An unmanned ship navigation environment obstacle recognition device

Abstract

The application discloses an unmanned ship navigation environment obstacle identification device, which comprises a ship body, a detection protection assembly, an identification head and a storage assembly. The detection protection assembly is arranged at one end in the ship body, the identification head is arranged in the detection protection assembly, and the storage assembly is arranged in the ship body and at one side of the detection protection assembly. The application belongs to the technical field of unmanned ship environment information sensing and specifically relates to an unmanned ship navigation environment obstacle identification device.

Description

Technical Field

[0001] This invention belongs to the field of unmanned vessel environmental information perception technology, specifically referring to an obstacle identification device for the navigation environment of unmanned vessels. Background Technology

[0002] Unmanned surface vessel (USV) environmental obstacle recognition systems utilize onboard sensors, including laser scanners, X-band radar, and visual sensors, to perceive the navigational environment, acquiring surrounding information and quickly identifying moving / stationary targets and shorelines. By fusing multi-source information from different sensors, the system effectively distinguishes between real obstacles and false targets, enabling the USV to have a comprehensive understanding of the navigational environment. This provides data support for path planning and automatic collision avoidance within the navigation channel. Currently, most USV environmental perception systems rely on laser scanners, radar, or cameras for obstacle detection. However, existing USV detection equipment is typically fixed in place, making it difficult to store when not in use. Furthermore, the lack of protective devices during use and storage increases the risk of damage and shortens the equipment's lifespan. Summary of the Invention

[0003] To address the aforementioned challenges, this invention provides an unmanned vessel navigation environment obstacle recognition device that uses a detection and protection component to protect the recognition head during use or storage, thereby extending the lifespan of the recognition head. This, combined with a storage component, provides support when the recognition head is in use and allows for storage when not in use, thus improving the overall practicality of the device.

[0004] To achieve the above functions, the technical solution adopted by the present invention is as follows: An unmanned vessel navigation environment obstacle identification device includes a hull, a detection and protection component, an identification head, and a storage component. The detection and protection component is located at one end of the hull, the identification head is located inside the detection and protection component, and the storage component is located inside the hull and on one side of the detection and protection component. The detection and protection component includes a drive motor, a gearbox, a rotating plate, a support plate, a torsion spring, a sleeve, a support rod, a base, a slide groove, a slide rod, a sleeve rod, a fixing rod, a second torsion spring, a connecting rod, a protective cover, and a connector. The motor is located at one end of the hull. The gearbox is connected to the output of the drive motor. The rotating plate is connected to the gearbox. The support plates are symmetrically arranged on the rotating plate. The torsion springs are symmetrically arranged on the opposite surfaces of the support plates. One end of the sleeve is connected to the end of the torsion spring away from the support plate, and the other end is located above the hull. One end of the support rod is located inside the sleeve, and the other end is connected to the identification head. The base is located inside the hull and sleeved on the drive motor. The sliding groove is located on the base. The sliding rod is slidably arranged in the sliding groove. One end of the sleeve is sleeved on the output of the drive motor, and the other end is sleeved on the sliding rod. Above, the fixed rod is mounted on the sliding rod, the second torsion spring is mounted on the fixed rod, the connecting rod is connected to the end of the second torsion spring away from the fixed rod, the protective cover is mounted on the connecting rod and on the recognition head, and the connecting piece is mounted on the side of the protective cover. When the drive motor is started, after the gearbox changes speed, the gearbox drives the rotating plate to rotate. The rotating plate, through the support plate and the first torsion spring, drives the sleeve to rotate. The sleeve drives the support rod to rotate, and the support rod drives the recognition head to rotate, thus realizing the detection process of the surrounding environment. Simultaneously, the drive motor drives the sleeve rod to rotate, and the sleeve rod drives the sliding rod to rotate along the slide groove. The sliding rod is connected to the fixed rod... The rod and torsion spring drive the connecting rod to rotate, and the connecting rod drives the protective cover to rotate. Through the setting of the gearbox, the rotation speed of the protective cover and the recognition head are not the same, so that the protective cover can protect the recognition head without hindering the protection of the recognition head. This avoids the connecting rod and the sleeve rotating synchronously, and prevents the recognition head from generating a monitoring blind spot at the support rod during the detection process. Through the setting of the detection protection component, on the one hand, the recognition head can realize the detection process in all directions, and on the other hand, it can protect the recognition head during use, avoid damage to the detection by external forces, and thus extend the service life of the recognition head.

[0005] Furthermore, the connector includes a groove, a connecting spring, a locking block, and a telescopic rod. The groove is located on the side of the protective cover, the connecting spring is located inside the groove, the locking block is connected to the connecting spring and located outside the groove, and the telescopic rod passes through the connecting spring. One end of the telescopic rod is connected to the protective cover, and the other end is connected to the locking block. When the drive motor rotates counterclockwise with the protective cover, the locking block is pressed back into the groove by the storage component during the rotation, so that the storage component only provides support for the protective cover and the recognition head. When the drive motor rotates clockwise with the protective cover, when the protective cover rotates to one side of the storage component with the locking block, the locking block engages with the storage component, realizing the connection between the protective cover and the storage component, which facilitates the storage component to store and protect the recognition head.

[0006] Furthermore, the storage assembly includes a storage motor, a rotating shaft, a rotating rod, a slide rail, a slider, and a locking plate. The storage motor is located inside the hull. One end of the rotating shaft is connected to the output end of the storage motor, and the other end is rotatably located at the end of the hull away from the storage motor. The rotating rod is sleeved on the rotating shaft. The slide rail is located on the side of the rotating rod near the recognition head. The slider is slidably located on the slide rail. The locking plate is located on the slider. When the drive motor rotates clockwise with the protective cover, the protective cover and the locking plate are locked into the locking plate. Then, the storage motor is started, and the storage motor rotates the rotating shaft, which in turn rotates the rotating rod. The rotating rod rotates the locking plate through the slider. The slider slides on the slide rail to adjust the distance between the slider and the protective cover. At the same time, the locking plate rotates with the protective cover, and the protective cover rotates with the sleeve and the recognition head, storing the recognition head inside the hull. This protects the recognition head while reducing the ship's resistance during navigation.

[0007] Furthermore, a cleaning brush is provided on the side of the connecting rod near the recognition head to facilitate cleaning of the recognition head and prevent dust accumulation over a long period of time from affecting the recognition head.

[0008] Furthermore, the storage motor is a forward and reverse directional motor, rotating in both directions to realize the process of removing and storing the recognition head.

[0009] The beneficial effects of the above-mentioned structure of this invention are as follows: The unmanned vessel navigation environment obstacle recognition device provided by this invention, through the setting of the detection and protection components, on the one hand, realizes the omnidirectional detection process of the recognition head, and on the other hand, realizes the protection function of the recognition head during use, avoiding damage to the detection by external forces, thereby extending the service life of the recognition head. Through the setting of the connecting parts, the protective cover and the storage component are connected, which facilitates the storage component to store and protect the recognition head. The storage motor drives the rotating shaft to rotate, the rotating shaft drives the rotating rod to rotate, and the rotating rod drives the locking plate to rotate through the slider. The slider slides on the slide rail to adjust the distance between the slider and the protective cover. At the same time, the locking plate drives the protective cover to rotate, and the protective cover drives the sleeve and the recognition head to rotate, storing the recognition head in the hull. This not only protects the recognition head but also reduces the resistance of the vessel during navigation. A cleaning brush is provided on the side of the connecting rod near the recognition head to facilitate cleaning of the recognition head and prevent long-term dust accumulation from affecting the recognition head. The storage motor is a forward and reverse directional motor, which drives the rotating shaft to rotate in both directions to realize the process of moving and storing the recognition head. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the overall structure of an obstacle recognition device for unmanned vessel navigation environment according to the present invention;

[0011] Figure 2 This is a top view of the transfer plate, support plate, torsion spring and sleeve in the obstacle recognition device for unmanned vessel navigation environment of the present invention;

[0012] Figure 3 This is a top view of the card plate in the obstacle recognition device for unmanned vessel navigation environment according to the present invention;

[0013] Figure 4 This is a top view of the card block in an obstacle recognition device for unmanned vessel navigation environment according to the present invention.

[0014] The components are as follows: 1. Hull; 2. Detection and protection components; 3. Identification head; 4. Storage components; 5. Drive motor; 6. Gearbox; 7. Rotating plate; 8. Support plate; 9. Torsion spring one; 10. Sleeve; 11. Support rod; 12. Base; 13. Slide groove; 14. Sleeve rod; 15. Slide rod; 16. Fixing rod; 17. Torsion spring two; 18. Connecting rod; 19. Protective cover; 20. Connector; 21. Groove; 22. Connecting spring; 23. Locking block; 24. Telescopic rod; 25. Storage motor; 26. Rotating shaft; 27. Rotating rod; 28. Slide rail; 29. ​​Slider; 30. Locking plate; 31. Cleaning brush. Detailed Implementation

[0015] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The invention will be further described in detail below with reference to the accompanying drawings.

[0017] like Figure 1-4 The present invention discloses an obstacle identification device for unmanned vessel navigation environment, comprising a hull 1, a detection and protection component 2, an identification head 3, and a storage component 4. The detection and protection component 2 is located at one end inside the hull 1, the identification head 3 is located inside the detection and protection component 2, and the storage component 4 is located inside the hull 1 and on one side of the detection and protection component 2. The detection and protection component 2 includes a drive motor 5, a gearbox 6, a rotating plate 7, a support plate 8, a first torsion spring 9, a sleeve 10, a support rod 11, a base 12, a sliding groove 13, a sliding rod 15, a sleeve rod 14, a fixing rod 16, a second torsion spring 17, a connecting rod 18, a protective cover 19, and a connecting piece 20. The drive motor 5 is located at one end inside the hull 1, the gearbox 6 is connected to the output end of the drive motor 5, the rotating plate 7 is connected to the gearbox 6, and the support plate 8 is symmetrically arranged on the rotating plate 7. The torsion spring 9 is symmetrically arranged on the opposite side of the support plate 8. One end of the sleeve 10 is connected to the end of the torsion spring 9 away from the support plate 8, and the other end is located above the hull 1. One end of the support rod 11 is located inside the sleeve 10, and the other end is connected to the recognition head 3. The base 12 is located inside the hull 1 and sleeved on the drive motor 5. The sliding groove 13 is located on the base 12. The sliding rod 15 is slidably located in the sliding groove 13. One end of the sleeve rod 14 is sleeved on the output end of the drive motor 5, and the other end is sleeved on the sliding rod 15. The fixing rod 16 is located on the sliding rod 15. The torsion spring 17 is located on the fixing rod 16. The connecting rod 18 is connected to the end of the torsion spring 17 away from the fixing rod 16. The protective cover 19 is located on the connecting rod 18 and on the recognition head 3. The connecting piece 20 is located on the side of the protective cover 19.

[0018] The connector 20 includes a groove 21, a connecting spring 22, a locking block 23, and a telescopic rod 24. The groove 21 is located on the side of the protective cover 19. The connecting spring 22 is located inside the groove 21. The locking block 23 is connected to the connecting spring 22 and located outside the groove 21. The telescopic rod 24 passes through the connecting spring 22. One end of the telescopic rod 24 is connected to the protective cover 19 and the other end is connected to the locking block 23.

[0019] The storage assembly 4 includes a storage motor 25, a rotating shaft 26, a rotating rod 27, a slide rail 28, a slider 29, and a locking plate 30. The storage motor 25 is located inside the hull 1. One end of the rotating shaft 26 is connected to the output end of the storage motor 25, and the other end is rotatably located at the end of the hull 1 away from the storage motor 25. The rotating rod 27 is sleeved on the rotating shaft 26. The slide rail 28 is located on the side of the rotating rod 27 near the recognition head 3. The slider 29 is slidably located on the slide rail 28. The locking plate 30 is located on the slider 29.

[0020] A cleaning brush 31 is provided on the side of the connecting rod 18 near the recognition head 3.

[0021] The storage motor 25 is a forward and reverse directional motor.

[0022] In practical use, the drive motor 5 is started, and after being changed by the gearbox 6, the gearbox 6 drives the rotating plate 7 to rotate. The rotating plate 7 drives the sleeve 10 to rotate via the support plate 8 and the first torsion spring 9. The sleeve 10 drives the support rod 11 to rotate, and the support rod 11 drives the recognition head 3 to rotate, realizing the detection process of the surrounding environment. At the same time, the drive motor 5 drives the sleeve rod 14 to rotate, and the sleeve rod 14 drives the slide rod 15 to rotate along the slide groove 13. The slide rod 15 drives the connecting rod 18 to rotate via the fixed rod 16 and the second torsion spring 17. The connecting rod 18 drives the protective cover 19 to rotate. Through the setting of the gearbox 6, the rotation speed of the protective cover 19 and the recognition head 3 are not the same, so that the protective cover 19 can protect the recognition head 3 without obstructing the protection of the recognition head 3. This avoids the connecting rod 18 and the sleeve 10 rotating synchronously, and the recognition head 3 will have a monitoring blind spot at the support rod 11 during the detection process. When the drive motor 5 rotates counterclockwise with the protective cover 19, the locking block 23 is pressed back into the groove 21 by the locking plate 30 during the rotation, so that the rotating rod 27 only serves to support the protective cover 19 and the identification head 3. When the drive motor 5 rotates clockwise with the protective cover 19, when the protective cover 19 rotates with the locking block 23 to one side of the storage component 4, the locking block 23 engages with the locking plate 30, realizing the connection between the protective cover 19 and the storage component 4. Then the storage motor 25 is started, and the storage motor 25 rotates the rotating shaft 26, which in turn rotates the rotating rod 27. The rotating rod 27 rotates the locking plate 30 through the slider 29. The slider 29 slides on the slide rail 28 to adjust the distance between the slider 29 and the protective cover 19. At the same time, the locking plate 30 rotates with the protective cover 19, and the protective cover 19 rotates with the sleeve 10 and the identification head 3, storing the identification head 3 inside the hull 1.

[0023] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. An unmanned ship navigation environment obstacle recognition device, characterized by: The system includes a hull, a detection and protection assembly, an identification head, and a storage assembly. The detection and protection assembly is located at one end of the hull, the identification head is located inside the detection and protection assembly, and the storage assembly is located inside the hull and on one side of the detection and protection assembly. The detection and protection assembly includes a drive motor, a gearbox, a rotating plate, a support plate, a first torsion spring, a sleeve, a support rod, a base, a slide groove, a slide rod, a sleeve rod, a fixed rod, a second torsion spring, a connecting rod, a protective cover, and connecting parts. The drive motor is located at one end of the hull, the gearbox is connected to the output end of the drive motor, the rotating plate is connected to the gearbox, the support plate is symmetrically arranged on the rotating plate, and the first torsion spring is symmetrically arranged on the support plate. On the opposite side of the support plate, one end of the sleeve is connected to the end of the torsion spring away from the support plate and the other end is located above the hull. One end of the support rod is located inside the sleeve and the other end is connected to the identification head. The base is located inside the hull and sleeved on the drive motor. The sliding groove is located on the base. The sliding rod is slidably located in the sliding groove. One end of the sleeve is sleeved on the output end of the drive motor and the other end is sleeved on the sliding rod. The fixing rod is located on the sliding rod. The second torsion spring is located on the fixing rod. The connecting rod is connected to the end of the second torsion spring away from the fixing rod. The protective cover is located on the connecting rod and on the identification head. The connecting piece is located on the side of the protective cover. The connector includes a groove, a connecting spring, a locking block, and a telescopic rod. The groove is located on the side of the protective cover, the connecting spring is located inside the groove, the locking block is connected to the connecting spring and located outside the groove, and the telescopic rod passes through the connecting spring. One end of the telescopic rod is connected to the protective cover and the other end is connected to the locking block. The storage assembly includes a storage motor, a rotating shaft, a rotating rod, a slide rail, a slider, and a locking plate. The storage motor is located inside the hull. One end of the rotating shaft is connected to the output end of the storage motor, and the other end is rotatably located at the end of the hull away from the storage motor. The rotating rod is sleeved on the rotating shaft. The slide rail is located on the side of the rotating rod near the recognition head. The slider is slidably located on the slide rail, and the locking plate is located on the slider.

2. The unmanned vessel navigation environment obstacle identification device according to claim 1, characterized in that: A cleaning brush is provided on the side of the connecting rod near the recognition head.

3. The unmanned vessel navigation environment obstacle identification device according to claim 2, characterized in that: The motor used for storage is a forward and reverse directional motor.

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