Unmanned surveying and mapping ship and water area cleaning control method based on unmanned surveying and mapping ship

Abstract

The invention relates to the technical field of water conservancy surveying and mapping, and provides an unmanned surveying and mapping ship which comprises a ship body and a garbage stirring assembly, the garbage stirring assembly comprises a stirring plate and a driving assembly, the stirring plate comprises a connecting plate and a water passing plate, the upper end of the water passing plate is hinged to the connecting plate through a hinge, and a torsional spring is arranged on the hinge; a water passing hole is formed in the water passing plate, and the driving assembly can drive the shifting plate to swing back and forth; the invention further discloses a water area cleaning control method based on the unmanned surveying and mapping ship, and the method is applied to the unmanned surveying and mapping ship. Garbage encountered in the advancing process of the ship body can be stably cleaned, and the surveying and mapping accuracy is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of water conservancy surveying and mapping, and in particular to an unmanned surveying and mapping ship and a water area clearing control method based on the unmanned surveying and mapping ship. Background Art

[0002] An unmanned surveying vessel, also known as an unmanned remote sensing vessel or an unmanned measurement vessel, is an unmanned vessel that measures underwater topography, landforms, water quality and other parameters. Its main work content includes but is not limited to: topographic mapping, landform surveys, water quality monitoring, marine resource surveys, and marine environment monitoring.

[0003] CN220948438U discloses an unmanned boat for surveying and mapping, including a surveying and mapping unmanned boat body, a first motor is arranged on the left side of the inner cavity of the surveying and mapping unmanned boat body, the output end of the first motor is fixedly connected to a driving gear, a toothed plate is meshed on the surface of the driving gear, a sealing plate is fixedly connected to the bottom of the toothed plate, a second motor is arranged on the top of the surveying and mapping unmanned boat body, a threaded rod is fixedly connected to the output end of the second motor, a threaded plate is threadedly connected to the surface of the threaded rod, an underwater surveying and mapping device is fixedly connected to the bottom of the threaded plate, and a water pump is fixedly connected to the top of the left side of the surveying and mapping unmanned boat body.

[0004] CN117657373B discloses a water surveying and mapping ship based on the Internet of Things, including an unmanned hull and a control terminal, wherein a cabin is arranged on the unmanned hull, and two sets of garbage shifting components with alternating actions are arranged at the bow of the unmanned hull, wherein the garbage shifting components include a shifting plate, which is connected to a filter plate with filter holes through a hinge, and a torsion spring is arranged on the hinge; the filter plate can only be flipped in one direction; a rotating shaft is fixedly arranged on the top of the shifting plate, and a swing arm is rotatably connected to the rotating shaft; the unmanned hull is provided with a first motor, and a first The output shaft of the motor is fixedly connected to the other end of the swing arm; a connecting rod is rotatably connected to one side of the toggle plate, and the other end of the connecting rod is hinged to the unmanned hull; when the first motor drives the swing arm to rotate, the swing arm can drive the toggle plate to swing back and forth; when the toggle plate toggles garbage, the toggle plate swings in a direction away from the unmanned hull and the toggle plate also has a forward extension movement relative to the unmanned hull; when the toggle plate moves in a direction close to the unmanned hull, the toggle plate can return quickly; the control terminal is remotely controlled and connected to the unmanned hull and the first motor respectively.

[0005] When an unmanned surveying vessel is measuring, it is easy to be affected by floating objects on the water area. For example, floating objects such as duckweed, garbage, branches and leaves affect the normal operation of the unmanned vessel on the water area. In the prior art, for example, the water surveying vessel disclosed in Patent Publication No. CN117657373B uses a toggle plate to push away the garbage at the bow to clean the forward direction of the unmanned vessel, so as to avoid the floating objects affecting the work of the unmanned vessel; but in actual use, since there are easily adsorbed garbage such as aquatic plants in the water area, the floating objects will be adsorbed on the toggle plate when the floating objects are pushed away, affecting the pushing of the floating objects. Therefore, it is necessary to clean the toggle plate regularly, which is inconvenient. In addition, the adsorption of floating objects on the toggle plate during the work in the water area will lead to subsequent cleaning work, which in turn affects the subsequent surveying and mapping work. Summary of the invention

[0006] When an unmanned surveying vessel is measuring, it is easy to be affected by floating objects on the water area. For example, floating objects such as duckweed, garbage, branches and leaves affect the normal operation of the unmanned vessel on the water area. In the prior art, for example, the water surveying vessel disclosed in Patent Publication No. CN117657373B uses a toggle plate to push away the garbage at the bow to clean the forward direction of the unmanned vessel, so as to avoid the floating objects affecting the work of the unmanned vessel; but in actual use, since there are easily adsorbed garbage such as aquatic plants in the water area, the floating objects will be adsorbed on the toggle plate when the floating objects are pushed away, affecting the pushing of the floating objects. Therefore, it is necessary to clean the toggle plate regularly, which is inconvenient. In addition, the adsorption of floating objects on the toggle plate during the work in the water area will lead to subsequent cleaning work, which in turn affects the subsequent surveying and mapping work.

[0007] In view of this, the present invention aims to provide an unmanned surveying and mapping vessel. In the present invention, the unmanned surveying and mapping vessel comprises a hull and a garbage moving assembly arranged at the bow of the hull;

[0008] The garbage moving assembly includes a moving plate and a driving assembly for driving the moving plate to swing; the moving plate includes a connecting plate and a water passing plate, the upper end of the water passing plate is hinged to the connecting plate through a hinge, a torsion spring is arranged on the hinge, and the water passing plate can rotate unidirectionally on the moving plate; a water passing hole is arranged on the water passing plate;

[0009] The driving assembly can drive the paddle plate to swing back and forth, and when the paddle plate paddles the garbage, it can drive the paddle plate to move away from the hull;

[0010] Among them, the driving assembly includes a driving motor, a swing arm, a rotating shaft and a connecting rod, the driving motor is installed on the hull, the rotating shaft is fixed on the top of the toggle plate, the swing arm is rotatably connected to the rotating shaft, one end of the swing arm is connected to the rotating shaft, and the other end of the swing arm is fixedly connected to the output shaft of the driving motor; the side of the toggle plate is rotatably connected to the connecting rod, and the other end of the connecting rod is hinged to the hull; when the driving motor drives the swing arm to rotate, the swing arm can drive the toggle plate to swing repeatedly, so as to push away the garbage and reset the toggle rod; specifically: when the toggle plate toggle the garbage, the driving motor drives the toggle plate to move to the side away from the hull to push away the garbage.

[0011] The connection plate is provided with a limit mechanism for limiting the rotation of the water pass plate, and the limit mechanism can limit the rotation of the water pass plate when the toggle plate is reset, so as to backwash the water pass hole by water flow.

[0012] Furthermore, the limiting mechanism includes a screw rod arranged on the connecting plate, a first motor for controlling the rotation of the screw rod, a screw sleeve threaded on the screw rod, and a scraper connected to the screw sleeve; a rubber strip is arranged on the side of the scraper facing the water flow plate, and the rubber strip and the scraper are bonded to facilitate replacement of the rubber strip, and the rubber strip abuts against the water flow plate.

[0013] Furthermore, a cleaning plate is provided on the connecting plate at a side away from the limiting mechanism, one side of the cleaning plate is hinged to the connecting plate, and a second motor for controlling the rotation of the cleaning plate is also provided on the connecting plate;

[0014] A cleaning head is provided on one side of the cleaning plate facing the water passing plate, and the cleaning head can pass through the water hole on the water passing plate to clean the water passing hole;

[0015] The cleaning plate is also provided with an air cavity, the air cavity is connected to an external air source, one end of the cleaning head is slidably connected to the cleaning plate, and a spring is provided outside the cleaning head;

[0016] The cleaning head is provided with a first valve, a second valve and a third valve, the first valve is provided on a side of the cleaning head facing the air cavity, the second valve is provided on a side of the cleaning head away from the air cavity, and the third valve is provided on a side of the cleaning head.

[0017] The present invention also discloses a water area clearing control method based on an unmanned surveying and mapping vessel, which is applied to the above-mentioned unmanned surveying and mapping vessel. The control method comprises:

[0018] Get information about the difficulty of cleaning garbage on the water board;

[0019] Determine a corresponding cleaning strategy according to the garbage cleaning difficulty information, where different cleaning strategies have different cleaning methods;

[0020] in,

[0021] The first cleaning strategy includes: limiting the rotation of the water pass plate when the water pass plate is reset, and backwashing the water pass plate by water flow;

[0022] The second cleaning strategy includes: jetting air toward the water-passing plate to clean the water-passing plate;

[0023] The third cleaning strategy includes: controlling the cleaning plate to rotate toward the direction of the shifting plate, clearing and cleaning the water holes of the water flow plate through the cleaning head, and pushing away the garbage adsorbed on the water flow plate.

[0024] Furthermore, the third cleaning strategy also includes: limiting the rotation of the water flow plate, and then controlling the cleaning plate to move toward the direction of the toggle plate, and after the cleaning head penetrates the water flow plate, controlling the cleaning head to continue to extend outward to push the garbage on the water flow plate away.

[0025] Furthermore, the third cleaning strategy also includes: after the cleaning head penetrates the water flow plate, controlling the cleaning head to jet cleaning toward the surface of the water flow plate.

[0026] Furthermore, the control method also includes an auxiliary cleaning strategy; the auxiliary cleaning strategy includes: controlling the scraper to scrape and clean the surface of the water pass plate.

[0027] Furthermore, the garbage cleaning difficulty information includes the shielding area information of the water holes on the water plate;

[0028] Determining a corresponding cleaning strategy according to the garbage cleaning difficulty information includes:

[0029] The contamination level of the water pass plate is determined according to the shielding area information of the water pass hole; and the corresponding cleaning strategy is determined according to the contamination level of the water pass plate.

[0030] Further, the pollution level includes a first pollution level, a second pollution level and a third pollution level;

[0031] The first pollution level, the second pollution level and the third pollution level correspond to the first cleaning strategy, the second cleaning strategy and the third cleaning strategy respectively.

[0032] Furthermore, the garbage cleaning difficulty information also includes confirming whether the garbage on the water-passing plate is easily adsorbed garbage;

[0033] If it is confirmed that the garbage on the water-passing plate is easily adsorbed garbage, an auxiliary cleaning strategy is executed; the auxiliary cleaning strategy can work together when the first cleaning strategy, the second cleaning strategy, and the third cleaning strategy are executed.

[0034] The unmanned surveying and mapping vessel and the water area cleaning method based on the unmanned surveying and mapping vessel disclosed in the present invention can stably push away the garbage encountered in the surveying and mapping vessel engineering process, avoid the garbage on the water surface affecting the normal surveying and mapping work, and improve the surveying and mapping accuracy; at the same time, different cleaning strategies can be formulated according to the different pollution degrees of the water pass plate, and a variety of modes can be used to stably clean the water pass plate to cope with the pollution of various garbage. There is no need for manual cleaning of the water pass plate, and the degree of automation is high and the use is stable.

[0035] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0037] Figure 1 A schematic diagram of a method flow chart of an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of the structure of a surveying and mapping vessel in one embodiment of the present invention;

[0039] Figure 3 It is a schematic diagram of the installation of a garbage moving assembly in one embodiment of the present invention;

[0040] Figure 4 It is a structural schematic diagram of a garbage moving assembly in one embodiment of the present invention;

[0041] Figure 5 It is a schematic diagram of the structure of a toggle plate in one embodiment of the present invention;

[0042] Figure 6 A schematic diagram of the structure of a cleaning plate in one embodiment of the present invention;

[0043] Figure 7 A schematic diagram of a side view of a cleaning plate in one embodiment of the present invention;

[0044] Figure 8 It is a partial cross-sectional schematic diagram of a cleaning plate in one embodiment of the present invention.

[0045] Description of reference numerals:

[0046] 1. Hull; 2. Toggle plate; 21. Connecting plate; 22. Water-passing plate; 221. Water-passing hole; 3. Driving assembly; 31. Driving motor; 32. Swing arm; 33. Connecting rod; 4. Limiting mechanism; 41. Screw rod; 42. First motor; 43. Screw sleeve; 44. Scraper; 45. Rubber strip; 5. Cleaning plate; 51. Cleaning head; 511. First valve; 512. Second valve; 513. Third valve; 52. Air cavity; 53. Spring. DETAILED DESCRIPTION

[0047] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0048] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices; "fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0050] When an unmanned surveying vessel is measuring, it is easy to be affected by floating objects on the water area. For example, floating objects such as duckweed, garbage, branches and leaves affect the normal work of the unmanned vessel on the water area. In the prior art, for example, the water area surveying vessel disclosed in Patent Publication No. CN117657373B uses a toggle plate 2 to push away the garbage at the bow to clean the forward direction of the unmanned vessel, so as to avoid the floating objects affecting the work of the unmanned vessel; but in actual use, since there are floating objects in the water area, such as garbage that is easily adsorbed, such as water plants, the floating objects will be adsorbed on the toggle plate 2 when the floating objects are pushed away, affecting the push of the floating objects. Therefore, it is necessary to clean the toggle plate 2 regularly, which is inconvenient. In addition, the adsorption of floating objects on the toggle plate 2 during the work in the water area will lead to subsequent cleaning work, which in turn affects the subsequent surveying and mapping work.

[0051] The present invention provides an unmanned surveying and mapping vessel, such as Figure 2 and Figure 3 As shown, in this embodiment, the unmanned surveying and mapping ship includes a hull 1 and a garbage moving assembly arranged at the bow of the hull 1; the garbage moving assembly is provided in two groups, which are respectively arranged on both sides of the bow, and the garbage moving assembly includes a moving plate 2 and a driving assembly 3 for driving the moving plate 2 to swing; the driving assembly 3 can drive the moving plate 2 to swing back and forth to perform the action of pushing away and recovering, and when the moving plate 2 moves the garbage, it can drive the moving plate 2 to move in the direction away from the hull 1; as shown in FIG. Figure 3 and Figure 4 As shown, the driving assembly 3 includes a driving motor 31, a swing arm 32, a rotating shaft and a connecting rod 33. The driving motor 31 is installed on the hull 1, and the rotating shaft is fixed on the top of the toggle plate 2. The swing arm 32 is rotatably connected to the rotating shaft, one end of the swing arm 32 is connected to the rotating shaft, and the other end of the swing arm 32 is fixedly connected to the output shaft of the driving motor 31; the side of the toggle plate 2 is rotatably connected to the connecting rod 33, and the other end of the connecting rod 33 is hinged to the hull 1; when the driving motor 31 drives the swing arm 32 to rotate, the swing arm 32 can drive the toggle plate 2 to swing repeatedly, so as to push away the garbage and reset the toggle rod, and the reciprocating swinging action trajectory forms a closed curve action trajectory; regarding the installation of the connecting rod 33, a mounting hole is opened on the side of the hull 1, one end of the connecting rod 33 is inserted into the mounting hole and intersected with the hull 1, and the mounting hole is used for the connecting rod 33 to swing left and right.

[0052] In one embodiment, a control terminal is also provided, and the control terminal remotely and wirelessly controls the movement of the hull 1 to perform remote wireless manipulation.

[0053] In one embodiment, in order to protect the hull 1, anti-collision columns are set on both sides of the hull 1; the hull 1 is protected; and the anti-collision columns can be set as a retractable structure. When the garbage moving assembly on one side moves the garbage, the anti-collision column on the other side extends to maintain the balance of the hull 1 and avoid capsizing.

[0054] In order to reduce the resistance of the tossing and facilitate the return and reset of the tossing plate 2; the tossing plate 2 is set as a connecting plate 21 and a water-passing plate 22, the upper end of the water-passing plate 22 is hinged to the connecting plate 21 by a hinge, and a torsion spring is arranged on the hinge, the torsion spring is used for resetting the water-passing plate 22, and the water-passing plate 22 can rotate unidirectionally on the connecting plate 21; water-passing holes 221 are evenly arranged on the water-passing plate 22, so that water can flow through the water-passing holes 221 when pushing garbage; the setting of the water-passing holes 221 reduces the resistance of the tossing plate 2 when pushing garbage, reduces energy consumption, and increases the speed of pushing garbage; the hinged setting of the water-passing plate 22 enables the water-passing plate 22 to flip under the impact of the water flow when the tossing plate 2 returns and resets, thereby reducing the resistance and achieving rapid reset.

[0055] In order to be able to rinse and clean the water flow plate 22 to a certain extent when garbage is adsorbed on the water flow plate 22; a limit mechanism 4 for limiting the rotation of the water flow plate 22 is provided on the connecting plate 21, and the limit mechanism 4 can limit the rotation of the water flow plate 22 when the toggle plate 2 is reset, so that the water flow hole 221 can be backwashed and cleaned by the water flow when the toggle plate 2 returns to reset.

[0056] In one embodiment, Figure 5 As shown, the limiting mechanism 4 is provided with a screw rod 41, a first motor 42, a threaded sleeve and a scraper 44; both ends of the screw rod 41 are mounted on the connecting plate 21 through bearings, the first motor 42 is mounted on the connecting plate 21, and the output shaft of the first motor 42 is connected to the screw rod 41 to control the rotation of the screw rod 41, the threaded sleeve 43 is sleeved on the screw rod 41 and is threadedly connected to the screw rod 41, and the scraper 44 is fixed on the threaded sleeve 43 and is arranged parallel to the connecting plate 21; a rubber strip 45 is provided on the side of the scraper 44 facing the water-passing plate 22, and the rubber strip 45 is bonded to the scraper 44 to facilitate the replacement of the rubber strip 45 , the rubber strip 45 is in contact with the water flow plate 22; a placement area for the scraper 44 to be placed and not in contact with the water flow plate 22 is provided on the side of the connecting plate 21; during cleaning, the first motor 42 controls the screw rod 41 to rotate, driving the screw sleeve 43 and the scraper 44 to the end and then returning, the scraper 44 contacts the surface of the water flow plate 22 to scrape the surface inside the water flow bar, and the rubber strip 45 on the scraper 44 scrapes the surface of the water flow plate 22 to scrape off the garbage adsorbed on the water flow plate 22, thereby achieving scraping and cleaning of the surface of the water flow plate 22; in other embodiments, the rubber strip 45 can be set as other cleaning parts, such as bristles.

[0057] In order to be able to clean and dredge the water holes 221 on the water plate 22; Figure 5 and Figure 6As shown, a cleaning plate 5 is provided on the connecting plate 21 at a side away from the limiting mechanism 4, one end of the cleaning plate 5 is hinged to the top of the connecting plate 21, and a second motor for controlling the rotation of the cleaning plate 5 is also provided on the connecting plate 21, and the output shaft of the second motor is fixedly connected to one side of the cleaning plate 5, and the rotation of the cleaning plate 5 is controlled by the second motor; a cleaning head 51 is provided on the side of the cleaning plate 5 facing the water-passing plate 22, and the number of the cleaning heads 51 corresponds to the number of the water-passing holes 221, and one cleaning head 51 is inserted into one water-passing hole 221 for dredging, and when the cleaning plate 5 is rotated to fit with the water-passing plate 22, the cleaning head 51 is inserted into the water-passing hole 221 for dredging, and the cleaning head 51 pushes the garbage in the water-passing hole 221 to the outside of the water-passing plate 22, and cleans the water-passing holes 221 on the water-passing plate 22; when cleaning is not performed through the cleaning plate 5, the cleaning plate 5 is set to be perpendicular to the water-passing plate 22 to avoid affecting the shifting of the garbage by the shifting plate 2.

[0058] In order to further improve the cleaning effect of the water plate 22, the air blowing cleaning is realized under a simple structure; Figure 7 and Figure 8 As shown, in one embodiment, an air cavity 52 is opened in the cleaning plate 5, and the air cavity 52 is connected to an external air source. As for the air source, it can be connected to the air pump on the hull 1 through a pipeline, or it can be directly connected to the air tank, and the air can be directly supplied by opening the valve; one end of the cleaning head 51 is set to be slidably connected to the cleaning plate 5, and the outer sleeve of the cleaning head 51 is provided with a spring 53, and the spring 53 is used to push the cleaning head 51 toward the air cavity 52 to achieve the reset work of the cleaning head 51; a first valve 511, a second valve 512 and a third valve 513 are provided on the cleaning head 51, the first valve 511 is arranged on the side of the cleaning head 51 facing the air cavity 52, the second valve 512 is arranged on the side of the cleaning head 51 away from the air cavity 52 (that is, facing the water-passing plate 22), and the third valve 513 is arranged on the side of the cleaning head 51; a spiral rubber layer is provided on the outer wall of the cleaning head 51 to flexibly scrape and clean the inner wall of the water-passing hole 221.

[0059] The first valve 511, the second valve 512 and the third valve 513 on the cleaning head 51 divide the cleaning state of the cleaning head 51, as follows:

[0060] The first state: the first valve 511, the second valve 512 and the third valve 513 are all in a closed state, and the gas source is not supplied, and the cleaning plate 5 is in an uncleaned state;

[0061] Second state: the first valve 511, the second valve 512 and the third valve 513 are all in the closed state, and the air source is supplying air. At this time, the cleaning plate 5 rotates. When the cleaning plate 5 is attached to the water passing plate 22, the air source is supplying air, and the air pressure in the air cavity 52 increases, pushing the cleaning head 51 to extend outward to pass through the water passing hole 221, scraping the inner wall of the water passing hole 221 to push out the garbage;

[0062] In the third state, the first valve 511 and the second valve 512 are opened, the third valve 513 is closed, and the air source is supplied. During the process of controlling the cleaning plate 5 to rotate toward the water-passing plate 22, the air source is controlled to supply air, and the air enters the air cavity 52, passes through the first valve 511 and enters the cleaning head 51, and the air is sprayed from the second valve 512 toward the water-passing plate 22 to blow and clean the water-passing plate 22;

[0063] In the fourth state, based on the second state, that is, after the cleaning head 51 is pushed at least partially out of the water hole 221, the air source is pressurized to supply air (to maintain the cleaning head 51 in the outgoing state), and then the first valve 511 and the third valve 513 are opened. After the gas enters the cleaning head 51, it is discharged from the third valve 513, that is, it is discharged from the side of the cleaning head 51 to blow and clean the cleaning plate 5 from the side.

[0064] like Figure 1 As shown, an embodiment of the present invention provides a water area cleaning control method based on an unmanned surveying ship, which is applied to the above-mentioned unmanned surveying ship. The water area cleaning control method is used to clean the water passing plate 22 on the merchant's unmanned surveying ship. Specifically, the water area cleaning control method includes:

[0065] Step S101: Obtaining information on the difficulty of cleaning garbage on the water-passing plate 22;

[0066] Step S102: determining a corresponding cleaning strategy according to the garbage cleaning difficulty information, where different cleaning strategies have different cleaning methods;

[0067] In step S101, the garbage cleaning difficulty information includes the blocking area information of the water hole 221 on the water plate 22, wherein determining the corresponding cleaning strategy based on the garbage cleaning difficulty information includes: determining the pollution level of the water plate 22 based on the blocking area information of the water hole 221; determining the corresponding cleaning strategy based on the pollution level of the water plate 22.

[0068] The blocked area information of the water hole 221 includes the blockage ratio of the water hole 221, obtaining the image of the water plate 22, obtaining the stain area in the water hole 221, and the stain area / area of ​​the water hole 221 = blockage ratio; when there are no impurities in all the water holes 221 of the water plate 22, the blockage ratio of the water plate 22 is 0%; the real-time image of the water plate 22 can be obtained by the camera mechanism on the hull 1.

[0069] Based on this, the pollution levels are set to the first pollution level (blockage ratio 10%-30%), the second pollution level (blockage ratio 30-50%) and the third pollution level (blockage ratio greater than 50%); among them, the first pollution level, the second pollution level and the third pollution level correspond to the first cleaning strategy, the second cleaning strategy and the third cleaning strategy respectively.

[0070] In one embodiment, the pollution level is determined to be the first pollution level, and cleaning is performed using a first cleaning strategy. The first cleaning strategy includes: limiting the rotation of the water plate 22 when the water plate 22 is reset after pushing the garbage. In this embodiment, the rotation of the water plate 22 is limited by limiting the position through a limiting mechanism 4. When the toggle plate 2 is reset, the rotation of the water plate 22 is limited, and the quick return function is lost. However, during the return process, water flows through the water hole 221 of the water plate 22. The flow of water is opposite to that when pushing the garbage. Therefore, the garbage that enters the water hole 221 when pushing the garbage is washed away by the reverse flowing water. At this time, the cleaning head 51 is in the first state.

[0071] In one embodiment, the pollution level is determined to be the second pollution level, and cleaning is performed using a second cleaning strategy, the second cleaning strategy comprising: jetting toward the water pass plate 22, the jet being sprayed by the cleaning head 51 to clean the water pass plate 22, and performing high-pressure blowing cleaning on the water pass plate 22 by spraying high-pressure gas; limiting the blowing time, and matching the blowing time with the specific blockage ratio of the second pollution level, for example, when the blockage ratio is 30%, the blowing time is controlled to be 3 seconds, and when the blockage ratio is 45%, the blowing time is controlled to be 4.5 seconds; at this time, the cleaning head 51 is in the third state.

[0072] In one embodiment, the pollution level is determined to be the third pollution level, and cleaning is performed using the third cleaning strategy. The third cleaning strategy includes: controlling the cleaning plate 5 to rotate in the direction of the toggle plate 2, and clearing and cleaning the water hole 221 of the water plate 22 through the cleaning head 51, pushing out the garbage blocked in the water hole 221, and pushing away the garbage adsorbed on the water plate 22; at this time, the cleaning head 51 is in the second state or the fourth state, and the fourth state is an advanced version of the second state, which can be set. In every three times of the third cleaning strategy, the cleaning head 51 is in the second state in the first two times, and in the fourth state in the last time.

[0073] Among them, before the water hole 221 is unblocked, the rotation of the water plate 22 needs to be restricted to ensure the stability of cleaning, and after the cleaning head 51 passes through the water plate 22, the cleaning head 51 is continued to be controlled to continue to extend outward to push away the garbage adsorbed on the water plate 22; and after the cleaning head 51 passes through the water plate 22, the cleaning head 51 is controlled to spray jets toward the surface of the water plate 22 for cleaning.

[0074] In one embodiment, the garbage cleaning difficulty information also includes confirming whether the garbage on the water pass plate 22 is easily adsorbed garbage; if it is confirmed that the garbage on the water pass plate 22 is easily adsorbed garbage, an auxiliary cleaning strategy is executed; the auxiliary cleaning strategy can work together when the first cleaning strategy, the second cleaning strategy, and the third cleaning strategy are executed; in this embodiment, the auxiliary cleaning strategy is executed before the first cleaning strategy, the second cleaning strategy, and the third cleaning strategy; the auxiliary cleaning strategy includes: controlling the scraper 44 to scrape and clean the surface of the water pass plate 22.

[0075] In one embodiment, a fifth cleaning strategy is included. When the pollution level is determined to be the first pollution level and the garbage is easily adsorbed, cleaning is performed using the first cleaning strategy and the auxiliary cleaning strategy. The water pass plate 22 is first scraped and cleaned by the scraper 44 on the limiting mechanism 4, and then the rotation of the water pass plate 22 is restricted. During the return process of the toggle plate 2, the garbage that enters the water pass hole 221 when pushing the garbage is washed away by the reverse flowing water flow.

[0076] In one embodiment, a sixth cleaning strategy is included. When the pollution level is determined to be the second pollution level and the garbage is easily adsorbed garbage, cleaning is performed using the second cleaning strategy and the auxiliary cleaning strategy. The water pass plate 22 is first scraped and cleaned by the scraper 44 on the limiting mechanism 4, and then the water pass plate 22 is sprayed with air. The water pass plate 22 is cleaned by high-pressure blowing through the spray of high-pressure gas.

[0077] In one embodiment, the seventh cleaning strategy is included. When the pollution level is determined to be the third pollution level and the garbage is easily adsorbed, cleaning is performed using the third cleaning strategy and the auxiliary cleaning strategy. The water flow plate 22 is first scraped and cleaned by the scraper 44 on the limiting mechanism 4, and then the cleaning plate 5 is controlled to rotate in the direction of the toggle plate 2. The water flow hole 221 of the water flow plate 22 is cleared and cleaned by the cleaning head 51, and the garbage blocked in the water flow hole 221 is pushed out, and the garbage adsorbed on the water flow plate 22 is pushed away.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An unmanned surveying and mapping vessel, characterized in that: It comprises a hull (1) and a garbage moving assembly arranged at the bow of the hull (1); The garbage moving assembly comprises a moving plate (2) and a driving assembly (3) for driving the moving plate (2) to swing; the moving plate (2) comprises a connecting plate (21) and a water passing plate (22); the upper end of the water passing plate (22) is hinged to the connecting plate (21) via a hinge, a torsion spring is arranged on the hinge, and the water passing plate (22) can rotate unidirectionally on the moving plate (2); a water passing hole (221) is provided on the water passing plate (22); The driving assembly (3) can drive the moving plate (2) to swing back and forth, and when the moving plate (2) moves the garbage, it can drive the moving plate (2) to move in a direction away from the hull (1); The connection plate (21) is provided with a limiting mechanism (4) for limiting the rotation of the water-passing plate (22); the limiting mechanism (4) can limit the rotation of the water-passing plate (22) when the toggle plate (2) is reset.

2. The unmanned surveying vessel according to claim 1, characterized in that: The limiting mechanism (4) comprises a screw rod (41) arranged on the connecting plate (21), a first motor (42) for controlling the rotation of the screw rod (41), a screw sleeve (43) threadedly sleeved on the screw rod (41), and a scraper (44) connected to the screw sleeve (43); A rubber strip (45) is provided on one side of the scraper (44) facing the water-passing plate (22), and the rubber strip (45) abuts against the water-passing plate (22).

3. The unmanned surveying and mapping vessel according to claim 1, characterized in that: A cleaning plate (5) is provided on the connecting plate (21) at a side away from the limiting mechanism (4), one side of the cleaning plate (5) is hinged to the connecting plate (21), and a second motor for controlling the rotation of the cleaning plate (5) is also provided on the connecting plate (21); A cleaning head (51) is provided on one side of the cleaning plate (5) facing the water passing plate (22), and the cleaning head (51) can pass through the water hole on the water passing plate (22) to clean the water passing hole (221); An air cavity (52) is also provided in the cleaning plate (5), and the air cavity (52) is connected to an external air source. One end of the cleaning head (51) is slidably connected to the cleaning plate (5), and a spring (53) is provided outside the cleaning head (51); The cleaning head (51) is provided with a first valve (511), a second valve (512) and a third valve (513); the first valve (511) is provided on a side of the cleaning head (51) facing the air cavity (52); the second valve (512) is provided on a side of the cleaning head (51) away from the air cavity (52); and the third valve (513) is provided on a side of the cleaning head (51).

4. A water area cleaning control method based on an unmanned surveying and mapping vessel, applied to the unmanned surveying and mapping vessel as claimed in claim 1, characterized in that: The control method comprises: Obtaining information on the difficulty of cleaning garbage on the water-passing plate (22); Determine a corresponding cleaning strategy according to the garbage cleaning difficulty information, where different cleaning strategies have different cleaning methods; in, The first cleaning strategy comprises: when the water pass plate (22) is reset, the water pass plate (22) is restricted from rotating, and the water pass plate (22) is backwashed by water flow; The second cleaning strategy comprises: jetting air toward the water pass plate (22) to clean the water pass plate (22); The third cleaning strategy comprises: controlling the cleaning plate (5) to rotate in the direction of the shifting plate (2), clearing and cleaning the water holes (221) of the water passing plate (22) through the cleaning head (51), and pushing away the garbage adsorbed on the water passing plate (22).

5. The water area cleaning control method based on an unmanned surveying vessel according to claim 4 is characterized in that: The third cleaning strategy also includes: The water-passing plate (22) is restricted from rotating, and then the cleaning plate (5) is controlled to move toward the direction of the shifting plate (2). After the cleaning head (51) penetrates the water-passing plate (22), the cleaning head (51) is controlled to continue to extend outward to push away the garbage on the water-passing plate (22).

6. The water area cleaning control method based on an unmanned surveying vessel according to claim 5 is characterized in that: The third cleaning strategy also includes: After the cleaning head (51) penetrates the water flow plate (22), the cleaning head (51) is controlled to spray air toward the surface of the water flow plate (22) for cleaning.

7. The water area cleaning control method based on an unmanned surveying vessel according to any one of claims 4 to 6, characterized in that: The control method also includes an auxiliary cleaning strategy; The auxiliary cleaning strategy includes: controlling the scraper (44) to scrape and clean the surface of the water flow plate (22).

8. The water area cleaning control method based on an unmanned surveying vessel according to claim 7 is characterized in that: The garbage cleaning difficulty information includes information on the shielding area of ​​the water holes (221) on the water plate (22); Determining a corresponding cleaning strategy according to the garbage cleaning difficulty information includes: The pollution level of the water pass plate (22) is determined according to the shielding area information of the water pass hole (221); and the corresponding cleaning strategy is determined according to the pollution level of the water pass plate (22).

9. The water area cleaning control method based on an unmanned surveying vessel according to claim 8 is characterized in that: The pollution levels include the first pollution level, the second pollution level and the third pollution level; The first pollution level, the second pollution level and the third pollution level correspond to the first cleaning strategy, the second cleaning strategy and the third cleaning strategy respectively.

10. The water area cleaning control method based on an unmanned surveying vessel according to claim 7, characterized in that: The garbage cleaning difficulty information also includes confirming whether the garbage on the water-passing plate (22) is easily adsorbed garbage; If it is confirmed that the garbage on the water-passing plate (22) is easily adsorbed garbage, an auxiliary cleaning strategy is executed; the auxiliary cleaning strategy can work together when the first cleaning strategy, the second cleaning strategy, and the third cleaning strategy are executed.

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