored in the battery after integration by the rectifier 28, so that the energy consumed after the weight of the unmanned hull 1 is increased is supplemented to a certain extent, and the endurance time of the unmanned hull 1 is ensured; When the wind and waves decrease, the water flow cannot use the impact force to push the waterproof plug 12 into the inside of the water guide sleeve 33, the distance between the waterproof plug 12 and the inner wall of the water guide sleeve 33 is monitored by the distance sensor 13 to return to the initial value, the fixed electromagnet 17 is powered off and demagnetized, the push-away spring 18 is elastically reset to push the sliding magnetic plate 16 to slide along the inner wall of the gravity box 8, the sliding magnetic plate 16 extrudes the water in the inside of the gravity box 8 from the one-way drain valve 40, and the running state of the unmanned ship body 1 is restored; the above operation is repeated next time.

[0026] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0027] The above describes the technical scheme and its implementation, which is not limited, and the drawings only show one of the embodiments of the technical scheme, and the actual structure is not limited thereto. In general, if a person skilled in the art is inspired by it, without departing from the purpose of the technical scheme, without creative design, similar structure and embodiments of the technical scheme can be designed, which should belong to the protection scope of the technical scheme.

Claims

1. An unmanned surface vessel (USV) for hydrological surveying, comprising an unmanned hull and a guide cone, characterized in that: It also includes a water diversion mechanism and a regeneration mechanism; the guide cone is located on the bottom wall of one end of the unmanned vessel hull, the water diversion mechanism is located on the unmanned vessel hull, and the regeneration mechanism is located on the bottom wall of the unmanned vessel hull; The water diversion mechanism includes a drive component, a weight-increasing component, and a jetting component. The drive component is located on both sides of the unmanned vessel hull, the weight-increasing component is located on the bottom wall of the unmanned vessel hull on both sides of the water diversion mechanism, and the jetting component is located at the end of the weight-increasing component away from the unmanned vessel hull. The weight-increasing mechanism includes a push-off component, a discharge component, and an energy-collecting component. The push-off component is located inside the weight-increasing component, the discharge component is located on the bottom wall of the unmanned hull between the weight-increasing components, and the energy-collecting component is located on the discharge component. The weight-increasing component includes a gravity box symmetrically located on the bottom wall of the unmanned hull, a water intake channel connected to the side wall of the gravity box, a water intake sleeve located on the inner wall of the end of the water intake channel away from the gravity box, and a water inlet located on the inner side wall of the water intake sleeve and connected to the water intake channel. The flushing assembly includes a waterproof plug slidably disposed at the end of the water inlet sleeve away from the water inlet channel, and a water-increasing spring connecting the waterproof plug to the inner wall of the water inlet sleeve; the pushing-away assembly includes a sliding magnetic plate slidably disposed on the inner wall of the gravity box, a fixed electromagnet disposed on the inner wall of the gravity box on the side of the sliding magnetic plate away from the water inlet channel, and a pushing-away spring connecting the sliding magnetic plate to the inner wall of the gravity box; the energy collecting assembly includes a water-flushing impeller linked to the sliding magnetic plate through the output assembly, an energy collecting magnet disposed on the output assembly, a coil disposed on the inner wall of the energy collecting sleeve opposite to the energy collecting magnet, and a rectifier disposed on the unmanned vessel hull and electrically connected to the coil.

2. The unmanned surface vessel for hydrological surveying according to claim 1, characterized in that: The drive assembly includes a motor mount on the bottom sidewall of the unmanned vessel, a waterproof motor on the inner wall of the motor mount, and a propeller blade on the power end of the waterproof motor.

3. The unmanned surface vessel for hydrological surveying according to claim 1, characterized in that: The weight-adding component also includes multiple sets of one-way drain valves connected to the bottom side wall of the gravity box.

4. The unmanned surface vessel for hydrological surveying according to claim 1, characterized in that: The flushing assembly also includes a distance sensor located on the side of the waterproof plug near the water inlet channel.

5. The unmanned surface vessel for hydrological surveying according to claim 1, characterized in that: The export component includes a guide cylinder located on the bottom wall of the unmanned vessel between the gravity boxes, a guide post penetrating the gravity box and the guide cylinder and connected to a sliding magnetic plate at one end, an export magnet located at the end of the guide post away from the sliding magnetic plate and inside the guide cylinder, and an antimagnetic layer located on the side of the export magnet away from the guide post.

6. The unmanned surface vessel for hydrological surveying according to claim 5, characterized in that: The energy collection assembly also includes an anti-rotation magnetic ring sleeved on the outside of the guide post and located on the side of the guide cylinder near the propeller blade, an ejector magnet located on the side of the guide post near the ejector magnet and having the same pole as the ejector magnet, an impeller magnet seat located on the side of the guide post away from the ejector magnet and having the opposite pole to the anti-rotation magnetic ring, an annular rotating block rotatably located on the side wall of the guide cylinder outside the anti-rotation magnetic ring, and a locking spring connecting the annular rotating block and the impeller magnet seat; the water jet impeller is located on the side of the impeller magnet seat away from the guide post.

7. The unmanned surface vessel for hydrological surveying according to claim 4, characterized in that: The unmanned vessel is equipped with a controller on its upper wall, which is electrically connected to a waterproof motor, a ranging sensor, and a fixed electromagnet.

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