Triangular pedrail type land and water surveying and mapping unmanned ship

Abstract

The utility model discloses a triangular crawler type land and water surveying and mapping unmanned ship which comprises a ship body, a ship cover, a middle connecting mechanism, a triangular crawler mechanism, a propelling system and a water depth measuring mechanism. The boat body is fixedly connected with the boat cover located at the upper end of the boat body. The middle connecting mechanisms are hinged to the left and right sides of the bottom of the hull; the triangular track mechanism is fixedly arranged on the side, away from the ship body, of the middle connecting mechanism, a motor used for providing power needed when the unmanned ship moves on the land is arranged in the middle connecting mechanism, and the motor is connected with the triangular track mechanism through a middle coupler; the propelling system is arranged at the tail of the ship body and used for providing power needed when the unmanned ship moves on the water surface. The water depth measuring mechanism is in communication connection with the middle connecting mechanism. According to the amphibious surveying and mapping unmanned ship, the grounding area can be greatly increased, the grounding specific pressure can be greatly reduced, the traction performance and trafficability of the amphibious surveying and mapping unmanned ship are improved, and the defects that crawler-type heavy machinery is high in power consumption, short in endurance and high in ground destructive power can be overcome.

Description

Technical Field

[0001] This utility model relates to the field of hydrological monitoring equipment technology, specifically to a triangular-tracked unmanned surface vessel for land and water surveying. Background Technology

[0002] Aqua-land surveying unmanned vessels are a special type of unmanned vessel that can perform both water and land surveys, greatly expanding the operational scope of traditional surveying unmanned vessels. However, due to their wheeled structure, these unmanned vessels still have shortcomings in their ability to navigate complex terrains such as mud, snow, and swamps, including being prone to getting stuck and having poor obstacle clearance.

[0003] Therefore, it is urgent to propose a new solution to the above problems. Summary of the Invention

[0004] This invention provides a triangular-tracked unmanned surface vessel for amphibious surveying, which can solve the problems of existing unmanned vessels being prone to getting stuck and having poor obstacle clearance in complex terrains such as mud, snow and swamp.

[0005] This utility model discloses a triangular tracked unmanned surface vessel for amphibious mapping, including a hull, a canopy, an intermediate connecting mechanism, a triangular track mechanism, a propulsion system, and a water depth measurement mechanism.

[0006] The hull and the canopy located at the upper part of the hull are fixedly connected;

[0007] The intermediate connecting mechanism is hinged to the left and right sides of the bottom of the hull;

[0008] The triangular track mechanism is fixedly installed on the side of the intermediate connecting mechanism away from the hull. The intermediate connecting mechanism is equipped with an electric motor for providing the power required for the unmanned vessel to move on land. The electric motor is connected to the triangular track mechanism through an intermediate coupling.

[0009] The propulsion system is located at the stern of the hull and is used to provide the power required for the unmanned vessel to move on the water surface.

[0010] The water depth measuring mechanism is communicatively connected to the intermediate connecting mechanism, and is used to drive the triangular track mechanism to rotate to different positions according to different water depths, thereby switching between the water and land modes.

[0011] Furthermore, the intermediate connecting mechanism includes a square rod, the top end of which is connected to the hull via a first hinge mechanism. The first hinge mechanism includes a first protrusion on the hull and a second protrusion on the upper end of the rod, as well as a first hinge shaft connecting the first and second protrusions. The side end of the rod is connected to the hull via a second hinge mechanism. The second hinge mechanism includes a telescopic cylinder on the hull and an intermediate connecting part hinged to the end of the telescopic cylinder. A third protrusion is provided at the end of the telescopic cylinder away from the intermediate connecting part, and a fourth protrusion is provided on the hull. The third and fourth protrusions are connected via a second hinge shaft.

[0012] Furthermore, the lower end of the rod is provided with a space for placing the motor. The triangular track mechanism includes a drive wheel, a tension wheel, a guide wheel, a track, and a support wheel. A support plate is fixedly installed inside the track. Multiple support wheels are located between the tension wheel and the guide wheel. The track forms a triangular structure. The drive wheel, tension wheel, and guide wheel are located at the three corners of the track, respectively. The motor shaft of the motor is connected to the output shaft of the drive wheel of the triangular track mechanism through a coupling.

[0013] Furthermore, the tensioning wheel, guide wheel, and support wheel are all provided with a connecting shaft at their center, the other end of the connecting shaft is provided on the support plate, and a shock absorption mechanism is provided on the side end of the connecting shaft.

[0014] Furthermore, the shock absorption mechanism includes a first connecting part, a first fixed shaft, a second connecting part, a second fixed shaft, and a spring. The first connecting part has a ring for fitting the first fixed shaft on the side away from the connecting shaft. The end of the first fixed shaft is fixedly connected to a support plate. A spring is fixedly installed in the middle of the first connecting part. A second connecting part is installed at the end of the spring away from the first connecting part. A second fixed shaft parallel to the first fixed shaft is installed at the end of the second connecting part away from the spring. The end of the second fixed shaft is fixedly connected to the support plate.

[0015] Furthermore, the track is made of rubber.

[0016] Furthermore, the water depth measuring mechanism includes a first lidar mounted on the bow bottom and a second lidar mounted on the stern bottom.

[0017] Furthermore, the outer surface of the track at the corners is provided with anti-slip texture.

[0018] Furthermore, notches are provided at the lower ends of the left and right sides of the hull. The notches include a first surface in the vertical direction and a second surface in the horizontal direction, wherein the first protrusion is fixedly disposed on the first surface and the fourth protrusion is fixedly disposed on the second surface.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0020] 1. This utility model uses a triangular track structure, which can significantly increase the ground contact area and reduce the ground contact pressure compared with the traditional wheel structure, thereby improving the traction and passability of the land and water mapping unmanned vessel. At the same time, it can also make up for the defects of tracked heavy machinery such as high power consumption, short endurance and strong destructive force to the ground. In addition, the autonomous switching between the land and water modes of the unmanned vessel is realized through the cooperation of the intermediate connecting mechanism and the water depth measurement mechanism.

[0021] 2. This utility model achieves autonomous switching between land and water modes of the unmanned vessel by setting up mutually cooperating rods, a first hinge mechanism and a second hinge mechanism, driven by a telescopic cylinder. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the triangular tracked amphibious surveying unmanned vessel of this utility model in its land state.

[0023] Figure 2 This is a schematic diagram of the overall structure of the triangular tracked amphibious surveying unmanned vessel of this utility model in the water.

[0024] Figure 3 This is a schematic diagram of the intermediate connecting mechanism and the triangular track mechanism of this utility model in a land state;

[0025] Figure 4 This is a schematic diagram of the intermediate connecting mechanism and the triangular track mechanism of this utility model in the water state;

[0026] Figure 5 This is a structural schematic diagram of the intermediate connecting mechanism of this utility model from another angle;

[0027] Figure 6 This is a schematic diagram of the triangular track mechanism of this utility model;

[0028] Figure 7 This is a schematic diagram of the support roller and shock absorption mechanism of this utility model;

[0029] Reference numerals: 1. Hull; 11. Notch; 111. First surface; 112. Second surface; 2. Shelf cover; 3. Intermediate connecting mechanism; 301. Rod; 31. First hinge mechanism; 311. First protrusion; 312. Second protrusion; 313. First hinge shaft; 32. Second hinge mechanism; 321. Telescopic cylinder; 322. Intermediate connecting part; 323. Third protrusion; 324. Fourth protrusion; 325. Second hinge shaft; 4. Triangular track mechanism; 41. Drive wheel; 41 1. Output shaft; 42. Tensioner wheel; 43. Guide wheel; 44. Track; 441. Anti-slip tread; 45. Track roller; 451. First connecting part; 452. First fixed shaft; 453. Connecting shaft; 454. Second connecting part; 455. Second fixed shaft; 456. Spring; 457. Ring; 46. Coupling; 47. Electric motor; 471. Electric motor shaft; 48. Support plate; 5. Propulsion system; 6. Water depth measuring mechanism; 61. First lidar; 62. Second lidar. Detailed Implementation

[0030] To further understand the utility model's content, features, and effects, the following embodiments are provided, along with accompanying drawings. Figures 1-7 The details are as follows.

[0031] like Figures 1-7 As shown, this embodiment provides a triangular tracked amphibious unmanned surface vessel for mapping, including a hull 1, a canopy 2, an intermediate connecting mechanism 3, a triangular track mechanism 4, a propulsion system 5, and a water depth measurement mechanism 6;

[0032] The hull 1 and the canopy 2 located at the upper end of the hull 1 are fixedly connected;

[0033] The intermediate connecting mechanism 3 is hinged to the left and right sides of the bottom of the hull 1, and the hull 1 has a notch 11 for accommodating the intermediate connecting mechanism 3;

[0034] The triangular track mechanism 4 is fixedly installed on the side of the intermediate connecting mechanism 3 away from the hull 1. The intermediate connecting mechanism 3 is equipped with an electric motor 47 for providing the power required for the unmanned vessel to move on land. The electric motor 47 is connected to the triangular track mechanism 4 through an intermediate coupling 46. Specifically, the electric motor 47 is connected to the coupling 46 through the electric motor shaft 471. The connection between the electric motor shaft 471 and the intermediate connecting mechanism 3 is watertight. Specifically, it can be achieved through a double sealing design of O-rings and airtight bellows, or by using a combination of magnetic fluid seals and air pressure balance valves to improve the underwater sealing performance of the electric motor 47. At the same time, the unmanned vessel provides power to the electric motor 47.

[0035] The propulsion system 5 is located at the stern of the hull 1 and is used to provide the power required for the unmanned vessel to move on the water surface.

[0036] The water depth measuring mechanism 6 is communicatively connected to the intermediate connecting mechanism 3, and is used to drive the triangular track mechanism 4 to rotate to different positions according to different water depths, thereby switching between the water and land modes. Figure 1 This is a schematic diagram of the land state, where the intermediate connecting mechanism 3 is in a vertical state and the bottom of the triangular track mechanism 4 is in contact with the ground; Figure 1 This is a schematic diagram of the land-based configuration, where the intermediate connecting mechanism 3 is in a horizontal position. Figure 1 This is a schematic diagram of the land state, where the intermediate connecting mechanism 3 is in a vertical state, and both the intermediate connecting mechanism 3 and the triangular track mechanism 4 are below the water surface.

[0037] This utility model uses a triangular track structure, which, compared with the traditional wheel structure, can significantly increase the ground contact area and reduce the ground contact pressure, thereby improving the traction and maneuverability of the unmanned surface vessel for land and water mapping. At the same time, it can also make up for the shortcomings of tracked heavy machinery, such as high power consumption, short endurance, and strong destructive force on the ground. In addition, the autonomous switching between the land and water modes of the unmanned surface vessel is achieved through the cooperation of the intermediate connecting mechanism and the water depth measurement mechanism.

[0038] In this embodiment, as Figures 3-4 As shown, the intermediate connecting mechanism 3 includes a square rod 301. The top end of the rod 301 is connected to the hull 1 via a first hinge mechanism 31. The first hinge mechanism 31 includes a first protrusion 311 fixedly disposed on the surface of the hull 1 by welding and a second protrusion 312 disposed on the upper end of the rod 301, and a first hinge shaft 313 connecting the first protrusion 311 and the second protrusion 312. The side end of the rod 301 is connected to the hull 1 via a second hinge mechanism 32. The second hinge mechanism 32 includes a telescopic cylinder 321 disposed on the hull 1 and an intermediate connecting part 322 hinged to the end of the telescopic cylinder 321. A third protrusion 323 is disposed at the end of the telescopic cylinder 321 away from the intermediate connecting part 322. A fourth protrusion 324 is disposed on the hull 1. The third protrusion 323 and the fourth protrusion 324 are connected by a second hinge shaft 325. This invention achieves autonomous switching between land and water modes of the unmanned vessel by setting up mutually cooperating rods, a first hinge mechanism, and a second hinge mechanism, driven by a telescopic cylinder.

[0039] In this embodiment, as Figures 3-5As shown, notches 11 are provided at the lower ends of the left and right sides of the hull 1. Specifically, two symmetrically arranged notches 11 are provided on each side. Each notch 11 includes a vertical first surface 111 and a horizontal second surface 112. The ends of the first surface 111 and the second surface 112 intersect. The first protrusion 311 is fixedly disposed on the first surface 111, and the fourth protrusion 324 is fixedly disposed on the second surface 112. In this embodiment, the telescopic cylinder 321 is a hydraulic telescopic cylinder, which is connected to the hydraulic system of the unmanned vessel. When it is necessary to switch from the water state to the land state, the telescopic cylinder 321 extends, thereby driving the rod 301 to rotate from the horizontal state to the vertical state. At this time, the second protrusion 312 also rotates relative to the first protrusion 311. The telescopic cylinder 321 is provided with a locking mechanism, which can be configured as a ratchet structure, to prevent the rod 301 from moving relative to the hull 1 in either the water or land state.

[0040] In this embodiment, as Figure 6 and 7 As shown, the lower end of the rod 301 has a space for placing the motor 47. The triangular track mechanism 4 includes a drive wheel 41, a tension wheel 42, a guide wheel 43, a track 44, and a support wheel 45. The tension wheel 42 ensures that the track 44 fits tightly, preventing the track 44 from loosening or coming off the track, and improving the stability of the triangular track wheel. The guide wheel 43 guides the track 44 to rotate correctly, preventing the track 44 from running off track or deviating from its course. The support wheel 45 bears the weight of the equipment and transmits the weight to the track 44, enabling the equipment to travel smoothly on the track 44. The inner surface of the track 44 meshes with each wheel to ensure overall stability. A support plate 48 is fixedly installed inside the track 44. Multiple support rollers 45 are located between the tension roller 42 and the guide roller 43. The track 44 forms a triangular structure. The drive wheel 41, tension roller 42 and guide roller 43 are located at the three corners of the track 44. The motor shaft 471 of the motor 47 is connected to the output shaft 411 of the drive wheel 41 of the triangular track mechanism 4 through a coupling 46. In addition, the base of the motor 47 is fixedly installed inside the rod 301 by multiple bolts.

[0041] In this embodiment, as Figure 6 and 7 As shown, a connecting shaft 453 is provided at the center of each of the tension wheel 42, guide wheel 43, and support wheel 45. The other end of the connecting shaft 453 is mounted on the support plate 48, and a shock-absorbing mechanism is provided on the side end of the connecting shaft 453. A real-time tension sensor can be installed on the tension wheel 42 of this invention, and the rotational speed of the motor 47 is dynamically adjusted according to the tension feedback value, thereby better controlling the dynamic tension of the track 44.

[0042] In this embodiment, as Figure 7As shown, the shock absorption mechanism includes a first connecting part 451, a first fixed shaft 452, a second connecting part 454, a second fixed shaft 455, and a spring 456. A ring 457 for fitting the first fixed shaft 452 is provided on the side of the first connecting part 451 away from the connecting shaft 453. The end of the first fixed shaft 452 is fixedly connected to a support plate 48. A spring 456 is fixedly disposed in the middle of the first connecting part 451. A second connecting part 454 is provided at the end of the spring 456 away from the first connecting part 451. A second fixed shaft 455 parallel to the first fixed shaft 452 is provided at the end of the second connecting part 454 away from the spring 456. The end of the second fixed shaft 455 is fixedly connected to the support plate 48. The connecting shaft 453 and the support plate 48 are in sliding engagement, allowing the support roller 45 to float up and down relative to the support plate 48. When the unmanned surveying vessel encounters obstacles such as rocks or dead branches while traveling on land, the corresponding wheel rotates around the first fixed shaft 452 under the drive of the first connecting part 451, thereby adjusting the wheel's height above the ground. Simultaneously, the spring 456 contracts to provide shock absorption. When the track 44 encounters an obstacle, the support roller 45 rotates clockwise around the first fixed shaft 452, the spring 456 extends, and the support roller 45 rises. When the track 44 leaves the obstacle, the spring 456 contracts, and the support roller 45 descends, completing its reset. The initial pre-compression of the spring 456 is 5-10mm, allowing the support roller 45 to buffer the impact during the first collision.

[0043] In this embodiment, the track 44 is made of rubber, which allows it to adapt to different ground surfaces.

[0044] In this embodiment, as Figure 2As shown, the water depth measuring mechanism 6 includes a first lidar 61 mounted on the bow bottom and a second lidar 62 mounted on the stern bottom. When the water is turbid, a multi-spectral sonar array can also be added to measure the water depth. The lidars constantly monitor the water depth. In a water environment, both the first lidar 61 and the second lidar 62 monitor that the water depth is greater than the distance from the bottom of the hull 1 to the bottom of the triangular track mechanism 4, and issue a command to the telescopic cylinder 321, thereby rotating the rod 301 to a horizontal position, thus enabling navigation and mapping in a normal hull shape. When navigating from the water environment to the shore, one of the first lidar 61 and the second lidar 62 detects that the water depth is approaching the distance from the bottom of the hull to the bottom of the triangular track mechanism 4 (which can be set to 20cm) and sends a command to the telescopic cylinder 321, thereby rotating the rod 301 to a vertical position. At this time, the propulsion system 5 can still provide power. When the water depth at the stern is equal to the distance from the bottom of the hull to the bottom of the triangular track mechanism 4, but still greater than the distance from the bottom of the hull to the bottom of the triangular track mechanism 4, the electric motor 47 at the bow drives the two triangular track mechanisms 4 on both sides to rotate, thus moving the entire unmanned vessel forward. This continues until the water depth at the stern is equal to the distance from the bottom of the hull to the bottom of the triangular track mechanism 4. At this point, all four triangular track mechanisms 4 can drive the entire unmanned vessel forward. In the water, only the propulsion system 5 is needed to provide power; in the land state, only the electric motor 47 needs to drive the triangular track mechanism 4 to provide power.

[0045] In this embodiment, as Figure 6 As shown, the outer surface of the corner of the track 44 is provided with anti-slip texture 441, which can prevent slipping.

[0046] The above-described utility model only illustrates the implementation methods of the present utility model and should not be construed as limiting the scope of the utility model patent, nor is it a limitation on the structure of the present utility model embodiments in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present utility model embodiments, and these all fall within the protection scope of the present utility model embodiments.

Claims

1. A triangular-tracked unmanned surface vessel for amphibious surveying, characterized in that, It includes the hull (1), the canopy (2), the intermediate connecting mechanism (3), the triangular track mechanism (4), the propulsion system (5), and the water depth measurement mechanism (6); The hull (1) and the canopy (2) located at the upper end of the hull (1) are fixedly connected; The intermediate connecting mechanism (3) is hinged to the left and right sides of the bottom of the hull (1); The triangular track mechanism (4) is fixedly installed on the side of the intermediate connecting mechanism (3) away from the hull (1). The intermediate connecting mechanism (3) is equipped with an electric motor (47) for providing the power required for the unmanned boat to move on land. The electric motor (47) is connected to the triangular track mechanism (4) through the intermediate coupling (46). The propulsion system (5) is located at the stern of the hull (1) and is used to provide the unmanned vessel with the power required for movement on the water surface; The water depth measuring mechanism (6) is communicatively connected to the intermediate connecting mechanism (3) and is used to drive the triangular track mechanism (4) to rotate to different positions according to different water depths, thereby switching between the two states of water and land.

2. The triangular-tracked unmanned surface vessel for amphibious surveying according to claim 1, characterized in that: The intermediate connecting mechanism (3) includes a square rod (301), the top end of which is connected to the hull (1) via a first hinge mechanism (31). The first hinge mechanism (31) includes a first protrusion (311) on the hull (1) and a second protrusion (312) on the upper end of the rod (301), and a first hinge shaft (313) connecting the first protrusion (311) and the second protrusion (312). The side end of the rod (301) is connected to the hull via the second hinge mechanism (312). 2) Connected to the hull (1), the second hinge mechanism (32) includes a telescopic cylinder (321) disposed on the hull (1) and an intermediate connecting part (322) hinged to the end of the telescopic cylinder (321). A third protrusion (323) is provided at one end of the telescopic cylinder (321) away from the intermediate connecting part (322). A fourth protrusion (324) is provided on the hull (1). The third protrusion (323) and the fourth protrusion (324) are connected by a second hinge shaft (325).

3. The triangular-tracked unmanned surface vessel for amphibious surveying according to claim 2, characterized in that: The lower end of the rod (301) has a space for placing the motor (47). The triangular track mechanism (4) includes a drive wheel (41), a tension wheel (42), a guide wheel (43), a track (44), and a support wheel (45). A support plate (48) is fixedly installed inside the track (44). Multiple support wheels (45) are located between the tension wheel (42) and the guide wheel (43). The track (44) forms a triangular structure. The drive wheel (41), tension wheel (42), and guide wheel (43) are located at the three corners of the track (44). The motor shaft (471) of the motor (47) is connected to the output shaft (411) of the drive wheel (41) of the triangular track mechanism (4) through a coupling (46).

4. The triangular-tracked unmanned surface vessel for amphibious surveying according to claim 3, characterized in that: The tensioning wheel (42), guide wheel (43) and support wheel (45) are all provided with a connecting shaft (453) at their center. The other end of the connecting shaft (453) is provided on the support plate (48), and a shock absorption mechanism is provided on the side end of the connecting shaft (453).

5. The triangular-tracked unmanned surface vessel for amphibious surveying according to claim 4, characterized in that: The shock absorption mechanism includes a first connecting part (451), a first fixed shaft (452), a second connecting part (454), a second fixed shaft (455), and a spring (456). The first connecting part (451) has a ring (457) for sleeved on the side away from the connecting shaft (453). The end of the first fixed shaft (452) is fixedly connected to the support plate (48). The spring (456) is fixedly provided in the middle of the first connecting part (451). The second connecting part (454) is provided at the end of the spring (456) away from the first connecting part (451). The second fixed shaft (455) is provided at the end of the second connecting part (454) away from the spring (456) and is parallel to the first fixed shaft (452). The end of the second fixed shaft (455) is fixedly connected to the support plate (48).

6. The triangular-tracked unmanned surface vessel for amphibious surveying according to claim 3, characterized in that: The track (44) is made of rubber.

7. The triangular-tracked unmanned surface vessel for amphibious surveying according to claim 1, characterized in that: The water depth measuring mechanism (6) includes a first lidar (61) installed on the bottom of the bow and a second lidar (62) installed on the bottom of the stern.

8. The triangular-tracked unmanned surface vessel for amphibious surveying according to claim 3, characterized in that: The outer surface of the track (44) at the corner is provided with anti-slip texture (441).

9. A triangular-tracked unmanned surface vessel for amphibious surveying according to claim 2, characterized in that: The lower ends of the left and right sides of the hull (1) are provided with notches (11), the notches (11) include a first surface (111) in the vertical direction and a second surface (112) in the horizontal direction, wherein the first protrusion (311) is fixedly disposed on the first surface (111) and the fourth protrusion (324) is fixedly disposed on the second surface (112).

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