Navigation channel monitoring unmanned ship

Abstract

The invention relates to the technical field of unmanned ships, and discloses a channel monitoring unmanned ship which comprises a ship body, a driving axle is transversely and rotationally arranged at the position, in front of the gravity center, of the ship body, and floating housings floating on the water surface are installed on the two sides of the ship body correspondingly; the two ends of the drive axle are arranged in the floating cover shell in a penetrating mode, a drive end piece is installed in the drive axle, an auxiliary drive mechanism is rotationally arranged on the drive end piece, a driving frame is arranged on the boat body, and the structures, located on the two sides of the boat body, of the driving frame are connected to the drive axle. According to the channel monitoring unmanned ship, when the ship encounters strong cross flow, deflection thrust is generated on the water swing mechanism at the bottom under the interaction of thrust generated by advancing of the ship body and the cross flow, then the deflection thrust is reflected to the main shaft through the bidirectional motor by means of the tracking following mechanism, and then the ship body is driven to rotate. And the auxiliary driving mechanism provides the unmanned ship with an adaptively-corrected pulling and propelling force in front of the gravity center of the ship body, so that the stable course and speed are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned boats, and specifically to an unmanned boat for waterway monitoring. Background Art

[0002] With the continuous development of the shipping industry and the continuous advancement of waterway regulation projects, waterway regulation structures such as beach protection projects and waterway regulation projects play a vital role in maintaining waterway depth, ensuring safe navigation of ships, and promoting regional economic development. Therefore, the demand for waterway monitoring is increasing.

[0003] However, some waterways are located at the mouths of inland rivers, such as the Yangtze River Estuary. As a key hub connecting the Yangtze River Basin with the ocean, it is also one of the busiest waterways and a core strategic area for the development of the Yangtze River Economic Belt. Therefore, the requirements for waterway monitoring are relatively high. Furthermore, some inland rivers and coastal waterway regulation structures are located in waters with complex bottom sediments, turbulent currents, and turbulent flow, posing significant challenges to monitoring. With the significant progress made in recent years in the field of unmanned boats, there is an urgent need for unmanned boats as an alternative monitoring device to reduce the risks of manned boat operations.

[0004] At present, the structure of unmanned boats is mainly designed for operations in marine environments. Faced with the complex water flow conditions of inland rivers, their power systems have certain limitations. Therefore, in existing technologies, unmanned boats are generally used in inland waterway monitoring with relatively insufficient power. It is difficult to maintain a stable course and speed under strong cross-current conditions, and cannot meet the requirements of inland waterway regulation and building monitoring for unmanned boats to operate under complex power conditions. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the invention provides a channel monitoring unmanned boat to solve the problems mentioned in the above background.

[0006] The invention provides the following technical solution: a waterway monitoring unmanned boat, comprising: a hull, a drive axle being laterally rotatably mounted in front of the center of gravity of the hull, a buoyancy shell being mounted on both sides of the hull, a drive end piece being mounted inside the buoyancy shell at both ends, a secondary drive mechanism being rotatably mounted on the drive end piece, an active frame being mounted on the hull, and the active frame being located on both sides of the hull and connected to the drive axle;

[0007] The drive axle is expanded in the middle section of the hull to form an accommodation space. A main shaft is provided for rotation inside the hull, and both ends of the main shaft respectively penetrate into the drive end members at both ends of the drive axle and are linked to the auxiliary drive mechanism. A water swing frame is integrally provided on the outer wall of the expanded part of the drive axle, and a water swing mechanism is swingably provided on the water swing frame. The structure at the top of the water swing mechanism penetrates into the drive axle through a mechanical seal and is provided with a tracking follower mechanism therein.

[0008] The tracking following mechanism includes an infrared following mechanism mounted on the top structure of the water swing mechanism, a first volute is provided on the main shaft, the outer edge of the first volute is engaged with a first end face gear rotatably arranged inside the drive bridge, the outer edge of the first end face gear is processed to form a tooth mouth that engages with the infrared following mechanism, and a bidirectional motor connected to the main shaft through an output shaft is provided inside the drive bridge.

[0009] Preferably, the active frame includes thrust arms located on both sides of the hull and one end of which is arranged on the drive bridge, and the thrust arms located on both sides of the hull are connected as a whole by a connecting rod;

[0010] A push frame with a frame formed by two parallel guide rods is installed on the hull, and a screw rod parallel to the guide rod is rotatably arranged in the middle of the push frame. A push-and-swing rod that slides with the guide rod is threaded on the screw rod, and both ends of the push-and-swing rod are provided with round rods that penetrate into the groove and slide with it. One end of the screw rod passes through the push frame and is connected to the output shaft of the second motor installed on the hull through a coupling.

[0011] Preferably, the buoyancy shell includes a carrier shell made of lightweight material, and a foam-filled interlayer is provided inside the carrier shell. One side of the carrier shell is connected to a wall plate through an integrally provided short rod, and the wall plate is fully adapted to the shape of the side of the hull.

[0012] Preferably, the tail and bottom of the carrier shell are both open-ended to form a storage space, a through opening is provided in the middle of the carrier shell which passes through the middle from top to bottom, and a connecting groove corresponding to the through opening is provided on the side of the carrier shell close to the attached wall plate, the end of the drive axle is installed with the drive end piece in the through opening through the connecting groove, a carrier groove is provided at the top of the front section of the carrier shell, and a drainage outlet is provided on the inner wall of the carrier groove.

[0013] Preferably, the drive axle is provided with ceramic bearings on both sides of the bulge for rotation with the hull;

[0014] A storage groove for storing the water swing rack is provided in the middle of the boat body.

[0015] Preferably, the water swing frame includes a water receiving frame that is invertedly suspended in a P shape on the drive axle, and the water swing mechanism is swingably located in the closed frame of the P shape of the water receiving frame;

[0016] A pressure receiving groove is provided inside the vertical section of the water-facing frame connected to the drive bridge, and a compression spring is accommodated in the inner wall of the pressure receiving groove. A pulling rope passing through the middle of the compression spring is provided inside the pressure receiving groove, and a pressure-sealing ball for compressing the compression spring is provided on the pulling rope at the bottom of the compression spring. A rope passage cavity for passing the pulling rope is provided in the transverse section of the bottom of the water-facing frame;

[0017] One end of the pulling rope passes through the top of the inner wall of the pressure collecting groove and is connected to the hull, and the other end of the pulling rope passes through the pressure collecting groove and the rope cavity and is connected to the water swing mechanism. The length of the pulling rope arranged between the pressure sealing ball and the water swing mechanism leaves room for the water supply swing mechanism to swing.

[0018] Preferably, the water swing mechanism includes a swing shaft rod rotatably arranged on a water swing frame, the top of the swing shaft rod passes through the drive bridge through a mechanical seal, the side of the swing shaft rod is provided with a paddle plate for swinging with the water flow, and a rope buckle for connecting a rope is provided at a corner of the bottom of the paddle plate.

[0019] Preferably, the infrared following mechanism includes a turntable mounted on the structure of the water pendulum mechanism located inside the drive axle, the turntable is coaxially covered with a light shield, the top of the light shield is integrally provided with an attachment gear for engaging with the first end face gear, the edge of the light shield is provided with an embedding groove for embedding an infrared sensor, the edge of the turntable is integrally provided with a painted ridge for coating a black line, and the position of the painted ridge corresponds to the position of the infrared sensor.

[0020] Preferably, the driving end piece includes a joint cover installed at the end of the driving bridge, and a second volute is provided on the main shaft passing through the driving bridge into the joint cover. The outer edge of the second volute is engaged with a first spur gear, and the first spur gear is sleeved on the auxiliary drive mechanism passing through the joint cover.

[0021] Preferably, the auxiliary drive mechanism includes an auxiliary drive propeller shell rotatably arranged on the driving end member, a long connecting shaft is rotatably arranged inside the auxiliary drive propeller shell, the top of the long connecting shaft is connected to the first motor output shaft arranged at the top of the auxiliary drive propeller shell, and the first motor is arranged on the auxiliary drive propeller shell through a waterproof shell, the bottom end of the long connecting shaft is provided with a second spur gear, and the bottom end of the auxiliary drive propeller shell is rotatably arranged inside the short connecting shaft, one end of the short connecting shaft is provided with a second end face gear for meshing with the second spur gear in the auxiliary drive propeller shell, and the other end of the short connecting shaft is provided with a blade on the outside of the auxiliary drive propeller shell.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. This channel monitoring unmanned boat has an auxiliary drive mechanism set in front of the center of gravity of the boat body through the drive bridge. In this way, in addition to the jet propeller at the rear of the boat body, additional side power is added to increase the power of the unmanned boat on the inland waterway. When encountering a strong cross current, the forward thrust of the boat body interacts with the cross current to generate a deflection thrust on the water swing mechanism at the bottom. Then, the tracking following mechanism uses the bidirectional motor to react the deflection thrust to the main shaft. The rotation of the main shaft is used to control the auxiliary drive mechanism to drive toward the water surface where the cross current and the forward thrust of the boat body are combined. Then, the auxiliary drive mechanism gives the unmanned boat an adaptive correction pulling and propulsion force in front of the center of gravity of the boat body, thereby ensuring a stable course and speed, meeting the needs of the unmanned boat to operate under complex power conditions.

[0024] 2. The channel monitoring unmanned boat controls the overall rotation of the drive bridge by setting an active frame. When the unmanned boat is sailing in the flat flow area, if it has sufficient heading thrust, it can use the overall rotation of the drive bridge to retract the water swing mechanism and the auxiliary drive mechanism to avoid excessive speed or sinking into the water and getting caught on aquatic plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the invention;

[0026] Figure 2 This is a schematic diagram of the invention looking up;

[0027] Figure 3 This is a schematic diagram of the cross-sectional structure of the drive axle of the invention;

[0028] Figure 4 This is a schematic diagram of the side section structure of the invented boat;

[0029] Figure 5 This is a schematic diagram of the structure of the invented boat after the buoyancy shell is removed;

[0030] Figure 6 This is a schematic diagram of the active frame structure of the invention;

[0031] Figure 7 This is a schematic diagram of the floating shell structure of the invention;

[0032] Figure 8 This is a schematic diagram of the overall structure of the invented drive axle;

[0033] Figure 9 This is a schematic diagram of the side cross-section structure of the water swing frame;

[0034] Figure 10 This is a schematic diagram of the structure of the tracking following mechanism;

[0035] Figure 11 This is a schematic diagram of the disassembled structure of the invented infrared following mechanism;

[0036] Figure 12 This is a schematic diagram of the disassembled structure of the driving end piece of the invention;

[0037] Figure 13 This is a schematic diagram of the disassembled structure of the invented auxiliary drive mechanism;

[0038] Figure 14 This is a schematic diagram of the structure of the auxiliary drive mechanism after it is folded;

[0039] Figure 15 This is a schematic diagram of the structure of the auxiliary drive mechanism when viewed from above.

[0040] In the figure: 1, hull; 2, drive bridge; 3, main shaft; 4, water swing mechanism; 41, swing shaft rod; 42, paddle; 5, tracking following mechanism; 51, infrared following mechanism; 511, turntable; 512, light shield; 513, surface gear; 514, mounting groove; 515, infrared sensor; 516, painted ridge; 52, first volute; 53, first end gear; 6, drive end piece; 61, second volute; 62, first spur gear; 63, joint cover; 7, auxiliary drive mechanism; 71, auxiliary drive paddle housing; 72, long connecting shaft; 73, first motor; 74, second spur gear; 75, Short connecting shaft; 76, second end gear; 77, blade; 8, floating cover; 81, carrier shell; 82, attached wall plate; 83, through port; 84, carrier slot; 85, connecting slot; 9, active frame; 91, dynamic push arm; 92, connecting rod; 93, strip slot; 94, push frame; 95, guide rod; 96, screw rod; 97, push-swing rod; 98, round rod; 99, second motor; 10, water swing frame; 101, water-facing frame; 102, pressure receiving slot; 103, compression spring; 104, rope chamber; 105, pulling rope; 106, pressure sealing ball; 11, storage slot; 12, ceramic bearing; 13, bidirectional motor. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0042] See also Figure 1-15 A waterway monitoring unmanned boat comprises: a hull 1, a drive bridge 2 being rotatably arranged in front of the center of gravity of the hull 1, a buoyancy shell 8 floating on the water surface being installed on both sides of the hull 1, the two ends of the drive bridge 2 being respectively provided through the inside of the buoyancy shell 8 and having drive end members 6 installed therein, a secondary drive mechanism 7 being rotatably arranged on the drive end member 6, an active frame 9 being provided on the hull 1, and the active frame 9 being located on both sides of the hull 1 and connected to the drive bridge 2;

[0043] The drive axle 2 is bulged in the middle section of the hull 1 to form an accommodation space. A main shaft 3 is rotatably installed inside the hull 1. The two ends of the main shaft 3 respectively penetrate the drive end pieces 6 at both ends of the drive axle 2 and are linked to the auxiliary drive mechanism 7. A water swing frame 10 is integrally installed on the outer wall of the bulged part of the drive axle 2. A water swing mechanism 4 is swingably installed on the water swing frame 10. The top structure of the water swing mechanism 4 penetrates the drive axle 2 through a mechanical seal and is provided with a tracking follower mechanism 5.

[0044] The tracking following mechanism 5 includes an infrared following mechanism 51 mounted on the top structure of the water swing mechanism 4, a first volute 52 is provided on the main shaft 3, the outer edge of the first volute 52 is engaged with a first end face gear 53 rotatably arranged inside the drive bridge 2, and the outer edge of the first end face gear 53 is processed to form a tooth mouth that engages with the infrared following mechanism 51, and a bidirectional motor 13 connected to the main shaft 3 through an output shaft is provided inside the drive bridge 2.

[0045] The active frame 9 includes a push arm 91 located on both sides of the hull 1 and one end of which is arranged on the drive bridge 2, and the push arms 91 located on both sides of the hull 1 are connected as a whole by a connecting rod 92;

[0046] A push frame 94 is installed on the hull 1, and a frame is formed by two parallel guide rods 95. A screw rod 96 parallel to the guide rod 95 is rotatably set in the middle of the push frame 94. A push-rocker rod 97 that slides with the guide rod 95 is threaded on the screw rod 96, and both ends of the push-rocker rod 97 are provided with a round rod 98 that penetrates into the groove 93 and slides with it. One end of the screw rod 96 passes through the push frame 94 and is connected to the output shaft of the second motor 99 installed on the hull 1 through a coupling.

[0047] That is, when the unmanned boat is sailing in the flat flow area, if it has sufficient heading thrust, it can drive the drive bridge 2 to rotate as a whole, and store the water swing mechanism 4 and the auxiliary drive mechanism 7 connected to the drive bridge 2.

[0048] Among them, the floating shell 8 includes a carrier shell 81 made of lightweight material, and a foam-filled interlayer is arranged inside the carrier shell 81. One side of the carrier shell 81 is connected to a wall plate 82 through an integrally arranged short rod, and the wall plate 82 is fully adapted to the shape of the side of the hull 1.

[0049] Among them, the tail and bottom of the carrier shell 81 are both open to form a storage space. A through opening 83 is opened in the middle of the carrier shell 81 from top to bottom, and a connecting groove 85 corresponding to the through opening 83 is set on the side of the carrier shell 81 close to the wall plate 82. The end of the drive axle 2 is installed with the drive end piece 6 in the through opening 83 through the connecting groove 85. A carrier groove 84 is opened at the top of the front section of the carrier shell 81, and a drainage outlet is set on the inner wall of the carrier groove 84.

[0050] The drive axle 2 is provided with ceramic bearings 12 on both sides of the bulge, which rotate with the hull 1;

[0051] A receiving slot 11 for receiving the water swing rack 10 is provided in the middle of the hull 1 .

[0052] The water swing frame 10 includes a water receiving frame 101 that is invertedly suspended in a P shape on the drive bridge 2, and the water swing mechanism 4 is swingably located in the closed frame of the P shape of the water receiving frame 101;

[0053] A pressure receiving groove 102 is provided inside the vertical section of the water-facing frame 101 connecting to the drive axle 2. A compression spring 103 is accommodated in the inner wall of the pressure receiving groove 102. A pulling rope 105 is provided inside the pressure receiving groove 102 and passes through the middle of the compression spring 103. A pressure-sealing ball 106 for compressing the compression spring 103 is provided on the pulling rope 105 at the bottom of the compression spring 103. A rope passage cavity 104 for passing the pulling rope 105 is provided in the horizontal section at the bottom of the water-facing frame 101.

[0054] One end of the pulling rope 105 passes through the top of the inner wall of the pressure collecting groove 102 and is connected to the hull 1, and the other end of the pulling rope 105 passes through the pressure collecting groove 102 and the rope cavity 104 and is connected to the water swing mechanism 4. The length of the pulling rope 105 arranged between the pressure sealing ball 106 and the water swing mechanism 4 leaves enough room for the water swing mechanism 4 to swing.

[0055] That is, when the water swing frame 10 is retracted as the drive axle 2 is driven by the active frame 9, the pulling rope 105, one end of which is fixed on the hull 1, will be pulled as the drive axle 2 rotates, thereby tightening the length of the pulling rope 105, causing the water swing mechanism 4 to gradually center under the pulling, and then smoothly enter the pressure receiving groove 102.

[0056] Among them, the water swing mechanism 4 includes a swing shaft rod 41 rotatably set on the water swing frame 10. The top of the swing shaft rod 41 passes through the drive bridge 2 through a mechanical seal. The side of the swing shaft rod 41 is provided with a paddle plate 42 for swinging with the water flow, and a rope buckle for connecting a rope is provided at a corner of the bottom of the paddle plate 42.

[0057] Among them, the infrared following mechanism 51 includes a turntable 511 which is mounted on the structure of the water swing mechanism 4 located inside the drive axle 2. The turntable 511 is coaxially covered with a light shield 512. The top of the light shield 512 is integrally provided with an attachment gear 513 for engaging with the first end face gear 53. The light shield 512 is provided with an embedding groove 514 along the edge for embedding the infrared sensor 515. The turntable 511 is integrally provided with a colored ridge 516 for coating a black line along the edge, and the position of the colored ridge 516 corresponds to the position of the infrared sensor 515.

[0058] It should be noted that the infrared following mechanism 51 in this solution is an adaptively designed structure based on the infrared following trolley. Therefore, the control circuit and internal system settings in the infrared following mechanism 51 can directly apply the existing equipment on the infrared following trolley. The infrared sensor 515 models include but are not limited to the common TCRT5000 and ITR20001 / T on the market, etc.

[0059] Among them, the driving end piece 6 includes a joint cover 63 installed at the end of the driving bridge 2, and a second volute 61 is provided on the main shaft 3 that passes through the driving bridge 2 and enters the joint cover 63. The outer edge of the second volute 61 is engaged with a first straight gear 62, and the first straight gear 62 is sleeved on the auxiliary drive mechanism 7 that passes through the joint cover 63.

[0060] Among them, the auxiliary drive mechanism 7 includes an auxiliary drive paddle shell 71 rotatably set on the driving end member 6, and a long connecting shaft 72 is rotatably set inside the auxiliary drive paddle shell 71. The top of the long connecting shaft 72 is connected to the output shaft of the first motor 73 set at the top of the auxiliary drive paddle shell 71, and the first motor 73 is set on the auxiliary drive paddle shell 71 through a waterproof shell. The bottom end of the long connecting shaft 72 is provided with a second spur gear 74, and the internal rotation of the bottom end of the auxiliary drive paddle shell 71 is provided with a short connecting shaft 75. One end of the short connecting shaft 75 is provided in the auxiliary drive paddle shell 71 with a second end face gear 76 for meshing with the second spur gear 74, and the other end of the short connecting shaft 75 is installed with a blade 77 on the outside of the auxiliary drive paddle shell 71.

[0061] Generally, the pitch of the second volute 61 is set to be a geometrically enlarged setting of the pitch of the first volute 52, and the number of teeth on the first spur gear 62 corresponds to the number of teeth on the end face of the first end face gear 53. This makes the deflection angle of the second volute 61 and the first volute 52 tend to be synchronized with the water swing mechanism 4 under the coaxial rotation of the main shaft 3, so that the auxiliary drive mechanism 7 faces the comprehensive direction of the water flow in front of the hull 1.

[0062] While embodiments of the invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and alterations may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A waterway monitoring unmanned boat, characterized in that: include: A hull (1) is provided with a drive bridge (2) which is arranged to rotate transversely in front of the center of gravity of the hull (1); a floating cover (8) which floats on the water surface is installed on both sides of the hull (1); both ends of the drive bridge (2) are respectively arranged to pass through the inside of the floating cover (8) and a drive end member (6) is installed therein; a secondary drive mechanism (7) is rotatably provided on the drive end member (6); an active frame (9) is provided on the hull (1); and the active frame (9) is located on both sides of the hull (1) and is connected to the drive bridge (2); The driving bridge (2) is expanded in the middle section inside the hull (1) to form an accommodating space. A main shaft (3) is rotatably provided inside the hull (1), and both ends of the main shaft (3) respectively penetrate into the driving end pieces (6) at both ends of the driving bridge (2) and are linked with the auxiliary drive mechanism (7). A water swing frame (10) is integrally provided on the outer wall of the expanded part of the driving bridge (2). A water swing mechanism (4) is swingably provided on the water swing frame (10). The structure at the top of the water swing mechanism (4) penetrates into the driving bridge (2) through a mechanical seal and is provided with a tracking follower mechanism (5) therein. The tracking following mechanism (5) includes an infrared following mechanism (51) sleeved on the top structure of the water swing mechanism (4); a first volute (52) is provided on the main shaft (3); the outer edge of the first volute (52) is engaged with a first end face gear (53) rotatably provided inside the drive bridge (2); the outer edge of the first end face gear (53) is processed to form a tooth mouth that meshes with the infrared following mechanism (51); and a bidirectional motor (13) connected to the main shaft (3) through an output shaft is provided inside the drive bridge (2).

2. The waterway monitoring unmanned boat according to claim 1, characterized in that: The active frame (9) includes push arms (91) located on both sides of the hull (1) and one end of which is arranged on the drive bridge (2), and the push arms (91) located on both sides of the hull (1) are connected as a whole by a connecting rod (92); The hull (1) is provided with a push frame (94) formed by two parallel guide rods (95), the middle part of the push frame (94) is provided with a screw rod (96) parallel to the guide rod (95), the screw rod (96) is provided with a push-swing rod (97) that slides with the guide rod (95), and both ends of the push-swing rod (97) are provided with a round rod (98) that penetrates into the groove (93) and slides with it, one end of the screw rod (96) passes through the push frame (94) and is connected to the output shaft of the second motor (99) installed on the hull (1) through a coupling.

3. The waterway monitoring unmanned boat according to claim 1, characterized in that: The buoyancy shell (8) comprises a carrier shell (81) made of a lightweight material, and a foam-filled interlayer is provided inside the carrier shell (81). One side of the carrier shell (81) is connected to a wall plate (82) via an integrally provided short rod, and the wall plate (82) is fully adapted to the shape of the side of the hull (1).

4. The waterway monitoring unmanned boat according to claim 3, characterized in that: The tail and bottom of the carrier shell (81) are both open to form a storage space. A through opening (83) is provided in the middle of the carrier shell (81) and passes through the middle from top to bottom. A connecting groove (85) corresponding to the through opening (83) is provided on the side of the carrier shell (81) close to the wall plate (82). The end of the drive axle (2) is installed with the drive end piece (6) in the through opening (83) through the connecting groove (85). A carrier slot (84) is provided at the top of the front section of the carrier shell (81), and a drainage outlet is provided on the inner wall of the carrier slot (84).

5. The waterway monitoring unmanned boat according to claim 1, characterized in that: The drive bridge (2) is provided with ceramic bearings (12) on both sides of the bulge, which are rotatable with the hull (1); A receiving groove (11) for receiving the water swing frame (10) is provided in the middle of the boat body (1).

6. The waterway monitoring unmanned boat according to claim 1, characterized in that: The water swing frame (10) comprises a water receiving frame (101) that is suspended upside down in a P shape on the driving bridge (2), and the water swing mechanism (4) is swingably located within the P-shaped closed frame of the water receiving frame (101); A pressure receiving groove (102) is provided inside the vertical section of the water receiving frame (101) connected to the driving bridge (2), and a compression spring (103) is accommodated on the inner wall of the pressure receiving groove (102). A pulling rope (105) passing through the middle of the compression spring (103) is provided inside the pressure receiving groove (102), and a sealing ball (106) for compressing the compression spring (103) is provided on the pulling rope (105) at the bottom of the compression spring (103). A rope passage cavity (104) for passing the pulling rope (105) is provided at the horizontal section at the bottom of the water receiving frame (101); One end of the pulling rope (105) passes through the top of the inner wall of the pressure receiving groove (102) and is connected to the boat body (1); the other end of the pulling rope (105) passes through the pressure receiving groove (102) and the rope passage cavity (104) and is connected to the water swing mechanism (4); and the length of the pulling rope (105) arranged between the pressure sealing ball (106) and the water swing mechanism (4) leaves a margin for the swing of the water supply swing mechanism (4).

7. The waterway monitoring unmanned boat according to claim 1, characterized in that: The water swing mechanism (4) comprises a swing shaft rod (41) rotatably arranged on a water swing frame (10); the top of the swing shaft rod (41) penetrates into the drive bridge (2) through a mechanical seal; a paddle (42) for swinging with the water flow is arranged on the side of the swing shaft rod (41); a rope buckle for connecting a rope is arranged at a corner of the bottom of the paddle plate (42).

8. The waterway monitoring unmanned boat according to claim 1, characterized in that: The infrared following mechanism (51) comprises a turntable (511) sleeved on a structure of the water swing mechanism (4) located inside the drive bridge (2); a light shield (512) is coaxially covered on the turntable (511); a face gear (513) for engaging with the first end face gear (53) is integrally provided on the top of the light shield (512); an embedding groove (514) for embedding an infrared sensor (515) is provided along the edge of the light shield (512); a colored ridge (516) for coating a black line is integrally provided along the edge of the turntable (511); and the position of the colored ridge (516) corresponds to the position of the infrared sensor (515).

9. The waterway monitoring unmanned boat according to claim 1, characterized in that: The driving end member (6) comprises a joint cover (63) mounted on the end of the driving bridge (2); a second volute (61) is provided on the main shaft (3) that passes through the driving bridge (2) and enters the joint cover (63); a first spur gear (62) is meshed with the outer edge of the second volute (61); and the first spur gear (62) is sleeved on the auxiliary driving mechanism (7) that passes through the joint cover (63).

10. The waterway monitoring unmanned boat according to claim 1, characterized in that: The auxiliary drive mechanism (7) includes an auxiliary drive paddle shell (71) rotatably arranged on the driving end member (6), a long connecting shaft (72) is rotatably arranged inside the auxiliary drive paddle shell (71), the top of the long connecting shaft (72) is connected to the output shaft of a first motor (73) arranged at the top of the auxiliary drive paddle shell (71), and the first motor (73) is arranged on the auxiliary drive paddle shell (71) through a waterproof shell, a second spur gear (74) is arranged at the bottom end of the long connecting shaft (72), a short connecting shaft (75) is rotatably arranged inside the bottom end of the auxiliary drive paddle shell (71), one end of the short connecting shaft (75) is provided with a second end face gear (76) for meshing with the second spur gear (74) in the auxiliary drive paddle shell (71), and the other end of the short connecting shaft (75) is installed with a blade (77) outside the auxiliary drive paddle shell (71).

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