An obstacle-crossing unmanned surveying vessel

Abstract

This application relates to the field of surveying and mapping technology, and in particular to an obstacle-crossing unmanned surveying vessel. It includes a surveying vessel body, with a mounting shell installed on the rear bottom of the body. A propulsion unit is installed inside the mounting shell. During application, this application optimizes the obstacle-crossing capability and navigation stability of the unmanned surveying vessel through the coordinated operation of a flipping mechanism and a power mechanism. In use, the dual-axis motor is activated, and the lead screw drives the inner movable block, causing the inner bearing slip ring, drive motor, and cross to move inward. This pulls out the hinge seat and obstacle-crossing plate. After the obstacle-crossing plate contacts the inner wall, it rotates in the hinge slot, compressing the telescopic spring and causing the entire flipping mechanism to retract into the mounting shell. A shield protects the internal mechanism. When obstacle crossing is required, the dual-axis motor is activated to move the obstacle-crossing plate outward, and then the drive motor is activated. The extended obstacle-crossing plate, after being unfolded, presses down on the obstacle to help the vessel cross it. The obstacle-crossing plate can also act as tires on the ground. When not in use, it automatically retracts, ensuring stable navigation and surveying.

Description

Technical Field

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

[0002] With the deepening of aquatic research, the demand for high-precision surveying and mapping is increasing. As a new type of aquatic surveying and mapping equipment, unmanned surveying vessels, with their advanced unmanned autonomous control technology, can carry out surveying and mapping work in aquatic waters without the need for on-site operation by personnel. They can do so according to preset programs or remote commands. They integrate functions such as autonomous navigation, obstacle avoidance, data acquisition and transmission. They achieve precise positioning and navigation by being equipped with a global positioning system and an inertial navigation system. They use multibeam, side-scan and single-beam depth sounding sonar and other equipment to collect underwater topography, geomorphology and target information, and transmit the data back to the land base station in real time with the help of a communication module. Because they can operate in complex, dangerous or inaccessible waters, they effectively improve surveying and mapping efficiency and reduce personnel risks. They are widely used in marine resource exploration, waterway surveying, marine environmental monitoring and marine engineering construction.

[0003] Chinese patent with announcement number "CN221138540U" discloses a 0.75m micro unmanned mapping vessel. The vessel is composed of an upper hull and a lower hull that are fastened together. It has an equipment mounting hole in the middle, a GPS device installed on the front of the upper hull, and handles that can be detached on both sides. The interior has a ship control and mounting cavity, in which a battery module can be detached and installed. The bottom has a detachable groove, in which a hull propulsion module can be detached and installed via a mounting base. The hull propulsion module is electrically connected to the battery module. This design brings convenience to mapping work to a certain extent.

[0004] However, existing hull designs of this type have significant drawbacks in practical applications. They typically float on the top of the water, and when encountering floating objects, especially in narrow waterways where the top is obstructed by floating planks or thin reeds, the propulsion system alone is insufficient to propel the hull over these obstacles. This not only hinders surveying operations and reduces efficiency but can also lead to equipment damage and increased maintenance costs. Therefore, there is an urgent need to improve the hull design of existing unmanned surveying vessels to enhance their maneuverability and operational reliability in complex water environments. Summary of the Invention

[0005] To improve the stability of existing surveying vessels during navigation, this application provides an obstacle-crossing unmanned surveying vessel.

[0006] This application provides an obstacle-crossing unmanned surveying vessel, which adopts the following technical solution: it includes a surveying vessel body, an installation shell is installed on the rear bottom of the surveying vessel body, a hull propulsion unit is installed inside the installation shell, a wireless transmission module is fixedly connected to the top of the surveying vessel body, an obstacle-crossing mechanism is installed in the middle of the inner side of the surveying vessel body, a GPS locator is fixedly connected to the bottom of the surveying vessel body, and a multi-beam echo sounder is fixedly connected to the middle of the bottom of the surveying vessel body.

[0007] The obstacle-crossing mechanism includes a trough body located in the middle of the surveying vessel body. An installation shell is fixedly installed inside the trough body. An adjustment mechanism is fixedly installed at the top inside the installation shell. Power mechanisms are fixedly installed on both sides of the bottom of the adjustment mechanism. A tilting mechanism is fixedly installed on the outside of the power mechanism. The power mechanism and the tilting mechanism are housed inside the installation shell.

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

[0009] Optionally, the external corners of the surveying vessel body are all set to be arc-shaped, and the front end of the surveying vessel body has a triangular streamlined shape when viewed from above.

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

[0011] Optionally, the adjustment mechanism includes a linear slide groove, which is located at the top center of the mounting housing. An installation groove is provided inside the mounting housing at the inner center of the linear slide groove. A drive assembly is provided inside the installation groove. Both ends of the drive assembly extend into the interior of the linear slide groove, and the bottom of the drive assembly is connected to a power mechanism.

[0012] Optionally, the drive assembly includes a mounting bracket fixedly connected to the inside of the mounting slot. A dual-axis motor is fixedly connected inside the mounting bracket. Lead screws are fixedly connected to both output ends of the dual-axis motor. The lead screws are rotatably connected to the inside of a linear slide. The threads of the lead screws at both ends inside the linear slide have opposite directions. An inner movable block is threadedly connected to the outer surface of the lead screw. The inner movable block is slidably connected to the inside of the linear slide. The bottom of the linear slide is connected to the top of the power mechanism.

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

[0014] Optionally, the power mechanism includes an inner bearing slip ring, which is slidably connected to both sides of the inner side of the mounting housing. The inner bearing slip ring is fixedly connected to the bottom of the inner movable block. A cross is fixedly connected to the inner side of the inner bearing slip ring, and a drive motor is fixedly connected to the inner side of the cross. 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 drive motor. A telescopic spring is fixedly connected at equal intervals to the outer side of the conical block. A hinge seat is fixedly connected to the outer side of the conical block. A hinge slot is provided at equal intervals on the outer side of the hinge seat. A barrier-crossing plate is rotatably connected to the inner side of each hinge slot. The end of the telescopic spring is fixedly connected to the inner end of the barrier-crossing plate.

[0016] Optionally, a connecting rod is fixedly connected to the outer side of the hinge seat, and a baffle plate is fixedly connected to the outer end of the connecting rod, with the baffle plate covering both sides of the mounting housing.

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

[0018] 1. The obstacle-crossing mechanism of this device greatly enhances the unmanned surveying vessel's ability to cope with complex aquatic environments. When the surveying vessel encounters floating obstacles that cannot be directly overturned while navigating, the operator can start the dual-axis motor via remote control. After the motor starts, it drives the screw with the opposite rotation direction of the linear slide groove to rotate, synchronously driving two inner movable blocks to slide outward, pushing the power mechanism outward, and causing the flipping mechanism to extend from inside the mounting shell. At this time, the telescopic spring extends, pushing the obstacle-crossing plate in the hinge slot of the hinge seat to rotate and unfold outward, achieving automatic unfolding. After unfolding, the flipping mechanism works in conjunction with the power mechanism to propel the surveying vessel body to continue moving and successfully cross the obstacle. In addition, during operation, the wireless transmission module works with the GPS locator to accurately locate the surveying vessel's position; it also works with the multibeam echo sounder to achieve efficient surveying. The surveying vessel can also be equipped with sensors such as surveying cameras as needed to meet the surveying needs of different scenarios.

[0019] 2. The flipping mechanism and the power mechanism work together to further optimize the obstacle-crossing ability and navigation stability of the unmanned surveying vessel. In use, the dual-axis motor is started, and the lead screw drives the inner movable block to slide inside the linear slide groove, causing the inner bearing slip ring, drive motor and cross to move inward. The hinge seat and obstacle-crossing plate are pulled inward. When the obstacle-crossing plate contacts the inner wall of the mounting shell, the drive motor continues to pull it to rotate in the hinge groove, compressing the telescopic spring. The entire flipping mechanism is then stored in the mounting shell. The baffle plate at the outer end of the connecting rod protects the internal mechanism. If obstacle crossing is required, the dual-axis motor is started to move the obstacle-crossing plate outward. The telescopic spring returns to its original position and unfolds the obstacle-crossing plate. 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 vessel to cross the obstacle. This design also allows the obstacle-crossing plate to act as a tire when sliding on the ground and has a telescopic storage function. It is automatically stored when not in use during navigation, ensuring the stability of navigation surveying. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure in an embodiment of this application;

[0021] Figure 2 This is a top view of the obstacle-crossing mechanism in its deployed state, as described in this application embodiment.

[0022] Figure 3 This is a top-down view of the obstacle-crossing mechanism in the deployed state in an embodiment of this application;

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

[0024] Figure 5 This is a schematic diagram of the internal structure of the linear groove and mounting groove in the embodiments of this application;

[0025] Figure 6 This is a schematic diagram of the overall structure of the power mechanism and the tilting mechanism in the embodiments of this application;

[0026] Figure 7 This is a top view schematic diagram of the power mechanism and the tilting mechanism in the embodiments of this application;

[0027] Figure 8 This is an embodiment of the present application. Figure 6 Enlarged structural diagram of the part.

[0028] Reference numerals: 1. Survey vessel body; 2. Mounting shell; 3. Hull propeller; 4. Wireless transmission module; 5. Multibeam sonar; 6. Obstacle crossing mechanism; 61. Tunnel; 62. Mounting shell; 63. Adjustment mechanism; 631. Linear slide; 632. Mounting slot; 633. Drive assembly; 6331. Fixing frame; 6332. Dual-axis motor; 6333. Lead screw; 6334. Internal movable block; 64. Power mechanism; 641. Internal bearing slip ring; 642. Cross; 643. Drive motor; 65. Tilting mechanism; 651. Conical block; 652. Telescopic spring; 653. Hinge seat; 654. Hinge slot; 655. Obstacle crossing plate; 656. Connecting rod; 657. Blinding plate; 7. Fixing block; 8. Antenna; 9. Lamp holder; 10. Colored light. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-8 This application will be described in further detail.

[0030] This application discloses an obstacle-crossing unmanned mapping vessel. For example... Figure 1-8 As shown, the survey vessel includes a survey vessel body 1, an installation shell 2 is installed on the rear bottom of the survey vessel body 1, a hull propulsion unit 3 is installed inside the installation shell 2, a wireless transmission module 4 is fixedly connected to the top of the survey vessel body 1, an obstacle crossing mechanism 6 is installed in the middle of the inner side of the survey vessel body 1, a GPS locator is fixedly connected to the bottom of the survey vessel body 1, and a multi-beam echo sounder 5 is fixedly connected to the middle of the bottom of the survey vessel body 1.

[0031] The obstacle-crossing mechanism 6 includes a trough 61, which is located in the middle of the survey vessel body 1. An installation shell 62 is fixedly installed inside the trough 61. An adjustment mechanism 63 is fixedly installed at the top inside the installation shell 62. A power mechanism 64 is fixedly installed on both sides of the bottom of the adjustment mechanism 63. A tilting mechanism 65 is fixedly installed on the outside of the power mechanism 64. The power mechanism 64 and the tilting mechanism 65 are housed inside the installation shell 62.

[0032] During missions, this obstacle-crossing unmanned surveying vessel operates with coordinated efforts from all components to achieve efficient and stable surveying and obstacle-crossing capabilities. The vessel's main body 1 is powered by a propulsion unit 3 housed within the rear hull 2. This propulsion unit 3 generates thrust through rotation, propelling the vessel across the water and providing the foundation for the entire surveying operation. The top-mounted wireless transmission module 4 is a crucial hub for data exchange. It establishes communication with the external control center or other equipment, transmitting various data collected during the surveying process, such as underwater topographic data acquired by the multibeam echo sounder 5 and location information determined by the GPS locator, back to the land control terminal in real time. Simultaneously, it receives various commands from the control terminal to ensure... The surveying vessel performs its predetermined tasks. When the vessel encounters obstacles while navigating on the water, the obstacle-crossing mechanism 6 activates. This mechanism is located in a groove 61 in the middle of the vessel's main body 1. A fixed mounting shell 62 inside the groove 61 provides protection and support. An adjustment mechanism 63 at the top of the mounting shell 62 is the initiation and control unit for the obstacle-crossing action. Upon receiving an obstacle-crossing command, the adjustment mechanism 63 begins operation. The drive component 633 within the adjustment mechanism 63, such as the dual-axis motor 6332 fixed in the mounting groove 632, starts, driving the lead screw 6333 to rotate. Because the lead screw 6333 has opposite threads, it drives the threaded inner movable block 6334 to slide in the opposite direction within the linear slide groove 631. The movement of the motor precisely controls the position of the power mechanism 64. 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 bearing slip ring 641 slides on both sides inside the mounting housing 62, thereby driving the inner cross 642 and the drive motor 643 to move. When it is necessary to unfold the obstacle-crossing plate 655 to cross an obstacle, the drive motor 643 starts, 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-crossing plate 655 through the telescopic spring 652 and the hinge seat 653. When the obstacle-crossing mechanism 6 is retracted, the telescopic spring 652 is in a compressed state; when the conical block 651 rotates, the telescopic spring 652 extends, pushing the obstacle-crossing plate 655. The obstacle-crossing plate 655 rotates and unfolds around the hinge slot 654. The length of the unfolded obstacle-crossing plate 655 is greater than the height of the surveying vessel body 1. Under the continuous drive of the drive motor 643, the obstacle-crossing plate 655 rotates and presses against the water surface obstacle, pressing it down and helping the surveying vessel to successfully cross the obstacle. After the obstacle is crossed, the adjustment mechanism 63 reverses its action, causing the power mechanism 64 to drive the flipping mechanism 65 to be retracted into the mounting shell 62, ensuring the stability and safety of the surveying vessel during normal navigation and preventing the obstacle-crossing mechanism 6 from interfering with navigation. The surveying vessel body 1 is a conventional surveying vessel in the prior art, which is widely used in the market. Its hull propulsion 3 is also a conventional technical means in the prior art, so it will not be described in detail here.

[0033] Please refer to Figures 5-8The power mechanism 64 includes an inner bearing slip ring 641, which is slidably connected to both sides of the interior of the mounting housing 62. The inner bearing slip ring 641 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 bearing slip ring 641, and a drive motor 643 is fixedly connected to the inner side of the cross 642. The output end of the drive motor 643 passes through the cross 642 and is connected to the flipping mechanism 65. The flipping mechanism 65 includes a conical block 651, which is fixedly connected to the output end of the drive motor 643. Telescopic springs 652 are fixedly connected at equal intervals to the outer side of the conical block 651, and a hinge seat 653 is fixedly connected to the outer side of the conical block 651. Hinge slots 654 are evenly spaced on the outer side of the hinge seat 653. The inner side of the hinge slot 654 is rotatably connected to a barrier plate 655. The end of the telescopic spring 652 is fixedly connected to the inner end of the barrier plate 655. The outer side of the hinge seat 653 is fixedly connected to a connecting rod 656. The outer end of the connecting rod 656 is fixedly connected to a baffle plate 657. The baffle plate 657 covers both sides of the mounting housing 62. When the inner movable block 6334 in the adjusting mechanism 63 is displaced under the drive of the lead screw 6333, the power mechanism 64 starts to operate. The inner bearing slip ring 641, which is fixedly connected to the bottom of the inner movable block 6334, slides on both sides inside the mounting housing 62 as the inner movable block 6334 moves. This process ensures the stability and smoothness of the overall movement of the power mechanism 64. The cross-shaped part connected to the inner side of the inner bearing slip ring 641... 642 moves synchronously, thereby driving the inner fixed drive motor 643 to shift. When obstacle crossing is required, the drive motor 643 starts, and its output end is connected to the flipping mechanism 65, driving the cone block 651 to rotate. The telescopic springs 652 and hinge seats 653, which are equally spaced on the outside of the cone block 651, play a key role in the operation of the mechanism. When the obstacle crossing mechanism 6 is in the retracted state, the telescopic springs 652 are in the compressed state, and the obstacle crossing plate 655 is stored in the hinge slot 654. When the drive motor 643 drives the cone block 651 to rotate, and the obstacle crossing 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 adjustment mechanism 63. At this time, the obstacle crossing plate 655 loses its limit, and the telescopic springs 652 lose their compression. In its extended state, the obstacle-crossing plate 655 connected to it is pushed to rotate around the pivot of the hinge slot 654, thereby causing the obstacle-crossing plate 655 to rotate out of the hinge slot 654 and unfold. The length of the unfolded obstacle-crossing plate 655 is greater than the height of the surveying vessel body 1, providing sufficient lever arm for obstacle crossing. When the obstacle-crossing plate 655 contacts the water surface obstacle, the continuously rotating obstacle-crossing plate 655 can press against the obstacle and push it down, helping the surveying vessel 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, protecting the internal power mechanism 64 and other components from the influence of the external environment, such as water flow impact and collision with debris.This ensures the integrity and safety of the entire structure when not in operation, and also prevents the surveying vessel from being affected by the exposure of these internal components during navigation.

[0034] Please refer to Figures 1-5 The adjustment mechanism 63 includes a linear slide 631, which is located at the top center of the mounting housing 62. Inside the mounting housing 62, a mounting groove 632 is located in the middle of the inner side of the linear slide 631. A drive assembly 633 is located inside the mounting groove 632, with both ends extending into the interior of the linear slide 631. The bottom of the drive assembly 633 is connected to a power mechanism 64. The drive assembly 633 includes a fixing frame 6331, which is fixedly connected to the interior of the mounting groove 632. A dual-axis motor 6332 is fixedly connected inside the fixing frame 6331. Both output ends of 6332 are fixedly connected to lead screws 6333, which are rotatably connected to the inside of linear slide 631. The threads of the lead screws 6333 at both ends inside the linear slide 631 turn in opposite directions. An inner movable block 6334 is threadedly connected to the outer surface of the lead screw 6333. The inner movable block 6334 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 as a convex shape, and the side shape of the inner movable block 6334 is also set as a convex shape. The outer surface of the inner movable block 6334 is fixedly connected to... Wear-resistant pads are used when the unmanned surveying vessel needs to use the obstacle-crossing mechanism 6. The drive component 633 in the adjustment mechanism 63 then starts working. The fixing bracket 6331, fixed in the mounting slot 632, provides stable support for the dual-axis motor 6332. After starting the dual-axis motor 6332, its output ends drive the lead screw 6333 to rotate synchronously. Because the threads of the lead screw 6333 at both ends of the linear slide 631 rotate in opposite directions, and the lead screw 6333 is threadedly connected to the inner movable block 6334, the inner movable block 6334 slides within the linear slide 631. As the lead screw 6333 rotates, the threads rotating in opposite directions drive the two inner movable blocks 6334... 334 moves to both ends of the linear slide 631, thereby driving the connected power mechanism 64 to move. The internal cross section of the linear slide 631 and the side of the inner movable block 6334 are both set in a convex shape. This structure can prevent the inner movable block 6334 from detaching from the linear slide 631 during movement, ensuring the stability of operation. The wear-resistant pad on the outer surface of the inner movable block 6334 can reduce the friction between the inner movable block 6334 and the linear slide 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 Figures 1-3The top front end of the surveying vessel 1 is fixedly connected to two fixed blocks 7 on both sides. Antennas 8 are fixedly connected to the top of the fixed blocks 7. The external corners of the surveying vessel 1 are all rounded. The front of the surveying vessel 1 has a triangular streamlined shape when viewed from above. Light holders 9 are fixedly connected at equal intervals on the upper sides of both sides of the surveying vessel 1. Colored lights 10 are fixedly connected to the outside of the light holders 9. The antennas 8 are connected to the two sides of the top front end of this obstacle-crossing unmanned surveying vessel via the fixed blocks 7. The antennas 8 are mainly used to enhance the reception and transmission of wireless signals, ensuring stable and efficient communication between the surveying vessel and external control centers or other equipment, so that surveying data and control commands can be transmitted accurately. The external corners of the surveying vessel 1 are rounded, and the front has a triangular streamlined shape when viewed from above. The sharp edges reduce the impact of water flow on the hull during navigation, reducing energy loss. At the same time, they can prevent sharp edges from damaging other objects to a certain extent, ensuring the safety of the vessel and surrounding objects. The triangular streamlined front design can effectively reduce water resistance, making the hull move more smoothly in the water, improving navigation speed and stability, and increasing the efficiency of surveying operations. On the upper sides of both sides of the surveying vessel 1, there are light holders 9 evenly distributed, and colored lights 10 are connected to the outside of the light holders 9. These colored lights 10 can provide visual identification for the surveying vessel at night or in low visibility environments, making it easy for operators to identify and track it from a distance, ensuring its safe navigation. On the other hand, in specific surveying scenarios or demonstration activities, the colored lights 10 can also be used to indicate directions and warn surrounding vessels, playing an auxiliary role in the operation.

[0036] The implementation principle of the obstacle-crossing unmanned surveying vessel in this application embodiment is as follows: This device, by setting an obstacle-crossing mechanism 6, significantly improves the unmanned surveying vessel's ability to cope with complex water surface environments. When the unmanned surveying vessel encounters floating obstacles that cannot be directly crossed during its operation, the operator can start the dual-axis motor 6332 via remote control. After the dual-axis motor 6332 starts running, it drives the lead screw 6333 inside the linear slide 631 to rotate. Since the threads of the two lead screws 6333 rotate in opposite directions, when the dual-axis motor 6332 drives the lead screw 6333 to rotate, it can simultaneously drive the inner movable block 6334 inside the linear slide 631 to slide. Specifically, the lead screw 6333 drives the inner movable block 6334 to move outwards, and the two inner movable blocks 6334 slide outwards to both sides simultaneously, thereby pushing the power mechanism 64 to move outwards. The outward movement of the power mechanism 64 causes the vessel to overturn. The rotating mechanism 65 extends from inside the mounting housing 62. When the rotating mechanism 65 extends from inside the mounting housing 62, the telescopic spring 652 extends, pushing the obstacle-crossing plate 655 in the hinge slot 654 on the hinge seat 653 to rotate and unfold outward. This design allows the rotating mechanism 65 of this device to automatically unfold when it extends from inside the mounting housing 62. At this time, through the coordinated action of the rotating mechanism 65 and the power mechanism 64, the surveying vessel body 1 can be further propelled to move forward, achieving good obstacle-crossing function. In addition, during use, the wireless transmission module 4 works with the GPS locator to flexibly locate the position of the surveying vessel body 1. It works with the multibeam echo sounder 5 to achieve efficient surveying work. At the same time, the surveying vessel body 1 can also be equipped with various sensors such as surveying cameras according to specific needs to meet the stable surveying function requirements in different scenarios.

[0037] By setting the tilting mechanism 65 in conjunction with the power mechanism 64, the obstacle-crossing and navigation stability of the unmanned mapping vessel is further optimized. During use, the dual-axis motor 6332 is started, which drives the lead screw 6333 to drive the inner movable block 6334 to slide inside the linear slide groove 631. By driving the inner movable block 6334 to slide inward, the inner bearing slip ring 641 is driven to slide inward inside the mounting shell 62, which in turn drives the drive motor 643 and the cross 642 to move inward. During the inward movement of the 42, the pull-out hinge seat 653 and the overpass plate 655 move inward. When the overpass plate 655 contacts the inner wall of the mounting housing 62, the drive motor 643 continues to pull the overpass plate 655 inward. The overpass plate 655 rotates within the hinge slot 654, compressing the telescopic spring 652 to put it in a retracted state. As the overpass plate 655 rotates, the entire flipping mechanism 65 is housed inside the mounting housing 62. At this time, the baffle plate 657 at the outer end of the connecting rod 656 covers both ends of the mounting housing 62, effectively protecting it. Internally, if obstacle crossing is required, the dual-axis motor 6332 is activated to move the obstacle crossing plate 655 outward. The telescopic spring 652 resets and pushes the obstacle crossing plate 655 to unfold. Subsequently, the drive motor 643 on the cross 642 is activated. Since the unfolded length of the obstacle crossing plate 655 is greater than the height of the surveying vessel body 1, as the drive motor 643 drives the obstacle crossing plate 655 to rotate, the obstacle crossing plate 655 can press against the floating obstacle on the water surface. The drive motor 643 continues to run, and through the continuous rotation of each obstacle crossing plate 655, the floating obstacle on the water surface is pressed down, thereby allowing the surveying vessel body 1 to cross the obstacle. This design not only provides a good obstacle crossing function and effectively avoids water surface obstacles from affecting the movement of the surveying vessel body 1, but also allows it to slide on the ground during application. The obstacle crossing plate 655 can act as tires to appropriately move the surveying vessel body 1. At the same time, the mechanism has a telescopic storage function, which can be automatically stored when not in use during navigation, avoiding the impact of continuous unfolding on the navigation of the surveying vessel body and ensuring the stability of the surveying vessel body 1 during navigation and mapping.

[0038] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An unmanned surveying vessel capable of overcoming obstacles, characterized in that; The application relates to a surveying and mapping ship body (1), wherein a mounting shell (2) is arranged at the bottom rear side of the surveying and mapping ship body (1), a ship body propeller (3) is arranged in 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 surmounting mechanism (6) is arranged at the middle of the inner side 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 sounding sonar (5) is fixedly connected to the middle of the bottom of the surveying and mapping ship body (1). The obstacle surmounting mechanism (6) comprises a groove (61) arranged in the middle of the surveying and mapping ship body (1), a mounting shell (62) fixedly arranged in the groove (61), an adjusting mechanism (63) fixedly arranged at the top of the mounting shell (62), power mechanisms (64) fixedly arranged at the bottom of the adjusting mechanism (63), and overturning mechanisms (65) fixedly arranged at the outer sides of the power mechanisms (64), wherein the power mechanisms (64) and the overturning mechanisms (65) are arranged in the mounting shell (62). The adjusting mechanism (63) comprises a linear sliding groove (631) arranged in the middle of the top of the mounting shell (62), a mounting groove (632) arranged in the middle of the inner side of the mounting shell (62) and located at the linear sliding groove (631), a drive assembly (633) arranged at the inner side of the mounting groove (632), and power mechanisms (64) connected to the bottom of the drive assembly (633). The power mechanism (64) comprises an inner bearing sliding ring (641) slidingly connected to the inner sides of the mounting shell (62), an inner movable block (6334) fixedly connected to the bottom of the inner bearing sliding ring (641), a cross (642) fixedly connected to the inner side of the inner bearing sliding ring (641), a drive motor (643) fixedly connected to the inner side of the cross (642), and an output end of the drive motor (643) penetrating through the cross (642) and connected to the overturning mechanism (65). The overturning mechanism (65) comprises a conical block (651) fixedly connected to the output end of the drive motor (643), extension springs (652) fixedly connected to the outer side of the conical block (651) at equal intervals, a hinged seat (653) fixedly connected to the outer side of the conical block (651), hinged grooves (654) arranged at equal intervals on the outer side of the hinged seat (653), and obstacle boards (655) rotatably connected to the inner sides of the hinged grooves (654).

2. The unmanned surveying and mapping vessel according to claim 1, characterized in that: The top of the surveying and mapping ship body (1) is provided with fixed blocks (7) fixedly connected to the two sides of the front end, and antennas (8) fixedly connected to the top of the fixed blocks (7).

3. The unmanned surveying and mapping vessel according to claim 2, characterized in that: The external corners of the surveying and mapping ship body (1) are provided with circular arc shapes, and the front end of the surveying and mapping ship body (1) is provided with a triangular streamline shape in plan view.

4. The unmanned surveying vessel according to claim 1, wherein: The two upper ends of the surveying and mapping ship body (1) are fixedly connected with lamp holders (9) at equal intervals, and the outer sides of the lamp holders (9) are fixedly connected with colored lamps (10).

5. The unmanned surveying vessel according to claim 4, wherein: The driving assembly (633) comprises a fixing frame (6331) fixedly connected to the inside of the mounting groove (632), a double-shaft motor (6332) fixedly connected to the inside of the fixing frame (6331), a lead screw (6333) fixedly connected to the two sides of the double-shaft motor (6332), a linear sliding groove (631) rotationally connected to the inside of the lead screw (6333), the lead screws (6333) at the two ends of the linear sliding groove (631) being oppositely threaded, an inner movable block (6334) threadedly connected to the outer surface of the lead screw (6333), the inner movable block (6334) being slidably connected to the inside of the linear sliding groove (631), and the bottom of the linear sliding groove (631) being connected to the top of the power mechanism (64).

6. The unmanned surveying vessel according to claim 5, wherein: The inside cross-sectional shape of the linear sliding groove (631) is provided with a convex shape, the side surface shape of the inner movable block (6334) is also provided with a convex shape, and the outer surface of the inner movable block (6334) is fixedly connected with a wear-resistant gasket.

7. The unmanned surveying vessel according to claim 4, wherein: The outer side of the hinged 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 the two sides of the mounting shell (62).

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