Unmanned ship group suitable for water sample collection and surveying and mapping

Abstract

The unmanned ship group comprises a mother ship and a plurality of son ships, the mother ship comprises a left ship body, a middle ship body and a right ship body which are connected to a transverse ship body, and the left ship body and the right ship body are arranged on the two sides of the middle ship body at intervals. A plurality of storage positions are arranged between the left ship body and the middle ship body and between the right ship body and the middle ship body, a plurality of sensing devices are arranged on the side, attached to the middle ship body, of the transverse ship body, and a plurality of buckles capable of stretching and retracting to the storage positions are arranged on the opposite sides between the left ship body and the middle ship body and between the middle ship body and the right ship body. The multiple sub-ships comprise two second ship bodies which are connected through the first ship body and arranged in a spaced mode, a plurality of grooves capable of being connected with the buckles in a clamped mode are formed in the opposite sides of the second ship bodies so that the sub-ships can be detachably berthed at the storage positions, the mother ship carries the sub-ships to the main working area and then dispatches the sub-ships, and therefore the working endurance of the sub-ships is prolonged, and the service life of the sub-ships is prolonged. The problem of low working efficiency of water sample collection and underwater surveying and mapping of a single unmanned ship can be avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of water sample collection and mapping, and in particular to an unmanned boat group suitable for water sample collection and mapping. Background Art

[0002] Traditional water sampling and underwater mapping are mainly done manually by boat, which has disadvantages such as high risk and high labor intensity. The emergence of unmanned ships has effectively solved these pain points. Unmanned ships are a new product that integrates modern unmanned technology with multi-field technology. Compared with traditional ships, they can use precise satellite positioning and their own sensors to navigate on the water according to preset tasks. They can be applied to mapping, hydrology and water quality monitoring, sampling and other technical fields. Compared with traditional methods, the use of unmanned ships can effectively reduce the workload and improve work efficiency.

[0003] At present, tasks such as water sampling and underwater mapping are mainly completed by a single unmanned boat. Although the work efficiency of a single unmanned boat is improved to a certain extent compared with traditional manual methods, it cannot handle tasks such as water sampling and mapping in large rivers or sea areas in a short period of time. In addition, the endurance of a single unmanned boat is limited and it cannot handle long-term, high-intensity tasks. During work, the endurance may be insufficient, resulting in mission interruption or inability to return.

[0004] Therefore, how to provide an unmanned boat fleet suitable for water sample collection and mapping to at least partially solve the above-mentioned drawbacks is a technical problem that technicians in this field currently need to solve. Utility Model Content

[0005] The purpose of the utility model is to provide a group of unmanned boats suitable for water sample collection and mapping, which can improve the safety protection of unmanned boats and their adaptability to complex waters, ensure the recording of the location where water samples are collected, enrich the functionality of unmanned boats, and enable them to have the functions of water sample collection and underwater mapping at the same time, increase the number of unmanned boats, reasonably allocate tasks, and improve the work efficiency of tasks such as water sample collection and mapping. The mother ship carries the unmanned sub-boats to the main working area to reduce the energy consumption of the unmanned sub-boats, and avoid the problem of low work efficiency of water sample collection and underwater mapping by a single unmanned boat.

[0006] To achieve the above-mentioned purpose, the utility model provides an unmanned boat group suitable for water sample collection and mapping, including:

[0007] The mother ship comprises a left hull, a middle hull and a right hull connected to the transverse hull, the left hull and the right hull are arranged at intervals on both sides of the middle hull, and a plurality of storage positions are arranged between the left hull and the middle hull and between the right hull and the middle hull, a plurality of sensing devices are arranged on one side of the transverse hull that fits the middle hull, and a plurality of buckles that can be retracted to the storage positions are arranged on the opposite sides between the left hull and the middle hull and between the middle hull and the right hull;

[0008] A plurality of daughter boats, including two second hulls connected by a first hull and spaced apart, a plurality of grooves capable of being engaged with buckles are provided on opposite sides of the second hulls, so that the daughter boats can be detachably docked at the storage location, and a water sampling device and a mapping device are respectively provided on the top and bottom of the first hull for water sample collection and mapping;

[0009] Both the mother ship and the daughter ship are equipped with a propulsion device for providing power, a laser radar installed on their outside for detecting surrounding obstacles, a positioning device for recording longitude and latitude information, a camera device for photographing the surrounding environment, and an LED lamp for lighting.

[0010] Preferably, the mother ship is provided with a first chip, and all the daughter ships are provided with a connected second chip and a storage element. The first chip and the second chip are used for information collection and transmission to the terminal system, and the storage element can be used for information storage of the second chip.

[0011] Preferably, the buckle is provided with a distance measuring device, and the mother ship is also provided with a control module connected to the sensing device and the buckle; the distance measuring device can detect the position and distance of the corresponding groove, and the control module can control all the buckles to be connected to the sub-ship in the storage position in sequence.

[0012] Preferably, the transverse hull is also provided with a first buffer member on the same side as the sensing device, the sensing device is located in the middle of the first buffer member, and the first buffer member is arranged corresponding to the end of the second hull to prevent the second hull from colliding with the transverse hull.

[0013] Preferably, the water sampling device comprises a plurality of water sampling components spaced apart on the first hull, each of the water sampling components comprising:

[0014] A sampling bottle is arranged on the top of the first hull;

[0015] The U-shaped water sampling pipe comprises a first vertical pipe and a second vertical pipe connected by a bend, wherein one end of the first vertical pipe away from the bend is connected to the sampling bottle, and one end of the second vertical pipe away from the bend passes through the first hull and is located on a side of the first hull away from the sampling bottle;

[0016] The filter plate is arranged at one end of the second vertical tube away from the bent portion and is used for water filtering.

[0017] Preferably, the U-shaped water sampling pipe is also connected to a water sampling pump and rotating blades. The water sampling pump is used to circulate water along the U-shaped water sampling pipe to the sampling bottle, and the rotating blades are used to ensure uniform flow of water. The water sampling pump and the rotating blades are both located at one end of the second vertical pipe away from the bending portion.

[0018] Preferably, the positioning devices are all connected to an integrated antenna located at the rear of the mother ship or the daughter ship, and the integrated antenna is used to support the positioning devices.

[0019] Preferably, all sub-ships are equipped with a power module, which includes:

[0020] Detection module, capable of detecting the remaining power of the daughter ship;

[0021] The calculation module can obtain the information of the detection module and calculate the proportion of the remaining power to the total power;

[0022] A judgment module, capable of acquiring information from the calculation module and comparing the proportion of the remaining power with a first preset value;

[0023] The information module can obtain information corresponding to the proportion of remaining power in the judgment module being no higher than the first preset value, and send a return signal to the mother ship so that the mother ship can pick up the corresponding daughter ship and return.

[0024] Preferably, a curved surface is provided on one side of the buckle facing each other, and a second buffer is provided on the curved surface.

[0025] Preferably, the distance measuring device is located in the middle of the arc surface.

[0026] Compared with the above-mentioned background technology, the utility model provides an unmanned ship group suitable for water sample collection and mapping, including a mother ship and a plurality of daughter ships, the mother ship includes a left hull, a middle hull and a right hull connected to the transverse hull, the left hull and the right hull are arranged at intervals on both sides of the middle hull, and a plurality of storage positions are arranged between the left hull and the middle hull, and between the right hull and the middle hull, a plurality of sensing devices are arranged on the side of the transverse hull that fits the middle hull, and a plurality of buckles that can be retracted to the storage positions are arranged between the left hull and the middle hull and between the middle hull and the right hull on the opposite sides; if The mother ship and the daughter ship are provided with a propulsion device for providing power, a laser radar arranged on their outside for detecting surrounding obstacles, a positioning device for recording longitude and latitude information, a camera for photographing the surrounding environment and an LED lighting device for lighting.

[0027] Specifically, the mother ship can carry multiple daughter ships with water sampling and mapping functions to cope with tasks such as water sampling and mapping in larger rivers and sea areas, thereby improving work efficiency and shortening work time. The mother ship carries the daughter ship to the main work area and dispatches the daughter ship. The daughter ship shortens the journey and increases its working endurance, which can avoid the low efficiency of water sampling and underwater mapping by a single unmanned ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0029] Figure 1 A schematic diagram of the structure of the mother ship and the daughter ship during assembly provided by the embodiment of the utility model;

[0030] Figure 2 A schematic diagram of the structure of the mother ship and the daughter ship provided by the embodiment of the utility model when they are assembled from another perspective;

[0031] Figure 3 A schematic diagram of the structure of a mother ship provided by an embodiment of the utility model;

[0032] Figure 4 A schematic diagram of the structure of a daughter ship provided by an embodiment of the utility model;

[0033] Figure 5 A schematic diagram of the bottom structure of a daughter boat provided by an embodiment of the utility model;

[0034] Figure 6 A schematic diagram of the structure of a daughter ship provided by an embodiment of the utility model moored at the front storage position of a mother ship.

[0035] in:

[0036] 110- transverse hull, 111- sensing device, 112- first buffer, 120- left hull, 130- middle hull, 140- right hull, 150- storage position, 160- buckle, 161- distance measuring device;

[0037] 210-first hull, 211-surveying device, 212-sampling bottle, 213-U-shaped water sampling pipe, 2131-first vertical pipe, 2132-second vertical pipe, 2133-bend, 214-filter plate, 220-second hull, 221-groove;

[0038] 300- propulsion unit;

[0039] 400-LiDAR;

[0040] 500- positioning device;

[0041] 600- Camera device;

[0042] 700-LED lighting;

[0043] 800 - Integrated antenna. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0045] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0046] In the description of the present invention, for the convenience of explanation, the following content defines the end of the mother ship and the daughter ship close to the travel direction as the front end, and the end away from the travel direction as the rear end. It should be understood that the terms "top", "bottom", "front end", "rear end", "left", "middle" and "right" indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the position or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0047] The purpose of the utility model is to provide a group of unmanned boats suitable for water sample collection and mapping, which can improve the safety protection of unmanned boats and their adaptability to complex waters, ensure the recording of the location where water samples are collected, enrich the functionality of unmanned boats, and enable them to have the functions of water sample collection and underwater mapping at the same time, increase the number of unmanned boats, reasonably allocate tasks, and improve the work efficiency of tasks such as water sample collection and mapping. The mother ship carries the unmanned sub-boats to the main working area to reduce the energy consumption of the unmanned sub-boats, and avoid the problem of low work efficiency of water sample collection and underwater mapping by a single unmanned boat.

[0048] See also Figures 1 to 6 To achieve the above-mentioned purpose, the utility model provides an unmanned ship group suitable for water sample collection and mapping, including a mother ship and a plurality of daughter ships.

[0049] The mother ship includes a left hull 120, a middle hull 130 and a right hull 140 connected to the transverse hull 110. The left hull 120 and the right hull 140 are arranged at intervals on both sides of the middle hull 130, and a plurality of storage positions 150 are provided between the left hull 120 and the middle hull 130 and between the right hull 140 and the middle hull 130. A plurality of sensing devices 111 are provided on the side of the transverse hull 110 that is attached to the middle hull 130, and a plurality of buckles 160 that can be retracted to the storage positions 150 are provided on the opposite sides between the left hull 120 and the middle hull 130 and between the middle hull 130 and the right hull 140.

[0050] The plurality of sub-boats include two spaced second hulls 220 connected by a first hull 210. The second hulls 220 have a plurality of grooves 221 on opposite sides thereof that can be engaged with the buckles 160 so that the sub-boats can be detachably docked at the storage location 150. The top and bottom of the first hull 210 are respectively provided with a water sampling device and a mapping device 211 for water sampling and mapping.

[0051] It should be noted that the storage spaces 150 between the left hull 120 and the middle hull 130 and between the right hull 140 and the middle hull 130 are arranged in sequence along the extension direction of the middle hull 130, that is, a single row of multiple daughter boats can be accommodated between the left hull 120 and the middle hull 130, and a single row of multiple daughter boats can be accommodated between the right hull 140 and the middle hull 130, and all of them are retracted into the grooves 221 of the corresponding daughter boats through the buckles 160 to realize the daughter boats being detachably docked in the storage spaces 150 of the mother ship.

[0052] Both the mother ship and the daughter ship are equipped with a propulsion device 300 for providing power, a laser radar 400 arranged on the outside of themselves for detecting surrounding obstacles, a positioning device 500 for recording longitude and latitude information, a camera device 600 for photographing the surrounding environment, and an LED lighting lamp 700 for lighting.

[0053] In this embodiment, both the mother ship and the daughter ship are provided with a propulsion device 300, a laser radar 400, a positioning device 500, a camera device 600 and an LED lighting lamp 700, wherein the laser radar 400 in the mother ship is respectively arranged on the left hull 120, the right hull 140 and the side of the transverse hull 110 away from the storage position 150, the camera device 600 is arranged on the top of the transverse hull 110, the LED lighting lamp 700 and the positioning device 500 are respectively located on the top of the left hull 120 and the right hull 140, and the LED lighting lamp 700 and the positioning device 500 are respectively located at the front end and the rear end thereof, The device 300 is located at the tail of the left hull 120 and the right hull 140; the laser radar 400 in the daughter ship is respectively arranged at the front end and both sides of the first hull 210, the camera device 600 and the LED lighting lamp 700 are arranged at the front end top of the first hull 210, the positioning device 500 is arranged at the tail end top of the first hull 210, the propulsion device 300 is located at the tail end bottom of the first hull 210, the propulsion device 300 is preferably a propeller propulsion device, and the positioning device 500 is connected to the integrated antenna 800 located at the tail of the mother ship or the daughter ship, and the integrated antenna 800 is used to support the positioning device 500.

[0054] In addition, the positioning device 500 is preferably an RTK positioning device. RTK positioning technology is a real-time dynamic differential positioning technology based on high-precision carrier phase observation values. The laser radar 400 is a radar system that emits a laser beam to detect the position, speed and other characteristic quantities of the target. Its working principle is to emit a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters, so as to detect, track and identify targets such as aircraft and missiles.

[0055] Specifically, the mother ship can carry multiple daughter ships with water sampling and mapping functions to cope with tasks such as water sampling and mapping in larger rivers and sea areas, thereby improving work efficiency and shortening work time. The mother ship carries the daughter ship to the main work area and dispatches the daughter ship. The daughter ship shortens the journey and increases its working endurance, which can avoid the low efficiency of water sampling and underwater mapping by a single unmanned ship.

[0056] Preferably, the mother ship is provided with a first chip, and all the daughter ships are provided with a connected second chip and a storage element. The first chip and the second chip are used for information collection and transmission to the terminal system, and the storage element can be used for information storage of the second chip.

[0057] In this embodiment, the terminal system can establish a connection with the main control cloud, and the first chip and the second chip can obtain information from the terminal system and the main control cloud.

[0058] Input multiple points where water samples need to be collected or surveyed in the main control cloud. The input points or areas are displayed on the cloud map. The cloud map is a two-dimensional map. Determine the starting coordinates of the mother ship carrying the daughter ship. The starting coordinates are recorded as (0,0), and the coordinates of each point are recorded as (x1,y1), (x2,y2), (x3,y3)…(x i-1 ,y i-1 ), (x i ,y i ). In order to determine the vertices of the area composed of the distribution points, connect the random points to form a polygon and calculate the area of ​​the polygon, which is recorded as S. The Shoelace Theorem is introduced here, as shown in formula (1):

[0059]

[0060] Formula (1) can be rewritten as the following formula (2):

[0061]

[0062] Where: S is the area of ​​the polygon, n is the number of vertices of the polygon, n≥3.

[0063] Compare the areas of the obtained multiple polyhedrons to obtain the polygon with the largest area, thereby determining the vertices of the area composed of the distribution points. The coordinates of the vertices are marked as (x a1 ,y a1 ),(x a2 ,y a2 )…(x ak ,y ak ), the problem is now transformed into finding the center point of the polygon (determine the center point, determine the approximate position of the mother ship to lower the daughter ship, and reduce the time it takes for the overall daughter ship to travel to the working area). The center point formulas (3) and (4) are as follows (if the number of points is less than 3, only the center point needs to be calculated, and the first step of calculation is not required.):

[0064]

[0065]

[0066] Among them: X is the horizontal coordinate of the center point, Y is the vertical coordinate of the center point, and k is the number of vertices of the maximum area polygon.

[0067] In order to further accurately determine the location of the unmanned sub-ship, it is necessary to determine whether there are obstacles or land areas that the mother ship cannot reach at the center point based on the cloud-based two-dimensional map. If there are no such obstacles, the mother ship will sail to the point and launch the unmanned sub-ship at the point. If there are obstacles, the range of the launch location will be expanded with the point as the center and r as the radius. The specific formula (5) is as follows:

[0068] r 2 =(AX) 2 +(BY) 2 ; (5)

[0069] Where: (A, B) is the horizontal coordinate and vertical coordinate on the circumference, r is an arithmetic progression with a tolerance of 1m, and its formula (6) is as follows:

[0070] r n =r1+(n-1)d; (6)

[0071] Where d is the tolerance, which is 1, as shown in formula (7):

[0072] r n =r1+(n-1); (7)

[0073] r1=1m, when r1=1m, is the circumference completely covered by obstacles or land areas that the mother ship cannot reach? If not, calculate the sum of the two-dimensional map distances from the uncovered points on the circumference to each sampling point, record it as C, take Cmin (minimum value), and the point on the circumference with the Cmin value is the position where the unmanned mother ship lowers the unmanned daughter ship. If yes, increase the radius by 1m, and so on, until the circumference is completely covered by obstacles or land areas that the unmanned mother ship cannot reach.

[0074] The mother ship travels to the launching site, and the daughter ships below, taking four daughter ships as an example, each sampling point or mapping point can form a quadrilateral area, which is divided into four equal parts, and each daughter ship is responsible for a part of the area.

[0075] If the number of points is less than 3, only one unmanned sub-ship will be dispatched to carry out the work.

[0076] The mother ship carries the daughter ship to the lower location and performs the lowering operation. The buckle 160 is released, and the propeller propulsion device of the daughter ship is started and reversed, and the daughter ship leaves the mother ship in turn and drives to the work area according to the work area assigned by the main control cloud.

[0077] Preferably, the water sampling device includes a plurality of water sampling components arranged at intervals on the first hull 210, each of the water sampling components includes a sampling bottle 212, a U-shaped water sampling tube 213 and a filter plate 214, the sampling bottle 212 is arranged on the top of the first hull 210; the U-shaped water sampling tube 213 includes a first vertical tube 2131 and a second vertical tube 2132 connected through a bending portion 2133, the first vertical tube 2131 is connected to the sampling bottle 212 at one end away from the bending portion 2133, and the second vertical tube 2132 is connected to the sampling bottle 212 at one end away from the bending portion 2133. One end of 33 passes through the first hull 210 and is located on the side of the first hull 210 away from the sampling bottle 212; the filter plate 214 is arranged at the end of the second vertical tube 2132 away from the bending portion 2133, which is used for water filtering. The U-shaped water sampling pipe 213 is also connected to a water sampling pump and a rotating blade. The water sampling pump is used for the water to flow along the U-shaped water sampling pipe 213 to the sampling bottle 212, and the rotating blade is used for the uniform flow of water. The water sampling pump and the rotating blade are both located at the end of the second vertical tube 2132 away from the bending portion 2133.

[0078] In this embodiment, the U-shaped water sampling tube 213 includes a first vertical tube 2131 and a second vertical tube 2132, and the end of the first vertical tube 2131 away from the bending portion 2133 is connected to the sampling bottle 212, and the end of the second vertical tube 2132 away from the bending portion 2133 passes through the first hull 210. Such an arrangement can effectively avoid damage to the U-shaped water sampling tube 213 by collision with the outside world. Among them, the U-shaped water sampling tube 213 and the sampling bottle 212 are preferably arranged in matching sets, and are arranged in two rows and three columns on the first hull 210.

[0079] If sampling is to be performed, the water sampling pump is started, and the water flows into the sampling bottle 212 through the U-shaped water sampling pipe 213. The camera device 600 of the daughter ship rotates and takes a picture, and the picture is stored in the storage device. The longitude and latitude information of the point is recorded through the RTK positioning device of the daughter ship. The laser radar 400 deployed on the daughter ship can effectively detect surrounding obstacles to prevent collisions. If surveying and mapping work is required, the surveying and mapping device 211 is started for surveying and mapping.

[0080] Preferably, all daughter ships are provided with a power module, which includes a detection module, a calculation module, a judgment module and an information module. The detection module can detect the remaining power of the daughter ship; the calculation module can obtain the information of the detection module, and based on the proportion of the remaining power to the total power; the judgment module can obtain the information of the calculation module, and can compare the proportion of the remaining power with the size of the first preset value; the information module can obtain the information corresponding to the proportion of the remaining power in the judgment module is not higher than the first preset value, and send a return signal to the mother ship, so that the mother ship can pick up the corresponding daughter ship and return.

[0081] Specifically, after completing the water sampling task or the surveying task, the daughter ship determines whether to return home autonomously based on the remaining energy situation of the daughter ship. When the calculation module obtains the information of the detection module and based on the proportion of the remaining power to the total power, the first preset value is preferably 20%. When the proportion of the remaining power to the total power is greater than 20%, the daughter ship returns home autonomously; if the proportion of the remaining power to the total power is less than or equal to 20%, the mother ship will travel to the location of the unmanned daughter ship and pick it up for return.

[0082] Preferably, the buckle 160 is provided with a distance measuring device 161, and the mother ship is also provided with a control module connected to the sensing device 111 and the buckle 160; the distance measuring device 161 can detect the position and distance of the corresponding groove 221, and the control module can control all the buckles 160 to be sequentially connected to the daughter ship in the storage position 150, and the buckle 160 is provided with an arc surface on the opposite side, and the arc surface is provided with a second buffer, and the distance measuring device 161 is located in the middle of the arc surface. The transverse hull 110 is also provided with a first buffer 112 on the same side as the sensing device 111, and the sensing device 111 is located in the middle of the first buffer 112, and the first buffer 112 is provided corresponding to the end of the second hull 220 to prevent the second hull 220 from hitting the transverse hull 110.

[0083] The daughter ship enters the berthing position 150 of the mother ship by means of the laser radar 400 on the first hull 210. When the daughter ship is moored at the front berthing position 150, the second hull 220 of the daughter ship touches the first buffer 112 respectively, and the sensing device 111 located at the center of the first buffer 112 senses the second hull 220 of the daughter ship, and the front berthing garage pops out the buckle 160, which clamps the grooves 221 on both sides of the daughter ship to fix the daughter ship, and at the same time opens the distance measuring device 161 located at the buckle 160 to sense the position and distance of the groove 221 of the subsequent daughter ship.

[0084] The distance measuring device 161 is preferably a laser distance measuring device, that is, a laser diode is first aimed at the target to emit a laser pulse. After being reflected by the target, the laser is scattered in all directions. Part of the scattered light returns to the sensor receiver, is received by the optical system and imaged onto the avalanche photodiode. The avalanche photodiode is an optical sensor with an internal amplification function, so it can detect extremely weak light signals. By recording and processing the time from the light pulse being emitted to the return being received, the target distance can be measured.

[0085] Specifically, by connecting the control module to the buckle 160, the control module can be used to start and shut down the distance measuring device 161. When the daughter ship stops at the previous storage position 150, the control module controls the distance measuring device 161 located at the next storage position 150 to start, senses the groove 221 of the daughter ship, and then controls the extension and contraction of the buckle 160 to fix it. And so on, all the daughter ships are sequentially fixed in the storage positions 150 of the mother ship. When the daughter ship needs to leave the mother ship to work, it only needs to control the contraction of the buckle 160 at the very end through the control module, so that the daughter ship can rotate in the opposite direction through the propulsion device 300 to drive the daughter ship to escape, and then the buckles 160 near the tail end are controlled to contract in order to achieve orderly separation of the daughter ship.

[0086] The opposite side of the buckle 160 is provided with an arc surface, and the arc surface is provided with a second buffer member for buffering when the buckle 160 is engaged with the groove 221 .

[0087] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0088] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0089] This article uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core ideas of the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the utility model.

Claims

1. An unmanned boat group suitable for water sampling and mapping, characterized in that: include: A mother ship comprises a left hull (120), a middle hull (130) and a right hull (140) connected to a transverse hull (110); the left hull (120) and the right hull (140) are arranged at intervals on both sides of the middle hull (130); a plurality of storage positions (150) are arranged between the left hull (120) and the middle hull (130) and between the right hull (140) and the middle hull (130); a plurality of sensing devices (111) are arranged on a side of the transverse hull (110) that is in contact with the middle hull (130); a plurality of buckles (160) that can be retracted to the storage positions (150) are arranged on the sides facing each other between the left hull (120) and the middle hull (130) and between the middle hull (130) and the right hull (140); A plurality of sub-ships, comprising two second hulls (220) connected by a first hull (210) and spaced apart from each other, the second hulls (220) are provided with a plurality of grooves (221) capable of being engaged with the buckles (160) on opposite sides thereof, so that the sub-ships can be detachably docked at the storage location (150), and the top and bottom of the first hull (210) are respectively provided with a water sampling device and a mapping device (211) for water sampling and mapping; The mother ship and the daughter ship are both provided with a propulsion device (300) for providing power, a laser radar (400) arranged outside the mother ship and used for detecting surrounding obstacles, a positioning device (500) for recording longitude and latitude information, a camera device (600) for photographing the surrounding environment, and an LED lighting lamp (700) for lighting.

2. The unmanned boat group suitable for water sample collection and mapping according to claim 1 is characterized in that: The mother ship is provided with a first chip, and all the daughter ships are provided with a connected second chip and a storage element. The first chip and the second chip are used for information collection and transmission to the terminal system, and the storage element can be used for information storage of the second chip.

3. The unmanned boat group suitable for water sample collection and mapping according to claim 2 is characterized in that: The buckle (160) is provided with a distance measuring device (161), and the mother ship is also provided with a control module connected to the sensing device (111) and the buckle (160); the distance measuring device (161) can detect the position and distance corresponding to the groove (221), and the control module can control all the buckles (160) to be sequentially connected to the daughter ship in the storage position (150).

4. The unmanned boat group suitable for water sample collection and mapping according to claim 1 is characterized in that: The transverse hull (110) is also provided with a first buffer member (112) on the same side as the sensing device (111), the sensing device (111) is located in the middle of the first buffer member (112), and the first buffer member (112) is arranged corresponding to the end of the second hull (220) to prevent the second hull (220) from colliding with the transverse hull (110).

5. The unmanned boat group suitable for water sample collection and mapping according to claim 1 is characterized in that: The water sampling device comprises a plurality of water sampling components arranged at intervals on the first hull (210), and each of the water sampling components comprises: A sampling bottle (212) is arranged on the top of the first hull (210); The U-shaped water sampling pipe (213) comprises a first vertical pipe (2131) and a second vertical pipe (2132) which are connected via a bending portion (2133), wherein one end of the first vertical pipe (2131) which is away from the bending portion (2133) is connected to the sampling bottle (212), and one end of the second vertical pipe (2132) which is away from the bending portion (2133) passes through the first hull (210) and is located on a side of the first hull (210) which is away from the sampling bottle (212); A filter plate (214) is arranged at one end of the second vertical tube (2132) away from the bent portion (2133) and is used for water filtering.

6. The unmanned boat group suitable for water sample collection and mapping according to claim 5 is characterized in that: The U-shaped water sampling pipe (213) is also connected to a water sampling pump and a rotating blade. The water sampling pump is used to allow the water to flow along the U-shaped water sampling pipe (213) to the sampling bottle (212). The rotating blade is used to allow the water to flow evenly. The water sampling pump and the rotating blade are both located at one end of the second vertical pipe (2132) away from the bent portion (2133).

7. The unmanned boat group suitable for water sample collection and mapping according to claim 1, characterized in that: The positioning devices (500) are all connected to an integrated antenna (800) located at the stern of the mother ship or the daughter ship, and the integrated antenna (800) is used to support the positioning device (500).

8. The unmanned boat group suitable for water sample collection and mapping according to claim 1, characterized in that: All the sub-ships are equipped with a power module, which includes: A detection module capable of detecting the remaining power of the daughter ship; A calculation module, capable of obtaining information from the detection module and calculating the remaining power according to the ratio of the remaining power to the total power; A determination module, capable of acquiring information of the calculation module and comparing the proportion of the remaining power with a first preset value; The information module can obtain the information corresponding to the proportion of the remaining power in the judgment module is not higher than the first preset value, and send a return signal to the mother ship so that the mother ship can connect with the corresponding daughter ship to return.

9. The unmanned boat group suitable for water sample collection and mapping according to claim 3, characterized in that: A curved surface is provided on one side of the buckle (160) facing the other side, and a second buffer is provided on the curved surface.

10. The unmanned boat group suitable for water sample collection and mapping according to claim 9, characterized in that: The distance measuring device (161) is located in the middle of the arc surface.

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