Hydrographic surveying and mapping unmanned ship

Abstract

The utility model relates to unmanned ship technical field, and disclose a water conservancy surveying and mapping unmanned ship, including unmanned ship body, install the auxiliary machine case of unmanned ship body bottom, the rear end of auxiliary machine case is provided with power component, the both sides of unmanned ship body are all provided with the float assembly, the inside of auxiliary machine case is provided with bidirectional output component, and two output structures inside bidirectional output component are respectively with two float assembly drive connection, and bidirectional output component includes two upper and lower opposite toothed plate, gear, clutch servo motor. The utility model discloses through setting clutch servo motor drive gear synchronous meshing drive two toothed plates, and then make two toothed plates carry out the automatic displacement of mutual advance or separate, and the transmission rod corresponding to two toothed plates will synchronous transmission corresponding transition support plate and float body assembly combination, and then make two float body carry out the near or separate adjustment, provide the buoyancy support condition of different area for unmanned ship body and auxiliary machine case.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vessel technology, specifically to an unmanned vessel for water conservancy surveying. Background Technology

[0002] Unmanned surface vessels (USVs), as fully automated water surface robots that can navigate on water according to preset tasks without remote control and with the help of precise satellite positioning and their own sensors, are now mostly used for surveying, hydrology and water quality monitoring of target watersheds. Among them, unmanned surface vessels for water conservancy surveying can be used for flow measurement in large rivers, small and medium-sized rivers and emergency scenarios, and provide high-precision velocity profiles and flow calculation solutions based on ADCP, thereby greatly reducing the operational difficulty and workload of modern water conservancy workers.

[0003] Currently, with the further expansion of the application scope of unmanned vessels for water conservancy surveying, the applicant has found in the actual operation of unmanned vessels for water conservancy surveying that the stability of unmanned vessels is greatly affected when faced with sudden and urgent severe situations such as large and urgent winds and waves in the surveyed watershed environment. Although existing technologies disclose technical solutions that can adjust the structural spacing of the float components that provide buoyancy inside the unmanned vessel, manual adjustment is required, which is cumbersome and the locking structure is exposed and easily corroded, thus limiting its use. Utility Model Content

[0004] This invention provides an unmanned surface vessel for water conservancy surveying, which solves the problems mentioned in the background art.

[0005] This utility model provides the following technical solution: a water conservancy surveying unmanned vessel, including an unmanned vessel body and an auxiliary machine box installed at the bottom of the unmanned vessel body. A power component is provided at the rear end of the auxiliary machine box. Float assemblies are provided on both sides of the unmanned vessel body. A bidirectional output assembly is provided inside the auxiliary machine box, and two output structures inside the bidirectional output assembly are respectively connected to the two float assemblies for transmission.

[0006] The bidirectional output assembly includes two opposing toothed plates, a gear, and a brake servo motor. The brake servo motor is mounted on the inner wall of the bottom of the auxiliary housing, and its output end is connected to the middle of the gear. The gear is located between the two toothed plates and can mesh synchronously with them. One end of each toothed plate is connected to a transmission rod, and one end of each transmission rod serves as the output structure of the bidirectional output assembly, passing through both sides of the auxiliary housing before being connected to the two bidirectional output assemblies respectively.

[0007] Preferably, the pontoon assembly includes a transition support plate and a pontoon body. An assembly plate is fixed to the top of the pontoon body and the bottom of the transition support plate. The assembly plate at the top of the pontoon body has a threaded hole, and the assembly plate at the bottom of the transition support plate has a clearance hole aligned with the threaded hole. The two assembly plates at the contact position can be detachably installed and fixed by means of screws fitting into the clearance hole in one assembly plate and then threadedly connecting it to the threaded hole in the other assembly plate.

[0008] Preferably, T-shaped guide rods are fitted inside both sides of the auxiliary housing, and one end of the T-shaped guide rod penetrates through the corresponding side wall of the auxiliary housing and is fixed to the surface of the transition support plate at the corresponding position;

[0009] Sealing rings are nested at the fitting points of the T-shaped guide rod and the auxiliary chassis side wall, as well as at the fitting points of the transmission rod and the auxiliary chassis side wall.

[0010] Preferably, a spring is fitted over the other end of the T-shaped guide rod, and the two ends of the spring are fixed to the end surface of the other end of the T-shaped guide rod and the inner wall of the auxiliary housing, respectively.

[0011] Preferably, both of the toothed plates are fitted with slide rails, and the two slide rails are respectively fixed to the inner wall of the bottom of the auxiliary housing and the surface of the bottom of the unmanned vessel body.

[0012] Preferably, the auxiliary housing is fitted with a limiting component, and the surface of the toothed plate has several equidistant positioning holes along the transverse direction of its structure. The output structure of the limiting component can limit the toothed plate by engaging with the positioning holes.

[0013] Preferably, the limiting component includes an electric push rod and a limiting crank rod. The output end of the electric push rod is connected to one end of the limiting crank rod, and the other end of the limiting crank rod serves as the output structure of the limiting component, capable of engaging with the corresponding positioning hole.

[0014] Preferably, both toothed plates have several equidistant positioning holes on their surfaces along the transverse direction of their structure. The limiting crank rod specifically adopts a U-shaped structure, and the middle part of the limiting crank rod is connected to the output end of the electric push rod.

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

[0016] 1. This utility model uses a brake servo motor to drive two gear plates in synchronous meshing, which in turn causes the two gear plates to move forward or backward automatically. At the same time, the corresponding transmission rods of the two gear plates synchronously transmit the corresponding transition support plates and float body assemblies, thereby adjusting the two float bodies to be close or far apart. This provides buoyancy support conditions of different areas for the unmanned vessel body and auxiliary chassis, until it can withstand the wind and waves of the watershed to be surveyed, ensuring the stability of the overall device during use.

[0017] 2. This utility model, through the setting of slide rails, T-shaped guide rods and the snap-fit ​​method of auxiliary machine box, guides and constrains the movement of toothed plate and transition support plate respectively, while also improving the connection strength between auxiliary machine box and float assembly.

[0018] 3. This utility model uses a limiting component to engage with the corresponding positioning hole to lock and limit the two idle tooth plates, thereby improving the stability of the two tooth plates in the idle state and ensuring the reliable effect of continuous operation of the whole device. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a front view schematic diagram of the structure of this utility model;

[0021] Figure 3 This is a top view of the structure of this utility model;

[0022] Figure 4 This is a rear view schematic diagram of the structure of this utility model;

[0023] Figure 5 This is an enlarged schematic diagram of the main body of the pontoon structure of this utility model;

[0024] Figure 6 This is an enlarged schematic diagram of the toothed plate structure of this utility model;

[0025] Figure 7 This is an enlarged schematic diagram of the positioning hole in the structure of this utility model;

[0026] Figure 8 This is a three-dimensional schematic diagram of the structural limiting component of this utility model.

[0027] In the diagram: 1. Unmanned vessel body; 2. Auxiliary chassis; 3. Power unit; 4. Gear plate; 5. Gear; 6. Brake servo motor; 7. Transmission rod; 8. Slide rail; 9. Transition support plate; 10. Float body; 11. Limiting component; 111. Electric push rod; 112. Limiting crank rod; 12. Spring; 13. T-shaped guide rod; 14. Assembly plate; 15. Positioning hole. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Please see Figures 1-6 A water conservancy surveying unmanned vessel includes an unmanned vessel body 1, an auxiliary machine box 2 installed at the bottom of the unmanned vessel body 1, a power unit 3 at the rear end of the auxiliary machine box 2, float assemblies on both sides of the unmanned vessel body 1, and a bidirectional output assembly inside the auxiliary machine box 2, wherein the two output structures inside the bidirectional output assembly are respectively connected to the two float assemblies for transmission.

[0030] The pontoon assembly includes a transition support plate 9 and a pontoon body 10. Assembly plates 14 are fixed to the top of the pontoon body 10 and the bottom of the transition support plate 9. The assembly plate 14 at the top of the pontoon body 10 has a threaded hole, and the assembly plate 14 at the bottom of the transition support plate 9 has a clearance hole aligned with the threaded hole. The two assembly plates 14 at the contact position can be detachably installed and fixed by screwing into the clearance hole in one assembly plate 14 and then threadedly connecting it to the threaded hole in the other assembly plate 14. This facilitates modular replacement of the pontoon body 10 and maintains the high efficiency of the overall device.

[0031] The bidirectional output assembly includes two opposing toothed plates 4, a gear 5, and a brake servo motor 6. The brake servo motor 6 is mounted on the inner wall of the bottom of the auxiliary housing 2, and its output end is connected to the middle of the gear 5. The gear 5 is located between the two toothed plates 4 and can mesh synchronously with the two toothed plates 4. One end of each of the two toothed plates 4 is connected to a transmission rod 7, and one end of each transmission rod 7 serves as the output structure of the bidirectional output assembly, passing through both sides of the auxiliary housing 2 before being connected to the two bidirectional output assemblies respectively.

[0032] When in use, considering the wind and wave conditions of the watershed to be surveyed, before using the overall device, start the brake servo motor 6. The output end of the brake servo motor 6 drives the gear 5 to synchronously mesh with the two toothed plates 4, thereby causing the two toothed plates 4 to automatically move towards or away from each other. At the same time, the transmission rods 7 corresponding to each of the two toothed plates 4 will synchronously transmit the corresponding transition support plate 9 and the float body 10 assembly, thereby causing the two float bodies 10 to adjust towards or away from each other, providing buoyancy support conditions of different areas for the unmanned vessel body 1 and the auxiliary machine box 2, until it can withstand the wind and waves of the watershed to be surveyed, and ensure the stability of the overall device during use.

[0033] To facilitate maintenance of the pontoon body 10 during use, the transition support plate 9 and the pontoon body 10 are integrated and installed together using two assembly plates 14 and screws. When the pontoon body 10 needs to be replaced, the screws between the two assembly plates 14 can be removed to disassemble the pontoon body 10 as a whole. Then, the assembly plates 14 of the new pontoon body 10 and the corresponding assembly plates 14 on the transition support plate 9 can be reassembled using screws.

[0034] Please see Figures 5-6 T-shaped guide rods 13 are fitted inside both sides of the auxiliary housing 2. One end of the T-shaped guide rod 13 penetrates the corresponding side wall of the auxiliary housing 2 and is fixed to the surface of the transition support plate 9 at the corresponding position. As a reinforcing structure, the T-shaped guide rod 13 can provide support and guidance for the reciprocating movement of the associated toothed plate 4 while improving the connection strength between the auxiliary housing 2 and the transition support plate 9. Sealing rings are nested at the fitting points of the T-shaped guide rod 13 and the auxiliary housing 2 side wall, and at the fitting points of the transmission rod 7 and the auxiliary housing 2 side wall, thereby ensuring the sealing effect of the internal space of the auxiliary housing 2. A spring 12 is fitted outside the other end of the T-shaped guide rod 13, and the two ends of the spring 12 are respectively fixed to the end surface of the other end of the T-shaped guide rod 13 and the inner wall of the auxiliary housing 2. The surfaces of the two toothed plates 4 are respectively engaged with slide rails 8, and the two slide rails 8 are respectively fixed to the inner wall of the bottom of the auxiliary housing 2 and the surface of the bottom of the unmanned vessel body 1.

[0035] In use, considering the continuous stability and accuracy of the reciprocating movement of the two toothed plates 4, the movement of the toothed plates 4 and the transition support plate 9 is guided and constrained by the engagement of the slide rail 8, the T-shaped guide rod 13 and the auxiliary housing 2, and the connection strength between the auxiliary housing 2 and the float assembly is also improved.

[0036] Please see Figures 5-8The auxiliary housing 2 is equipped with a limiting component 11. The surface of the toothed plate 4 has several equidistant positioning holes 15 along the transverse direction of its structure. The output structure of the limiting component 11 can limit the toothed plate 4 by engaging with the positioning holes 15. The limiting component 11 includes an electric push rod 111 and a limiting crank rod 112. The output end of the electric push rod 111 is connected to one end of the limiting crank rod 112, and the other end of the limiting crank rod 112 serves as the output structure of the limiting component 11 and can engage with the corresponding positioning hole 15.

[0037] When in use, considering that the two toothed plates 4 are prone to shaking when not in use, the limiting component 11 is used to engage with the corresponding positioning hole 15 to lock and limit the two idle toothed plates 4. The specific principle is as follows.

[0038] During the displacement adjustment of the two toothed plates 4, the distance between two adjacent positioning holes 15 is one displacement cycle. After the displacement adjustment of the two toothed plates 4 is completed, the electric push rod 111 is started. The output end of the electric push rod 111 drives the limiting crank rod 112 to engage and press against the positioning hole 15 at the corresponding position, thereby engaging and limiting the corresponding toothed plate 4.

[0039] Please see Figures 5-8 Both toothed plates 4 have several equidistant positioning holes 15 on their surfaces along the transverse direction of their structure. The limiting crank 112 adopts a U-shaped structure, and the middle part of the limiting crank 112 is connected to the output end of the electric push rod 111.

[0040] In use, considering that synchronous limiting of the two toothed plates 4 can further improve the limiting strength of the two toothed plates 4 in the idle state, the limiting crank 112 is set as a U-shaped structure. After the displacement adjustment of the two toothed plates 4 is completed, the electric push rod 111 is started. The output end of the electric push rod 111 drives the limiting crank 112 to synchronously engage and press against the corresponding positioning holes 15 in the two toothed plates 4, thereby synchronously engaging and limiting the two toothed plates 4.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, in the accompanying drawings of this utility model, the fill patterns are merely for distinguishing layers and do not constitute any other limitation.

[0042] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A water conservancy surveying unmanned vessel, comprising an unmanned vessel body (1) and an auxiliary control box (2) installed at the bottom of the unmanned vessel body (1), wherein a power unit (3) is provided at the rear end of the auxiliary control box (2), characterized in that: The unmanned vessel body (1) is equipped with float assemblies on both sides, and the auxiliary machine box (2) is equipped with a bidirectional output assembly. The two output structures inside the bidirectional output assembly are respectively connected to the two float assemblies. The bidirectional output assembly includes two opposing toothed plates (4), a gear (5), and a brake servo motor (6). The brake servo motor (6) is mounted on the inner wall of the bottom of the auxiliary housing (2), and the output end of the brake servo motor (6) is connected to the middle of the gear (5). The gear (5) is located between the two toothed plates (4) and can mesh synchronously with the two toothed plates (4). One end of each of the two toothed plates (4) is connected to a transmission rod (7), and one end of each transmission rod (7) serves as the output structure of the bidirectional output assembly, passing through both sides of the auxiliary housing (2) and then being connected to the two bidirectional output assemblies respectively.

2. The unmanned surface vessel for water conservancy surveying according to claim 1, characterized in that: The pontoon assembly includes a transition support plate (9) and a pontoon body (10). The top of the pontoon body (10) and the bottom of the transition support plate (9) are both fixed with assembly plates (14). The assembly plate (14) at the top of the pontoon body (10) has a threaded hole, and the assembly plate (14) at the bottom of the transition support plate (9) has a clearance hole aligned with the threaded hole. The two assembly plates (14) at the contact position can be detachably installed and fixed by screws.

3. The unmanned surface vessel for water conservancy surveying according to claim 2, characterized in that: T-shaped guide rods (13) are fitted inside both sides of the auxiliary housing (2), and one end of the T-shaped guide rod (13) passes through the corresponding side wall of the auxiliary housing (2) and is fixed to the surface of the transition support plate (9) at the corresponding position. Sealing rings are nested at the fitting points of the T-shaped guide rod (13) and the auxiliary housing (2) side wall, and at the fitting points of the transmission rod (7) and the auxiliary housing (2) side wall.

4. The unmanned surface vessel for water conservancy surveying according to claim 3, characterized in that: The other end of the T-shaped guide rod (13) is fitted with a spring (12), and the two ends of the spring (12) are respectively fixed on the end surface of the other end of the T-shaped guide rod (13) and the inner wall of the auxiliary housing (2).

5. The unmanned surface vessel for water conservancy surveying according to claim 1, characterized in that: The surfaces of the two toothed plates (4) are fitted with slide rails (8), and the two slide rails (8) are respectively fixed on the inner wall of the bottom of the auxiliary housing (2) and the surface of the bottom of the unmanned vessel body (1).

6. The unmanned surface vessel for water conservancy surveying according to claim 1, characterized in that: The auxiliary housing (2) is fitted with a limiting component (11). The surface of the toothed plate (4) has several equidistant positioning holes (15) along the transverse direction of its structure. The output structure of the limiting component (11) can limit the toothed plate (4) by engaging with the positioning holes (15).

7. The unmanned surface vessel for water conservancy surveying according to claim 6, characterized in that: The limiting component (11) includes an electric push rod (111) and a limiting crank rod (112). The output end of the electric push rod (111) is connected to one end of the limiting crank rod (112), and the other end of the limiting crank rod (112) serves as the output structure of the limiting component (11) and can be engaged with the corresponding positioning hole (15).

8. The unmanned surface vessel for water conservancy surveying according to claim 7, characterized in that: Both of the toothed plates (4) have several equidistant positioning holes (15) on their surfaces along the transverse direction of their own structure. The limiting crank (112) specifically adopts a U-shaped structure, and the middle part of the limiting crank (112) is connected to the output end of the electric push rod (111).

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