An unmanned ship for hydrographic surveying

Abstract

The application belongs to the technical field of hydrographic surveying and mapping, and particularly relates to an unmanned ship for hydrographic surveying and mapping, which comprises an unmanned ship body, a flow guide cone, a water guiding mechanism and a weight increasing mechanism, the flow guide cone is arranged at one end of the bottom wall of the unmanned ship body, the water guiding mechanism is arranged on the unmanned ship body, and the weight increasing mechanism is arranged on the bottom wall of the unmanned ship body; the water guiding mechanism comprises a driving assembly, a weight increasing assembly and a flow impacting assembly, the driving assembly is arranged on both sides of the unmanned ship body, the weight increasing assembly is arranged on the bottom wall of the unmanned ship body on both sides of the weight increasing mechanism, and the flow impacting assembly is arranged at one end of the weight increasing assembly away from the unmanned ship body. The application provides the unmanned ship for hydrographic surveying and mapping, which can adaptively adjust the gravity center of the ship body according to the water flow impact strength, can simultaneously recycle the water flow impact force when increasing the weight of the bottom of the ship body, and ensures the sailing time.

Description

Technical Field

[0001] This invention belongs to the field of hydrological surveying and mapping technology, specifically referring to an unmanned vessel for hydrological surveying and mapping. Background Technology

[0002] As a surface operation robot that integrates a high-precision navigation system, intelligent control module and multi-sensor technology, the hydrological surveying unmanned vessel can efficiently perform key tasks such as accurate underwater topographic mapping and real-time monitoring of water flow speed and volume. It has gradually become an indispensable and efficient tool in the modern hydrological field.

[0003] Currently, existing unmanned surface vessels (USVs) used for hydrological surveying have the following problems:

[0004] Existing unmanned surface vessels (USVs) used for hydrological surveying lack the ability to adaptively adjust their center of gravity. When USVs encounter large waves, the impact of the water flow can cause the hull to capsize, affecting hydrological surveying operations and thus reducing the efficiency of USV usage.

[0005] In order to ensure the stability of the hull, traditional unmanned vessels often add weight to the bottom of the hull, thereby lowering the center of gravity. This method will greatly reduce the endurance of the unmanned vessel, shorten the hydrological survey time, and make it difficult to ensure the integrity of the survey task.

[0006] Therefore, it cannot meet the current demand for unmanned vessels used in hydrological surveying. Summary of the Invention

[0007] In response to the above situation and to overcome the shortcomings of existing technologies, this solution provides an unmanned surface vessel for hydrographic surveying that can adaptively adjust the ship's center of gravity according to the intensity of water flow impact, and can simultaneously recover the water flow impact force when increasing the weight of the ship's bottom, thus ensuring the duration of navigation.

[0008] The technical solution adopted in this proposal is as follows: This proposal provides an unmanned surface vessel (USV) for hydrological mapping, comprising a USV hull, a guide cone, a water intake mechanism, and a propagation mechanism. The guide cone is located on the bottom wall of one end of the USV hull, the water intake mechanism is located on the USV hull, and the propagation mechanism is located on the bottom wall of the USV hull. The water intake mechanism includes a drive assembly, a weight-increasing assembly, and a jetting assembly. The drive assembly is located on both sides of the USV hull, the weight-increasing assembly is located on the bottom walls of the USV hull on both sides of the propagation mechanism, and the jetting assembly is located at the end of the weight-increasing assembly away from the USV hull. The propagation mechanism includes a push-away assembly, a discharge assembly, and an energy-collecting assembly. The push-away assembly is located inside the weight-increasing assembly, the discharge assembly is located on the bottom wall of the USV hull between the weight-increasing assemblies, and the energy-collecting assembly is located on the discharge assembly. The weight-increasing assembly has symmetrically arranged components on the bottom wall of the USV hull. The system comprises a gravity box, a water intake channel connected to the side wall of the gravity box, a water intake sleeve with the water intake channel located on the inner wall of the end away from the gravity box, and a water inlet located on the inner wall of the water intake sleeve and connected to the water intake channel; the flushing assembly includes a waterproof plug slidably located on the end of the water intake sleeve away from the water intake channel, and a water-increasing spring connecting the waterproof plug to the inner wall of the water intake sleeve; the pushing assembly includes a sliding magnetic plate slidably located on the inner wall of the gravity box, a fixed electromagnet located on the inner wall of the gravity box on the side of the sliding magnetic plate away from the water intake channel, and a pushing spring connecting the sliding magnetic plate to the inner wall of the gravity box; the energy collection assembly includes a water jet impeller linked to the sliding magnetic plate through the output assembly, an energy collection magnet located on the output assembly, a coil located on the inner wall of the energy collection sleeve opposite to the energy collection magnet, and a rectifier located on the hull of the unmanned vessel and electrically connected to the coil.

[0009] As a further preferred embodiment of the present invention, the drive assembly includes a motor mount disposed on the bottom side wall of the unmanned vessel hull, a waterproof motor disposed on the inner wall of the motor mount, and a propeller blade disposed on the power end of the waterproof motor.

[0010] Preferably, the weight-adding component further includes multiple sets of one-way drain valves connected to the bottom sidewall of the gravity box.

[0011] Preferably, the flushing assembly further includes a distance sensor located on the side of the waterproof plug near the water inlet channel.

[0012] Preferably, the export component includes a guide cylinder disposed on the bottom wall of the unmanned vessel between the gravity boxes, a guide post penetrating the gravity box and the guide cylinder and connected at one end to a sliding magnetic plate, an export magnet disposed at the end of the guide post away from the sliding magnetic plate and located inside the guide cylinder, and an antimagnetic layer disposed on the side of the export magnet away from the guide post.

[0013] Preferably, the energy collection assembly further includes an anti-rotation magnetic ring sleeved on the outside of the guide post and located on the side of the guide cylinder near the propeller blade, an ejector magnet located on the side of the guide post near the ejector magnet and having the same pole as the ejector magnet, an impeller magnet seat located on the side of the guide post away from the ejector magnet and having the opposite pole to the anti-rotation magnetic ring, an annular rotating block rotatably located on the side wall of the guide cylinder outside the anti-rotation magnetic ring, and a locking spring connecting the annular rotating block and the impeller magnet seat; the water jet impeller is located on the side of the impeller magnet seat away from the guide post.

[0014] Preferably, the unmanned vessel is equipped with a controller on its upper wall, which is electrically connected to a waterproof motor, a ranging sensor and a fixed electromagnet.

[0015] In use, the hydrological surveying instrument and battery are installed on the unmanned surface vessel (USV). The USV is placed on the water surface to be surveyed, with the propeller blades submerged. The waterproof motor drives the propeller blades to rotate, propelling the USV forward. The USV carries the instrument into the area designated by the operator to conduct hydrological surveying. Under normal speed conditions, the USV will not expose the water inlet. When waves occur, the waterproof plug is impacted by the water flow. The water flow with a certain impact strength uses the deformation of the water-increasing spring to push the waterproof plug into the water intake sleeve, exposing the water inlet. The water flows through the water inlet into the water intake channel and, guided by the water intake channel, into the gravity box, increasing the weight at the bottom of the USV, lowering the overall center of gravity, improving its stability, and ensuring its smooth movement in wind and waves.

[0016] In use, when the waterproof plug slides and shortens the distance between the ranging sensor and the inner wall of the water inlet sleeve to the position of the first set of water inlets, the fixed electromagnet is energized to generate a magnetic field with opposite poles to the sliding magnetic plate. The fixed electromagnet is fixed to the inner wall of the gravity box and magnetically attracts the sliding magnetic plate. The sliding magnetic plate moves away from the water inlet channel by the deformation of the push spring, expanding the weight-increasing space of the gravity box. The sliding magnetic plate drives the output magnet to move relative to the guide column. The output magnet moves to a position coaxial with the push magnet and is fixed to one side of the guide column, pushing it with repulsive force. The magnet is pushed out, and the deformation of the locking spring causes the guide column to slide out of the guide cylinder. The guide column drives the water jet impeller away from the anti-rotation magnetic ring through the impeller magnetic seat. The impeller magnetic seat changes from a fixed state to a movable state. The water jet impeller rotates under the impact of the water flow. The water jet impeller drives the guide column to rotate through the impeller magnetic seat. The guide column drives the energy collecting magnet to cut magnetic field lines inside the coil. The current generated by the coil is integrated by the rectifier and stored in the battery to supplement the energy consumed after the unmanned hull is increased in weight, ensuring the endurance of the unmanned hull.

[0017] The beneficial effects achieved by this solution using the above structure are as follows:

[0018] Compared with existing technologies, this solution combines a water intake mechanism with a continuation mechanism. Through the inclusion of drive components, weight-increasing components, flow-following components, push-away components, output components, and energy-collecting components, it can adjust the bottom gravity of the unmanned vessel based on the impact force of external wind and waves, lowering the center of gravity during movement, ensuring stable operation, and reducing the probability of capsizing in wind and waves. Furthermore, when the unmanned vessel is moving under load, the water jet impeller recovers and utilizes the impact force of the water flow caused by wind and waves. A fixed electromagnet is fixed to the inner wall of the gravity box and magnetically attracts a sliding magnetic plate. The sliding magnetic plate moves away from the water intake channel due to the deformation of a push-away spring, expanding the weight-increasing space of the gravity box. The plate drives the outgoing magnet to move relative to the guide column. The outgoing magnet moves to a position coaxial with the ejection magnet. The outgoing magnet is fixed on one side of the guide column and pushes the ejection magnet with repulsive force. The ejection magnet uses the deformation of the locking spring to drive the guide column to slide out of the guide cylinder. The guide column drives the water jet impeller away from the anti-rotation magnetic ring through the impeller magnetic seat. The impeller magnetic seat changes from a fixed state to a movable state. The water jet impeller rotates under the impact of the water flow. The water jet impeller drives the guide column to rotate through the impeller magnetic seat. The guide column drives the energy collecting magnet to cut magnetic field lines inside the coil. The current generated by the coil is integrated by the rectifier and stored in the battery, thus ensuring the endurance of the unmanned hull when it is carrying a load. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this solution;

[0020] Figure 2 This is the front perspective stereoscopic view of this solution;

[0021] Figure 3 This is a bottom-view perspective of the design.

[0022] Figure 4 This is a schematic diagram of the energy collection component in this solution;

[0023] Figure 5 This is a schematic diagram of the combined structure of the push-out component and the export component in this solution;

[0024] Figure 6 This is a schematic diagram of the weight-adding components in this solution;

[0025] Figure 7 This is the main view of this solution;

[0026] Figure 8 This is a side view of the design.

[0027] Figure 9 This is a top view of the plan;

[0028] Figure 10 for Figure 9 Sectional view of AA section;

[0029] Figure 11 for Figure 9 Sectional view of BB section;

[0030] Figure 12 for Figure 9 A sectional view of the CC portion;

[0031] Figure 13 for Figure 11 Enlarged structural view of section I;

[0032] Figure 14 for Figure 12 Enlarged structural view of Part II.

[0033] The components include: 1. Unmanned hull; 2. Guide cone; 3. Water intake mechanism; 4. Drive assembly; 5. Waterproof motor; 6. Propeller blade; 7. Weight-adding assembly; 8. Gravity box; 9. Water intake channel; 10. Inlet; 11. Flushing assembly; 12. Waterproof plug; 13. Ranging sensor; 14. Extension mechanism; 15. Push-away assembly; 16. Sliding magnetic plate; 17. Fixed electromagnet; 18. Push-away spring; 19. Outlet assembly; 20. Guide column. 21. Outgoing magnet; 22. Antimagnetic layer; 23. Energy collecting component; 24. Energy collecting sleeve; 25. Energy collecting column; 26. Energy collecting magnet; 27. Coil; 28. Rectifier; 29. ​​Anti-rotation magnetic ring; 30. Water jet impeller; 31. Guide cylinder; 32. Motor base; 33. Water inlet sleeve; 34. Water inlet spring; 35. Outgoing magnet; 36. Impeller magnetic base; 37. Annular rotating block; 38. Locking spring; 39. Controller; 40. One-way drain valve.

[0034] The accompanying drawings are provided to further understand the present solution and form part of the specification. They are used together with the embodiments of the present solution to explain the present solution and do not constitute a limitation thereof. Detailed Implementation

[0035] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this solution, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this solution without creative effort are within the scope of protection of this solution.

[0036] In the description of this solution, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this solution and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this solution.

[0037] like Figures 1-14 As shown, the proposed solution provides an unmanned surface vessel (USV) for hydrological surveying, comprising a USV hull 1, a guide cone 2, a water diversion mechanism 3, and a sustaining mechanism 14. The guide cone 2 is located on the bottom wall of one end of the USV hull 1. The water diversion mechanism 3 is located on the bottom wall of the USV hull 1. The water diversion mechanism 3 includes a drive assembly 4, a weight-increasing assembly 7, and a jetting assembly 11. The drive assembly 4 is located on both sides of the USV hull 1. The weight-increasing assembly 7 is located on the bottom walls of the USV hull 1 on both sides of the sustaining mechanism 14. The jetting assembly 11 is located at the end of the weight-increasing assembly 7 away from the USV hull 1. The sustaining mechanism 14 includes a push-away assembly 15, a discharge assembly 19, and an energy-collecting assembly 23. The push-away assembly 15 is located inside the weight-increasing assembly 7. The discharge assembly 19 is located on the bottom wall of the USV hull 1 between the weight-increasing assemblies 7. The energy-collecting assembly 23 is located on the discharge assembly 19.

[0038] The drive assembly 4 includes a waterproof motor 5, a propeller blade 6, and a motor mount 32. The motor mount 32 is located on the bottom side wall of the unmanned vessel hull 1, the waterproof motor 5 is located on the inner wall of the motor mount 32, and the propeller blade 6 is located at the power end of the waterproof motor 5. The weight-adding assembly 7 includes a gravity box 8, a water intake channel 9, a water inlet 10, a water intake sleeve 33, and a one-way drain valve 40. The gravity box 8 is symmetrically arranged on the bottom wall of the unmanned vessel hull 1, and the water intake channel 9 is connected to the side wall of the gravity box 8. The water intake sleeve 33 is located on the inner wall of the end of the water intake channel 9 away from the gravity box 8. Multiple sets of water inlets 10 are provided on the inner side wall of the water inlet sleeve 33. The water inlet sleeve 33 is connected to the water inlet channel 9 through the water inlets 10. Multiple sets of one-way drain valves 40 are connected and provided on the bottom side wall of the gravity box 8. The flushing assembly 11 includes a waterproof plug 12, a distance sensor 13 and a water-increasing spring 34. The waterproof plug 12 is slidably provided at the end of the water inlet sleeve 33 away from the water inlet channel 9. The distance sensor 13 is provided on the side of the waterproof plug 12 close to the water inlet channel 9. The water-increasing spring 34 is provided between the waterproof plug 12 and the inner wall of the water inlet sleeve 33.

[0039] The pushing-away assembly 15 includes a sliding magnetic plate 16, a fixed electromagnet 17, and a pushing-away spring 18. The sliding magnetic plate 16 is slidably disposed on the inner wall of the gravity box 8 and is vertically arranged. The fixed electromagnet 17 is disposed on the inner wall of the gravity box 8 on the side of the sliding magnetic plate 16 away from the water intake channel 9. The pushing-away spring 18 is disposed between the sliding magnetic plate 16 and the inner wall of the gravity box 8. The export assembly 19 includes a guide post 20, an export magnet 21, an antimagnetic layer 22, and a guide cylinder 31. The guide cylinder 31 is disposed on the bottom wall of the unmanned vessel hull 1 between the gravity boxes 8. The guide post 20 penetrates the gravity box 8 and the guide cylinder 31 and is located on the side wall of the sliding magnetic plate 16. The output magnet 21 is located on the side of the guide post 20 away from the sliding magnetic plate 16 and is located inside the guide cylinder 31. The antimagnetic layer 22 is located on the side of the output magnet 21 away from the guide post 20. The energy collection assembly 23 includes an energy collection sleeve 24, an energy collection post 25, an energy collection magnet 26, a coil 27, a rectifier 28, an anti-rotation magnetic ring 29, a water-jetting impeller 30, an ejector magnet 35, an impeller magnetic base 36, an annular rotating block 37, and a locking spring 38. The energy-collecting sleeve 24 is located on the inner wall of the guide cylinder 31 near the propeller blade 6. The energy-collecting column 25 penetrates the energy-collecting sleeve 24 and is located on the inner wall of the guide cylinder 31. The inner diameter of the energy-collecting sleeve 24 is larger than the outer diameter of the energy-collecting column 25. Multiple sets of energy-collecting magnets 26 are located on the side wall of the guide column 20. The coil 27 is located on the inner wall of the energy-collecting sleeve 24, and the coil 27 is arranged opposite to the energy-collecting magnets 26. The rectifier 28 is located on the upper wall of the unmanned vessel hull 1 and is electrically connected to the coil 27. The anti-rotation magnetic ring 29 is located on the side of the guide cylinder 31 near the propeller blade 6 and is sleeved on it. On the outside of the guide post 20, the push-out magnet 35 is located on the side of the guide post 20 near the outlet magnet 21, and the push-out magnet 35 and the outlet magnet 21 are set with the same pole. The impeller magnetic seat 36 is located on the side of the guide post 20 away from the push-out magnet 35, and the impeller magnetic seat 36 and the anti-rotation magnetic ring 29 are set with opposite poles. The water jet impeller 30 is located on the side of the impeller magnetic seat 36 away from the guide post 20. The annular rotating block 37 is rotatably located on the side wall of the guide cylinder 31 outside the anti-rotation magnetic ring 29. The locking spring 38 is located between the annular rotating block 37 and the impeller magnetic seat 36.

[0040] A controller 39 is provided on the upper wall of the unmanned hull 1 on one side of the rectifier 28.

[0041] The controller 39 is electrically connected to the waterproof motor 5, the fixed electromagnet 17, and the ranging sensor 13, respectively.

[0042] In practical use, the hydrological surveying instrument and battery are installed on the unmanned vessel hull 1. The unmanned vessel hull 1 is placed on the water surface to be surveyed, the propeller blade 6 is immersed in the water, the controller 39 controls the waterproof motor 5 to start, the power end of the waterproof motor 5 drives the propeller blade 6 to rotate, the rotation of the propeller blade 6 propels the unmanned vessel hull 1 forward, the unmanned vessel hull 1 carries the instrument into the area designated by the operator, the operator remotely controls the instrument to carry out hydrological surveying operations. In the initial state, the water-increasing spring 34 and the locking spring 38 are both in the extended state. When the unmanned vessel hull 1 moves forward at normal speed, the water flow cannot push the waterproof plug 12 into the water inlet sleeve 33, so that the water inlet 10 will not be exposed to the water.

[0043] When waves are generated on the water surface, the waterproof plug 12 experiences increased impact force from the water flow. The water flow, aided by the deformation of the water-increasing spring 34, pushes the waterproof plug 12 into the water-inlet sleeve 33, exposing the inlet 10. The water then flows through the inlet 10 into the water-inlet channel 9, and under the guidance of the channel 9, into the gravity box 8. The distance sensor 13, with its preset distance threshold, is activated by the controller 39. When the distance sensor 13 detects that the distance between the waterproof plug 12 and the inner wall of the water-inlet sleeve 33 has shortened to the first set... When the water inlet 10 is in position, the controller 39 controls the fixed electromagnet 17 to start. The fixed electromagnet 17 is energized and generates a magnetic field with opposite magnetic poles to the sliding magnetic plate 16. The fixed electromagnet 17 is fixed to the inner wall of the gravity box 8 and magnetically attracts the sliding magnetic plate 16. The sliding magnetic plate 16 is deformed by the push-away spring 18 and moves away from the end of the water inlet channel 9. The weight increase space of the gravity box 8 is expanded, which allows more water to enter, thereby increasing the weight of the bottom of the unmanned vessel hull 1, lowering the overall center of gravity of the unmanned vessel hull 1, improving its stability, and ensuring that it can travel smoothly in wind and waves.

[0044] The magnetic field strength between the outgoing magnet 21 and the ejector magnet 35 is greater than the magnetic field strength between the anti-rotation magnetic ring 29 and the impeller magnetic seat 36. The sliding magnetic plate 16 drives the outgoing magnet 21 to move relative to the guide post 20. The outgoing magnet 21 moves to a position coaxial with the ejector magnet 35. The outgoing magnet 21 is fixed to one side of the guide post 20 and pushes the ejector magnet 35 with repulsive force. The ejector magnet 35 uses the deformation of the locking spring 38 to drive the guide post 20 to slide out of the guide cylinder 31. The guide post 20 passes through the impeller magnetic seat 36. 6 drives the water jet impeller 30 away from the anti-rotation magnetic ring 29, and the impeller magnetic base 36 changes from a fixed state to a movable state. The water jet impeller 30 rotates under the impact of the water flow. The water jet impeller 30 drives the guide column 20 to rotate through the impeller magnetic base 36. The guide column 20 drives the energy collecting magnet 26 to cut magnetic field lines inside the coil 27. The current generated by the coil 27 is integrated by the rectifier 28 and stored in the battery to replenish the energy consumed by the unmanned hull 1 after the weight is increased, and to ensure the endurance of the unmanned hull 1.

[0045] When the waves subside, the water flow can no longer use its impact force to push the waterproof plug 12 into the water inlet sleeve 33. The distance sensor 13 detects that the distance between the waterproof plug 12 and the inner wall of the water inlet sleeve 33 has returned to its initial value. The fixed electromagnet 17 is de-energized and demagnetized. The push-away spring 18 elastically resets and pushes the sliding magnetic plate 16 to slide along the inner wall of the gravity box 8. The sliding magnetic plate 16 squeezes the water inside the gravity box 8 out through the one-way drain valve 40, restoring the unmanned hull 1 to its operating state. The above operation can be repeated for the next use.

[0046] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0047] The present solution and its implementation methods have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present solution; the actual structure is not limited to this. In conclusion, if a person skilled in the art, inspired by this description, designs a similar structure and embodiment without departing from the inventive intent of this solution, such design should fall within the protection scope of this solution.

Claims

1. An unmanned ship for hydrographic surveying, comprising an unmanned ship body and a flow cone, characterized in that: The water guide mechanism and the power-continuing mechanism are further included; the water guide cone is arranged on the bottom wall of the unmanned ship body, the water guide mechanism is arranged on the unmanned ship body, and the power-continuing mechanism is arranged on the bottom wall of the unmanned ship body. The water guide mechanism includes a driving assembly, a weight increasing assembly and a flow impacting assembly; the driving assembly is arranged on both sides of the unmanned ship body, the weight increasing assembly is arranged on the bottom wall of the unmanned ship body on both sides of the power-continuing mechanism, and the flow impacting assembly is arranged on one end of the weight increasing assembly away from the unmanned ship body. The power-continuing mechanism includes a pushing-away assembly, a guiding-out assembly and an energy collecting assembly; the pushing-away assembly is arranged inside the weight increasing assembly, the guiding-out assembly is arranged on the bottom wall of the unmanned ship body between the weight increasing assemblies, and the energy collecting assembly is arranged on the guiding-out assembly; the weight increasing assembly includes gravity boxes arranged symmetrically on the bottom wall of the unmanned ship body, water guide channels communicated with the side walls of the gravity boxes, water guide sleeves arranged on the inner walls of one end of the water guide channels away from the gravity boxes, and water inlets arranged on the inner walls of the water guide sleeves and communicated with the water guide channels. The flow impacting assembly includes waterproof plugs arranged slidingly on one end of the water guide sleeves away from the water guide channels, and water increasing springs connected with the waterproof plugs and the inner walls of the water guide sleeves; the pushing-away assembly includes sliding magnetic plates arranged slidingly on the inner walls of the gravity boxes, fixed electromagnets arranged on the inner walls of the gravity boxes on one side of the sliding magnetic plates away from the water guide channels, and pushing-away springs connected with the sliding magnetic plates and the inner walls of the gravity boxes; and the energy collecting assembly includes water flushing impellers linked with the sliding magnetic plates through the guiding-out assembly, energy collecting magnets arranged on the guiding-out assembly, coils arranged on the inner walls of energy collecting sleeves opposite to the energy collecting magnets, and rectifiers arranged on the unmanned ship body and electrically connected with the coils.

2. The unmanned ship for hydrographic surveying according to claim 1, characterized in that: The driving assembly includes motor seats arranged on the side walls of the bottom of the unmanned ship body, waterproof motors arranged on the inner walls of the motor seats, and propeller blades arranged on the power end of the waterproof motors.

3. The unmanned ship for hydrographic surveying according to claim 1, characterized in that: The weight increasing assembly further includes a plurality of sets of one-way drainage valves arranged on the side walls of the bottom of the gravity boxes.

4. The unmanned ship for hydrographic surveying according to claim 1, characterized in that: The flow impacting assembly further includes a distance measuring sensor arranged on one side of the waterproof plug close to the water guide channel.

5. The unmanned ship for hydrographic surveying according to claim 1, characterized in that: The guiding-out assembly includes guiding cylinders arranged on the bottom wall of the unmanned ship body between the gravity boxes, guiding columns penetrating through the gravity boxes and the guiding cylinders and having one end connected with the sliding magnetic plates, guiding-out magnets arranged on one end of the guiding columns away from the sliding magnetic plates and located in the guiding cylinders, and anti-magnetic layers arranged on one side of the guiding-out magnets away from the guiding columns.

6. The unmanned ship for hydrographic surveying according to claim 5, characterized in that: The energy collecting assembly further includes an anti-rotation magnetic ring arranged on the outer side of the guiding column and on one side of the guiding cylinder close to the propeller blades, a pushing-out magnet arranged on one side of the guiding column close to the guiding-out magnet and having the same polarity as the guiding-out magnet, an impeller magnetic seat arranged on one side of the guiding column away from the pushing-out magnet and having the opposite polarity to the anti-rotation magnetic ring, an annular rotating block arranged rotatingly on the side wall of the guiding cylinder outside the anti-rotation magnetic ring, and a locking spring connected with the annular rotating block and the impeller magnetic seat; and the water flushing impeller is arranged on one side of the impeller magnetic seat away from the guiding column.

7. The unmanned ship for hydrographic surveying according to claim 4, characterized in that: The upper wall of the unmanned ship body is provided with a controller electrically connected with the waterproof motor, the distance measuring sensor and the fixed electromagnet respectively.

Images