Position switching method for debris pushing propeller, water surface monitoring robot and intercepting net cover

Abstract

The present application relates to the technical field of water unmanned ship, in particular to a barrier propeller, a water monitoring robot and a position switching method of an intercepting net cover. The barrier propeller comprises a propeller body having a water inlet and a water outlet; further comprising an intercepting unit, a guide assembly and a swing arm, the swing arm is used to drive the intercepting unit to reciprocate between the water inlet and the water outlet; in the process of swing of the swing arm, the intercepting unit is in abutment with the guide assembly, so as to force the intercepting unit to overturn relative to the swing arm; the guide assembly further comprises a posture maintaining structure, through cooperation of the swing arm and the guide assembly, a single rotary driving input is converted into a composite action output of displacement, overturning and locking. Compared with the prior art which needs to configure multiple power sources such as lifting motor and overturning motor, the present application can complete the whole cleaning action by only one driving motor.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel technology, specifically to a method for switching the positions of a clearing propulsion device, a surface monitoring robot, and an interception net. Background Technology

[0002] Water surface environment monitoring patrol vessels are divided into unmanned monitoring patrol vessels and manned monitoring patrol vessels. Unmanned monitoring patrol vessels are lightweight and agile, while manned monitoring patrol vessels have greater carrying capacity and endurance. These patrol vessels have a wide range of functions, including monitoring water quality and detecting key indicators such as water temperature and ammonia nitrogen; using side-scan sonar and other equipment to locate pollution sources and sewage outlets; assessing changes in aquatic ecosystems; and collecting hydrological and meteorological data.

[0003] The propeller is a core component of a surface environment monitoring patrol vessel. Dual propellers generate different thrusts, creating uneven stress on the hull and generating a steering torque, facilitating turning. Their performance directly impacts the vessel's navigation efficiency, stability, and reliability. However, traditional propellers are prone to entanglement and blockage in complex waters, such as those containing fish, abundant aquatic plants, or floating debris, leading to reduced power and even impaired navigation. Therefore, developing propellers with obstacle-clearing capabilities and the ability to effectively cope with complex aquatic environments is crucial. For example, placing a net at the propeller inlet can prevent fish from entering and damaging both the propeller and the fish.

[0004] However, this fixed interception and protection method still has significant drawbacks in practical applications. As the operation progresses, a large amount of aquatic plants and floating debris adsorbed by the water flow quickly accumulates on the surface of the interception net, forming a "clogging" phenomenon. This obstructs the water inlet channel and drastically reduces propulsion efficiency. At this point, the robot usually needs to return for manual cleaning, which greatly limits the operating radius and continuous working time. Although some propellers with automatic cleaning functions have emerged in existing technologies, most of them use complex multi-motor drive structures to move or scrape the net. This not only increases the risk of underwater dynamic seals, but also makes the external precision mechanisms extremely vulnerable to damage from bottoming out or collisions in shallow water. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a method for switching the positions of a clearing thruster, a surface monitoring robot, and an interception net. Through the cooperation of a swing arm and a guiding component, a single rotational drive input is transformed into a composite action output of displacement, flipping, and locking. Compared to existing technologies that require multiple power sources such as lifting motors and flipping motors, this invention requires only a single drive motor to complete the entire cleaning process.

[0006] To address the problems of existing technologies, this invention provides a clearing thruster, comprising a thruster body having a water inlet and a water outlet; further comprising: an interception unit for covering the water inlet; a guide assembly fixedly disposed below the thruster body and extending along the axial direction of the thruster body; and a swing arm, the root of which is rotatably mounted on the outside of the thruster body and driven to swing, the end of which is rotatably connected to the interception unit; wherein, the swing arm is used to drive the interception unit to reciprocate between the water inlet and the water outlet; during the swinging of the swing arm, the interception unit abuts against the guide assembly, forcing the interception unit to flip relative to the swing arm; the guide assembly further comprises an attitude-maintaining structure for maintaining the angular attitude of the interception unit relative to the swing arm after the interception unit disengages from the guide assembly.

[0007] Preferably, the guide component is constructed as a rigid skid structure protruding downward from the bottom of the propeller body. The front end of the rigid skid structure is in the shape of an axe or a wedge to form a crash barrier for breaking water and protecting the propeller body. The inner sidewall of the rigid skid structure is provided with a track groove extending along the axial direction, and the end of the swing arm is slidably embedded in the track groove.

[0008] Preferably, the swing arm is a telescopic structure and has an elastic element inside; the track groove has a depth variation in the vertical direction; the swing arm is always in contact with the bottom or side wall of the track groove under the action of the elastic element, and the depth variation of the track groove forces the swing arm to perform telescopic movement, so as to drive the interception unit to perform lifting and avoiding during the movement.

[0009] Preferably, the guide assembly has a rack section in the middle section; the interception unit has a transmission gear that meshes with the rack section at the rotatable connection; when the swing arm drives the interception unit through the rack section, the interception unit overcomes the resistance of the attitude-maintaining structure and completes the flip under the meshing action.

[0010] Preferably, the rack segment is integrated on the backwater side of the guide assembly, and the rack segment is shielded and protected by the solid structure of the guide assembly.

[0011] Preferably, the attitude maintaining structure includes an elastic limiting rod disposed on the interception unit and a positioning through hole opened on the swing arm; the angle of the interception unit is locked by the elastic limiting rod engaging with the positioning through hole.

[0012] Preferably, the root of the swing arm is connected to an independent sealed drive chamber, and the sealed drive chamber is equipped with a drive motor for driving the swing arm to swing.

[0013] Preferably, the thruster bodies are configured as two symmetrically distributed units; the guide assembly and the swing arm are located on the symmetrical center line between the two thruster bodies; the end of the swing arm is provided with a transverse connector, and the two ends of the transverse connector are respectively connected to an interception unit, so as to drive the two interception units simultaneously through the swing arm.

[0014] A surface monitoring robot includes a hull, a control system, and a clearing thruster as described above, mounted on the bottom of the hull; the control system is electrically connected to the clearing thruster and is used to monitor the operating parameters of the thruster body in real time.

[0015] A method for switching the position of an interception unit, applied to the aforementioned obstacle-clearing thruster, includes the following steps:

[0016] S1. Drive the swing arm to swing, causing the interception unit to detach from the inlet of the propeller body and move towards the outlet.

[0017] S2. During the movement of the swing arm, the swing arm is forced to extend and retract by coordinating with the trajectory of the guide component, thereby driving the interception unit to avoid the outer contour of the propeller body along the preset sinking trajectory.

[0018] S3. When the swing arm drives the interception unit through the middle section of the guide assembly, the interception unit is forced to flip relative to the swing arm.

[0019] S4. After the interception unit flips to the preset angle and leaves the middle section area, the attitude holding structure automatically locks the relative angle between the interception unit and the swing arm, maintaining this angle until the interception unit reaches the drain port of the thruster body.

[0020] The advantages of this invention compared to the prior art are:

[0021] 1. This invention, through the cooperation of a swing arm and a guide assembly, transforms a single rotary drive input into a composite action output of displacement, tilting, and locking. Compared to existing technologies that require multiple power sources such as lifting motors and tilting motors, this invention only requires a single drive motor to complete the entire cleaning process. This not only significantly reduces the number of underwater dynamic sealing points and lowers the probability of leakage, but also reduces the logical complexity of the control system and improves the equipment's survivability in harsh waters.

[0022] 2. This invention constructs the guide component as a downward-protruding rigid skid structure, with its front end shaped like an axe or wedge. This rigid skid structure serves as both a high-precision motion guide and a mechanism to constrain the movement of the swing arm via embedded track grooves. Simultaneously, it acts as a robust crash barrier and water-breaking device, located at the lowest point of the propeller. When the vessel hits the bottom or encounters floating debris in shallow water, the rigid skid structure preferentially absorbs the impact, effectively protecting the internal precision track grooves, swing arm, and propeller body, fundamentally solving the problem of fragility and damage in existing external cleaning mechanisms. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the obstacle-clearing propulsion device and the water surface monitoring robot.

[0024] Figure 2 This is a side view of the obstacle clearing thruster and the water surface monitoring robot.

[0025] Figure 3 This is a three-dimensional structural diagram of the obstacle clearing thruster and the water surface monitoring robot when the interception unit is located on the thruster body.

[0026] Figure 4 This is a side view of the obstacle clearing thruster and water surface monitoring robot when the interception unit is located below the thruster body.

[0027] Figure 5 This is a three-dimensional structural diagram of the obstacle clearing thruster and the water surface monitoring robot when the interception unit is located below the thruster body.

[0028] Figure 6 yes Figure 5 Enlarged view of point A in the middle.

[0029] Figure 7 This is a three-dimensional structural diagram of the interception unit in the obstacle clearing propulsion device and the water surface monitoring robot moving towards the water outlet of the propulsion device body.

[0030] Figure 8 yes Figure 7 Enlarged view of point B in the middle.

[0031] Figure 9 This is a three-dimensional structural diagram of the thruster body and guide components in the obstacle clearing thruster.

[0032] Figure 10 yes Figure 9 A magnified view of point C in the middle.

[0033] The diagram is labeled as follows: 1. Thruster body; 11. Inlet; 111. Interception unit; 12. Outlet; 13. Guide assembly; 131. Rigid skid structure; 1311. Track groove; 132. Rack segment; 14. Swing arm; 141. Transmission gear; 142. Sealed drive chamber; 1421. Drive motor; 143. Lateral connector; 15. Attitude holding structure; 151. Elastic limit rod; 152. Positioning through hole; 2. Hull; 3. Surface monitoring robot. Detailed Implementation

[0034] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figures 1 to 7 The image shows a clearing thruster, comprising a thruster body 1 having a water inlet 11 and a drain outlet 12; further comprising: an interception unit 111 for covering the water inlet 11; a guide assembly 13 fixedly disposed below the thruster body 1 and extending along the axial direction of the thruster body 1; and a swing arm 14, the base of which is rotatably mounted on the outside of the thruster body 1 and driven to swing, and the end of which is rotatably connected to the interception unit 111; wherein, the swing arm 14 is used to drive the interception unit 111 to reciprocate between the water inlet 11 and the drain outlet 12; during the swinging of the swing arm 14, the interception unit 111 abuts against the guide assembly 13, forcing the interception unit 111 to flip relative to the swing arm 14; the guide assembly 13 further comprises an attitude holding structure 15 for maintaining the angle attitude of the interception unit 111 relative to the swing arm 14 after the interception unit 111 disengages from the guide assembly 13.

[0036] To address the technical pain points of existing underwater thruster protective nets being prone to clogging and difficult to clean automatically, leading to robot power loss or even motor burnout, this embodiment constructs a composite motion system based on single-degree-of-freedom drive. The guide component 13 is fixedly installed below the thruster body 1 as a static reference; the root of the swing arm 14 is rotatably mounted on the outside of the thruster body 1; the interception unit 111 is rotatably connected to the end of the swing arm 14.

[0037] When cleaning is required, the swing arm 14 is driven to swing, causing the interception unit 111 to reciprocate between the inlet 11 and the outlet 12. During this movement, the guide component 13 serves as a passive triggering medium. When the interception unit 111 moves to a specific area, it engages with the guide component 13, and the relative motion forces the interception unit 111 to flip relative to the swing arm 14. Once the interception unit 111 disengages from the engagement area with the guide component 13, the attitude holding structure 15 immediately intervenes, physically locking the angle and attitude of the interception unit 111 relative to the swing arm 14. This method transforms a simple swing input into a complex trajectory output of displacement, flipping, and locking, achieving automatic stripping and reverse rinsing of the interception unit 111. This solution utilizes mechanical coupling logic to solve the problem that a single drive source cannot simultaneously achieve mesh cover displacement and attitude adjustment. By setting the attitude-maintaining structure 15, the rigidity and stability of the interception unit 111 are ensured during its non-rotational stroke, especially when it is subjected to high-speed water flow at the drain outlet 12. This effectively prevents the net cover from rotating erratically and ensures the reliability and thoroughness of the obstacle removal operation. It should be noted that the interception unit 111 in the figure is only for illustration. In addition to the style shown in the figure, the net cover can also be a disc-shaped or pie-shaped structure.

[0038] like Figures 1 to 6 and Figure 9 As shown: The guide component 13 is constructed as a rigid skid structure that protrudes downward from the bottom of the propeller body 1. The front end of the rigid skid structure is in the shape of an axe or a wedge to form a crash barrier for breaking water and protecting the propeller body 1. The inner sidewall of the rigid skid structure is provided with a track groove 1311 that extends axially, and the end of the swing arm 14 is slidably embedded in the track groove 1311.

[0039] In shallow water or waters with many obstacles, the bottom of the propeller is highly susceptible to impact damage. Therefore, in this embodiment, the guide assembly 13 is constructed as a rigid skid structure protruding downwards from the bottom of the propeller body 1. The front end of this rigid skid structure is streamlined in the shape of an axe or wedge, serving to break through water and divert debris during navigation, essentially forming a crash barrier for the propeller body 1. Simultaneously, to regulate the movement path of the swing arm 14 and prevent lateral deviation under water flow impact, an axially extending track groove 1311 is provided on the inner wall of the rigid skid structure, with the end of the swing arm 14 always slidably embedded within this track groove 1311. This achieves structural reuse, making the rigid skid structure both a high-precision motion guide and protective armor. The embedded track groove 1311 utilizes the outer wall of the rigid skid structure as a physical shield, effectively reducing the intrusion of mud and weeds into the moving parts, significantly improving the system's environmental adaptability.

[0040] like Figures 2 to 7 and Figure 9As shown: the swing arm 14 is constructed as a telescopic structure and has an elastic element inside; the track groove 1311 has a depth variation in the vertical direction; the swing arm 14 is always in contact with the bottom or side wall of the track groove 1311 under the action of the elastic element, and the depth variation of the track groove 1311 forces the swing arm 14 to perform telescopic movement, so as to drive the interception unit 111 to perform lifting and avoiding during the movement.

[0041] Since the thruster body 1 typically has a protruding outer contour, a fixed-length swing arm is highly susceptible to interference and collision during movement. In this embodiment, the swing arm 14 is configured as a telescopic structure with an elastic element inside. The trajectory groove 1311 has a depth variation in the vertical direction. Under the preload of the elastic element, the swing arm 14 always abuts against the bottom or side wall of the trajectory groove 1311. When the swing arm 14 swings, the depth variation of the trajectory groove 1311 forces the swing arm 14 to extend or retract, shortening or sinking when passing the protrusion of the thruster body 1, and extending or rising when reaching the port, thereby driving the interception unit 111 to perform precise lifting and lowering avoidance actions. This method replaces expensive electronic sensors and multi-axis servo systems, utilizing pure mechanical logic to achieve complex spatial avoidance trajectories. It not only eliminates the risk of electronic control system malfunction but also physically eliminates the potential for the interception unit 111 to scrape against the thruster body 1.

[0042] like Figures 2 to 8 As shown: the middle section of the guide assembly 13 is provided with a rack section 132; the rotating connection of the interception unit 111 is provided with a transmission gear 141 that cooperates with the rack section 132; when the swing arm 14 drives the interception unit 111 to pass through the rack section 132, the interception unit 111 overcomes the resistance of the attitude holding structure 15 and completes the flip under the meshing action.

[0043] To achieve attitude flipping of the interception unit 111 without adding an underwater motor, this embodiment includes a rack segment 132 in the middle section of the guide assembly 13 and a transmission gear 141 that meshes with it at the rotational connection of the interception unit 111. When the swing arm 14 drives the interception unit 111 through this area, the transmission gear 141 is forcibly engaged with the rack segment 132. At this time, the translational driving force of the swing arm 14 is converted into rotational torque, overcoming the resistance of the attitude holding structure 15 and driving the interception unit 111 to complete a 180-degree attitude flip. By utilizing the kinetic energy during the stroke, the interception unit 111 achieves the effect of automatic flipping upon reaching the designated point. Compared to a continuously rotating structure, this segmented triggering logic reduces wear; compared to motor-driven flipping, this purely mechanical structure completely eliminates the sealing and power supply problems of the rotating joint.

[0044] like Figures 2 to 8As shown: The rack segment 132 is integrated on the back side of the guide assembly 13, and the solid structure of the guide assembly 13 forms a shielding and protection for the rack segment 132.

[0045] Considering that the upstream side is susceptible to impact from floating objects and erosion from silt, this embodiment integrates the rack segment 132 into the downstream side, i.e., the negative pressure zone or concave surface, of the guide assembly 13. The rigid skid structure of the guide assembly 13 acts as a shield, providing physical protection for the rack segment 132. While retaining the flipping function, this creates a hydraulic haven for the transmission components, reducing the probability of the rack segment 132 and the transmission gear 141 breaking due to impact from hard objects or jamming due to silt accumulation, significantly extending the service life of the core transmission components.

[0046] like Figures 2 to 8 As shown: The attitude holding structure 15 includes an elastic limiting rod 151 disposed on the interception unit 111 and a positioning through hole 152 opened on the swing arm 14; the angle of the interception unit 111 is locked by the elastic limiting rod 151 being engaged with the positioning through hole 152.

[0047] After the transmission gear 141 disengages from the rack section 132, to prevent the interception unit 111 from swinging freely in the water flow, the attitude holding structure 15 of this embodiment adopts an elastic locking mechanism. Specifically, an elastic limiting rod 151 is provided on the interception unit 111, and a positioning through hole 152 is opened on the swing arm 14. When the interception unit 111 flips to a preset angle, the elastic limiting rod 151 automatically pops out and locks into the positioning through hole 152 under the action of elastic restoring force, realizing mechanical self-locking. This structure provides a high-rigidity angle locking capability, ensuring that the interception unit 111 remains motionless when subjected to high-speed water backwashing from the drain outlet 12. Compared with friction positioning, this locking structure has anti-vibration and anti-impact capabilities, ensuring the accuracy of the interception unit 111 in cleaning on the outlet side.

[0048] like Figures 1 to 5 , Figure 9 and Figure 10 As shown: The root of the swing arm 14 is connected to an independent sealed drive chamber 142, and the sealed drive chamber 142 is equipped with a drive motor 1421 for driving the swing arm 14 to swing.

[0049] To address the issue of easy failure of the bottom perforation seal, this embodiment features an independent sealed drive compartment 142 connected to the root of the swing arm 14, with the drive motor 1421 encapsulated within this compartment. The entire drive module is installed externally, eliminating the need for a dynamic seal between the hull 2 ​​and the water. This achieves modularity and physical isolation of the drive unit. Even if the sealed drive compartment 142 is damaged by water ingress due to accidental impact, the damage is limited to the external module and will never cause water to enter the hull 2 ​​and burn out the core circuitry, significantly improving the survivability and maintainability of the surface robot.

[0050] like Figures 1 to 5 , Figure 9 and Figure 10 As shown: the thruster body 1 is configured as two symmetrically distributed; the guide assembly 13 and the swing arm 14 are located on the symmetrical center line between the two thruster bodies 1; the end of the swing arm 14 is provided with a transverse connector 143, and the two ends of the transverse connector 143 are respectively connected to an interception unit 111, so as to drive the two interception units 111 simultaneously through the swing arm 14.

[0051] In this embodiment, the thruster bodies 1 are arranged as two symmetrically distributed units, and the guide assembly 13 and the swing arm 14 are arranged on the center line of symmetry between the two. A transverse connector 143 extends from the end of the swing arm 14, with each end connected to an interception unit 111. Through this architecture, a single drive and guidance system serves both thruster bodies 1, reducing the need for drive hardware and control interfaces. This reduces manufacturing costs and, more importantly, ensures absolute synchronization of the actions of the two interception units 111 at the physical level, avoiding the problem of hull 2 ​​yaw caused by unilateral cleaning.

[0052] like Figures 1 to 5 As shown: A water surface monitoring robot includes a hull 2, a control system, and a clearing thruster installed at the bottom of the hull 2; the control system is electrically connected to the clearing thruster and is used to monitor the operating parameters of the thruster body 1 in real time.

[0053] The control system is electrically connected to the obstacle-clearing thruster, monitoring the operating parameters of the thruster body 1 in real time, such as the current value. When an abnormal increase in current is detected, it means that the interception unit 111 is blocked, resulting in increased water inlet resistance. The control system automatically triggers the cleaning process, driving the obstacle-clearing thruster to perform peeling, displacement, and flushing actions. This achieves an automated closed loop from status perception to fault clearance. It maintains the robot's optimal dynamic performance without human intervention, making it particularly suitable for long-distance, long-term unmanned water monitoring tasks.

[0054] like Figures 1 to 7 As shown: A method for switching the position of an interception unit 111, applied to the aforementioned obstacle-clearing thruster, includes the following steps:

[0055] S1. Drive the swing arm 14 to swing, causing the interception unit 111 to detach from the inlet 11 of the propeller body 1 and move towards the outlet 12.

[0056] S2. During the movement of the swing arm 14, the swing arm 14 is forced to extend and retract by coordinating with the guide component 13, thereby driving the interception unit 111 to avoid the outer contour of the propeller body 1 along the preset sinking trajectory.

[0057] S3. When the swing arm 14 drives the interception unit 111 through the middle section of the guide assembly 13, the interception unit 111 is forced to flip relative to the swing arm 14.

[0058] S4. When the interception unit 111 flips to a preset angle and leaves the middle section area, the attitude holding structure 15 automatically locks the relative angle between the interception unit 111 and the swing arm 14, and maintains the angle until the interception unit 111 reaches the drain port 12 of the propeller body 1.

[0059] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. A clearing thruster, comprising a thruster body having a water inlet and a water outlet; characterized in that, Also includes: An interception unit is used to cover the water inlet; A guide assembly is fixedly disposed below the propeller body and extends along the axial direction of the propeller body; A swing arm, the root of which is rotatably mounted on the outside of the propeller body and driven to swing, and the end of which is rotatably connected to the interception unit; The swing arm is used to drive the interception unit to reciprocate between the water inlet and the water outlet; During the swinging of the swing arm, the intercepting unit abuts against the guide assembly, forcing the intercepting unit to flip relative to the swing arm; The guiding component also includes an attitude holding structure for maintaining the angular attitude of the intercepting unit relative to the swing arm after the intercepting unit disengages from the guiding component.

2. The obstacle-clearing propulsion device according to claim 1, characterized in that, The guide component is constructed as a rigid skid structure that protrudes downward from the bottom of the propeller body. The front end of the rigid skid structure is in the shape of an axe or a wedge to form a crash barrier for breaking water and protecting the propeller body. The inner sidewall of the rigid skid structure is provided with a track groove that extends axially, and the end of the swing arm is slidably embedded in the track groove.

3. The obstacle-clearing propulsion device according to claim 2, characterized in that, The swing arm is constructed as a telescopic structure and has an elastic element inside; the track groove has a depth variation in the vertical direction; the swing arm is always in contact with the bottom or side wall of the track groove under the action of the elastic element, and the depth variation of the track groove forces the swing arm to perform telescopic movement, so as to drive the interception unit to perform lifting and avoiding during the movement.

4. The obstacle-clearing propulsion device according to claim 1, characterized in that, The guide assembly has a rack section in its middle section; the interception unit has a transmission gear that meshes with the rack section at its rotatable connection; when the swing arm drives the interception unit through the rack section, the interception unit overcomes the resistance of the attitude-maintaining structure and completes the flip under the meshing action.

5. A clearing thruster according to claim 4, characterized in that, The rack segment is integrated on the backwater side of the guide assembly, and the physical structure of the guide assembly provides shielding protection for the rack segment.

6. The obstacle-clearing thruster according to claim 1, characterized in that, The attitude-maintaining structure includes an elastic limiting rod disposed on the interception unit and a positioning through hole opened on the swing arm; the angle of the interception unit is locked by the elastic limiting rod engaging with the positioning through hole.

7. The obstacle-clearing thruster according to claim 1, characterized in that, The root of the swing arm is connected to an independent sealed drive chamber, and the sealed drive chamber is equipped with a drive motor for driving the swing arm to swing.

8. A clearing thruster according to claim 1, characterized in that, The thruster bodies are configured as two symmetrically distributed units; the guide assembly and the swing arm are located on the symmetrical center line between the two thruster bodies; the end of the swing arm is provided with a transverse connector, and the two ends of the transverse connector are respectively connected to an interception unit, so as to drive the two interception units simultaneously through the swing arm.

9. A water surface monitoring robot, characterized in that, The system includes a hull, a control system, and a clearing thruster as described in any one of claims 1 to 8, which is installed at the bottom of the hull; the control system is electrically connected to the clearing thruster and is used to monitor the operating parameters of the thruster body in real time.

10. A method for switching the position of an interception unit, applied to the obstacle-clearing thruster according to any one of claims 1-8, characterized in that, Includes the following steps: S1. Drive the swing arm to swing, causing the interception unit to detach from the water inlet of the propeller body and move towards the drain outlet; S2. During the movement of the swing arm, the swing arm is forced to extend and retract by coordinating with the trajectory of the guide component, thereby driving the interception unit to avoid the outer contour of the propeller body along the preset sinking trajectory. S3. When the swing arm drives the interception unit through the middle section of the guide assembly, the interception unit is forced to flip relative to the swing arm. S4. After the interception unit flips to the preset angle and leaves the middle section area, the attitude holding structure automatically locks the relative angle between the interception unit and the swing arm, maintaining this angle until the interception unit reaches the drain port of the thruster body.

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