Surveying and mapping unmanned ship

Abstract

The utility model discloses an unmanned ship for surveying and mapping, which relates to the field of hydrological surveying and mapping, and comprises a ship body, a land surface driving device, an underwater driving device, a sonar device, a shooting sensing device, a power supply and a control system, the land surface driving device comprises two land surface driving mechanisms respectively arranged on the left side and the right side of the ship body, and each land surface driving mechanism comprises a plurality of land surface driving components; the land surface traveling assembly comprises an upper main body, a lower main body, a bottom traveling part, a bottom climbing part, an upper driving part and a lower driving part, one end of the upper main body is hinged to one side of the ship body, the other end of the upper main body is hinged to one end of the lower main body, and the other end of the lower main body is used for installing the bottom traveling part or the bottom climbing part; the problems that an existing surveying and mapping unmanned ship is difficult to carry, consumes manpower and delays work time during long-distance transportation on a large-area mud flat in a plain or a plateau, surveying and mapping personnel are difficult to carry the surveying and mapping unmanned ship to pass through a hilly area to reach a launching position, and hydrological surveying and mapping are difficult to efficiently carry out are solved.

Description

Technical Field

[0001] The utility model relates to the field of hydrological surveying and mapping, in particular to an unmanned surveying and mapping ship. Background Art

[0002] In recent years, extreme weather events that subvert traditional cognition have occurred frequently, and water and drought disasters have become more frequent, stronger, and wider, with significantly increased extremeness, abnormality, complexity, and uncertainty. Through hydrological surveying and mapping, the changes in river scouring and siltation and water level and flow information of important river sections can be updated in a timely manner, thereby providing accurate data support for flood forecasting and scheduling. Faced with complex field test environments, existing surveying and mapping unmanned boats have problems such as difficulty in handling, labor consumption, and delays in long-distance transportation on large areas of mudflats on plains or plateaus, making it difficult to carry out hydrological surveying and mapping efficiently, and it is difficult for surveying and mapping personnel to carry unmanned boats through hilly areas to reach the launch location. Therefore, in extreme test environments, it is particularly important to develop safe, reliable, efficient and portable unmanned boat test equipment to ensure the quality and timeliness of test results and the safety of personnel and equipment. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a surveying and mapping unmanned boat, which solves the problems of existing surveying and mapping unmanned boats being difficult to carry, labor-intensive, and causing work delays when transporting long distances on large areas of tidal flats in plains or plateaus, and the difficulty for surveying and mapping personnel to carry the surveying and mapping unmanned boats through hilly areas to reach the launching location, making it difficult to carry out hydrological surveying and mapping efficiently.

[0004] To achieve the above purpose, the utility model provides the following solutions:

[0005] The utility model provides an unmanned surveying and mapping ship, comprising a hull, a land driving device, an underwater driving device, a sonar device, a shooting sensing device, a power supply and a control system, wherein the sonar device is arranged at the bottom of the hull, the shooting sensing device is arranged on the hull, the underwater driving device is arranged at the rear end of the hull, the land driving device comprises two land driving mechanisms respectively arranged on the left and right sides of the hull, the land driving mechanism comprises a plurality of land driving components arranged in sequence from front to back, the land driving components comprise an upper main body, a lower main body, a bottom driving component, a bottom climbing component, an upper driving component and a lower driving component, one end of the upper main body is hinged to one side of the hull, and the other end of the upper main body is connected to the One end of the lower body is hinged, and the other end of the lower body is used to install the bottom traveling component or the bottom climbing component. The upper driving component is arranged on the hull and is used to drive the upper body to rotate, and the lower driving component is arranged on the upper body and is used to drive the lower body to rotate; the upper driving component, the lower driving component, the bottom traveling component, the bottom climbing component, the underwater traveling device, the sonar device, the shooting sensing device and the control system are all connected to the power supply, and the upper driving component, the lower driving component, the bottom traveling component, the bottom climbing component, the underwater traveling device, the sonar device and the shooting sensing device are all connected to the control system.

[0006] Preferably, the underwater driving device includes a plurality of traveling thrusters arranged sequentially from left to right at the bottom of the rear end of the hull, the traveling thrusters are connected to the power source, and the traveling thrusters are connected to the control system.

[0007] Preferably, the sonar device comprises an acoustic Doppler current profiler and a depth sounder arranged at the bottom of the hull, the acoustic Doppler current profiler and the depth sounder are both connected to the power supply, and the acoustic Doppler current profiler and the depth sounder are both connected to the control system.

[0008] Preferably, the shooting sensing device includes an illuminable camera and a laser radar, the illuminable camera is arranged on the front end side of the hull, and the laser radar is arranged at the front end of the top of the hull, the illuminable camera and the laser radar are both connected to the power supply, and the illuminable camera and the laser radar are both connected to the control system.

[0009] Preferably, the upper body includes a first joint and a thigh body connected to one end of the first joint, the first joint is hinged to one side of the hull, and the upper driving component is used to drive the first joint to rotate; the lower body includes a second joint and a calf body connected to one end of the second joint, the second joint is hinged to one end of the thigh body away from the first joint, the lower driving component is arranged on the thigh body and is used to drive the second joint to rotate, and the end of the calf body away from the second joint is used to install the bottom traveling component or the bottom climbing component.

[0010] Preferably, the upper driving component is a first motor, the first motor is arranged on the hull, the first joint is fixedly sleeved on the power output shaft of the first motor, the first motor is connected to the power supply, and the first motor is connected to the control system.

[0011] Preferably, the lower driving component includes a second motor, a driving sprocket, a driven sprocket and a transmission chain, a rotating shaft is fixed to the end of the second joint away from the calf body, the rotating shaft is rotatably installed on the end of the thigh body away from the first joint, the thigh body is a hollow structure, the second motor is arranged in the thigh body, the driving sprocket is fixedly mounted on the power output shaft of the second motor, the driven sprocket is fixedly mounted on the rotating shaft, the transmission chain is wound around the driving sprocket and the driven sprocket, the second motor is connected to the power supply, and the second motor is connected to the control system.

[0012] Preferably, the bottom traveling component includes a traveling connecting rod, a traveling motor and a traveling wheel, a threaded hole is provided at one end of the calf body away from the second joint, an external thread matching the threaded hole is provided on the traveling connecting rod, the traveling motor is provided at one end of the traveling connecting rod away from the calf body, the traveling wheel is fixedly sleeved on the power output shaft of the traveling motor, the traveling wheel is a ring-shaped wheel, the traveling motor is connected to the power supply, and the traveling motor is connected to the control system.

[0013] Preferably, the bottom climbing component includes a climbing connecting rod, a climbing motor and a climbing wheel, a threaded hole is provided at one end of the calf body away from the second joint, and an external thread matching the threaded hole is provided on the climbing connecting rod, and the climbing wheel includes a center piece and a plurality of climbing rods, and the plurality of climbing rods are sequentially arranged on the outside of the center piece along the circumferential direction, and the climbing motor is provided at one end of the climbing connecting rod away from the calf body, and the center piece is fixedly mounted on the power output shaft of the climbing motor, and the climbing motor is connected to the power supply, and the climbing motor is connected to the control system.

[0014] Preferably, the control system includes a controller, a data communication antenna and a 4G antenna, and the data communication antenna and the 4G antenna are both arranged at the rear end of the top of the hull, and the controller, the data communication antenna and the 4G antenna are all connected to the power supply, and the data communication antenna, the 4G antenna, the upper driving component, the lower driving component, the bottom traveling component, the bottom climbing component, the underwater traveling device, the sonar device and the shooting sensing device are all connected to the controller.

[0015] Compared with the prior art, the utility model has achieved the following technical effects:

[0016] The surveying and mapping unmanned boat of the utility model solves the defects of the existing surveying and mapping unmanned boats such as difficult handling, labor consumption, and delays in long-distance transportation on large areas of mudflats in plains or plateaus by setting up multiple retractable land-based driving components, and can also reduce the impact of the unmanned boats in the water on the navigation of the unmanned boats. By setting up bottom driving components and bottom climbing components that can be detached and installed, the surveying and mapping unmanned boats can be switched between driving mode and climbing mode, so that the surveying and mapping unmanned boats can climb autonomously on steep slopes and stairs in mountainous areas, solving the problem that it is difficult for surveying and mapping personnel to carry the unmanned boats through hilly areas to reach the launching location for surveying and mapping work. By setting up a shooting sensing device and transmitting the shooting sensing data back to the control system, the surveying and mapping unmanned boats can automatically plan the path and intelligently adjust the retractable land-based driving components to avoid obstacles or stop driving when they detect obstacles, so as to achieve autonomous driving and efficiently carry out hydrological surveying and mapping work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A first three-dimensional structural diagram of the surveying and mapping unmanned ship provided by the utility model;

[0019] Figure 2 A second three-dimensional structural diagram of the surveying and mapping unmanned ship provided by the utility model;

[0020] Figure 3 The control principle diagram of the surveying and mapping unmanned ship provided by the utility model;

[0021] Figure 4 A partial structural diagram of the lower driving components of the surveying and mapping unmanned boat provided by the utility model;

[0022] Figure 5This is a schematic diagram of the structure of the bottom traveling components of the surveying and mapping unmanned boat provided by the utility model;

[0023] Figure 6 This is a schematic structural diagram of the bottom climbing component in the surveying and mapping unmanned boat provided by the utility model.

[0024] Explanation of the reference numerals in the accompanying drawings: 100, surveying and mapping unmanned boat; 1, hull; 2, traveling propeller; 3, acoustic Doppler flow profiler; 4, depth sounder; 5, illuminated camera; 6, lidar; 7, 4G antenna; 8, data communication antenna; 9, storage board; 10, power supply; 11, controller; 12, first motor; 13, first joint; 14, thigh body; 15, rotating shaft; 16, second joint; 17, calf body; 18, second motor; 19, transmission chain; 20, driven sprocket; 21, traveling connecting rod; 22, traveling motor; 23, traveling wheel; 24, climbing connecting rod; 25, climbing motor; 26, center piece; 27, climbing rod. DETAILED DESCRIPTION

[0025] 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.

[0026] The purpose of the utility model is to provide a surveying and mapping unmanned boat, which solves the problems of existing surveying and mapping unmanned boats being difficult to carry, labor-intensive, and delayed in long-distance transportation on large areas of tidal flats in plains or plateaus, and the difficulty for surveying and mapping personnel to carry the surveying and mapping unmanned boats through hilly areas to the launching location, making it difficult to carry out hydrological surveying and mapping efficiently.

[0027] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0028] like Figure 1-Figure 6As shown, this embodiment provides a surveying and mapping unmanned ship 100, including a hull 1, a land driving device, an underwater driving device, a sonar device, a shooting and sensing device, a power supply 10 and a control system, wherein the sonar device is arranged at the bottom of the hull 1, and the sonar device is used to realize hydrological surveying and mapping, the shooting and sensing device is arranged on the hull 1, the underwater driving device is arranged at the rear end of the hull 1, and the underwater driving device is used to drive the hull 1 to travel in the water, the land driving device includes two land driving mechanisms respectively arranged on the left and right sides of the hull 1, the land driving mechanism includes a plurality of land driving components arranged in sequence from front to back, and the land driving components include an upper main body, a lower main body, a bottom driving component, a bottom climbing component, an upper driving component, and a lower driving component. The upper driving component and the lower driving component are connected to the power supply 10, and the upper driving component, the lower driving component, the bottom driving component, the bottom climbing component, the underwater driving device, the sonar device, the shooting sensing device and the control system are connected to the power supply 10, and the upper driving component, the lower driving component, the bottom driving component, the bottom climbing component, the underwater driving device, the sonar device and the shooting sensing device are connected to the control system.

[0029] like Figure 1 As shown, when traveling on land, the upper driving component drives the upper body to rotate to the lower part of the hull 1, and the lower driving component drives the lower body to rotate to the lower part of the upper body, thereby making the land traveling component in an extended state.

[0030] like Figure 2 As shown, when traveling in water, the upper driving component drives the upper body to rotate to one side of the hull 1, and the lower driving component drives the lower body to rotate to one side of the upper body, thereby making the land traveling component in a retracted state, thereby reducing its influence on the navigation of the surveying and mapping unmanned boat 100 in water.

[0031] In this embodiment, by providing multiple retractable land-based driving components, the defects of the existing surveying and mapping unmanned boat 100, such as difficult handling, labor consumption, and work delays, etc., which exist during long-distance transportation on large areas of tidal flats in plains or plateaus, are solved, and the impact on the navigation of the unmanned boat in the water can also be reduced.

[0032] The land driving component in this embodiment has two working modes. When the surveying and mapping unmanned boat 100 is transported over long distances on a large area of ​​mudflats in a plain or plateau, the bottom traveling component is installed at one end of the lower body away from the upper body, so that it is in a driving state and can move forward, thereby saving manpower and shortening the construction period; when the surveying and mapping unmanned boat 100 is climbing a steep slope in a mountainous area, the bottom climbing component is installed at one end of the lower body away from the upper body, so that it is in a climbing state, which increases the friction with the ground, making the surveying and mapping unmanned boat 100 more stable and less likely to slip when climbing a steep slope in a mountainous area.

[0033] In this embodiment, by providing a detachable and installable bottom traveling component and a bottom climbing component, the traveling mode and the climbing mode can be switched, so that the surveying and mapping unmanned boat 100 can climb autonomously on steep slopes and stairs in mountainous areas, thereby solving the problem that it is difficult for surveying and mapping personnel to carry the unmanned boat through hilly areas to reach the launching location for surveying and mapping work.

[0034] When working, by setting up a shooting sensing device and transmitting the shooting sensing data back to the control system, the surveying and mapping unmanned boat 100 can automatically plan the path and intelligently adjust the retractable land driving components to avoid the obstacle or stop driving when an obstacle is detected, so as to achieve autonomous driving and efficiently carry out hydrological surveying and mapping work.

[0035] Specifically, the underwater driving device includes a plurality of traveling thrusters 2 which are sequentially arranged at the bottom of the rear end of the hull 1 from left to right, and the traveling thrusters 2 are connected to the power source 10, and the traveling thrusters 2 are connected to the control system.

[0036] In this embodiment, the underwater driving device includes two travel thrusters 2 arranged sequentially from left to right, and the land driving mechanism includes two land driving components arranged sequentially from front to back.

[0037] When traveling in water, the control system controls the traveling propeller 2 to be turned on, so that a driving force is applied to the hull 1, so that the surveying and mapping unmanned ship 100 moves forward in the water. When traveling on land, the control system controls the traveling propeller 2 to be turned off.

[0038] Specifically, the sonar device includes an acoustic Doppler current profiler 3 and a depth sounder 4 arranged at the bottom of the hull 1, and the acoustic Doppler current profiler 3 and the depth sounder 4 are both connected to a power supply 10, and the acoustic Doppler current profiler 3 and the depth sounder 4 are both connected to a control system. When traveling in water, the acoustic Doppler current profiler 3 and the depth sounder 4 transmit the measured data to the control system.

[0039] Specifically, the shooting sensing device includes an illuminable camera 5 and a laser radar 6. The illuminable camera 5 is arranged on the front side of the hull 1, and the laser radar 6 is arranged at the front end of the top of the hull 1. The illuminable camera 5 and the laser radar 6 are both connected to the power supply 10, and the illuminable camera 5 and the laser radar 6 are both connected to the control system.

[0040] When the surveying and mapping unmanned boat 100 is traveling, the lighting camera 5 can take pictures and transmit the photographed data to the control system, the laser radar 6 can sense and transmit the sensing data to the control system, the control system analyzes the photographed data and the sensing data, controls the underwater driving device or the land driving device, automatically plans the path, and intelligently adjusts the retractable land driving components to avoid obstacles or stop driving, so as to realize autonomous driving and improve work efficiency.

[0041] Specifically, the upper body includes a first joint 13 and a thigh body 14 connected to one end of the first joint 13, the first joint 13 is hinged to one side of the hull 1, and the upper driving component is used to drive the first joint 13 to rotate; the lower body includes a second joint 16 and a calf body 17 connected to one end of the second joint 16, the second joint 16 is hinged to one end of the thigh body 14 away from the first joint 13, the lower driving component is arranged on the thigh body 14 and is used to drive the second joint 16 to rotate, and the end of the calf body 17 away from the second joint 16 is used to install a bottom traveling component or a bottom climbing component.

[0042] In this specific embodiment, the upper driving component is the first motor 12, the first motor 12 is arranged on the hull 1, the first joint 13 is fixedly mounted on the power output shaft of the first motor 12, the first motor 12 is connected to the power supply 10, and the first motor 12 is connected to the control system.

[0043] During operation, the control system can realize the rotation of the first joint 13 and the thigh body 14 relative to the hull 1 by controlling the first motor 12 .

[0044] like Figure 4 As shown, the lower driving component includes a second motor 18, a driving sprocket, a driven sprocket 20 and a transmission chain 19. The end of the second joint 16 away from the calf body 17 is fixed with a rotating shaft 15, and the rotating shaft 15 is rotatably mounted on the end of the thigh body 14 away from the first joint 13. Specifically, one end of the rotating shaft 15 is rotatably mounted on the thigh body 14, and the other end extends to the outside of the thigh body 14 and is fixed with the second joint 16, that is, the second joint 16 is located on the outside of the thigh body 14. The thigh body 14 is a hollow structure, the second motor 18 is arranged in the thigh body 14, the driving sprocket is fixedly sleeved on the power output shaft of the second motor 18, the driven sprocket 20 is fixedly sleeved on the rotating shaft 15, the transmission chain 19 is wound around the driving sprocket and the driven sprocket 20, the second motor 18 is connected to the power supply 10, and the second motor 18 is connected to the control system.

[0045] During operation, the control system controls the second motor 18 to drive the active sprocket, the transmission chain 19, the driven sprocket 20 and the rotating shaft 15 to move. The rotation of the rotating shaft 15 can realize the rotation of the second joint 16 and the calf body 17 relative to the thigh body 14.

[0046] The chain drive has an unlimited range of motion, and the calf body 17 can swing over a wide range to achieve different leg configurations to adapt to more complex environments. For example, when going up or down stairs and turning back halfway, there is no need to turn around, and the leg configuration can be changed directly to return.

[0047] like Figure 5 As shown, the bottom traveling component includes a traveling connecting rod 21, a traveling motor 22 and a traveling wheel 23. A threaded hole is provided at one end of the calf body 17 away from the second joint 16. An external thread matching the threaded hole is provided on the traveling connecting rod 21. The traveling motor 22 is provided at one end of the traveling connecting rod 21 away from the calf body 17. The traveling wheel 23 is fixedly sleeved on the power output shaft of the traveling motor 22. The traveling wheel 23 is a ring-shaped wheel, and the outer wall of the ring-shaped wheel is provided with anti-slip rubber. The traveling motor 22 is connected to the power supply 10, and the traveling motor 22 is connected to the control system.

[0048] like Figure 6 As shown, the bottom climbing component includes a climbing connecting rod 24, a climbing motor 25 and a climbing wheel. A threaded hole is provided at one end of the calf body 17 away from the second joint 16. The climbing connecting rod 24 is provided with an external thread matching the threaded hole. The climbing wheel includes a center piece 26 and a plurality of climbing rods 27. The plurality of climbing rods 27 are sequentially arranged on the outside of the center piece 26 along the circumferential direction. A climbing motor 25 is provided at one end of the climbing connecting rod 24 away from the calf body 17. The center piece 26 is fixedly mounted on the power output shaft of the climbing motor 25. The climbing motor 25 is connected to the power supply 10, and the climbing motor 25 is connected to the control system.

[0049] The climbing rod 27 in this embodiment is an arc-shaped rod and the outer wall is provided with anti-skid rubber. The climbing rod 27 is arranged in four and in a cross-shaped shape. Compared with the circular wheel shape, it increases the friction with the ground, making climbing more stable and less likely to slip.

[0050] When traveling on land and needs to be in a traveling form, the traveling connecting rod 21 of the bottom traveling component is installed in the threaded hole at the bottom of the calf body 17, and the control system controls the first motor 12 and the second motor 18 to adjust the land traveling component to the required leg configuration, and turns on the traveling motor 22 to rotate the traveling wheel 23, so as to travel on a large area of ​​mudflats on plains or plateaus. During the travel, the control system can control the first motor 12 and the second motor 18 according to actual needs.

[0051] When driving on land and needs to be in climbing mode, the climbing connecting rod 24 of the bottom climbing component is installed in the threaded hole at the bottom of the calf body 17, and the first motor 12 and the second motor 18 are controlled by the control system to operate, and the climbing motor 25 is turned on to rotate the climbing wheel, so as to climb autonomously on steep slopes or stairs in mountainous areas. During the climbing process, the control system can control the first motor 12 and the second motor 18 according to actual needs.

[0052] Specifically, the control system includes a controller 11, a data communication antenna 8 and a 4G antenna 7. The controller 11 is arranged in the hull 1. The data communication antenna 8 and the 4G antenna 7 are both arranged at the rear end of the top of the hull 1. Remote control is achieved through the data communication antenna 8 and the 4G antenna 7. The controller 11, the data communication antenna 8 and the 4G antenna 7 are all connected to the power supply 10. The data communication antenna 8, the 4G antenna 7, the upper driving component, the lower driving component, the bottom traveling component, the bottom climbing component, the underwater traveling device, the sonar device and the shooting sensing device are all connected to the controller 11.

[0053] In this specific embodiment, the first motor 12 , the second motor 18 , the driving motor 22 , the climbing motor 25 , the moving propeller 2 , the acoustic Doppler flow profiler 3 , the depth sounder 4 , the illuminable camera 5 and the laser radar 6 are all connected to the controller 11 .

[0054] The power source 10 in this embodiment is a replaceable intelligent battery. A accommodating cavity is provided on the top of the hull 1, in which the replaceable intelligent battery is placed. A storage plate 9 is provided on the top of the hull 1 to close the accommodating cavity. The replaceable intelligent battery can be loaded and unloaded by opening the storage plate 9.

[0055] This specification 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 idea of ​​the utility model. At the same time, for those skilled in the art, according to the idea of ​​the utility model, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the utility model.

Claims

1. A surveying and mapping unmanned ship, characterized in that: The invention comprises a hull, a land driving device, an underwater driving device, a sonar device, a shooting sensing device, a power supply and a control system, wherein the sonar device is arranged at the bottom of the hull, the shooting sensing device is arranged on the hull, the underwater driving device is arranged at the rear end of the hull, the land driving device comprises two land driving mechanisms respectively arranged on the left and right sides of the hull, the land driving mechanism comprises a plurality of land driving components arranged in sequence from front to back, the land driving components comprise an upper body, a lower body, a bottom driving component, a bottom climbing component, an upper driving component and a lower driving component, one end of the upper body is hinged to one side of the hull, and the other end of the upper body is connected to one end of the lower body The upper end of the lower body is hinged, the other end of the lower body is used to install the bottom traveling component or the bottom climbing component, the upper driving component is arranged on the hull and is used to drive the upper body to rotate, and the lower driving component is arranged on the upper body and is used to drive the lower body to rotate; the upper driving component, the lower driving component, the bottom traveling component, the bottom climbing component, the underwater traveling device, the sonar device, the shooting sensing device and the control system are all connected to the power supply, and the upper driving component, the lower driving component, the bottom traveling component, the bottom climbing component, the underwater traveling device, the sonar device and the shooting sensing device are all connected to the control system.

2. The unmanned surveying and mapping vessel according to claim 1, characterized in that: The underwater driving device includes a plurality of travel thrusters which are sequentially arranged at the bottom of the rear end of the hull from left to right, the travel thrusters are connected to the power source, and the travel thrusters are connected to the control system.

3. The unmanned surveying and mapping vessel according to claim 1, characterized in that: The sonar device comprises an acoustic Doppler current profiler and a depth sounder arranged at the bottom of the hull, the acoustic Doppler current profiler and the depth sounder are both connected to the power supply, and the acoustic Doppler current profiler and the depth sounder are both connected to the control system.

4. The unmanned surveying and mapping vessel according to claim 1, characterized in that: The shooting sensing device includes an illuminable camera and a laser radar. The illuminable camera is arranged on the front side of the hull, and the laser radar is arranged at the front end of the top of the hull. The illuminable camera and the laser radar are both connected to the power supply, and the illuminable camera and the laser radar are both connected to the control system.

5. The unmanned surveying and mapping vessel according to claim 1, characterized in that: The upper body includes a first joint and a thigh body connected to one end of the first joint, the first joint is hinged to one side of the hull, and the upper driving component is used to drive the first joint to rotate; the lower body includes a second joint and a calf body connected to one end of the second joint, the second joint is hinged to one end of the thigh body away from the first joint, the lower driving component is arranged on the thigh body and is used to drive the second joint to rotate, and the end of the calf body away from the second joint is used to install the bottom traveling component or the bottom climbing component.

6. The unmanned surveying and mapping vessel according to claim 5, characterized in that: The upper driving component is a first motor, the first motor is arranged on the hull, the first joint is fixedly sleeved on the power output shaft of the first motor, the first motor is connected to the power supply, and the first motor is connected to the control system.

7. The unmanned surveying and mapping vessel according to claim 5, characterized in that: The lower driving component includes a second motor, a driving sprocket, a driven sprocket and a transmission chain. A rotating shaft is fixed to the end of the second joint away from the calf body. The rotating shaft is rotatably installed on the end of the thigh body away from the first joint. The thigh body is a hollow structure. The second motor is arranged in the thigh body. The driving sprocket is fixedly mounted on the power output shaft of the second motor. The driven sprocket is fixedly mounted on the rotating shaft. The transmission chain is wound around the driving sprocket and the driven sprocket. The second motor is connected to the power supply, and the second motor is connected to the control system.

8. The unmanned surveying and mapping vessel according to claim 5, characterized in that: The bottom traveling component includes a traveling connecting rod, a traveling motor and a traveling wheel. A threaded hole is provided at one end of the calf body away from the second joint. An external thread matching the threaded hole is provided on the traveling connecting rod. The traveling motor is provided at one end of the traveling connecting rod away from the calf body. The traveling wheel is fixedly mounted on the power output shaft of the traveling motor. The traveling wheel is a ring-shaped wheel. The traveling motor is connected to the power supply, and the traveling motor is connected to the control system.

9. The unmanned surveying and mapping vessel according to claim 5, characterized in that: The bottom climbing component includes a climbing connecting rod, a climbing motor and a climbing wheel. A threaded hole is provided at one end of the calf body away from the second joint. The climbing connecting rod is provided with an external thread matching the threaded hole. The climbing wheel includes a center piece and a plurality of climbing rods. The plurality of climbing rods are sequentially arranged on the outside of the center piece along the circumferential direction. The climbing motor is provided at one end of the climbing connecting rod away from the calf body. The center piece is fixedly mounted on the power output shaft of the climbing motor. The climbing motor is connected to the power supply, and the climbing motor is connected to the control system.

10. The unmanned surveying and mapping vessel according to claim 1, characterized in that: The control system includes a controller, a data communication antenna and a 4G antenna, and the data communication antenna and the 4G antenna are both arranged at the rear end of the top of the hull. The controller, the data communication antenna and the 4G antenna are all connected to the power supply, and the data communication antenna, the 4G antenna, the upper driving component, the lower driving component, the bottom driving component, the bottom climbing component, the underwater driving device, the sonar device and the shooting sensing device are all connected to the controller.

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