Unmanned surveying and mapping ship based on ultrasonic waves

Abstract

The utility model relates to the technical field of unmanned surveying and mapping ships, and discloses an unmanned surveying and mapping ship based on ultrasonic waves, which comprises a ship body, a connecting plate is fixedly connected to the top of the ship body, a surveying and mapping instrument is arranged at the bottom of the ship body, and an anti-flow assembly is arranged at the top of the connecting plate and is used for reducing the impact of torrent. A cutting assembly is arranged at the bottom of the ship body and used for cutting water area garbage, the flow resisting assembly comprises a rotating shaft, the rotating shaft is fixedly connected to the top of the connecting plate, a motor is fixedly connected to the top of the connecting plate, an eccentric shaft is fixedly connected to the output end of the motor, and a connecting rod is rotationally connected to the side wall of the eccentric shaft. According to the unmanned surveying and mapping ship, the sliding shafts slide in the arc-shaped sliding grooves in the sector plates repeatedly, so that the tail vane effect added to the tail of the ship body is achieved, when the unmanned surveying and mapping ship is subjected to external interference such as sea waves and water flow, the tail vane can balance stress of the ship body by adjusting the angle, and the ship body is kept stable.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned surveying and mapping ships, in particular to an unmanned surveying and mapping ship based on ultrasonic waves. Background Art

[0002] Ultrasonic unmanned surveying vessels are unmanned vessels that use ultrasonic technology to conduct surveying and mapping of rivers, waters, etc. In modern surveying and mapping needs, traditional surveying and mapping methods often face problems such as low efficiency, high cost, and high risk. Ultrasonic unmanned surveying vessels can effectively solve these problems. They use ultrasonic technology to perform high-precision surveying and mapping in complex water environments. Whether it is a river, lake or ocean, the unmanned surveying vessel can easily cope with it.

[0003] In traditional ultrasonic unmanned mapping vessels, the hull is usually made of lightweight, high-strength materials with good stability and water resistance, providing support and buoyancy for the entire device. Multiple ultrasonic probes are installed on the hull. These probes are distributed in different positions and can emit ultrasonic waves into the water and receive echoes. By measuring parameters such as the propagation time and intensity of the ultrasonic waves, the height, depth and other information of the underwater terrain can be determined. The propulsion device is usually composed of a motor and a propeller, which can propel the mapping vessel to travel on the water surface along a predetermined route to realize mapping work in different areas. In addition, it is also equipped with a communication module to transmit the mapping data in real time to the ground control center for analysis and processing.

[0004] However, the shape of traditional hulls is relatively regular, and does not take into account the complex forces of water flow in rapids. In rapids, the impact of water flow comes from different directions. Traditional rectangular or cylindrical hulls are easily affected by lateral water flow and cause shaking and deviation. Without a stabilizing device, the hull can only rely on its own weight and buoyancy to maintain stability, but in rapids, this stability is far from enough. The hull will shake and tilt violently due to the impact of water flow, affecting the progress of surveying and mapping work. Poor stability will seriously affect the surveying and mapping accuracy. In rapids, the shaking of the hull will cause the position and angle of the surveying and mapping equipment to change continuously, resulting in errors in the measurement data. Utility Model Content

[0005] In order to make up for the above shortcomings, the utility model provides an unmanned surveying and mapping vessel based on ultrasound, which aims to improve the problem that the shape of the traditional hull is relatively regular, and the hull will shake and tilt violently due to the impact of water flow, affecting the progress of surveying and mapping work and seriously affecting the surveying and mapping accuracy.

[0006] To achieve the above objectives, the present invention adopts the following technical solutions: an ultrasonic unmanned surveying vessel, comprising a hull, a connecting plate fixedly connected to the top of the hull, a surveying instrument provided at the bottom of the hull, an anti-current component provided on the top of the connecting plate, the anti-current component being used to reduce the impact of rapids, and a segmentation component provided at the bottom of the hull, the segmentation component being used to segment garbage in the water area;

[0007] The anti-flow component includes a rotating shaft, which is fixedly connected to the top of the connecting plate, and a motor is fixedly connected to the top of the connecting plate. The output end of the motor is fixedly connected to an eccentric shaft, and the side wall of the eccentric shaft is rotatably connected to a connecting rod, and the outer wall of the rotating shaft is rotatably connected to a connecting frame. One end of the connecting rod is rotatably connected to the inside of the connecting frame, and the side wall of the connecting frame is fixedly connected to a fan plate, and an arc-shaped slide groove is opened inside the fan plate. The bottom of the fan plate is rotatably connected to a rudder plate, and the top of the rudder plate is fixedly connected to a sliding shaft, and the sliding shaft is slidably connected to the inside of the arc-shaped slide groove.

[0008] Furthermore, the splitting assembly includes a fixing platform, and the fixing platform is fixedly connected to the bottom of the hull.

[0009] Furthermore, a slide rail is fixedly connected to the lower surface of the fixed platform, and a rack is slidably connected inside the slide rail.

[0010] Furthermore, an electric push rod is fixedly connected to the bottom of the fixed platform, and the rack is fixedly connected to the output end of the electric push rod.

[0011] Furthermore, a plurality of turntables are fixedly connected to the bottom of the fixed platform, and a rotating column is rotatably connected inside the turntable.

[0012] Furthermore, a gear is fixedly connected to the outer wall of the rotating column, the gear is meshed with the rack, and a connecting piece is fixedly connected to the side wall of the gear.

[0013] Furthermore, a plurality of hanging platforms are fixedly connected to the lower surface of the fixed platform, and a connecting shaft is rotatably connected inside the hanging platform.

[0014] Furthermore, the connecting shaft is rotatably connected to the side wall of the connecting member, and a spiral column is fixedly connected to the outer wall of the connecting shaft.

[0015] The utility model has the following beneficial effects:

[0016] In the utility model, the eccentric shaft is first driven to rotate by the output of the motor to the eccentric shaft, and finally the fan plate on the side wall of the connecting frame will swing synchronously. This process will drive the rudder plate at the bottom to rotate relative to the fan plate. The rotation of the rudder plate further drives the top sliding shaft to slide repeatedly in the arc-shaped sliding groove inside the fan plate, thereby realizing the effect of adding a tail rudder to the tail of the hull. When the unmanned mapping ship is subject to external interference, such as waves, water currents, etc., the tail rudder can balance the force on the hull by adjusting the angle, so that the hull remains stable.

[0017] In the utility model, the electric push rod outputs a driving force to the rack, which drives the rack to slide inside the electric push rod. Finally, during the rotation of the gear, the side wall of the gear and the connecting piece connected to it will change the angle, pulling the connecting shaft to rotate inside the hanging platform. The spiral column on the outer wall of the connecting shaft can be lifted and extended relative to the ship's body, thereby separating and clearing away garbage, plants and other debris in the water area, reducing the impact of garbage on surveying and mapping equipment, and improving the accuracy of surveying and mapping data. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a stereoscopic diagram of an ultrasonic-based unmanned surveying and mapping vessel proposed in the present invention;

[0019] Figure 2 This is a schematic diagram of the hull structure of an ultrasonic-based unmanned surveying and mapping vessel proposed in the present invention;

[0020] Figure 3 This is a schematic diagram of the connecting plate structure of an ultrasonic-based unmanned surveying and mapping vessel proposed in the present invention;

[0021] Figure 4 This is a schematic diagram of the fixed platform structure of an ultrasonic-based unmanned surveying and mapping vessel proposed in the utility model.

[0022] Legend:

[0023] 1. Hull; 2. Connecting plate; 3. Motor; 4. Eccentric shaft; 5. Connecting rod; 6. Rotating shaft; 7. Connecting frame; 8. Fan plate; 9. Arc slide; 10. Sliding shaft; 11. Rudder plate; 12. Surveying instrument; 13. Fixed platform; 14. Slide rail; 15. Electric push rod; 16. Rack; 17. Turntable; 18. Rotating column; 19. Gear; 20. Connecting piece; 21. Hanging platform; 22. Connecting shaft; 23. Screw column. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] Reference Figure 1 - Figure 2 The present invention provides an embodiment of an ultrasonic unmanned surveying vessel, comprising a hull 1, which is the main structure of the unmanned surveying vessel. A connecting plate 2 is fixedly connected to the top of the hull 1. A surveying instrument 12 is provided at the bottom of the hull 1. The surveying instrument 12 is used to perform surveying and mapping work and obtain relevant data of the water area. An anti-current component is provided on the top of the connecting plate 2. The anti-current component is used to reduce the impact of rapids. A segmentation component is provided at the bottom of the hull 1. The segmentation component is used to segment garbage in the water area.

[0026] The anti-current component includes a rotating shaft 6, which provides a rotating axis for the connecting frame 7. The rotating shaft 6 is fixedly connected to the top of the connecting plate 2. The top of the connecting plate 2 is fixedly connected to the motor 3. The output end of the motor 3 is fixedly connected to the eccentric shaft 4. The eccentric shaft 4 drives the connecting rod 5 to move through its eccentric structure. The side wall of the eccentric shaft 4 is rotated and connected to the connecting rod 5. The connecting rod 5 converts the rotating motion of the eccentric shaft 4 into a swinging motion of the connecting frame 7. The outer wall of the rotating shaft 6 is rotatably connected to the connecting frame 7. One end of the connecting rod 5 is rotatably connected to the inside of the connecting frame 7. The side wall of the connecting rod 5 is fixedly connected to the fan plate 8. The fan plate 8 swings with the swing of the connecting frame 7. An arc-shaped slide groove 9 is opened inside the fan plate 8. The arc-shaped slide groove 9 is for the slide shaft 10 to slide therein to realize the rotation of the rudder plate 11. The bottom of the fan plate 8 is rotatably connected to the rudder plate 11. The rudder plate 11 plays a role similar to a rudder by rotation to adjust the direction and stability of the hull 1. The top of the rudder plate 11 is fixedly connected to the slide shaft 10, which is slidably connected to the inside of the arc-shaped slide groove 9.

[0027] Specifically, first, when it is necessary to stabilize the position of the hull 1 in the water flow, the motor 3 can be started. The motor 3 will first output power to the eccentric shaft 4, driving the eccentric shaft 4 to rotate. During the rotation of the eccentric shaft 4, it will drive the connecting rod 5 of its side wall to rotate and change the inclination angle of the connecting rod 5. During the movement, the connecting rod 5 will pull the connecting frame 7. Under the pull of the connecting rod 5, the connecting frame 7 rotates on the outer wall of the rotating shaft 6, causing the connecting frame 7 to rotate on the outer wall of the rotating shaft 6. Due to repeated force, the connecting frame 7 will swing repeatedly. During the swinging process, the fan plate 8 on the side wall of the connecting frame 7 will swing synchronously. In this process, the rudder plate 11 at the bottom will be driven to rotate relative to the fan plate 8. The rotation of the rudder plate 11 will further drive the top sliding shaft 10 to slide repeatedly in the arc-shaped sliding groove 9 inside the fan plate 8. In this way, the effect of adding a stern rudder to the tail of the hull 1 is achieved. When the unmanned mapping ship is subject to external interference, such as waves, water currents, etc., the stern rudder can balance the force on the hull 1 by adjusting the angle, so as to keep the hull 1 stable to a certain extent.

[0028] Reference Figure 3 The splitting component includes a fixed platform 13, which is fixedly connected to the bottom of the hull 1. The lower surface of the fixed platform 13 is fixedly connected to a slide rail 14, which provides movement guidance and restriction. The slide rail 14 is internally slidably connected to a rack 16, which drives the gear 19 to rotate by engaging with the gear 19. The bottom of the fixed platform 13 is fixedly connected to an electric push rod 15, and the rack 16 is fixedly connected to the output end of the electric push rod 15. The bottom of the fixed platform 13 is fixedly connected to multiple turntables 17, which provide support for the installation and rotation of the rotating column 18. The turntable 17 The internal rotation is connected to a rotating column 18, which rotates with the rotation of the gear 19 to ensure the stability of the rotation. The outer wall of the rotating column 18 is fixedly connected to the gear 19, which meshes with the rack 16. The side wall of the gear 19 is fixedly connected to a connector 20. The lower surface of the fixed platform 13 is fixedly connected to a plurality of hanging platforms 21. The internal rotation of the hanging platform 21 is connected to a connecting shaft 22, which is rotatably connected to the side wall of the connector 20. The outer wall of the connecting shaft 22 is fixedly connected to a spiral column 23, which is used to separate and drain garbage, plants and other debris in the water area.

[0029] Specifically, in order to ensure the measurement accuracy of the surveying instrument 12, if the hull 1 encounters garbage obstruction or plant entanglement during its travel, the electric push rod 15 can be started. The electric push rod 15 will output a driving force to the rack 16, driving the rack 16 to slide inside the electric push rod 15. The rack 16 drives the gear 19 to rotate through the meshing relationship with the gear 19. The rotation of the gear 19 will further drive the rotating column 18 inside it to rotate between the turntables 17 to ensure the stability of the rotation. During the rotation of the gear 19, the connecting piece 20 connected to its side wall will change its angle, pulling the connecting shaft 22 to rotate inside the hanging platform 21, and the spiral column 23 on the outer wall of the connecting shaft 22 can be lifted and expanded outward relative to the hull 1, so that garbage, plants and other debris in the water area can be separated and separated, which can reduce the impact of garbage on the surveying and mapping equipment to a certain extent and improve the accuracy of the surveying and mapping data.

[0030] Working principle: First, when it is necessary to stabilize the position of the hull 1 in the water flow, start the motor 3. The motor 3 first outputs to the eccentric shaft 4 to drive the eccentric shaft 4 to rotate. During the rotation, the eccentric shaft 4 drives the connecting rod 5 on its side wall to rotate and change the tilt angle. The movement of the connecting rod 5 pulls the connecting frame 7, so that the connecting frame 7 rotates on the outer wall of the rotating shaft 6. The repeated force of the connecting frame 7 can swing repeatedly. At this time, the fan plate 8 on the side wall of the connecting frame 7 will follow the synchronous swing. This process will drive the rudder plate 11 at the bottom to rotate relative to the fan plate 8. The rotation of the rudder plate 11 further drives the top sliding shaft 10 to slide repeatedly in the arc-shaped slide groove 9 inside the fan plate 8, thereby realizing the effect of adding a tail rudder to the tail of the hull 1. When the unmanned surveying and mapping ship is subject to external interference, such as waves, water currents, etc., the tail rudder can balance the impact of the hull 1 by adjusting the angle. Force is exerted to keep the hull 1 stable and ensure the measurement accuracy of the surveying instrument 12. If the hull 1 encounters garbage obstruction or plant entanglement during its travel, the electric push rod 15 is started. The electric push rod 15 outputs a driving force to the rack 16 to drive the rack 16 to slide inside the electric push rod 15. The rack 16 drives the gear 19 to rotate through the meshing relationship with the gear 19. The rotation of the gear 19 further drives the rotating column 18 inside it to rotate between the turntable 17 to ensure stability. During the rotation of the gear 19, the connecting piece 20 connected to its side wall will change its angle and pull the connecting shaft 22 to rotate inside the hanging platform 21. The spiral column 23 on the outer wall of the connecting shaft 22 can be lifted and extended relative to the hull 1 to separate and sort out debris such as garbage and plants in the water area, which can reduce the impact of garbage on the surveying and mapping equipment and improve the accuracy of the surveying and mapping data.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An ultrasonic unmanned surveying vessel, comprising a hull (1), characterized in that: The top of the hull (1) is fixedly connected to a connecting plate (2), the bottom of the hull (1) is provided with a mapping instrument (12), the top of the connecting plate (2) is provided with an anti-current component, the anti-current component is used to reduce the impact of the rapids, and the bottom of the hull (1) is provided with a dividing component, the dividing component is used to divide the garbage in the water area; The anti-flow component includes a rotating shaft (6), the rotating shaft (6) is fixedly connected to the top of the connecting plate (2), the top of the connecting plate (2) is fixedly connected to a motor (3), the output end of the motor (3) is fixedly connected to an eccentric shaft (4), the side wall of the eccentric shaft (4) is rotatably connected to a connecting rod (5), the outer wall of the rotating shaft (6) is rotatably connected to a connecting frame (7), one end of the connecting rod (5) is rotatably connected to the inside of the connecting frame (7), the side wall of the connecting frame (7) is fixedly connected to a fan plate (8), an arc-shaped sliding groove (9) is provided inside the fan plate (8), the bottom of the fan plate (8) is rotatably connected to a rudder plate (11), the top of the rudder plate (11) is fixedly connected to a sliding shaft (10), and the sliding shaft (10) is slidably connected to the inside of the arc-shaped sliding groove (9).

2. The ultrasonic unmanned surveying vessel according to claim 1, characterized in that: The segmentation assembly comprises a fixing platform (13), and the fixing platform (13) is fixedly connected to the bottom of the hull (1).

3. The ultrasonic unmanned surveying vessel according to claim 2, characterized in that: The lower surface of the fixed platform (13) is fixedly connected to a slide rail (14), and the interior of the slide rail (14) is slidably connected to a rack (16).

4. The ultrasonic unmanned surveying vessel according to claim 3, characterized in that: An electric push rod (15) is fixedly connected to the bottom of the fixed platform (13), and the rack (16) is fixedly connected to the output end of the electric push rod (15).

5. The ultrasonic unmanned surveying vessel according to claim 4, characterized in that: A plurality of rotating tables (17) are fixedly connected to the bottom of the fixed table (13), and a rotating column (18) is rotatably connected inside the rotating table (17).

6. The ultrasonic unmanned surveying vessel according to claim 5, characterized in that: A gear (19) is fixedly connected to the outer wall of the rotating column (18), the gear (19) is meshed with the rack (16), and a connecting piece (20) is fixedly connected to the side wall of the gear (19).

7. The ultrasonic unmanned surveying vessel according to claim 6, characterized in that: A plurality of hanging platforms (21) are fixedly connected to the lower surface of the fixed platform (13), and a connecting shaft (22) is rotatably connected inside the hanging platform (21).

8. The ultrasonic unmanned surveying vessel according to claim 7, characterized in that: The connecting shaft (22) is rotatably connected to the side wall of the connecting member (20), and a spiral column (23) is fixedly connected to the outer wall of the connecting shaft (22).

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