Obstacle crossing type unmanned surveying and mapping ship

Abstract

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

Description

Technical Field

[0001] The present application relates to the field of surveying and mapping technology, and in particular to an obstacle-crossing unmanned surveying and mapping vessel. Background Art

[0002] With the deepening of water research, the demand for high-precision mapping is growing. As a new type of water surveying equipment, unmanned surveying ships, with advanced unmanned autonomous control technology, can carry out surveying work in waters according to preset programs or remote commands without the need for on-site operation by personnel. It integrates functions such as autonomous navigation, obstacle avoidance, data collection and transmission, and realizes precise positioning and navigation by carrying global positioning system and inertial navigation system. It uses multi-beam, side-scan and single-beam bathymetric sonar and other equipment to collect underwater terrain, landform and target information, and uses communication modules to transmit data back to land base stations in real time. Because it can operate in complex, dangerous or inaccessible waters, it can effectively improve surveying efficiency and reduce personnel risks. It has been widely used in the fields of marine resource exploration, waterway measurement, marine environment monitoring and marine engineering construction.

[0003] The Chinese patent with the announcement number "CN221138540U" discloses a 0.75m miniature unmanned surveying and mapping ship, which is composed of an upper hull and a lower hull, with an equipment loading hole in the middle, a GPS installed on the front side of the upper hull, detachable handles on both sides, a ship control and installation cavity inside, a detachable battery module in the cavity, a disassembly slot at the bottom, a detachable hull propeller module in the slot through a mounting seat, and an electrical connection between the hull propeller and the battery module. This design brings convenience to surveying and mapping work to a certain extent;

[0004] However, such hulls in the prior art have obvious defects in practical applications. They usually float on the top of the water body. When encountering floating objects on the water surface, especially in narrow rivers, when the top is blocked by floating wooden boards or slender reeds, it is difficult to drive the hull over the obstacles only by relying on the power of the hull propeller. This not only affects the smooth progress of surveying and mapping work and reduces surveying and mapping efficiency, but may also cause equipment damage and increase maintenance costs. Therefore, it is urgent to improve the hull design of existing unmanned surveying and mapping ships to improve their ability to pass and operational reliability in complex water environments. Summary of the invention

[0005] In order to improve the stability of existing surveying and mapping vessels during navigation, the present application provides an obstacle-crossing unmanned surveying and mapping vessel.

[0006] The present application provides an obstacle-crossing unmanned surveying and mapping vessel, which adopts the following technical solution: comprising a surveying and mapping vessel body, a mounting shell is installed at the rear side of the bottom of the surveying and mapping vessel body, a hull propeller is installed inside the mounting shell, a wireless transmission module is fixedly connected to the top of the surveying and mapping vessel body, an obstacle-crossing mechanism is installed at the inner middle of the surveying and mapping vessel body, a GPS locator is fixedly connected to the bottom of the surveying and mapping vessel body, and a multi-beam depth sounding sonar is fixedly connected to the middle of the bottom of the surveying and mapping vessel body;

[0007] The obstacle crossing mechanism includes a trough body, which is opened in the middle part of the surveying and mapping ship body, and a mounting shell is fixedly installed inside the trough body, an adjustment mechanism is fixedly installed on the top of the mounting shell, power mechanisms are fixedly installed on both sides of the bottom of the adjustment mechanism, and a flipping mechanism is fixedly installed on the outside of the power mechanism, and the power mechanism and the flipping mechanism are stored inside the mounting shell.

[0008] Optionally, both sides of the top front end of the surveying and mapping vessel body are fixedly connected with fixing blocks, and the top of the fixing blocks is fixedly connected with an antenna.

[0009] Optionally, the outer corners of the surveying and mapping vessel body are all arranged in arc shape, and the front end of the surveying and mapping vessel body is arranged in a triangular streamline shape when viewed from above.

[0010] Optionally, lamp holders are fixedly connected to the upper ends of both sides of the surveying and mapping vessel body at equal intervals, and colored lights are fixedly connected to the outer sides of the lamp holders.

[0011] Optionally, the adjustment mechanism includes a linear slide groove, which is opened in the middle of the top of the mounting shell, and an installation groove is opened inside the mounting shell in the middle of the inner side of the linear slide groove. A drive assembly is provided on the inner side of the installation groove, and both ends of the drive assembly extend into the interior of the linear slide groove, and the bottom power mechanism of the drive assembly is connected.

[0012] Optionally, the driving assembly includes a fixed frame, which is fixedly connected to the inside of the mounting groove, and a dual-axis motor is fixedly connected to the inside of the fixed frame. Both side output ends of the dual-axis motor are fixedly connected to a screw rod, and the screw rod is rotatably connected to the inside of the linear slide groove. The screw rod threads at both ends of the linear slide groove have opposite rotation directions, and the outer surface of the screw rod is threadedly connected to an inner movable block, and the inner movable block is slidably connected to the inside of the linear slide groove, and the bottom of the linear slide groove is connected to the top of the power mechanism.

[0013] Optionally, the internal cross-sectional shape of the linear slide groove is set to be a convex shape, the side shape of the inner movable block is also set to be a convex shape, and the outer surface of the inner movable block is fixedly connected with a wear-resistant gasket.

[0014] Optionally, the power mechanism includes an inner load-bearing slip ring, which is slidably connected to both sides of the interior of the mounting shell, and is fixedly connected to the bottom of the inner movable block. A cross is fixedly connected to the inner side of the inner load-bearing slip ring, and a drive motor is fixedly connected to the inner side of the cross, and the output end of the drive motor passes through the cross and is connected to the flipping mechanism.

[0015] Optionally, the flipping mechanism includes a conical block, which is fixedly connected to the output end of the driving motor, and the outer side of the conical block is fixedly connected with telescopic springs at equal intervals, and the outer side of the conical block is fixedly connected with a hinge seat, and the outer side of the hinge seat is provided with hinge grooves at equal intervals, and the inner sides of the hinge grooves are rotatably connected with obstacle crossing plates, and the end of the telescopic spring is fixedly connected to the inner end of the obstacle crossing plate.

[0016] Optionally, a connecting rod is fixedly connected to the outer side of the hinge seat, and a shielding plate is fixedly connected to the outer end of the connecting rod, and the shielding plate covers both sides of the mounting shell.

[0017] In summary, this application includes the following beneficial technical effects:

[0018] 1. The obstacle crossing mechanism of this device greatly enhances the ability of the unmanned surveying and mapping ship to cope with complex water surface environments. When the surveying and mapping ship encounters a floating obstacle on the water surface that cannot be directly crossed during driving, the operator can start the dual-axis motor through the remote control. After the motor is running, it drives the screw with the inner thread of the linear slide groove to rotate in the opposite direction, and synchronously drives the two inner movable blocks to slide outward, pushing the power mechanism to move outward, and prompting the flipping mechanism to extend from the inside of the installation shell. At this time, the telescopic spring stretches, pushing the obstacle crossing plate in the articulated groove of the articulated seat to rotate outward and unfold, realizing automatic unfolding. The unfolded flipping mechanism cooperates with the power mechanism to push the surveying and mapping ship body to continue moving and successfully cross the obstacle. In addition, during the operation, the wireless transmission module cooperates with the GPS locator to accurately locate the position of the surveying and mapping ship; cooperates with the multi-beam depth sounding sonar to achieve efficient surveying and mapping. The surveying and mapping ship can also be installed with sensors such as surveying and mapping cameras as needed to meet the surveying and mapping needs of different scenarios.

[0019] 2. The flipping mechanism works in coordination with the power mechanism, further optimizing the obstacle-crossing capability and navigation stability of the unmanned surveying and mapping vessel. When in use, the dual-axis motor is started, and the lead screw drives the inner movable block to slide on the inner side of the linear slide groove, so that the inner load-bearing slip ring, the drive motor and the cross move inward, and the articulated seat and the obstacle-crossing plate are pulled inward. When the obstacle-crossing plate contacts the inner wall of the mounting shell, the drive motor continuously pulls it to rotate in the articulated groove, squeezing the telescopic spring, and the entire flipping mechanism is stored in the mounting shell. The shielding plate at the outer end of the connecting rod protects the internal mechanism. If obstacles need to be overcome, the dual-axis motor is started to move the obstacle-crossing plate outward, and the telescopic spring is reset to unfold the obstacle-crossing plate, and then the drive motor on the cross is started. Since the length of the unfolded obstacle-crossing plate is greater than the height of the hull, it can press against the obstacle and press it down when rotating, helping the surveying and mapping vessel to overcome the obstacle. This design also enables the obstacle-crossing plate to act as a tire when sliding on the ground, and has a telescopic storage function, which is automatically stored when not in use for navigation, thereby ensuring the stability of navigation and mapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure in the embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a top view of the obstacle crossing mechanism in an unfolded state in an embodiment of the present application;

[0022] Figure 3 This is a schematic diagram of the structure of the obstacle crossing mechanism in the embodiment of the present application in the unfolded state when viewed from above;

[0023] Figure 4 This is a schematic diagram of the internal structure of the obstacle crossing mechanism in the embodiment of the present application;

[0024] Figure 5 It is a schematic diagram of the internal structure of the linear slide and the mounting groove in the embodiment of the present application;

[0025] Figure 6 It is a schematic diagram of the overall structure of the power mechanism and the flip mechanism in the embodiment of the present application;

[0026] Figure 7 It is a schematic diagram of the top view of the power mechanism and the flip mechanism in the embodiment of the present application;

[0027] Figure 8 In the embodiment of this application Figure 6 An enlarged structural diagram is shown.

[0028] Figure numerals: 1. surveying vessel body; 2. mounting shell; 3. hull thruster; 4. wireless transmission module; 5. multi-beam depth sounding sonar; 6. obstacle crossing mechanism; 61. slot body; 62. mounting shell; 63. adjustment mechanism; 631. linear slide slot; 632. mounting slot; 633. drive assembly; 6331. fixing bracket; 6332. dual-axis motor; 6333. screw rod; 6334. inner movable block; 64. power mechanism; 641. inner load-bearing slip ring; 642. cross; 643. drive motor; 65. flipping mechanism; 651. conical block; 652. telescopic spring; 653. hinged seat; 654. hinged slot; 655. obstacle crossing plate; 656. connecting rod; 657. shielding plate; 7. fixing block; 8. antenna; 9. lamp holder; 10. colored lights. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1-8 This application is described in further detail.

[0030] The present application embodiment discloses an obstacle-crossing unmanned surveying and mapping vessel. Figure 1-8 As shown, it includes a surveying and mapping ship body 1, a mounting shell 2 is installed at the bottom rear side of the surveying and mapping ship body 1, a hull propeller 3 is installed inside the mounting shell 2, a wireless transmission module 4 is fixedly connected to the top of the surveying and mapping ship body 1, an obstacle crossing mechanism 6 is installed at the inner middle part of the surveying and mapping ship body 1, a GPS locator is fixedly connected to the bottom of the surveying and mapping ship body 1, and a multi-beam depth sounding sonar 5 is fixedly connected to the middle of the bottom of the surveying and mapping ship body 1;

[0031] The obstacle crossing mechanism 6 comprises a tank body 61, which is provided in the middle of the surveying and mapping vessel body 1, a mounting shell 62 is fixedly installed inside the tank body 61, an adjustment mechanism 63 is fixedly installed on the top of the mounting shell 62, a power mechanism 64 is fixedly installed on both sides of the bottom of the adjustment mechanism 63, a flip mechanism 65 is fixedly installed on the outer side of the power mechanism 64, and the power mechanism 64 and the flip mechanism 65 are stored inside the mounting shell 62;

[0032] When the obstacle-crossing unmanned surveying and mapping vessel is performing tasks, various parts work together to achieve efficient and stable surveying and obstacle-crossing functions. The navigation power of the surveying and mapping vessel body 1 is provided by the hull propeller 3 in the shell 2 installed on the rear side of the bottom. The hull propeller 3 generates thrust by rotation to push the surveying and mapping vessel on the water surface, providing a mobile basis for the entire surveying and mapping operation. The wireless transmission module 4 on the top is the key hub for data interaction. It is responsible for establishing a communication connection with the external control center or other equipment, and transmitting various types of data collected during the surveying and mapping process, such as underwater terrain data obtained by the multi-beam depth sounding sonar 5 and location information determined by the GPS locator, back to the land control end in real time, and receiving various instructions from the control end at the same time to ensure The surveying ship performs the predetermined task. When the surveying ship encounters an obstacle while sailing on the water, the obstacle-crossing mechanism 6 comes into play. The obstacle-crossing mechanism 6 is located in the slot 61 in the middle of the surveying ship body 1. The mounting shell 62 fixed inside the slot 61 provides protection and support structure for it. The adjustment mechanism 63 at the top of the mounting shell 62 is the start and control unit of the obstacle-crossing action. When the obstacle-crossing instruction is received, the adjustment mechanism 63 starts to work, and the driving component 633 in the adjustment mechanism 63, such as the dual-axis motor 6332 fixed in the mounting slot 632, starts to drive the screw rod 6333 to rotate. Since the screw rod 6333 has opposite thread rotation directions, it can drive the inner movable block 6334 threadedly connected thereto to slide in the opposite direction in the linear slide groove 631. The power mechanism 64 is moved, and then the position of the power mechanism 64 is accurately controlled. The power mechanism 64 is connected to the inner movable block 6334 of the adjustment mechanism 63. Driven by the inner movable block 6334, the inner load-bearing slip ring 641 slides on both sides of the inside of the mounting shell 62, thereby driving the inner cross 642 and the driving motor 643 to move. When it is necessary to unfold the obstacle board 655 to overcome the obstacle, the driving motor 643 is started, and its output end drives the conical block 651 of the flipping mechanism 65 to rotate. The outer side of the conical block 651 is connected to the obstacle board 655 through the telescopic spring 652 and the hinge seat 653. When the obstacle crossing mechanism 6 is stored, the telescopic spring 652 is in a compressed state; when the conical block 651 rotates, the telescopic spring 652 stretches to push The obstacle crossing plate 655 rotates and unfolds around the rotating axis of the hinge groove 654. The length of the unfolded obstacle crossing plate 655 is greater than the height of the surveying and mapping ship body 1. Under the continuous drive of the driving motor 643, the obstacle crossing plate 655 rotates and presses against the surface obstacle, pressing it down, and helping the surveying and mapping ship to successfully overcome the obstacle. After the obstacle is overcome, the adjustment mechanism 63 reverses and causes the power mechanism 64 to drive the flipping mechanism 65 to be re-stored into the installation shell 62, thereby ensuring the stability and safety of the surveying and mapping ship during normal navigation and avoiding interference with navigation caused by the obstacle crossing mechanism 6. The surveying and mapping ship body 1 is a conventional surveying and mapping ship in the prior art and is widely used on the market. Its hull propeller 3 is also a conventional technical means in the prior art, so it will not be described here.

[0033] Please refer to Figure 5-Figure 8The power mechanism 64 includes an inner load-bearing slip ring 641, which is slidably connected to both sides of the interior of the mounting housing 62, and is fixedly connected to the bottom of the inner movable block 6334. A cross 642 is fixedly connected to the inner side of the inner load-bearing slip ring 641, and a driving motor 643 is fixedly connected to the inner side of the cross 642. The output end of the driving motor 643 passes through the cross 642 and is connected to the flip mechanism 65. The flip mechanism 65 includes a conical block 651, which is fixedly connected to the output end of the driving motor 643. The outer side of the conical block 651 is fixedly connected with a telescopic spring 652 at equal intervals, and the outer side of the conical block 651 is fixedly connected with a hinge seat 653, and the outer side of the hinge seat 653 is provided with hinge grooves 654 at equal intervals. , the inner side of the hinge groove 654 is rotatably connected with an obstacle crossing plate 655, the end of the telescopic spring 652 is fixedly connected to the inner end of the obstacle crossing plate 655, the outer side of the hinge seat 653 is fixedly connected with a connecting rod 656, the outer end of the connecting rod 656 is fixedly connected with a shielding plate 657, and the shielding plate 657 covers both sides of the mounting shell 62. When the inner movable block 6334 in the adjustment mechanism 63 is displaced under the drive of the screw rod 6333, the power mechanism 64 starts to operate, and the inner load-bearing slip ring 641 fixedly connected to the bottom of the inner movable block 6334 will slide on both sides of the mounting shell 62 as the inner movable block 6334 moves. This process ensures the stability and smoothness of the overall movement of the power mechanism 64, and the cross connected to the inner side of the inner load-bearing slip ring 641 642 also moves synchronously, thereby driving the driving motor 643 fixed on the inside to move. When it is necessary to overcome an obstacle, the driving motor 643 is started, and its output end is connected to the flipping mechanism 65, driving the conical block 651 to rotate. The telescopic springs 652 and the hinge seat 653 connected at equal intervals on the outside of the conical block 651 play a key role in the operation of the mechanism. When the obstacle-overcoming mechanism 6 is in the stored state, the telescopic spring 652 is in a compressed state, and the obstacle-overcoming plate 655 is stored in the hinge groove 654. When the driving motor 643 drives the conical block 651 to rotate and the obstacle-overcoming plate 655 needs to be unfolded, the two flipping mechanisms 65 are driven to extend from the inside of the mounting shell 62 through the adjusting mechanism 63. At this time, the obstacle-overcoming plate 655 loses its limit and the telescopic spring 652 loses its extrusion The obstacle-crossing plate 655 can be in an extended state, pushing the obstacle-crossing plate 655 connected thereto to rotate around the rotating shaft of the hinge slot 654, so that the obstacle-crossing plate 655 is rotated out of the hinge slot 654 and unfolded. The length of the unfolded obstacle-crossing plate 655 is greater than the height of the surveying and mapping ship body 1, providing sufficient force arm for obstacle crossing. When the obstacle-crossing plate 655 contacts the surface obstacle, the continuously rotating obstacle-crossing plate 655 can press against the obstacle and press it down, thereby helping the surveying and mapping ship to cross the obstacle. At the same time, the outer end of the connecting rod 656 fixed on the outside of the hinge seat 653 is connected to the shielding plate 657. When the obstacle-crossing mechanism 6 is stored, the shielding plate 657 covers both sides of the mounting shell 62 to protect the internal power mechanism 64 and other components from being affected by the external environment, such as water flow impact, collision with debris, etc.This ensures the integrity and safety of the entire mechanism when not in operation, and also ensures that during navigation, the normal operation of the surveying vessel will not be affected by the exposure of these internal components.

[0034] Please refer to Figure 1-Figure 5 The adjusting mechanism 63 includes a linear slide 631, which is arranged in the middle of the top of the mounting shell 62. A mounting slot 632 is arranged in the middle of the inner side of the linear slide 631 inside the mounting shell 62. A driving assembly 633 is arranged inside the mounting slot 632. Both ends of the driving assembly 633 extend inside the linear slide 631. The bottom power mechanism 64 of the driving assembly 633 is connected. The driving assembly 633 includes a fixing frame 6331. The fixing frame 6331 is fixedly connected to the inside of the mounting slot 632. A dual-axis motor 6332 is fixedly connected inside the fixing frame 6331. The dual-axis motor The output ends on both sides of 6332 are fixedly connected with screw rods 6333, which are rotatably connected to the inside of the linear slide 631. The screw rods 6333 at both ends of the linear slide 631 have opposite thread rotation directions. The outer surface of the screw rod 6333 is threadedly connected with an inner movable block 6334, which is slidably connected to the inside of the linear slide 631. The bottom of the linear slide 631 is connected to the top of the power mechanism 64. The internal cross-sectional shape of the linear slide 631 is set to a convex shape, and the side shape of the inner movable block 6334 is also set to a convex shape. The outer surface of the inner movable block 6334 is fixedly connected with Wear-resistant gasket, when the unmanned surveying and mapping ship needs to use the obstacle crossing mechanism 6, the driving assembly 633 in the adjustment mechanism 63 starts to work, and the fixing frame 6331 fixed in the installation groove 632 provides stable support for the dual-axis motor 6332. After starting the dual-axis motor 6332, the output ends on both sides drive the screw rod 6333 to rotate synchronously. Since the screw rod 6333 at both ends of the linear slide 631 has opposite threads, and the screw rod 6333 is threadedly connected with the inner movable block 6334, the inner movable block 6334 slides in the linear slide 631. As the screw rod 6333 rotates, the threads with opposite threads drive the two inner movable blocks 6334 to rotate. 334 moves to the two ends of the linear slide groove 631 respectively, thereby driving the power mechanism 64 connected thereto to move. The internal cross-section of the linear slide groove 631 and the side of the inner movable block 6334 are both set to a convex shape. This structure can prevent the inner movable block 6334 from separating from the linear slide groove 631 during movement, thereby ensuring the stability of operation. The wear-resistant gasket on the outer surface of the inner movable block 6334 can reduce the friction between the inner movable block 6334 and the linear slide groove 631, extend its service life, ensure the stable operation of the adjustment mechanism 63, and accurately control the position of the power mechanism 64, thereby providing power support for the subsequent actions of the obstacle crossing mechanism 6.

[0035] Please refer to Figure 1-Figure 3, both sides of the top front end of the surveying and mapping ship body 1 are fixedly connected with fixed blocks 7, and the top of the fixed block 7 is fixedly connected with an antenna 8. The external corners of the surveying and mapping ship body 1 are set to arc shapes. The front end of the surveying and mapping ship body 1 is triangular and streamlined when viewed from above. Lamp holders 9 are fixedly connected to the upper ends of both sides of the surveying and mapping ship body 1 at equal intervals, and colored lights 10 are fixedly connected to the outside of the lamp holders 9. The antenna 8 is mainly used to enhance the reception and transmission of wireless signals on both sides of the top front end of the obstacle-crossing unmanned surveying and mapping ship through the fixed blocks 7, and the antenna 8 is mainly used to enhance the reception and transmission of wireless signals to ensure stable and efficient communication between the surveying and mapping ship and the external control center or other equipment, so that the surveying and mapping data and control instructions can be accurately transmitted. The external corners of the surveying and mapping ship body 1 are set to arc shapes, and the front end is triangular and streamlined when viewed from above, and the arc shape The edges and corners can reduce the impact of water flow on the hull during navigation and reduce energy loss. At the same time, they can avoid damage to other objects caused by sharp edges and corners to a certain extent, thereby ensuring the safety of the vessel itself and surrounding objects. The triangular streamlined front end design can effectively reduce water resistance, making the hull smoother in the water, improving navigation speed and stability, and improving surveying and mapping efficiency. At the upper ends of both sides of the surveying and mapping ship body 1, lamp holders 9 are evenly spaced, and colored lights 10 are connected to the outside of the lamp holders 9. On the one hand, these colored lights 10 can provide visual identification for the surveying and mapping ship at night or in low visibility environments, which is convenient for operators to identify and track at a long distance and ensure its safe navigation; on the other hand, in specific surveying and mapping scenarios or demonstration activities, the colored lights 10 can also be used to indicate directions, warn surrounding ships, and play an auxiliary operation function.

[0036] The implementation principle of an obstacle-crossing unmanned surveying and mapping vessel in an embodiment of the present application is as follows: the device significantly improves the ability of the unmanned surveying and mapping vessel to cope with complex water surface environments by setting an obstacle-crossing mechanism 6. During the driving process of the unmanned surveying and mapping vessel, when encountering a floating obstacle on the water surface and being unable to directly cross it, the operator can start the dual-axis motor 6332 through the remote control. After the dual-axis motor 6332 is running, it drives the screw rod 6333 inside the linear slide 631 to rotate. Since the threads of the two screw rods 6333 have opposite rotation directions, when the dual-axis motor 6332 drives the screw rod 6333 to rotate, it can synchronously drive the inner movable block 6334 inside the linear slide 631 to slide. Specifically, the screw rod 6333 drives the inner movable block 6334 to move outward, and the two inner movable blocks 6334 synchronously slide to the outside on both sides, thereby pushing the power mechanism 64 to move outward. The outward movement of the power mechanism 64 causes the flipping The turning mechanism 65 extends from the inside of the installation shell 62. When the flipping mechanism 65 extends from the inside of the installation shell 62, the telescopic spring 652 extends, pushing the obstacle crossing plate 655 in the hinge groove 654 on the hinge seat 653 to rotate and unfold outward. This design enables the flipping mechanism 65 of the device to be automatically unfolded when it extends from the inside of the installation shell 62. At this time, through the synergistic effect of the flipping mechanism 65 and the power mechanism 64, the surveying and mapping ship body 1 can be further promoted to move forward, and a good obstacle crossing function can be achieved. In addition, during use, the wireless transmission module 4 cooperates with the GPS locator to flexibly locate the position of the surveying and mapping ship body 1. It cooperates with the multi-beam depth sounding sonar 5 to achieve efficient surveying and mapping work. At the same time, the surveying and mapping ship body 1 can also be installed with various sensors such as surveying and mapping cameras according to specific needs to meet the stable surveying and mapping function requirements in different scenarios.

[0037] By setting up the flip mechanism 65 to cooperate with the power mechanism 64, the obstacle crossing and navigation stability of the unmanned surveying and mapping ship are further optimized. During use, the dual-axis motor 6332 is started to drive the screw rod 6333 to drive the inner movable block 6334 to slide inside the linear slide groove 631, and the inner movable block 6334 is driven to slide inward, thereby driving the inner bearing slip ring 641 to slide inward inside the mounting shell 62, thereby driving the drive motor 643 and the cross 642 to move inward. During the inward movement of the housing 62, the hinge seat 653 and the obstacle board 655 are pulled inward. When the obstacle board 655 contacts the inner wall of the installation shell 62, the driving motor 643 continues to pull the obstacle board 655 inward. The obstacle board 655 rotates in the hinge slot 654, squeezing the telescopic spring 652 to put it in a contracted state. As the obstacle board 655 rotates, the entire flip mechanism 65 is stored in the installation shell 62. At this time, the shielding plate 657 at the outer end of the connecting rod 656 shields the two ends of the installation shell 62, effectively protecting Internal mechanism, if it is necessary to overcome an obstacle, start the dual-axis motor 6332 to drive the obstacle-overcoming plate 655 to move outward, the telescopic spring 652 is reset to push the obstacle-overcoming plate 655 to unfold, and then start the driving motor 643 on the cross 642. Since the length of the obstacle-overcoming plate 655 after unfolding is greater than the height of the surveying and mapping ship body 1, as the driving motor 643 drives the obstacle-overcoming plate 655 to rotate, the obstacle-overcoming plate 655 can press against the obstacles floating on the water surface, and continuously start the driving motor 643 to run. The obstacles floating on the water surface are pressed down by the continuously rotating obstacle-overcoming plates 655, so that the surveying and mapping ship body 1 can overcome the obstacles. This design can not only play a good obstacle-overcoming function and effectively avoid the influence of surface obstacles on the travel of the surveying and mapping ship body 1, but also slide on the ground during use. The obstacle-overcoming plate 655 can act as a tire to appropriately move the surveying and mapping ship body 1. At the same time, the mechanism has a telescopic storage function, which can be automatically stored when not in use during navigation, thereby avoiding the continuous deployment from affecting the navigation of the surveying and mapping ship body, and ensuring the stability of the navigation and surveying of the surveying and mapping ship body 1.

[0038] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An obstacle-crossing unmanned surveying and mapping vessel, characterized in that; The surveying and mapping vessel comprises a surveying and mapping vessel body (1), a mounting shell (2) is mounted on the rear side of the bottom of the surveying and mapping vessel body (1), a hull propeller (3) is mounted inside the mounting shell (2), a wireless transmission module (4) is fixedly connected to the top of the surveying and mapping vessel body (1), an obstacle crossing mechanism (6) is mounted in the middle of the inner side of the surveying and mapping vessel body (1), a GPS locator is fixedly connected to the bottom of the surveying and mapping vessel body (1), and a multi-beam depth sounding sonar (5) is fixedly connected to the middle of the bottom of the surveying and mapping vessel body (1); The obstacle crossing mechanism (6) comprises a trough body (61), the trough body (61) is arranged in the middle of the surveying vessel body (1), a mounting shell (62) is fixedly installed inside the trough body (61), an adjusting mechanism (63) is fixedly installed on the top of the mounting shell (62), a power mechanism (64) is fixedly installed on both sides of the bottom of the adjusting mechanism (63), a flipping mechanism (65) is fixedly installed on the outside of the power mechanism (64), and the power mechanism (64) and the flipping mechanism (65) are stored inside the mounting shell (62).

2. The obstacle-crossing unmanned surveying and mapping vessel according to claim 1, characterized in that: Both sides of the top front end of the surveying and mapping vessel body (1) are fixedly connected to fixing blocks (7), and the top of the fixing block (7) is fixedly connected to an antenna (8).

3. The obstacle-crossing unmanned surveying and mapping vessel according to claim 2, characterized in that: The external corners of the surveying and mapping vessel body (1) are all arranged in an arc shape, and the front end of the surveying and mapping vessel body (1) is arranged in a triangular streamlined shape when viewed from above.

4. The obstacle-crossing unmanned surveying and mapping vessel according to claim 1, characterized in that: Lamp holders (9) are fixedly connected to the upper ends of both sides of the surveying and mapping vessel body (1) at equal intervals, and colored lights (10) are fixedly connected to the outer sides of the lamp holders (9).

5. The obstacle-crossing unmanned surveying and mapping vessel according to claim 1, characterized in that: The adjustment mechanism (63) comprises a linear slide groove (631), wherein the linear slide groove (631) is arranged in the middle of the top of the mounting shell (62), and a mounting groove (632) is arranged in the middle of the inner side of the linear slide groove (631) inside the mounting shell (62), and a driving component (633) is arranged on the inner side of the mounting groove (632), and both ends of the driving component (633) extend inside the linear slide groove (631), and are connected to the bottom power mechanism (64) of the driving component (633).

6. The obstacle-crossing unmanned surveying and mapping vessel according to claim 5, characterized in that: The driving assembly (633) comprises a fixing frame (6331), wherein the fixing frame (6331) is fixedly connected to the inside of the mounting groove (632), a dual-axis motor (6332) is fixedly connected to the inside of the fixing frame (6331), and both side output ends of the dual-axis motor (6332) are fixedly connected to a screw rod (6333), and the screw rod (6333) is rotatably connected to the inside of the linear slide groove (631), and the screw rods (6333) at the two ends inside the linear slide groove (631) have opposite thread rotation directions, and the outer surface of the screw rod (6333) is threadedly connected to an inner movable block (6334), and the inner movable block (6334) is slidably connected to the inside of the linear slide groove (631), and the bottom of the linear slide groove (631) is connected to the top of the power mechanism (64).

7. The obstacle-crossing unmanned surveying and mapping vessel according to claim 6, characterized in that: The internal cross-sectional shape of the linear slide groove (631) is set to be a convex shape, the side shape of the inner movable block (6334) is also set to be a convex shape, and the outer surface of the inner movable block (6334) is fixedly connected with a wear-resistant gasket.

8. The obstacle-crossing unmanned surveying and mapping vessel according to claim 7, characterized in that: The power mechanism (64) comprises an inner load-bearing slip ring (641), the inner load-bearing slip ring (641) is slidably connected to the inner sides of the mounting shell (62), the inner load-bearing slip ring (641) is fixedly connected to the bottom of the inner movable block (6334), the inner side of the inner load-bearing slip ring (641) is fixedly connected to a cross (642), the inner side of the cross (642) is fixedly connected to a driving motor (643), and the output end of the driving motor (643) passes through the cross (642) and is connected to the flip mechanism (65).

9. The obstacle-crossing unmanned surveying and mapping vessel according to claim 8, characterized in that: The flip mechanism (65) comprises a conical block (651), the conical block (651) is fixedly connected to the output end of the driving motor (643), the outer side of the conical block (651) is fixedly connected with telescopic springs (652) at equal intervals, the outer side of the conical block (651) is fixedly connected with a hinge seat (653), the outer side of the hinge seat (653) is provided with hinge grooves (654) at equal intervals, the inner sides of the hinge grooves (654) are rotatably connected with obstacle crossing plates (655), and the end of the telescopic spring (652) is fixedly connected to the inner end of the obstacle crossing plate (655).

10. The obstacle-crossing unmanned surveying and mapping vessel according to claim 9, characterized in that: A connecting rod (656) is fixedly connected to the outer side of the hinge seat (653), and a shielding plate (657) is fixedly connected to the outer end of the connecting rod (656), and the shielding plate (657) covers both sides of the installation shell (62).

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