An intelligent unmanned combined floating bridge

Abstract

The present invention relates to an intelligent unmanned combined floating bridge, comprising a floating bridge board for vehicle travel, a bottom intelligent mobile platform, a close-range docking mechanism, and a hook throwing mechanism, wherein the floating bridge board is located at the upper part of the bottom intelligent mobile platform; the bottom intelligent mobile platform is a non-detachable structure fixedly connected to the floating bridge board, and a guide groove is provided on the side; the floating bridge board and the bottom intelligent mobile platform form a cabin, and the close-range docking mechanism is arranged inside the cabin; glass walkways are arranged on both sides of the floating bridge board; the hook throwing mechanism is arranged outside the glass walkway and fixed at the bottom of the glass walkway; an image recognition camera and a laser positioning device are installed at the front end of the floating bridge; propellers are installed at the four corners of the bottom of the bottom intelligent mobile platform; a controller, a communication module, a power module, and a water flow information collection device are arranged inside the cabin. The present invention can realize fast and accurate docking of the floating bridge at close range and long distance.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned ships, and in particular relates to an intelligent unmanned combined floating bridge. Background Art

[0002] In recent years, with the rapid development of my country's unmanned boat industry, the number of consumer and industrial unmanned boats has increased day by day, and their applications have penetrated into various fields. However, the development of unmanned boats is too rapid, and the development of supporting infrastructure for unmanned boats is too slow. At present, the civil pontoon, industrial pontoon and military pontoon on the market have a single way of erecting docking tasks, and they are basically completed with the participation of operators. The fully autonomous mobile docking technology is not perfect, especially the docking and dismantling of the pontoon body requires a lot of manpower and tugboats, and it takes a lot of time to complete. From a military perspective, bridge-building equipment must be able to be erected and dismantled quickly, because once the operation time is too long, it will become a target of enemy detection and attack. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides an intelligent unmanned combined floating bridge, which can achieve rapid and accurate docking of floating bridges.

[0004] An intelligent unmanned combined floating bridge comprises a floating bridge board, a bottom intelligent mobile platform that can move in all directions for carrying the floating bridge board, a close-distance docking mechanism for close-distance docking between floating bridges, and a hook throwing mechanism for long-distance docking between floating bridges. The floating bridge board is located on the upper part of the bottom intelligent mobile platform; the bottom intelligent mobile platform is an intelligent mobile chassis that can move in all directions, which is fixedly connected to the floating bridge board as a non-detachable structure, and a guide groove is opened on the side; the floating bridge board and the bottom intelligent mobile platform form a cabin, the close-distance docking mechanism is arranged inside the cabin, and the cabin is used as a storage room. for accommodating the close-range docking mechanism; glass walkways are arranged on both sides of the floating bridge board, and guardrails are arranged on the outside of the glass walkways; the hook throwing mechanism is arranged on the outside of the glass walkway and fixed at the bottom of the glass walkway; an image recognition camera and a laser positioning device are installed at the front end of the floating bridge; propellers are installed at the four corners of the bottom of the intelligent mobile platform; a controller, a communication module, a power module, and a water flow information collection device are arranged inside the cabin, and the communication module, the power module, the water flow information collection device are electrically connected to the controller, and the close-range docking mechanism, the hook throwing mechanism, and the propeller are electrically connected to the controller.

[0005] The close-range docking mechanism includes a small hydraulic station, a hydraulic push rod, and a first pair of joints and a second pair of joints arranged at both ends of the hydraulic push rod. The connection between the second pair of joints of one pontoon bridge and the first pair of joints of another pontoon bridge realizes the connection of the two pontoon bridges; the bottom intelligent mobile platform is provided with a guide rail groove, and the hydraulic push rod is installed in the guide rail groove; the hydraulic push rod includes a secondary push rod for driving the second pair of joints to move in the guide rail groove; the first pair of joints is installed at the fixed end of the hydraulic push rod, and the second pair of joints is installed at the protruding end of the secondary push rod.

[0006] The first pair of joints includes a grab hook 1, a fixed end at the tail of the grab hook, and a guide plate support frame. The grab hook 1 includes a hook head, a hook body, and a hook tail. The hook tail is connected to the guide plate support frame through the fixed end of the grab hook tail, and the guide plate support frame is fixed to the fixed end of the hydraulic push rod; the hook head includes a hook tongue, a hook tongue pin and a threaded lock lifting pin. The hook tongue is "U"-shaped, and the corner part of the "U"-shaped hook tongue is rotatably connected to the front end of the grab hook 1 through the hook tongue pin, and a straight through hole is opened at the front end of the hook tongue; a fixing claw is provided at the front end of the hook head, and a grab hook detection device is provided at the concave space formed by the fixing claw and the hook tongue, and the grab hook detection device is a pressure sensor; the threaded lock lifting pin is threadedly connected to the grab hook 1, and the end is inserted into the straight through hole at the front end of the hook tongue to limit the rotation of the hook tongue; a toothed nut is provided on the outside of the threaded lock lifting pin.

[0007] The second pair of joints includes a grab hook 2, a fixed end of the grab hook tail, and a guide plate support frame. The grab hook 2 includes a hook head, a hook body, and a hook tail. The hook tail is connected to the guide plate support frame through the fixed end of the grab hook tail, and the guide plate support frame is connected to the protruding end of the hydraulic push rod; the hook head includes a hook tongue, a hook tongue pin and a threaded lock lifting pin, and the hook tongue is "U"-shaped. The corner part of the "U"-shaped hook tongue is rotatably connected to the front end of the grab hook 1 through the hook tongue pin, and a straight through hole is opened at the front end of the hook tongue; a fixed claw is provided at the front end of the hook head, and a grab hook detection device is provided at the concave space formed by the fixed claw and the hook tongue, and the grab hook detection device is a pressure sensor; the positions of the hook tongue and the fixed claw of the grab hook 2 are opposite to those of the hook tongue and the fixed claw of the grab hook 1; the threaded lock lifting pin is threadedly connected to the grab hook 1, and the end is inserted into the straight through hole at the front end of the hook tongue, which can limit the rotation of the hook tongue; a toothed nut is provided on the outside of the threaded lock lifting pin;

[0008] The guide plate support frame is provided with a support frame, a rotating motor 1 is fixed on the support frame, an output end of the rotating motor 1 is connected with a pulley, the pulley is arranged on the hook body, and is connected with the toothed nut by a belt transmission.

[0009] A grab hook detection camera is arranged at the front end of the inner side of the guide plate.

[0010] The guide plate rotating motor is a large torque and low speed rotating motor.

[0011] The hook throwing mechanism includes a throwing mechanism and an arm mechanism arranged in parallel, the throwing mechanism includes a hook for connecting two sections of floating bridges, a pneumatic launcher for launching a grab hook, a rope guide tube, and a reel for collecting and releasing the rope connected to the grab hook. The end of the hook is connected with a rope, and the rope is placed in the rope guide tube of the reel. The end of the rope is passed around a roller and fixed at the output end of the reel; the pneumatic launcher is arranged between the grab hooks at the end of the rope guide tube; the arm mechanism includes a rotating receiving arm rod for docking the hook, a groove arm for fixing the hook, a rotating arm rod, and a rotating hydraulic cylinder. The rotating hydraulic cylinder is fixed at the bottom of the bottom intelligent mobile platform, and the rotating arm rod is vertically fixed to the groove arm rod and connected to the output end of the rotating hydraulic cylinder; a groove is opened at the top of the groove arm rod; the rotating receiving arm rod includes an arc rod wall and a straight rod arm, which are respectively connected to the end of the groove by rotating motor two.

[0012] The communication module includes a communicator, which includes a Bluetooth module, a GPS locator, a 4G data transmission module and an image transmission module. The bottom intelligent mobile platforms communicate with each other through the Bluetooth module, and wirelessly communicate with the main control center on the shore through the 4G data transmission module and the image transmission module.

[0013] The power module includes a cable, a power supply, a relay, a power converter, and an alarm. The power supply is a storage battery arranged inside the bottom intelligent mobile platform. The storage battery is a lithium battery or a fuel cell, which directly supplies power to the bottom intelligent mobile platform.

[0014] The water flow data acquisition module includes a flow velocity detection sensor, a flow rate detection sensor and a water depth detection radar. The water depth detection radar is arranged inside the cabin; the flow velocity detection sensor and the flow rate detection sensor are arranged at the bottom of the bottom intelligent mobile platform to detect the flow velocity and flow rate of the water flow in the current water area.

[0015] The beneficial effects of the present invention are:

[0016] 1) The present invention collects real-time position information between adjacent pontoons through a laser docking device and an image recognition camera, improves the relative accuracy of the head and tail between adjacent pontoons, controls the relative position between adjacent pontoons, and is able to improve the casting hit rate of the long-distance casting connection mechanism of the unmanned intelligent combined pontoon and improve the docking efficiency.

[0017] 2) After the connecting mechanism is thrown between adjacent floating bridges to complete the overlapping task, the present invention collects the relative information of the front and rear positions of the rear end of the front floating bridge and the front end of the rear floating bridge, i.e., the second pair of joints and the first pair of joints, through the laser docking device, and then adjusts the speed of the recovery rope of the reels on both sides, so that the intelligent unmanned combined floating bridges performing the overlapping work can be placed in a straight line as much as possible, thereby improving the docking accuracy during close-range docking.

[0018] 3) The present invention is provided with a short-distance grab hook guide plate for guiding the docking grab hooks to dock, and the position information between the two grab hooks is collected by the image recognition device on the grab hook, and the position of the pontoon is adjusted by adjusting the rotation speed of the propeller to improve the docking accuracy.

[0019] 4) The present invention is provided with a moving device for a close-range docking mechanism. Before the close-range docking of adjacent floating bridges, a guide plate and a hook claw are extended, and after the docking is successful, they are retracted into the inside of the floating bridges, which can improve the close-range docking accuracy and avoid collision of the floating bridges at close range.

[0020] 5) The intelligent unmanned combined floating bridge of the present invention has two functions: automatic cruising on water and remote control. It can automatically complete docking on water without manual operation, thus reducing labor costs. At the same time, the four sets of propeller power groups designed can enable the floating bridge to move quickly to the designated area with high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the external structure of an intelligent unmanned combined floating bridge provided in an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the bottom structure of an intelligent unmanned combined floating bridge provided in an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of the internal structure of an intelligent unmanned combined floating bridge provided in an embodiment of the present invention;

[0024] Figure 4 An enlarged schematic diagram of a close-range docking mechanism in an intelligent unmanned combined floating bridge provided in an embodiment of the present invention;

[0025] Figure 5 is an enlarged view of the first pair of joints in the present invention;

[0026] Figure 6 is an enlarged view of the second pair of joints in the present invention;

[0027] Figure 7 A schematic diagram of a state of an intelligent unmanned combined floating bridge after docking provided by an embodiment of the present invention;

[0028] Figure 8 is a schematic diagram of a hook tongue in the present invention;

[0029] in,

[0030] 1—floating bridge board, 2—guardrail, 3—glass walkway, 4—laser positioning device, 5—bottom intelligent mobile platform, 6—cabin, 7—propeller, 8—image recognition camera, 101—guide plate, 102—grab hook 1, 103—hook head, 104—hook tongue, 105—grab hook detection device, 106—grab hook 2, 107—toothed nut, 108—hook tongue pin, 109—thread lock lifting pin, 110—rotating motor 1, 111—support frame, 112—guide plate support frame, 113—fixed end of the tail of the grab hook, 114—hook tail, 115—hook body, 116—pulley, 11 7—guide plate rotation motor, 118—hook detection camera, 201—hook, 202—pneumatic transmitter, 203—rope guide tube, 204—roller, 205—reel, 206—rotating receiving arm, 207—groove clamping arm, 208—rotating arm, 209—rotating hydraulic cylinder, 301—small hydraulic station, 302—guide rail groove, 303—hydraulic push rod, 304—secondary push rod, 401—controller, 402—water flow data acquisition device, 403—power module, 404—communication module, 405—flow velocity detection sensor and flow detection sensor. DETAILED DESCRIPTION

[0031] In order to better explain the present invention, the technical solutions and effects of the present invention are described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0032] like Figure 1-Figure 3 As shown, an intelligent unmanned combined floating bridge includes a floating bridge board 1, a bottom intelligent mobile platform 5 that can move in all directions for carrying the floating bridge board 1, a short-distance docking mechanism for short-distance docking between floating bridges, and a hook throwing mechanism for long-distance docking between floating bridges. The floating bridge board 1 is located on the upper part of the bottom intelligent mobile platform 5; the bottom intelligent mobile platform 5 is an intelligent mobile chassis that can move in all directions, which is fixedly connected to the floating bridge board 1 as a non-detachable structure, and a guide groove is provided on the side; the floating bridge board 1 and the bottom intelligent mobile platform 5 form a cabin 6 inside, and the short-distance docking mechanism is arranged inside the cabin 6, and the cabin 6 is used as a storage room for storing the short-distance docking mechanism. Glass walkways 3 are arranged on both sides of the floating bridge board 1, and the size of the glass walkway and the floating bridge board is larger than that of the bottom mobile platform; a guardrail 2 is arranged on the outside of the glass walkway 3, and the glass walkway 3 and the guardrail 2 are fixed together; the hook throwing mechanism is arranged on the outside of the glass walkway 3 and fixed at the bottom of the glass walkway 3. The front end of the floating bridge is equipped with an image recognition camera 8 and a laser positioning device 4, which can automatically find and locate other combined floating bridges nearby and perform short-range and long-range docking between two sections of floating bridges, and at the same time transmit the searched information and docking work information to the main control center on the shore.

[0033] like Figure 4As shown, the close-range docking mechanism includes a small hydraulic station, a hydraulic push rod 303, and a first pair of joints and a second pair of joints arranged at both ends of the hydraulic push rod 303. The connection between the second pair of joints of one pontoon bridge and the first pair of joints of another pontoon bridge realizes the connection of the two pontoons; the bottom intelligent mobile platform 5 is provided with a guide rail groove 302, and the hydraulic push rod 303 is installed in the guide rail groove 302; the hydraulic push rod 303 includes a secondary push rod 304, which is used to drive the second pair of joints to move in the guide rail groove 302; the first pair of joints are installed at the fixed end of the hydraulic push rod 303, and the second pair of joints are installed at the protruding end of the secondary push rod 304. In the retracted state, the second pair of joints occupies one half of the bottom intelligent mobile platform 5.

[0034] like Figure 5 As shown, the first pair of joints includes a grab hook 102, a grab hook tail fixed end 113, and a guide plate support frame 112. The grab hook 102 includes a hook head 103, a hook body 115, and a hook tail 114. The hook tail 114 is connected to the guide plate support frame 112 through the grab hook tail fixed end 113. The guide plate support frame 112 is fixed to the fixed end of the hydraulic push rod 303; the hook head 103 includes a hook tongue 104, a hook tongue pin 108 and a threaded lock pin 109, which constitute a complete grab hook opening and closing system; Figure 8 As shown, the hook tongue 104 is "U" shaped, and the corner part of the "U" shaped hook tongue 104 is rotatably connected to the front end of the hook 102 through the hook tongue pin 108, and a straight through hole is provided at the front end of the hook tongue 104; the front end of the hook head 103 is provided with a fixed claw, and the inner concave space formed by the fixed claw and the hook tongue 104 is provided with a hook detection device 105, and the hook detection device 105 is a pressure sensor, which determines whether the docking is completed by detecting the change in pressure at the moment of docking. The threaded lock lifting pin 109 is threadedly connected to the hook 102, and the end is inserted into the straight through hole at the front end of the hook tongue 104, which can limit the rotation of the hook tongue 104; the threaded lock lifting pin 109 is provided with a toothed nut 107 on the outside.

[0035] like Figure 6As shown, the second pair of joints includes a second grab hook 106, a fixed end 113 of the grab hook tail, and a guide plate support frame 112. The second grab hook 106 includes a hook head 103, a hook body 115, and a hook tail 114. The hook tail 114 is connected to the guide plate support frame 112 through the fixed end 113 of the grab hook tail, and the guide plate support frame 112 is connected to the extended end of the hydraulic push rod 303; the hook head 103 includes a hook tongue 104, a hook tongue pin 108 and a threaded lock pin 109, which constitute a complete The hook tongue 104 is a "U"-shaped hook tongue 104, and the corner part of the "U"-shaped hook tongue 104 is rotatably connected to the front end of the hook 102 through the hook tongue pin 108. The front end of the hook tongue 104 is provided with a straight hole; the front end of the hook head 103 is provided with a fixed claw, and the inner concave space formed by the fixed claw and the hook tongue 104 is provided with a hook detection device 105. The hook detection device 105 is a pressure sensor, which determines whether the docking is completed by detecting the change of the pressure at the moment of docking. The position of the hook tongue 104 and the fixed claw of the second hook 106 is opposite to the position of the hook tongue 104 and the fixed claw of the first hook 102. The hook tongue 104 of the second hook 106 corresponds to the fixed claw of the first hook 102, and the fixed claw of the second hook 106 corresponds to the hook tongue 104 of the first hook 102. The hook tongues 104 of the second hook 106 and the first hook 102 are hooked with each other to achieve the docking of the first pair of joints with the second pair of joints. The threaded locking pin 109 is threadedly connected to the grab hook 102, and the end is inserted into the straight hole at the front end of the hook tongue 104, which can limit the rotation of the hook tongue 104; a toothed nut 107 is arranged on the outside of the threaded locking pin 109; a support frame 111 is arranged on the guide plate support frame 112, and a rotating motor 110 is fixed on the support frame 111, and a pulley 116 is connected to the output end of the rotating motor 110, and the pulley 116 is arranged on the hook body 115 and connected to the toothed nut 107 by a belt drive. The rotation of the rotating motor 110 drives the pulley 116 to rotate, and drives the threaded lock lifting pin 109 to rotate through the belt transmission. Since the threaded lock lifting pin is threadedly connected to the grab hook 1, the threaded lock lifting pin 109 is driven to move up and down on the grab hook 2 106. When the threaded lock lifting pin 109 moves upward, its end leaves the straight through hole at the front end of the hook tongue 104, and the hook tongue 104 can rotate; when the threaded lock lifting pin 109 moves downward, its end is inserted into the straight through hole at the front end of the hook tongue 104, and the hook tongue 104 cannot rotate. The guide plates 101 are rotatably connected to the two sides of the support frame 111 through the guide plate rotating motor 117. During the docking process of the grab hook 102 and the grab hook 2 106, they are inserted into the guide groove to guide the movement of the floating bridge and assist in completing the docking with the first pair of joints of other floating bridges.

[0036] The front end of the inner side of the guide plate 101 is provided with a hook detection camera 118 to detect the second hook and adjust the rotation of the guide plate according to whether the second hook is detected.

[0037] The guide plate rotating motor 117 is a large torque low speed rotating motor, which is used to control the rotation of the guide plate 101 .

[0038] When the two pontoons are in a connected state, the first grab hook 102 and the second grab hook 106 are in a docking and locking state, and the end of the threaded lock pin 109 is inserted into the straight through hole at the front end of the hook tongue 104, and the hook tongue 104 cannot rotate. Figure 7 As shown. When the two floating bridges are separated, the grab hook 102 and the grab hook 2 106 change from the docking locked state to the unlocked state, the rotating motor 110 rotates, driving the pulley 116 to rotate, and the threaded lock lifting pin 109 is driven and lifted by the toothed nut 107, and its end leaves the straight through hole at the front end of the hook tongue 104, and the hook tongue 104 of the grab hook 2 106 can rotate and disengage from the inside of the grab hook 102; when in the fully open state, the hook tongue 104 is in a position that is completely turned outward. From the docking locked state to the unlocked state, as long as one of the grab hooks 102 or the grab hook 2 106 is in the unlocked state, the close-range docking mechanism can be opened. When the two floating bridges need to be connected, as long as one of the grab hooks 102 or the grab hook 2 106 is in the fully open position, it can hook each other after colliding with the grab hook of the other floating bridge to achieve the connected state.

[0039] The bottom four corners of the bottom intelligent mobile platform 5 are equipped with propellers 7, and the left-right symmetric plane of the propeller 7 is placed at 120 degrees to the left-right symmetric plane of the bottom intelligent mobile platform. This structure uses differential speed to achieve omnidirectional movement of the floating bridge.

[0040] The hook casting mechanism includes a casting mechanism and an arm mechanism arranged in parallel, and the casting mechanism includes a hook 201 for connecting two sections of floating bridges, a pneumatic launcher 202 for launching a grab hook, a rope guide tube 203, and a reel 205 for retracting and releasing a rope connected to the grab hook. The end of the hook 201 is connected to a rope, and the rope is placed in the rope guide tube 203 of the reel 205. The end of the rope passes around a roller 204 and is fixed to the output end of the reel 205; the pneumatic launcher 202 is arranged between the grab hooks at the end of the rope guide tube 203. The arm mechanism includes a rotating receiving arm 206 for docking the hook 201, a groove arm 207 for fixing the hook 201, a rotating arm 208, and a rotating hydraulic cylinder 209. The rotating hydraulic cylinder 209 is fixed at the bottom of the bottom intelligent mobile platform 5. The rotating arm 208 and the groove arm 207 are vertically fixed together and connected to the output end of the rotating hydraulic cylinder 209. The rotating hydraulic cylinder drives the rotating arm 208 and the groove arm 207 to achieve a 180° rotation; a groove is provided at the top of the groove arm 207 to clamp the ejected hook 201; the rotating receiving arm 206 includes an arc-shaped rod wall and a straight rod arm, which are respectively connected to the end of the groove through a rotating motor 2.

[0041] The cabin 6 is provided with a controller 401, a communication module 404, a power module 403, and a water flow information collection device. The communication module 404, the power module 403, and the water flow information collection device are electrically connected to the controller 401, and the close-range docking mechanism, the hook casting mechanism, and the propeller are electrically connected to the controller. Specifically, the guide plate rotating motor 117, the rotating motor 110, the rotating motor 2, the propeller 7, the small hydraulic station 301, the rotating hydraulic cylinder 209, the reel 205, the pneumatic transmitter 202, the image recognition camera 8, the laser positioning device 4, the grab hook detection camera 118, and the grab hook detection device are electrically connected to the controller 401 to control the movement of the intelligent mobile platform, the docking of the close-range docking mechanism and the hook casting mechanism, and the water flow data collection device 402 inside the platform. The controller 401 is the control center of the intelligent platform, which receives information collected and transmitted by the image recognition camera 8, the laser positioning device 4, the grab detection camera 118, and the water flow data acquisition device, and then sends different working instructions to the guide plate rotating motor 117, the rotating motor 1 110, the rotating motor 2, the propeller 7, the small hydraulic station 301, the rotating hydraulic cylinder 209, the reel 205, and the pneumatic transmitter electrically connected to it through the internal electronic circuit, controls the coordinated action of each actuator to realize automatic reconnaissance of the intelligent mobile platform and docking of the pontoon, thereby realizing the take-off and landing of the drone on the pontoon.

[0042] The communication module includes a communicator, which includes a Bluetooth module, a GPS locator, a 4G data transmission module and an image transmission module. The bottom intelligent mobile platforms 5 are connected to each other through the Bluetooth module, and are wirelessly connected to the main control center on the shore through the 4G data transmission module and the image transmission module. The real-time information of the docking between the bottom intelligent mobile platforms 5 is transmitted to the artificial main control console. When an emergency occurs on the bottom intelligent mobile platform 5, the alarm device of the artificial main control console will send an alarm signal to prompt that the bottom intelligent mobile platform 5 has a fault.

[0043] In this embodiment, the controller adopts the STM32F103RCT6 model, the Bluetooth module is the XY-MBD87A model of NewBit, the GPS locator is GT500, and the 4G data transmission module and image transmission module adopt CUAV data transmission and image transmission integrated.

[0044] The power module 403 includes a cable, a power source, a relay, a power converter, and an alarm. The power source is a storage battery provided inside the bottom intelligent mobile platform 5. The storage battery is a lithium battery or a fuel cell, which directly supplies power to the bottom intelligent mobile platform 5. The cable is embedded in the edge or inside of the platform or equipment and cannot interfere with the normal operation of the platform.

[0045] The water flow data acquisition module includes a flow velocity detection sensor, a flow rate detection sensor and a water depth detection radar, and the water depth detection radar is arranged inside the cabin; the flow velocity detection sensor and the flow rate detection sensor 405 are arranged at the bottom of the bottom intelligent mobile platform, and are used to detect the flow velocity and flow rate of the water flow in the current water area, and transmit the collected information to the controller 401. It can determine whether to perform docking work in the current water area based on the collected water flow parameters or the control instructions of the main control center on the shore.

[0046] Preferably, the propeller 7 is a ducted propeller, which can be controlled by a controller to move autonomously according to the route planned for the mission.

[0047] The workflow of the above-mentioned intelligent unmanned combined floating bridge for connecting floating bridges is as follows:

[0048] The bottom intelligent mobile platform 5 can be used as a hull to carry various water equipment. When a pontoon needs to dock with other pontoons, it will automatically search for the nearby bottom intelligent mobile platform 5 through the Bluetooth module, and communicate with the nearest idle bottom intelligent mobile platform 5 through Bluetooth, and establish real-time communication in the local communication network. The current bottom intelligent mobile platform 5 will send its own coordinates and approach the target. When the distance does not reach the preset long-distance range, the laser positioning device 4 and the image recognition camera 8 are used to perform relative parallelism between the pontoons to determine whether the two sides of the pontoons to be docked are relative. The laser positioning device 4 and the image recognition camera 8 transmit the relative signal to the controller, and the controller adjusts the propeller to adjust the position of the pontoon. When the distance between the two pontoons reaches the preset long-distance range, the controller 401 sends a work instruction to the rotary hydraulic station, and the rotary hydraulic cylinder 209 is started, driving the rotary arm 208 and the groove clamp arm 207 to rotate, rotating the groove clamp arm 207 from the horizontal direction 90° to the vertical direction, and the rotary receiving arm 206 is unfolded to the horizontal direction by the rotary motor 2. When the two sections of the floating bridge are facing each other, the controller 401 sends a working instruction to the start launcher, and the pneumatic launcher 202 ejects the hook 201, and the hook 201 is hooked to the rotating receiving arm 206 of the second section of the floating bridge; the controller 401 sends a working instruction to the rotating motor 2, the rotating motor 2 rotates, the rotating receiving arm 206 rotates to a vertical direction, and the hook 201 slides into the groove of the groove clamping arm 207; the controller 401 of the first section of the floating bridge sends a working instruction to the reel 205, and the reel 205 starts to tighten the rope, so that The hook 201 and the groove clamp arm 207 are fixed, and the rope is recovered at the same time; the laser positioning device 4 is used to simultaneously control the speed of the rope reel 205 on both sides, so that the two sections of the floating bridge are parallel to each other and close to each other; the floating bridge is positioned according to the coordinates through the laser positioning device 4 carried by itself, and the image recognition camera 8 is used to assist in positioning, and its own speed is adjusted to be basically consistent with the position of the adjacent floating bridge. When the two sections of the floating bridge reach a preset close distance, the controller 401 sends a stop working instruction to the reel 205, and the reel 205 stops working.The controller 401 sends a working instruction to the small hydraulic station 301, and the small hydraulic station 301 inside the floating bridge works, driving the hydraulic push rod 303 and the secondary push rod 304 to extend, pushing the guide plate support frame 112 connected to the secondary push rod 304, and then pushing the second pair of joints of the close-range docking mechanism to extend; the controller 401 sends a working instruction to the guide plate rotating motor 117, the guide plate rotating motor 117 rotates, the guide plate 101 unfolds into a trumpet shape, and the guide plates 101 on both sides are fully opened to expose the grab hook 2 106 to the outside, and at this time the controller 401 sends a working instruction to the propeller 7 and the reel 205, the propeller 7 and the reel 205 work, so that the two sections of the floating bridge can be connected. The bridges are located on the same straight line. When the grab hook detection camera 118 at the front end of the guide plate 101 detects that the grab hook 2 106 of the second section of the floating bridge enters the range of the guide plate 101 of the first section of the floating bridge, the propeller 7 drives the two sections of the floating bridge closer and the controller 401 sends a reverse command to the guide plate rotation motor 117. The guide plate 101 rotates inward and moves along the guide groove of the second section of the floating bridge to guide the grab hook 1 102 and the grab hook 2 106 to dock; the image recognition camera 8 transmits the real-time docking image information of the grab hook 1 102 and the grab hook 2 106 to the controller, and the controller transmits it to the main control center on the shore until the grab hook 102 and the grab hook 2 106 are successfully docked. Figure 7 As shown. The controller 401 sends a command to the small hydraulic station 301, and the small hydraulic station 301 in the floating bridge works to retract the hydraulic push rod 303, and retract the close-range docking mechanism of the two floating bridges into the cabin 6 of the first floating bridge. The controller 401 sends a reverse command to the rotating hydraulic cylinder 209, and the rotating hydraulic cylinder 209 rotates in the opposite direction, and the groove clamping arm 207 rotates 180 degrees counterclockwise toward the direction of the first floating bridge, the hook 201 automatically falls off, and the reel 205 retracts the hook 201.

[0049] When the floating bridge needs to be disconnected, the controller 401 sends a working instruction to the small hydraulic station 301, and the small hydraulic station 301 works to push out the hydraulic push rod 303 and the secondary push rod 304, so that the close-range docking mechanism extends out of the cabin 6 of the floating bridge; the controller 401 sends a working instruction to the rotating motor 110, and the rotating motor 110 works to drive the toothed nut 107 to rotate, and the toothed nut 107 drives the threaded lock lifting pin 109 to rise, and the threaded lock lifting pin 109 is lifted by the toothed nut 107, and the hook tongue 104 is pulled outward, and the hook tongue 104 of the grab hook 2 106 rotates to disengage from the inside of the grab hook 102, and the two grab hooks are disconnected; the close-range docking mechanism of the first section of the floating bridge shrinks into the cavity; the controller 401 sends a working instruction to the propeller 7, and the propeller 7 works to drive the floating bridge back to the starting point and wait for the command from the main control center to continue to perform the next task.

[0050] The intelligent unmanned combined floating bridge of the present invention can adapt to most water environments, can be dispatched in real time according to the requirements of the task, and has strong flexibility. More importantly, the platform can automatically and quickly complete the connection and docking work while moving, and has excellent wave resistance and a safe and reliable structure.

Claims

1. An intelligent unmanned combined floating bridge, characterized in that: It includes a floating bridge board for vehicles to travel, a bottom intelligent mobile platform that can move in all directions for carrying the floating bridge board, a close-distance docking mechanism for close-distance docking between floating bridges, and a hook throwing mechanism for long-distance docking between floating bridges. The floating bridge board is located on the upper part of the bottom intelligent mobile platform; The bottom intelligent mobile platform is an intelligent mobile chassis that can move in all directions. It is fixedly connected to the floating bridge board as a non-detachable structure, and a guide groove is opened on the side; the floating bridge board and the bottom intelligent mobile platform form a cabin, and the close-range docking mechanism is arranged inside the cabin, and the cabin is used as a storage room to store the close-range docking mechanism; glass walkways are arranged on both sides of the floating bridge board, and guardrails are arranged on the outside of the glass walkways; the hook claw throwing mechanism is arranged on the outside of the glass walkway and fixed to the bottom of the glass walkway; an image recognition camera and a laser positioning device are installed at the front end of the floating bridge; propellers are installed at the four corners of the bottom of the bottom intelligent mobile platform; a controller, a communication module, a power module, and a water flow information collection device are arranged inside the cabin, and the communication module, the power module, the water flow information collection device are electrically connected to the controller, and the close-range docking mechanism, the hook claw throwing mechanism, and the propeller are electrically connected to the controller; The close-distance docking mechanism includes a small hydraulic station, a hydraulic push rod, and a first pair of joints and a second pair of joints arranged at both ends of the hydraulic push rod. The connection between the second pair of joints of one pontoon bridge and the first pair of joints of another pontoon bridge realizes the connection of the two pontoons; the bottom intelligent mobile platform is provided with a guide rail groove, and the hydraulic push rod is installed in the guide rail groove; the hydraulic push rod includes a secondary push rod for driving the second pair of joints to move in the guide rail groove; the first pair of joints is installed at the fixed end of the hydraulic push rod, and the second pair of joints is installed at the protruding end of the secondary push rod; The hook throwing mechanism includes a throwing mechanism and an arm mechanism arranged in parallel, the throwing mechanism includes a hook for connecting two sections of floating bridges, a pneumatic launcher for launching a grab hook, a rope guide tube, and a reel for retracting and releasing the rope connected to the grab hook, the end of the hook is connected to a rope, the rope is placed in the rope guide tube of the reel, and the end of the rope is passed around a roller and fixed at the output end of the reel; the pneumatic launcher is arranged between the grab hooks at the end of the rope guide tube; the arm mechanism includes a rotating receiving arm rod for docking the hook, a groove arm for fixing the hook, a rotating arm rod, and a rotating hydraulic cylinder, the rotating hydraulic cylinder is fixed at the bottom of the bottom intelligent mobile platform, the rotating arm rod is vertically fixed to the groove arm rod, and is connected to the output end of the rotating hydraulic cylinder; a groove is opened at the top of the groove arm rod; the rotating receiving arm rod includes an arc rod wall and a straight rod arm, which are respectively connected to the end of the groove by rotating motor two.

2. The intelligent unmanned combined floating bridge according to claim 1, characterized in that: The first pair of joints includes a grab hook 1, a fixed end at the tail of the grab hook, and a guide plate support frame. The grab hook 1 includes a hook head, a hook body, and a hook tail. The hook tail is connected to the guide plate support frame through the fixed end of the grab hook tail, and the guide plate support frame is fixed to the fixed end of the hydraulic push rod; the hook head includes a hook tongue, a hook tongue pin and a threaded lock lifting pin. The hook tongue is "U"-shaped, and the corner part of the "U"-shaped hook tongue is rotatably connected to the front end of the grab hook 1 through the hook tongue pin, and a straight through hole is opened at the front end of the hook tongue; a fixing claw is arranged at the front end of the hook head, and a grab hook detection device is arranged at the concave space formed by the fixing claw and the hook tongue, and the grab hook detection device is a pressure sensor; the threaded lock lifting pin is threadedly connected to the grab hook 1, and the end is inserted into the straight through hole at the front end of the hook tongue to limit the rotation of the hook tongue; a toothed nut is arranged on the outside of the threaded lock lifting pin.

3. The intelligent unmanned combined floating bridge according to claim 2 is characterized by: The second pair of joints includes a second grab hook, a fixed end of the tail of the grab hook, and a guide plate support frame. The second grab hook includes a hook head, a hook body, and a hook tail. The hook tail is connected to the guide plate support frame through the fixed end of the tail of the grab hook, and the guide plate support frame is connected to the protruding end of the hydraulic push rod; the hook head includes a hook tongue, a hook tongue pin and a threaded lock lifting pin, the hook tongue is "U"-shaped, and the corner part of the "U"-shaped hook tongue is rotatably connected to the front end of the grab hook through the hook tongue pin, and a straight through hole is opened at the front end of the hook tongue; a fixed claw is arranged at the front end of the hook head, and a grab hook detection device is arranged at the concave space formed by the fixed claw and the hook tongue, and the grab hook detection device is a pressure sensor; the positions of the hook tongue and the fixed claw of the second grab hook are opposite to those of the hook tongue and the fixed claw of the first grab hook; the threaded lock lifting pin is threadedly connected to the grab hook, and the end is inserted into the straight through hole at the front end of the hook tongue, which can limit the rotation of the hook tongue; a toothed nut is arranged on the outside of the threaded lock lifting pin; A support frame is arranged on the guide plate support frame, a rotating motor is fixed on the support frame, a pulley is connected to the output end of the rotating motor, the pulley is arranged on the hook body, and is connected to the toothed nut by a belt drive; guide plates are rotatably connected to the guide plates on both sides of the support frame through the guide plate rotating motor.

4. The intelligent unmanned combined floating bridge according to claim 3 is characterized by: A grab hook detection camera is arranged at the front end of the inner side of the guide plate.

5. The intelligent unmanned combined floating bridge according to claim 3 is characterized by: The guide plate rotating motor is a large torque and low speed rotating motor.

6. The intelligent unmanned combined floating bridge according to claim 1, characterized in that: The communication module includes a communicator, which includes a Bluetooth module, a GPS locator, a 4G data transmission module and an image transmission module. The bottom intelligent mobile platforms communicate with each other via the Bluetooth module, and wirelessly communicate with the main control center on the shore via the 4G data transmission module and the image transmission module.

7. The intelligent unmanned combined floating bridge according to claim 1 is characterized by: The power module includes a cable, a power supply, a relay, a power converter, and an alarm. The power supply is a storage battery arranged inside the bottom intelligent mobile platform. The storage battery is a lithium battery or a fuel cell, which directly supplies power to the bottom intelligent mobile platform.

8. The intelligent unmanned combined floating bridge according to claim 1, characterized in that: The water flow information collection device includes a flow velocity detection sensor, a flow rate detection sensor and a water depth detection radar. The water depth detection radar is arranged inside the cabin; the flow velocity detection sensor and the flow rate detection sensor are arranged at the bottom of the bottom intelligent mobile platform to detect the flow velocity and flow rate of the water flow in the current water area.

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