A water surveying device and a surveying method for engineering surveying

Abstract

The application relates to the field of engineering surveying and mapping technology, in particular to a water surveying and mapping device and method for engineering surveying and mapping. The device comprises a surveying and mapping unmanned ship main body, two rotating pins respectively installed at the front and rear ends of the surveying and mapping unmanned ship main body, a protection air bag assembly located at the two sides of the surveying and mapping unmanned ship main body in an initial state, a control unit for controlling the protection air bag assembly to start when detecting that the shaking degree reaches a set threshold, a surveying and mapping instrument for monitoring the water and underwater environment, and a state adjusting assembly for driving the surveying and mapping instrument to switch between the upward detection state and the downward detection state. The device can still obtain effective data under harsh conditions by the stable protection air bag assembly and the adjustable surveying and mapping instrument, reduces operation interruption, and can switch the surveying and mapping mode without recycling or manually adjusting the equipment through state adjustment, so that the response is faster and the adaptability is stronger.

Description

Technical Field

[0001] This invention relates to the field of engineering surveying, and in particular to a marine surveying equipment and method for engineering surveying. Background Technology

[0002] Maritime surveying equipment used in engineering surveying is a comprehensive technical system specifically designed to acquire precise geospatial information about waterways and their shorelines. Its core functionality involves integrating high-precision positioning and navigation with platforms and sensors such as unmanned surface vessels, multibeam echo sounders, and airborne lidar. This allows for the efficient acquisition of three-dimensional data on underwater topography, water depth, shorelines, and underwater targets, providing crucial surveying data support for waterway management, port construction, and water conservancy projects.

[0003] In existing technologies, when surveying equipment is being tested on water, changes in the water environment, such as the generation of wind and waves, can interfere with the normal surveying process and pose a risk of damage to the equipment, thus affecting the efficiency of the surveying. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology by proposing a waterborne surveying equipment and method for engineering surveying.

[0005] In a first aspect, the present invention provides a marine surveying device for engineering surveying, comprising a surveying unmanned vessel body, and further comprising:

[0006] Two rotating pins are respectively installed at the front and rear ends of the main body of the surveying unmanned vessel;

[0007] The protective airbag assembly is installed between the two rotating pins and is located on both sides of the main body of the mapping unmanned vessel in the initial state;

[0008] The control unit is installed inside the main body of the surveying unmanned vessel and is used to detect the swaying state of the main body of the surveying unmanned vessel. When the swaying degree reaches the set threshold, the control unit controls the protective airbag assembly to be activated.

[0009] The mapping instrument is installed on the main body of the mapping unmanned vessel and is used to monitor the surface and underwater environment;

[0010] A state adjustment component, installed on the main body of the mapping unmanned vessel, is used to drive the mapping instrument to switch between upward detection state and downward detection state;

[0011] The control unit monitors the swaying of the surveying unmanned vessel in real time. When the swaying reaches a set threshold, it determines that the wind and waves threat has reached the threshold. At this time, it actively triggers the deployment of the protective airbag components on both sides. After the protective airbag components are deployed, they merge to form a spherical protective chamber, thereby wrapping and protecting the surveying unmanned vessel. Thus, even if the surveying unmanned vessel capsizes or tilts due to wind and waves, it will not cause impact damage to the internal surveying unmanned vessel and its surveying instruments and other equipment. The physical protection of the airbags directly reduces the risk of capsizing, water ingress, or equipment damage in sudden wind and waves, providing critical protection for the equipment.

[0012] The status adjustment component can actively switch the direction of the surveying instrument according to the operational requirements or environmental conditions, such as adjusting the lidar or multibeam probe up or down. Under normal conditions, it can automatically switch between surface and underwater surveying. When the wind and waves are large, it can prioritize the monitoring of key targets on the water, or switch back to fine detection of underwater terrain when the water conditions are calm, ensuring that the core data acquisition is uninterrupted. All functional modules are integrated into the body of the unmanned vessel, realizing the integration of protection, surveying and control, without additionally affecting the hull streamline and normal navigation.

[0013] The stable protective airbag assembly and adjustable surveyor together ensure that effective data can still be acquired under harsh conditions, reducing work interruptions. Through status adjustment, surveying modes can be switched without the need for recovery or manual adjustment of the equipment, resulting in faster response and greater adaptability.

[0014] Preferably, the protective airbag assembly includes:

[0015] The first spherical airbag is rotatably mounted on the outside of the two rotating pins at both ends, and is used to cover half of the main body of the surveying unmanned vessel after it is deployed.

[0016] The two ends of the second spherical airbag are respectively rotatably mounted on the outside of the two rotating pins, and are used to cover the other half of the main body of the surveying unmanned vessel after being deployed. The edges of the first spherical airbag and the second spherical airbag are connected by compression after being deployed.

[0017] A filling component for inflating and filling the first spherical airbag and the second spherical airbag;

[0018] In the initial state, the first and second spherical airbags are located on both sides of the main body of the surveying unmanned vessel. At this time, the first and second spherical airbags are in a contracted state and will not interfere with the navigation of the surveying unmanned vessel on the water surface. After the first and second spherical airbags are inflated, the edges of the inflated first and second spherical airbags are squeezed and connected, thereby forming a seal between them, which can protect the internal surveying unmanned vessel body.

[0019] Preferably, the first spherical airbag and the second spherical airbag have the same structure and are arranged opposite to each other, with the second spherical airbag covering the first spherical airbag, wherein the first spherical airbag specifically includes:

[0020] Multiple arc-shaped airbags are arranged in a fan-shaped array;

[0021] Two end-connected airbags are rotatably mounted on the outside of the two rotating pins, and both ends of all the arc-shaped airbags are connected to the two end-connected airbags respectively;

[0022] Multiple fan-shaped connecting airbags are fixed between adjacent arc-shaped airbags, and one end of each fan-shaped connecting airbag is connected to the end connecting airbag through a connecting hole.

[0023] The multiple arc-shaped airbags can support the fan-shaped connecting airbags after inflation, thus acting as a fishbone to provide skeletal support for the first and second spherical airbags, which helps to improve the stability of the first and second spherical airbags.

[0024] Preferably, the filling component includes:

[0025] An air pump is installed at the end of the main body of the surveying unmanned vessel;

[0026] Two connecting hoses are respectively connected to the output end of the delivery air pump and the end connecting airbag;

[0027] The first control valve is installed inside each of the two connecting hoses;

[0028] A negative pressure pump is installed at the end of the main body of the surveying unmanned vessel. The negative pressure pump is connected to the end airbag through the input end, and a second control valve is installed at the connection point.

[0029] After the delivery air pump is started, it can fill the interior of the end connecting airbag through the connecting hose. When filling the airbag, it can drive the airflow through the end connecting airbag, the arc-shaped airbag, and the fan-shaped connecting airbag to expand and unfold, thus forming a protective cover after unfolding. When retracting, the negative pressure pump area is started to draw out the airflow inside the end connecting airbag, the arc-shaped airbag, and the fan-shaped connecting airbag under negative pressure. This allows the end connecting airbag, the arc-shaped airbag, and the fan-shaped connecting airbag to collapse and fit against the outer wall of the surveying unmanned vessel body, thus avoiding interference with the normal operation of the surveying unmanned vessel body. The first control valve and the second control valve can control the connection during filling and extraction.

[0030] Preferably, the protective airbag assembly further includes:

[0031] Multiple sets of connectors, two connectors form a set, one set of connectors corresponds to one arc-shaped airbag, the connectors in the same set are disposed inside the corresponding arc-shaped airbag, the opposite ends of the two connectors in the same set both penetrate the end connection airbag, and are then slidably connected to the outer wall of the rotating pin through sliding contacts respectively.

[0032] Multiple plug rods, one plug rod corresponds to a set of plug tubes, and the two ends of the plug rod are respectively inserted into the plug slots opened inside the two plug tubes in the same set;

[0033] The insertion tube and insertion rod provide rigid support after the arc-shaped airbag inflates. When the arc-shaped airbag contracts, they can be inserted into each other to reduce the length for easy retraction. When deployed, they can be rotated to form two hemispherical outer protective covers, which can be combined to form a sealed protective space.

[0034] Preferably, the protective airbag assembly further includes:

[0035] Multiple pressure valves are provided, with each pressure valve corresponding to one connection hole, and each valve is installed inside the connection hole.

[0036] The pressure valve design ensures that the filling inside the arc-shaped airbag reaches a certain pressure before it can break through the valve and enter the interior of the fan-shaped connecting airbag, thus preventing all airbags from expanding synchronously and affecting the deployment efficiency.

[0037] Preferably, the state adjustment component includes:

[0038] A tilting platform is rotatably installed inside the main body of the surveying unmanned vessel, and the side walls of the tilting platform are all provided with a rubber layer.

[0039] The mounting box is fixed inside the main body of the surveying unmanned vessel;

[0040] A drive motor is installed inside the mounting box and drives the tilting table to rotate via an output shaft;

[0041] The surveying instrument is mounted on the flipping table via a flipping bracket;

[0042] After the drive motor starts, it can drive the tilting platform to rotate, and the tilting platform can drive the surveying instrument to the bottom of the surveying unmanned vessel, so as to survey the environment below the water surface.

[0043] Preferably, it further includes:

[0044] A clean water tank is installed at the bottom of the main body of the surveying unmanned vessel and is used to hold clean water.

[0045] The input end of the air pump is connected to the purified water tank;

[0046] Both the first spherical airbag and the second spherical airbag are made of transparent material;

[0047] The purified water stored inside the water tank can be transported to the inside of the first and second spherical air bladders, so that the purified water forms a transparent outer cover inside the first and second spherical air bladders, which helps to reduce the obstruction of the surveying instrument's line of sight.

[0048] Preferably, the outer walls of both the first spherical airbag and the second spherical airbag are provided with a superhydrophobic coating.

[0049] A method for waterborne surveying for engineering mapping, comprising the following steps:

[0050] Step 1, Routine Surveying: In calm and calm conditions, the control unit controls the protective airbag assembly to be in an initial closed state on both sides of the surveying unmanned vessel. The surveying unmanned vessel moves normally under its own power to carry out surveying.

[0051] Step 2, Environmental Monitoring: The control unit continuously monitors the surveying environment. When the degree of shaking reaches the set threshold, it controls the protective airbag assembly to activate.

[0052] Step 3: Extreme Environment Monitoring: After the protective airbag assembly is activated, while the mapping instrument is in a protected state, it continues to monitor the surrounding extreme environment.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] The stable protective airbag assembly and adjustable surveying instrument work together to ensure that effective data can still be obtained under harsh conditions, reducing work interruptions. Through status adjustment, the surveying mode can be switched without the need for retrieval or manual adjustment of the equipment, resulting in faster response and stronger adaptability. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0056] Figure 2 This is a schematic diagram of the overall cross-section of the present invention. Figure 1 .

[0057] Figure 3 This is a schematic diagram of the overall cross-section of the present invention. Figure 2 .

[0058] Figure 4 For the present invention Figure 3 A magnified structural diagram of point A in the middle.

[0059] Figure 5 This is a cross-sectional structural diagram of the first and second spherical airbags of the present invention.

[0060] Figure 6 For the present invention Figure 5 A magnified structural diagram at point B in the middle.

[0061] In the diagram: 1. Main body of the surveying unmanned vessel; 101. Rotating pin; 102. Surveying instrument; 2. First spherical airbag; 201. Second spherical airbag; 3. Arc-shaped airbag; 301. End connecting airbag; 4. Delivery air pump; 401. Connecting hose; 5. Insertion pipe; 501. Insertion slot; 502. Insertion rod; 6. Pressure valve; 7. Tilting platform; 701. Mounting box; 702. Drive motor. Detailed Implementation

[0062] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0063] like Figures 1 to 6 The illustrated marine surveying equipment for engineering surveying includes a surveying unmanned vessel body 1, and further includes:

[0064] Two rotating pins 101 are respectively installed at the front and rear ends of the main body 1 of the surveying unmanned vessel;

[0065] The protective airbag assembly is installed between two rotating pins 101 and is located on both sides of the main body 1 of the surveying unmanned vessel in the initial state;

[0066] The control unit is installed inside the main body 1 of the surveying unmanned vessel and is used to detect the swaying state of the main body 1 of the surveying unmanned vessel. When the swaying degree reaches the set threshold, the control unit activates the protective airbag assembly.

[0067] The surveying instrument 102 is installed on the main body 1 of the surveying unmanned vessel and is used to monitor the surface and underwater environment;

[0068] The state adjustment component is installed on the main body 1 of the surveying unmanned vessel and is used to drive the surveying instrument 102 to switch between upward detection state and downward detection state.

[0069] In the existing technology, when surveying equipment is being tested on water, if the water environment changes, such as when wind and waves are generated, the wind and waves will interfere with the normal surveying of the equipment and may cause damage to the equipment, thus affecting the efficiency of the surveying.

[0070] This embodiment of the invention can solve the above problems. The specific implementation method is as follows: The control unit monitors the swaying of the surveying unmanned vessel body 1 in real time. When the degree of swaying reaches the set threshold, it is determined that the wind and waves threat has reached the threshold. At this time, the protective airbag components on both sides are actively triggered to deploy. After the protective airbag components are deployed, they merge to form a spherical protective chamber, thereby wrapping and protecting the surveying unmanned vessel body 1. Thus, when the surveying unmanned vessel body 1 is overturned and tilted by wind and waves, the internal surveying unmanned vessel body 1 and the surveying instrument 102 and other equipment will not be damaged by impact. The physical protection of the airbag directly reduces the risk of overturning, water ingress or equipment damage in sudden wind and waves, and provides key protection for the equipment.

[0071] The status adjustment component can actively switch the direction of the surveying instrument according to the operational requirements or environmental conditions, such as adjusting the lidar or multibeam probe up or down. Under normal conditions, it can automatically switch between surface and underwater surveying. When the wind and waves are large, it can prioritize the monitoring of key targets on the water, or switch back to fine detection of underwater terrain when the water conditions are calm, ensuring that the core data acquisition is uninterrupted. All functional modules are integrated into the body of the unmanned vessel, realizing the integration of protection, surveying and control, without additionally affecting the hull streamline and normal navigation.

[0072] The stable protective airbag assembly and adjustable surveyor together ensure that effective data can still be acquired under harsh conditions, reducing work interruptions. Through status adjustment, surveying modes can be switched without the need for recovery or manual adjustment of the equipment, resulting in faster response and greater adaptability.

[0073] As an optional embodiment, the protective airbag assembly includes:

[0074] The first spherical airbag 2 is rotatably mounted on the outside of two rotating pins 101 at both ends, and is used to cover half of the main body 1 of the surveying unmanned vessel after it is deployed.

[0075] The two ends of the second spherical airbag 201 are respectively rotatably installed on the outside of the two rotating pins 101, and are used to cover the other half of the main body 1 of the surveying unmanned vessel after deployment. The edges of the first spherical airbag 2 and the second spherical airbag 201 are connected by compression after deployment.

[0076] A filling component for inflating and filling the first spherical airbag 2 and the second spherical airbag 201;

[0077] In the initial state, the first spherical airbag 2 and the second spherical airbag 201 are located on both sides of the main body 1 of the surveying unmanned vessel. At this time, the first spherical airbag 2 and the second spherical airbag 201 are in a contracted state and will not interfere with the navigation of the main body 1 of the surveying unmanned vessel on the water surface. After the first spherical airbag 2 and the second spherical airbag 201 are inflated, the edges of the inflated first spherical airbag 2 and the second spherical airbag 201 are squeezed and covered to form a seal between them, thereby protecting the internal surveying unmanned vessel body 1.

[0078] As an optional embodiment, the first spherical airbag 2 and the second spherical airbag 201 have the same structure and are arranged opposite to each other, with the second spherical airbag 201 covering the first spherical airbag 2. Specifically, the first spherical airbag 2 includes:

[0079] Multiple arc-shaped airbags 3 are arranged in a fan-shaped array;

[0080] Two end-connecting airbags 301 are rotatably mounted on the outside of two rotating pins 101, and both ends of all the arc-shaped airbags 3 are connected to the two end-connecting airbags 301 respectively.

[0081] Multiple fan-shaped connecting airbags are fixed between adjacent arc-shaped airbags 3, and one end of the fan-shaped connecting airbag is connected to the end connecting airbag 301 through a connecting hole;

[0082] The multiple arc-shaped airbags 3 can support the fan-shaped connecting airbags after inflation, thus acting as a fishbone to provide skeletal support for the first spherical airbag 2 and the second spherical airbag 201, which helps to improve the stability of the first spherical airbag 2 and the second spherical airbag 201.

[0083] As an optional embodiment, the filling component includes:

[0084] Air pump 4 is installed at the end of the main body 1 of the surveying unmanned vessel;

[0085] Two connecting hoses 401 are respectively connected to the output end of the air pump 4 and the end connecting airbag 301;

[0086] The first control valve is installed inside the two connecting hoses 401 respectively;

[0087] A negative pressure pump is installed at the end of the main body 1 of the surveying unmanned vessel. The negative pressure pump is connected to the airbag 301 at the end through the input end, and a second control valve is installed at the connection point.

[0088] After the delivery air pump 4 is started, it can fill the interior of the end connecting airbag 301 through the connecting hose 401. When filling the airbag, it can drive the airflow through the end connecting airbag 301, the arc-shaped airbag 3, and the fan-shaped connecting airbag to expand and unfold, thereby forming a protective cover after unfolding. When retracting, the negative pressure pump area is started to draw out the airflow inside the end connecting airbag 301, the arc-shaped airbag 3, and the fan-shaped connecting airbag under negative pressure, so that the end connecting airbag 301, the arc-shaped airbag 3, and the fan-shaped connecting airbag collapse and fit against the outer wall of the surveying unmanned vessel body 1, thereby avoiding interference with the normal operation of the surveying unmanned vessel body 1. The first control valve and the second control valve can control the connection during filling and extraction.

[0089] As an optional embodiment, the protective airbag assembly further includes:

[0090] Multiple sets of connectors 5, two connectors 5 form a group, one set of connectors 5 corresponds to one arc-shaped airbag 3, the connectors 5 in the same group are set inside the corresponding arc-shaped airbag 3, the opposite ends of the two connectors 5 in the same group are connected to the airbag 301 through the end, and then are slidably connected to the outer wall of the rotating pin 101 through the sliding contact respectively.

[0091] Multiple plug rods 502, one plug rod 502 corresponds to a set of plug tubes 5, and the two ends of the plug rod 502 are respectively inserted into the plug slots 501 opened inside the two plug tubes 5 in the same set;

[0092] The insertion tube 5 and the insertion rod 502 can provide rigid support after the arc-shaped airbag 3 inflates. When the arc-shaped airbag 3 contracts, it can reduce its length by interlocking with each other to facilitate its retraction. When it is deployed, it can rotate and unfold to form two hemispherical outer protective covers, which can be combined to form a sealed protective space.

[0093] As an optional embodiment, the protective airbag assembly further includes:

[0094] Multiple pressure valves 6 are provided, with each pressure valve 6 corresponding to a connection hole, and are installed inside each connection hole respectively;

[0095] The pressure valve 6 is designed so that the filling inside the arc-shaped airbag 3 can only break through the pressure valve 6 and enter the interior of the fan-shaped connecting airbag after reaching a certain pressure, thereby avoiding the situation where all airbags expand synchronously, affecting the deployment efficiency.

[0096] As an optional embodiment, the state adjustment component includes:

[0097] The tilting platform 7 is rotatably installed inside the main body 1 of the surveying unmanned vessel, and the side walls of the tilting platform 7 are all equipped with rubber layers.

[0098] Mounting box 701 is fixed inside the main body 1 of the surveying unmanned vessel;

[0099] The drive motor 702 is installed inside the mounting box 701 and drives the tilting table 7 to rotate through the output shaft;

[0100] The surveying instrument 102 is mounted on the tilting table 7 via a tilting bracket;

[0101] After the drive motor 702 is started, it can drive the tilting platform 7 to rotate. The rotation of the tilting platform 7 can drive the surveying instrument 102 to rotate to the bottom of the surveying unmanned vessel body 1, so as to survey the environment below the water surface.

[0102] As an optional embodiment, it also includes:

[0103] A clean water tank is installed at the bottom of the main body 1 of the surveying unmanned vessel and is used to hold clean water.

[0104] The input end of the air pump 4 is connected to the clean water tank;

[0105] Both the first spherical airbag 2 and the second spherical airbag 201 are made of transparent material;

[0106] The purified water stored inside the water tank can be transported to the interior of the first spherical airbag 2 and the second spherical airbag 201, so that the purified water forms a transparent outer cover inside the first spherical airbag 2 and the second spherical airbag 201, which helps to reduce the obstruction of the surveying line of the surveying instrument 102.

[0107] As an optional embodiment, the outer walls of both the first spherical airbag 2 and the second spherical airbag 201 are provided with a superhydrophobic coating.

[0108] A method for waterborne surveying for engineering mapping, comprising the following steps:

[0109] Step 1, Routine Surveying: In a calm environment, the control unit controls the protective airbag assembly to be in an initial closed state on both sides of the surveying unmanned vessel body 1. The surveying unmanned vessel body 1 moves normally under its own power to carry out surveying.

[0110] Step 2, Environmental Monitoring: The control unit continuously monitors the surveying environment. When the degree of shaking reaches the set threshold, it controls the protective airbag assembly to activate.

[0111] Step 3, Extreme Environment Monitoring: After the protective airbag assembly is activated, the surveyor 102 is in a protected state and continues to monitor the surrounding extreme environment.

[0112] The working principle of this invention is as follows: The control unit monitors the swaying of the surveying unmanned vessel body 1 in real time. When the swaying reaches a set threshold, it is determined that the wind and waves threat has reached the threshold. At this time, the protective airbag components on both sides are actively triggered to deploy. After the protective airbag components are deployed, they merge to form a spherical protective chamber, thereby wrapping and protecting the surveying unmanned vessel body 1. Thus, even if the surveying unmanned vessel body 1 is overturned and tipped over by wind and waves, the internal surveying unmanned vessel body 1 and the surveying instrument 102 and other equipment will not be damaged by impact. The physical protection of the airbag directly reduces the risk of capsizing, water ingress or equipment damage in sudden wind and waves, providing key protection for the equipment.

[0113] The status adjustment component can actively switch the direction of the surveying instrument according to the operational requirements or environmental conditions, such as adjusting the lidar or multibeam probe up or down. Under normal conditions, it can automatically switch between surface and underwater surveying. When the wind and waves are large, it can prioritize the monitoring of key targets on the water, or switch back to fine detection of underwater terrain when the water conditions are calm, ensuring that the core data acquisition is uninterrupted. All functional modules are integrated into the body of the unmanned vessel, realizing the integration of protection, surveying and control, without additionally affecting the hull streamline and normal navigation.

[0114] The stable protective airbag assembly and adjustable surveyor together ensure that effective data can still be acquired under harsh conditions, reducing work interruptions. Through status adjustment, surveying modes can be switched without the need for recovery or manual adjustment of the equipment, resulting in faster response and greater adaptability.

[0115] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A marine surveying device for engineering surveying, comprising a surveying unmanned vessel body (1), characterized in that, Also includes: Two rotating pins (101) are respectively installed at the front and rear ends of the main body (1) of the surveying unmanned vessel; The protective airbag assembly is installed between the two rotating pins (101) and is located on both sides of the main body (1) of the mapping unmanned vessel in the initial state; The control unit is installed inside the main body (1) of the mapping unmanned vessel and is used to detect the swaying state of the main body (1) of the mapping unmanned vessel. When the swaying degree is detected to reach the set threshold, the control unit controls the protective airbag assembly to start. A surveying instrument (102) is installed on the main body (1) of the surveying unmanned vessel and is used to monitor the above-water and underwater environment; A state adjustment component is installed on the main body (1) of the mapping unmanned vessel and is used to drive the mapping instrument (102) to switch between upward detection state and downward detection state.

2. The underwater surveying equipment for engineering surveying according to claim 1, characterized in that, The protective airbag assembly includes: The first spherical airbag (2) is rotatably mounted on the outside of the two rotating pins (101) at both ends, and is used to cover half of the main body (1) of the mapping unmanned vessel after it is deployed. The two ends of the second spherical airbag (201) are respectively rotatably installed on the outside of the two rotating pins (101) to cover the other half of the main body (1) of the mapping unmanned vessel after it is deployed. The edges of the first spherical airbag (2) and the second spherical airbag (201) are connected by compression after deployment. A filling component for inflating and filling the first spherical airbag (2) and the second spherical airbag (201).

3. The underwater surveying equipment for engineering surveying according to claim 2, characterized in that, The first spherical airbag (2) and the second spherical airbag (201) have the same structure and are arranged opposite to each other, with the second spherical airbag (201) covering the first spherical airbag (2). Specifically, the first spherical airbag (2) includes: Multiple arc-shaped airbags (3) are arranged in a fan-shaped array; Two end-connecting airbags (301) are rotatably mounted on the outside of the two rotating pins (101), and both ends of all the arc-shaped airbags (3) are connected to the two end-connecting airbags (301); Multiple fan-shaped connecting airbags are fixed between adjacent arc-shaped airbags (3), and one end of each fan-shaped connecting airbag is connected to the end connecting airbag (301) through a connecting hole.

4. The underwater surveying equipment for engineering surveying according to claim 3, characterized in that, The filling component includes: A delivery air pump (4) is installed at the end of the main body (1) of the surveying unmanned vessel; Two connecting hoses (401) are respectively connected to the output end of the delivery air pump (4) and the end connecting airbag (301). The first control valve is installed inside each of the two connecting hoses (401); A negative pressure pump is installed at the end of the main body (1) of the surveying unmanned vessel. The negative pressure pump is connected to the end connecting airbag (301) through the input end, and a second control valve is installed at the connection point.

5. A marine surveying equipment for engineering surveying according to claim 4, characterized in that, The protective airbag assembly also includes: Multiple sets of connectors (5), two connectors (5) form a set, one set of connectors (5) corresponds to one arc-shaped airbag (3), the connectors (5) in the same set are set inside the corresponding arc-shaped airbag (3), the opposite ends of the two connectors (5) in the same set pass through the end connecting airbag (301), and are then slidably connected to the outer wall of the rotating pin (101) through sliding contacts respectively; Multiple plug rods (502), one plug rod (502) corresponds to a set of plug tubes (5), and the two ends of the plug rod (502) are respectively inserted into the plug slots (501) opened inside the two plug tubes (5) in the same set.

6. A marine surveying equipment for engineering surveying according to claim 5, characterized in that, The protective airbag assembly also includes: Multiple pressure valves (6), one pressure valve (6) is provided corresponding to one connection hole, and are respectively installed inside each connection hole.

7. A marine surveying equipment for engineering surveying according to claim 1, characterized in that, The state adjustment component includes: The flipping platform (7) is rotatably installed inside the main body (1) of the surveying unmanned vessel. The side walls of the flipping platform (7) are all provided with rubber layers. The mounting box (701) is fixed inside the main body (1) of the surveying unmanned vessel; The drive motor (702) is installed inside the mounting box (701) and drives the tilting table (7) to rotate through the output shaft; The surveying instrument (102) is mounted on the flipping table (7) via a flipping bracket.

8. A marine surveying equipment for engineering surveying according to claim 6, characterized in that, Also includes: A clean water tank is installed at the bottom of the main body (1) of the surveying unmanned vessel and is used to hold clean water; The input end of the air pump (4) is connected to the water tank; Both the first spherical airbag (2) and the second spherical airbag (201) are made of transparent material.

9. A marine surveying equipment for engineering surveying according to claim 8, characterized in that, The outer walls of the first spherical airbag (2) and the second spherical airbag (201) are both provided with a superhydrophobic coating.

10. A method for marine surveying for engineering mapping, applicable to the marine surveying equipment for engineering mapping as described in any one of claims 1 to 9, characterized in that, The surveying method includes the following steps: Step 1, routine surveying: In a calm environment, the control unit controls the protective airbag assembly to be in an initial closed state on both sides of the surveying unmanned vessel body (1), and the surveying unmanned vessel body (1) moves normally under its own power to carry out surveying; Step 2, Environmental Monitoring: The control unit continuously monitors the surveying environment. When the degree of shaking reaches the set threshold, it controls the protective airbag assembly to activate. Step 3, Extreme Environment Monitoring: After the protective airbag assembly is activated, the mapping instrument (102) maintains monitoring of the surrounding extreme environment while in a protected state.

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