An automatic mooring device for unmanned vessels

Abstract

The present invention discloses an automatic mooring device for an unmanned ship, which relates to the field of mooring devices and includes an n-shaped fixing plate I. The left side of the n-shaped fixing plate I is connected to a triggering component and a pushing component. Through the coordinated use of the control box, signal transmitter I, signal transmitter II, and the unmanned ship control box, the unmanned ship body can drive into the area between the two guiding plates head-on. In this way, the unmanned ship body sailing at sea can adjust its course before mooring, so that the unmanned ship has the function of automatically adjusting and corresponding to the mooring device on the shore, which is convenient for corresponding to the mooring device on the shore, thus facilitating the automatic mooring operation of the unmanned ship and solving the problem that the existing unmanned ship does not have the function of automatically adjusting and corresponding to the mooring device on the shore during mooring.

Description

Technical Field

[0001] The present invention relates to a berthing device, in particular to an automatic berthing device for an unmanned ship. Background Art

[0002] Ship is a general term for various vessels. Ship is a means of transport that can sail or anchor in waters for transportation or operations. It has different technical performance, equipment and structural types according to different usage requirements. Ship is a man-made means of transport that mainly operates in geographical waters. In addition, civilian ships are generally called ships, military ships are called ships, and small ships are called boats or boats. They are generally called ships or boats. The interior mainly includes storage space, support structure and drainage structure, and has a propulsion system that uses external or self-contained energy. The appearance is generally streamlined to overcome fluid resistance. Envelope, materials are constantly updated with the advancement of science and technology. In the early days, they were natural materials such as wood, bamboo, and hemp. In modern times, they are mostly steel, aluminum, fiberglass, acrylic, and various composite materials. Ships have evolved from prehistoric wood-carving boats to canoes and wooden boats. After the advent of the world's first steel ship in 1879, an era dominated by steel ships began. The propulsion of ships has also evolved from relying on human power, animal power, and wind power (i.e., punting, paddling, rowing, towing, and sails) in the 19th century to the use of machines. This device is a berthing device for unmanned ships.

[0003] There are still some defects and deficiencies in the current berthing device when it is in use. The specific areas that need improvement are as follows:

[0004] Most existing berthing devices require manual control when the unmanned boat approaches the shore, which requires manual control to fix the unmanned boat. This reduces the automation level of the unmanned boat and affects its use.

[0005] Existing unmanned boats do not have the function of automatically adjusting and connecting with the shore berthing equipment when berthing. Summary of the Invention

[0006] The purpose of the present invention is to provide an automatic berthing device for an unmanned vessel to solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solution: An automatic mooring device for an unmanned ship, including an n-shaped fixing plate 1, the left side of the n-shaped fixing plate 1 is connected to a triggering component and a pushing component, the inside of the n-shaped fixing plate 1 is connected to a positioning and buffering component, the front and rear sides of the n-shaped fixing plate 1 are respectively connected to two clamping components, the right side of the n-shaped fixing plate 1 is fixedly connected to two guiding plates, an unmanned ship component is connected between the two guiding plates, the bottom surfaces of the two guiding plates are both connected to a guide wheel component, the guide wheel component is connected to a base, the base is fixedly connected to the bottom surface of the n-shaped fixing plate 1, and a control box is installed on the front side of the n-shaped fixing plate 1;

[0008] A linkage triggering module, a drive control module, and a wireless receiver 1 are arranged in the control box, and the wireless receiver 1 is adapted to a wireless output end on a remote controller, and the output end of the wireless receiver 1 is electrically connected to the input end on the drive control module. The left side surface of the n-shaped fixing plate 1 is fixedly connected to a fixing plate 1, and two signal transmitters 1 are installed on the fixing plate 1.

[0009] As a preferred technical solution of the present invention, the triggering component includes four sliders, the four sliders are respectively slidably connected to two chutes opened on the opposite inner side surfaces of the n-shaped fixing plate 1, the four sliders are respectively fixedly connected to the upper and lower ends of the left and right side surfaces of a moving plate, the left side surface of the moving plate is fixedly connected to one side of two springs 1, the other sides of the two springs 1 are both fixedly connected to the right inner side surface of the n-shaped fixing plate 1, the left side surface of the moving plate is fixedly connected to a positioning push plate, the positioning push plate corresponds horizontally to a trigger, the trigger is installed on the right inner side surface of the n-shaped fixing plate 1, and the output end of the trigger is electrically connected to the input end on the linkage triggering module.

[0010] As a preferred technical solution of the present invention, the pushing component includes a hydraulic push rod, the outer surface of the fixed end of the hydraulic push rod is fixedly connected to the n-shaped fixing plate 1, the input end of the hydraulic push rod is electrically connected to the output end on the drive control module in the control box, the extending end of the hydraulic push rod is fixedly connected to a push plate 1, the bottom surface of the push plate 1 is fixedly connected to a sliding plate 1, the sliding plate 1 is sleeved with a fixed column 1 through a circular hole 1 opened, the right side of the fixed column 1 is fixedly connected to a fixing plate 2, and the fixing plate 2 is fixedly connected to the base.

[0011] As a preferred technical solution of the present invention, the positioning and buffering component includes two fixed columns 2, the left sides of the two fixed columns 2 are both fixedly connected to the n-shaped fixing plate 1, the right sides of the two fixed columns 2 are respectively fixedly connected to two fixing plates 3, the opposite side surfaces of the two fixing plates 3 are respectively fixedly connected to the opposite side surfaces of the n-shaped fixing plate 1, and the opposite side surfaces of the two fixing plates 3 are rotatably connected to a rotating shaft 1 through bearings;

[0012] The first rotating shaft is fixedly connected to the roller. The two second fixing columns are respectively sleeved in the second round holes formed in the two second sliding plates. The two second sliding plates are respectively fixedly connected to the right sides of the two second springs. The left sides of the two second springs are fixedly connected to the inner left side surface of the n-shaped first fixing plate. The two second springs are respectively sleeved on the two second fixing columns. The two second sliding plates are both fixedly connected to the bottom surface of the clamping plate. The left side surface of the clamping plate is fixedly connected to the inclined side pushing plate.

[0013] As a preferred technical solution of the present invention, both of the two clamping components include an n-shaped second fixing plate. The n-shaped second fixing plate is fixedly connected to the side surface of the n-shaped first fixing plate. A fixing block is fixedly connected between the interiors of the n-shaped second fixing plates. The fixing block is fixedly connected to the side surface of the n-shaped first fixing plate. The fixing block is sleeved with a clamping rod through a third round hole formed therein. The clamping rod is sleeved in a fourth round hole formed in one of the side plates of the n-shaped first fixing plate, and the fourth round hole corresponds to the third round hole. The clamping rod is fixedly connected to the second pushing plate.

[0014] As a preferred technical solution of the present invention, the second pushing plate is respectively sleeved on the two third fixing columns through two fifth round holes formed therein. One sides of the two third fixing columns are both fixedly connected to the fixing block. The other sides of the two third fixing columns are both fixedly connected to the inner side surface of the n-shaped second fixing plate. The second pushing plate is fixedly connected to the extending end of the electric push rod. The fixed end of the electric push rod is fixedly connected to the inner side surface of the n-shaped second fixing plate. The input end of the electric push rod is electrically connected to the output ends on the linkage trigger module and the drive control module in the control box.

[0015] As a preferred technical solution of the present invention, the guide wheel component includes two stepped plates. The upper surfaces of the two stepped plates are respectively fixedly connected to the two guide plates. The right bottom surfaces of the two stepped plates are respectively fixedly connected to the two support plates. The two support plates are respectively fixedly connected to the two fourth fixing plates. The two fourth fixing plates are respectively fixedly connected to the front and rear side surfaces of the base. The two stepped plates are respectively rotatably connected to the three second rotating shafts through six bearings in two groups. The three second rotating shafts are respectively fixedly connected to the three guide wheels. The three guide wheels are arranged in a shape that gradually decreases from right to left.

[0016] As a preferred technical solution of the present invention, the unmanned ship component includes an unmanned ship body, the unmanned ship body is located between two guide plates, clamping holes are formed in the front and rear side surfaces of the unmanned ship body, both of the two clamping holes are oval-shaped, the two clamping holes are respectively adapted to two clamping rods, two signal transmitters II are installed on the unmanned ship body, an unmanned ship control box is installed on the unmanned ship body, a signal receiving module, a driving control module, a route adjustment module, a short-distance stop module, and a wireless receiving end II are arranged in the unmanned ship control box, and the wireless receiving end II is also adapted to the wireless output end on the remote control;

[0017] A distance setting parameter function is arranged in the short-distance stop module;

[0018] The signal receiving module is provided with a wireless receiving end III, and the wireless receiving end III is adapted to the signal output ends on two signal transmitters I and two signal transmitters II.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] Through the coordinated use of the trigger component, the pushing component, the positioning and buffering component, the clamping component, the guide wheel component and the unmanned ship component in the present invention, the front side of the unmanned ship body first makes underwater contact with the right guide wheel on the guide wheel component. At the same time, as the unmanned ship body continues to advance, the front side of the bottom surface of the unmanned ship body successively contacts the rollers on the positioning and buffering component through three guide wheels. At the same time, the front inclined surface of the unmanned ship body contacts and overlaps with the inclined side push plate on the clamping plate, and pushes the inclined side push plate to move to the left, so that the inclined side push plate drives the sliding plate II to squeeze the spring II on the fixed column II, so that the spring II generates a reverse thrust. In this way, the speed of the unmanned ship body pushing the inclined side plate can be weakened. As the speed continues to weaken, the left side of the unmanned ship body contacts the moving plate on the trigger component, so that the trigger plate is pushed to move. The moving plate drives the positioning push plate to press and contact the trigger, and at the same time, the moving plate also squeezes the spring I to generate a reverse thrust. In this way, the moving speed of the unmanned ship body can be alleviated. At the same time, the signal generated by the trigger is sent to the linkage trigger module in the control box to be started in time, so that the linkage trigger module synchronously controls the electric push rods on the two clamping components to extend, so that the two electric push rods synchronously push the clamping rods to be sleeved and embedded into the clamping holes formed in the unmanned ship body, so that the two clamping plates restrict the unmanned ship body from moving parallelly. At the same time, the short-distance stop module in the unmanned ship control box on the unmanned ship body is started to stop the driving device on the unmanned ship body from rotating, so that the unmanned ship body is in a stopped moving state. In this way, the unmanned ship body can realize automatic docking and berthing, and is fixed by the clamping device, so as to realize the function of automatic docking and fixing, and also make the berthing operation of the unmanned ship automated, which is beneficial to the use of the unmanned ship.

[0021] 2. Through the coordinated use of the control box, signal transmitter 1, signal transmitter 2, and the unmanned boat control box provided in the present invention, the positioning signal 1 generated by the two signal transmitters 2 on the unmanned boat body can be transmitted in real time in the signal receiving module. At the same time, the two signal 2s emitted by the two signal transmitters 1 are also presented on the signal receiving module. In this way, the straight line formed by the two signal 1s can correspond to the straight line formed by the two signal 2s on the route adjustment module by controlling the route of the unmanned boat body through the drive control module, so that the unmanned boat body can drive straight into the two guide plates. In this way, the unmanned boat body sailing at sea can adjust its route before berthing, so that the unmanned boat has the function of automatically adjusting and corresponding to the berthing device on the shore, which is convenient for corresponding to the berthing device on the shore, and thus is beneficial to the automatic berthing operation of the unmanned boat. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a front view structural schematic diagram of the present invention;

[0023] Figure 2 is a structural schematic diagram of the triggering component of the present invention;

[0024] Figure 3 is a structural schematic diagram of the pushing component of the present invention;

[0025] Figure 4 is a structural schematic diagram of the positioning buffer component of the present invention;

[0026] Figure 5 is a structural schematic diagram of the clamping component of the present invention;

[0027] Figure 6 is a structural schematic diagram of the guide wheel component of the present invention;

[0028] Figure 7 is a structural schematic diagram of the unmanned boat component of the present invention.

[0029] In the figure: 1 is the first n-shaped fixing plate, 2 is the triggering component, 21 is the slider, 22 is the moving plate, 23 is the first spring, 24 is the positioning push plate, 25 is the trigger, 3 is the pushing component, 31 is the hydraulic push rod, 32 is the first push plate, 33 is the first sliding plate, 34 is the first fixing column, 35 is the second fixing plate, 4 is the positioning and buffering component, 41 is the second fixing column, 42 is the second sliding plate, 43 is the second spring, 44 is the clamping plate, 45 is the inclined side push plate, 46 is the third fixing plate, 47 is the first rotating shaft, 48 is the roller, 5 is the clamping component, 51 is the second n-shaped fixing plate, 52 is the fixing block, 53 is the third fixing column, 54 is the second push plate, 55 is the electric push rod, 56 is the clamping rod, 6 is the base, 7 is the guide wheel component, 71 is the stepped plate, 72 is the second rotating shaft, 73 is the guide wheel, 74 is the support plate, 75 is the fourth fixing plate, 8 is the guide plate, 9 is the unmanned ship component, 91 is the unmanned ship body, 92 is the clamping hole, 93 is the second signal transmitter, 94 is the unmanned ship control box, 10 is the first fixing plate, 11 is the first signal transmitter, 12 is the control box. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] Please refer to Figures 1-7 , the present invention provides a technical solution for an automatic berthing device of an unmanned ship: including the first n-shaped fixing plate 1, the left side of the first n-shaped fixing plate 1 is connected to the triggering component 2 and the pushing component 3, the inside of the first n-shaped fixing plate 1 is connected to the positioning and buffering component 4, the front and back sides of the first n-shaped fixing plate 1 are respectively connected to two clamping components 5, the right side of the first n-shaped fixing plate 1 is fixedly connected to two guide plates 8, the two guide plates 8 are connected to the unmanned ship component 9, the bottom surfaces of the two guide plates 8 are both connected to the guide wheel component 7, the guide wheel component 7 is connected to the base 6, the base 6 is fixedly connected to the bottom surface of the first n-shaped fixing plate 1, and the front side of the first n-shaped fixing plate 1 is provided with a control box 12;

[0032] Inside the control box 12, there are a linkage trigger module, a drive control module, and a first wireless receiver. The first wireless receiver is adapted to the wireless output end on the remote control, and the output end of the first wireless receiver is electrically connected to the input end on the drive control module. The left side surface of the first n-shaped fixing plate 1 is fixedly connected to the first fixing plate 10. Two first signal transmitters 11 are installed on the first fixing plate 10. By installing two first signal transmitters 11 on the first fixing plate 10, the two second signals emitted by the two first signal transmitters 11 are also presented on the signal receiving module. In this way, the straight line formed by the two first signals can correspond to the straight line formed by the two second signals on the route adjustment module through the drive control module to control the route of the unmanned ship body 91, so that the unmanned ship body 91 can drive straight into the two guide plates 8.

[0033] The triggering component 2 includes four sliders 21. The four sliders 21 are respectively slidably connected to two chutes opened on the inner opposite side surfaces of the first n-shaped fixing plate 1. The four sliders 21 are respectively fixedly connected to the upper and lower ends of the left and right side surfaces of the moving plate 22. The left side surface of the moving plate 22 is fixedly connected to one side of two first springs 23. The other sides of the two first springs 23 are fixedly connected to the inner right side surface of the first n-shaped fixing plate 1. The left side surface of the moving plate 22 is fixedly connected to the positioning push plate 24. The positioning push plate 24 is horizontally corresponding to the trigger 25. The trigger 25 is installed on the inner right side surface of the first n-shaped fixing plate 1. The output end of the trigger 25 is electrically connected to the input end on the linkage trigger module. When the left side of the unmanned ship body 91 contacts the moving plate 22 on the triggering component 2, the trigger plate 22 is pushed to move. The moving plate 22 drives the positioning push plate 24 to press and contact the trigger 25. At the same time, the moving plate 22 also squeezes the first springs 23 to generate a reverse thrust. In this way, the moving speed of the unmanned ship body 91 can be alleviated. At the same time, the signal generated by the trigger 25 is sent to the linkage trigger module in the control box 12 to be started in time, so that the linkage trigger module synchronously controls the electric push rods 55 on the two clamping components 5 to extend to intercept the unmanned ship body 91.

[0034] The pushing component 3 includes a hydraulic push rod 31. The outer surface of the fixed end of the hydraulic push rod 31 is fixedly connected to the first n-shaped fixing plate 1. The input end of the hydraulic push rod 31 is electrically connected to the output end on the driving control module in the control box 12. The extending end of the hydraulic push rod 31 is fixedly connected to the first push plate 32. The bottom surface of the first push plate 32 is fixedly connected to the first sliding plate 33. The first sliding plate 33 is sleeved with the first fixing column 34 through the circular hole 1 opened. The right side of the first fixing column 34 is fixedly connected to the second fixing plate 35. The second fixing plate 35 is fixedly connected to the base 6. By setting the pushing component 3, when the unmanned ship body 91 needs to travel, the electric push rod 55 connected to the driving module can be controlled to retract first through the wireless control terminal, and then the hydraulic push rod 31 can be controlled to extend. Thus, the hydraulic push rod 31 drives the first push plate 32 to push the unmanned ship body 91 on the inclined side push plate 45 out of the first n-shaped fixing plate 1, so that the unmanned ship body 91 floats on the sea for driving navigation.

[0035] The positioning and buffering component 4 includes two second fixing columns 41. The left sides of the two second fixing columns 41 are both fixedly connected to the first n-shaped fixing plate 1. The right sides of the two second fixing columns 41 are respectively fixedly connected to two third fixing plates 46. The opposite sides of the two third fixing plates 46 are respectively fixedly connected to the opposite sides of the first n-shaped fixing plate 1. The opposite sides of the two third fixing plates 46 are rotatably connected to the first rotating shaft 47 through bearings;

[0036] The first rotating shaft 47 is fixedly connected to the roller 48, so that the front side of the bottom surface of the unmanned ship body 91 successively contacts the roller 48 on the positioning and buffering component 4 through three guide wheels 73. At the same time, the front inclined surface of the unmanned ship body 48 is in contact and lapped with the inclined side push plate 45 on the clamping plate 44, and pushes the inclined side push plate 45 to move to the left. Thus, the inclined side push plate 45 drives the second sliding plate 42 to squeeze the second spring 43 on the second fixing column 41, so that the second spring 43 generates a reverse thrust. In this way, the speed of the unmanned ship body 91 pushing the inclined side plate 45 can be weakened. The two second fixing columns 41 are respectively sleeved with the circular holes 2 opened on the two second sliding plates 42. The two second sliding plates 42 are respectively fixedly connected to the right sides of the two second springs 43. The left sides of the two second springs 43 are both fixedly connected to the inner left side surface of the first n-shaped fixing plate 1. The two second springs 43 are respectively sleeved with the two second fixing columns 41. The two second sliding plates 42 are both fixedly connected to the bottom surface of the clamping plate 44. The left side surface of the clamping plate 44 is fixedly connected to the inclined side push plate 45.

[0037] The two clamping components 5 both include an n-shaped fixing plate II 51. The n-shaped fixing plate II 51 is fixedly connected to the side surface of the n-shaped fixing plate I 1. Between the interiors of the n-shaped fixing plate II 51, it is fixedly connected to a fixing block 52. The fixing block 52 is fixedly connected to the side surface of the n-shaped fixing plate I 1. The fixing block 52 is sleeved with a clamping rod 56 through a circular hole III opened thereon. The clamping rod 56 is sleeved with a circular hole IV opened on one of the side plates of the n-shaped fixing plate I 1, and the circular hole IV corresponds to the circular hole III. The clamping rod 56 is fixedly connected to a push plate II 54.

[0038] The push plate II 54 is respectively sleeved with two fixing columns III 53 through two circular holes V opened thereon. One side of each of the two fixing columns III 53 is fixedly connected to the fixing block 52, and the other side of each of the two fixing columns III 53 is fixedly connected to the inner side surface of the n-shaped fixing plate II 51. The push plate II 54 is fixedly connected to the extending end of an electric push rod 55. The fixed end of the electric push rod 55 is fixedly connected to the inner side surface of the n-shaped fixing plate II 51. The input end of the electric push rod 55 is electrically connected to the output ends on the linkage trigger module and the drive control module in the control box 12, so that the linkage trigger module synchronously controls the electric push rods 55 on the two clamping components 5 to extend, thereby enabling the two electric push rods 55 to synchronously push the clamping rod 56 to be sleeved and embedded into the clamping holes 92 opened on the unmanned ship body 91, so that the two clamping rods 56 restrict the unmanned ship body 91 from moving parallelly.

[0039] The guide wheel component 7 includes two stepped plates 71. The upper surfaces of the two stepped plates 71 are respectively fixedly connected to the two guide plates 8. The bottom right sides of the two stepped plates 71 are respectively fixedly connected to two support plates 74. The two support plates 74 are respectively fixedly connected to two fixing plates IV 75. The two fixing plates IV 75 are respectively fixedly connected to the front and rear side surfaces of the base 6. The two stepped plates 71 are respectively rotationally connected to three rotating shafts II 72 through six bearings in two groups. The three rotating shafts II 72 are respectively fixedly connected to three guide wheels 73. By providing the three guide wheels 73, it is convenient for the unmanned ship body 91 to first make underwater contact with the right guide wheel 73 on the guide wheel component 7 when sailing to the shore. At the same time, as the unmanned ship body 91 continues to advance, the front side of the bottom surface of the unmanned ship body 91 successively contacts the rollers 48 on the positioning and buffering component 4 through the three guide wheels 73. The three guide wheels 7,3 are set in a shape that gradually decreases from right to left.

[0040] The unmanned ship component 9 includes an unmanned ship body 91. The unmanned ship body 91 is located between two guiding plates 8. Clamping holes 92 are formed on the front and rear side surfaces of the unmanned ship body 91. Both of the two clamping holes 92 are set to be elliptical. By setting both of the two clamping holes 92 to be elliptical, the two clamping rods 56 restrict the parallel movement of the unmanned ship body 91. At the same time, the clamping rods 56 can also move up and down within the clamping holes 92. Thus, when the unmanned ship body 91 is affected by the sea wave fluctuations, it can play a role of floating up and down. The two clamping holes 92 are respectively adapted to the two clamping rods 56. Two signal transmitters II 93 are installed on the unmanned ship body 91. An unmanned ship control box 94 is installed on the unmanned ship body 91. A signal receiving module, a drive control module, a course adjustment module, a short-distance stop module, and a wireless receiving end II are arranged in the unmanned ship control box 94. And the wireless receiving end II is also adapted to the wireless output end on the remote controller. By starting the short-distance stop module in the unmanned ship control box 94, the drive device on the unmanned ship body 91 is stopped from rotating, so that the unmanned ship body is in a stopped moving state. At the same time, it can also play a role of remotely operating the unmanned ship body 91 through the remote controller;

[0041] The short-distance stop module is provided with a distance setting parameter function;

[0042] The signal receiving module is provided with a wireless receiving end III, and the wireless receiving end III is adapted to the signal output ends on the two signal transmitters I 11 and the two signal transmitters II 93.

[0043] The operation steps of the present invention are as follows:

[0044] The positioning signal I generated by the two signal transmitters II 93 on the unmanned ship body can be transmitted in real time in the signal receiving module. At the same time, the two signal II emitted by the two signal transmitters I 11 are also presented on the signal receiving module. In this way, the straight line formed by the two signal I can correspond to the straight line formed by the two signal II on the course adjustment module through the drive control module to control the course of the unmanned ship body 91. Thus, the unmanned ship body 91 can sail straight into the two guiding plates 8. In this way, the unmanned ship body 91 sailing at sea can adjust its course before berthing;

[0045] Then, the unmanned ship body 91 sails to the shore and first makes underwater contact with the right guide wheel 73 on the guide wheel component 7. At the same time, with the continuous advancement of the unmanned ship body 91, the front side of the bottom surface of the unmanned ship body 91 successively contacts the rollers 48 on the positioning and buffering component 4 through three guide wheels 73. At the same time, the front inclined surface of the unmanned ship body 48 contacts and overlaps with the inclined side push plate 45 on the clamping plate 44, and pushes the inclined side push plate 45 to move to the left, so that the inclined side push plate 45 drives the sliding plate two 42 to squeeze the spring two 43 on the fixed column two 41, so that the spring two 43 generates a reverse thrust. In this way, the speed at which the unmanned ship body 91 pushes the inclined side plate 45 can be weakened. As the speed continues to weaken, the left side of the unmanned ship body 91 contacts the moving plate 22 on the trigger component 2, so that the trigger plate 22 is pushed to move. The moving plate 22 drives the positioning push plate 24 to press and contact the trigger 25. At the same time, the moving plate 22 also squeezes the spring one 23 to generate a reverse thrust. In this way, the moving speed of the unmanned ship body 91 can be alleviated. At the same time, the signal generated by the trigger 25 is sent to the linkage trigger module in the control box 12 to be started in time, so that the linkage trigger module synchronously controls the electric push rods 55 on the two clamping components 5 to extend, so that the two electric push rods 55 synchronously push the clamping rods 56 to be sleeved and embedded into the clamping holes 92 opened on the unmanned ship body 91, so that the two clamping rods 56 restrict the unmanned ship body 91 from moving parallelly. At the same time, the short-distance stop module in the unmanned ship control box 94 on the unmanned ship body 91 is started to stop the driving device on the unmanned ship body 91 from rotating, so that the unmanned ship body is in a stopped moving state. In this way, the unmanned ship body can achieve automatic docking at the shore.

[0046] In the description of the present invention, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0047] In the present invention, unless otherwise clearly specified and limited, for example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two elements or the interaction relationship between two elements. Unless otherwise clearly limited, for those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0048] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic berthing device for an unmanned ship, including an n-shaped fixing plate one (1), characterized in that: The left side of the n-shaped fixing plate one (1) is connected to the triggering component (2) and the pushing component (3). The inside of the n-shaped fixing plate one (1) is connected to the positioning and buffering component (4). The front and rear sides of the n-shaped fixing plate one (1) are respectively connected to two clamping components (5). The right side of the n-shaped fixing plate one (1) is fixedly connected to two guiding plates (8). Between the two guiding plates (8) is connected to the unmanned boat component (9). The bottom surfaces of the two guiding plates (8) are both connected to the guide wheel component (7). The guide wheel component (7) is connected to the base (6). The base (6) is fixedly connected to the bottom surface of the n-shaped fixing plate one (1). The front side of the n-shaped fixing plate one (1) is equipped with a control box (12). Inside the control box (12), there are a linkage triggering module, a drive control module, and a wireless receiver one. The wireless receiver one is adapted to the wireless output end on the remote control, and the output end of the wireless receiver one is electrically connected to the input end on the drive control module. The left side of the n-shaped fixing plate one (1) is fixedly connected to the fixing plate one (10). Two signal transmitters one (11) are installed on the fixing plate one (10). The pushing component (3) includes a hydraulic push rod (31). The outer surface of the fixed end of the hydraulic push rod (31) is fixedly connected to the n-shaped fixing plate one (1). The input end of the hydraulic push rod (31) is electrically connected to the output end on the drive control module inside the control box (12). The extending end of the hydraulic push rod (31) is fixedly connected to the push plate one (32). The bottom surface of the push plate one (32) is fixedly connected to the sliding plate one (33). The sliding plate one (33) is sleeved with the fixed column one (34) through the circular hole one opened. The right side of the fixed column one (34) is fixedly connected to the fixing plate two (35). The fixing plate two (35) is fixedly connected to the base (6).

2. The automatic berthing device for an unmanned boat according to claim 1, characterized in that: The triggering component (2) includes four sliders (21). The four sliders (21) are respectively slidably connected to two chutes opened on the opposite inner sides of the n-shaped fixing plate one (1). The four sliders (21) are respectively fixedly connected to the upper and lower ends of the left and right sides of the moving plate (22). The left side of the moving plate (22) is fixedly connected to one side of two springs one (23). The other sides of the two springs one (23) are both fixedly connected to the right inner side of the n-shaped fixing plate one (1). The left side of the moving plate (22) is fixedly connected to the positioning push plate (24). The positioning push plate (24) is horizontally corresponding to the trigger (25). The trigger (25) is installed on the right inner side of the n-shaped fixing plate one (1). The output end of the trigger (25) is electrically connected to the input end on the linkage triggering module.

3. An automatic berthing device for an unmanned ship according to claim 1, characterized in that: The positioning and buffering component (4) includes two second fixing columns (41). The left sides of the two second fixing columns (41) are fixedly connected to the first n-shaped fixing plate (1). The right sides of the two second fixing columns (41) are respectively fixedly connected to two third fixing plates (46). The opposite sides of the two third fixing plates (46) are respectively fixedly connected to the opposite sides of the first n-shaped fixing plate (1). The opposite sides of the two third fixing plates (46) are rotatably connected to a first rotating shaft (47) through bearings; The first rotating shaft (47) is fixedly connected to a roller (48). The two second fixing columns (41) are respectively sleeved in circular holes two opened on two second sliding plates (42). The two second sliding plates (42) are respectively fixedly connected to the right sides of two second springs (43). The left sides of the two second springs (43) are fixedly connected to the inner left side of the first n-shaped fixing plate (1). The two second springs (43) are respectively sleeved on the two second fixing columns (41). The two second sliding plates (42) are both fixedly connected to the bottom surface of a clamping plate (44). The left side surface of the clamping plate (44) is fixedly connected to an inclined side pushing plate (45).

4. The automatic berthing device for an unmanned ship according to claim 1, characterized in that: The two clamping components (5) each include a second n-shaped fixing plate (51). The second n-shaped fixing plate (51) is fixedly connected to the side surface of the first n-shaped fixing plate (1). A fixing block (52) is fixedly connected between the interiors of the second n-shaped fixing plate (51). The fixing block (52) is fixedly connected to the side surface of the first n-shaped fixing plate (1). The fixing block (52) is sleeved with a clamping rod (56) through a circular hole three. The clamping rod (56) is sleeved in a circular hole four opened on one of the side plates of the first n-shaped fixing plate (1), and the circular hole four corresponds to the circular hole three. The clamping rod (56) is fixedly connected to a second pushing plate (54).

5. The automatic berthing device for an unmanned ship according to claim 4, characterized in that: The second pushing plate (54) is respectively sleeved on two third fixing columns (53) through two circular holes five. One side of each of the two third fixing columns (53) is fixedly connected to the fixing block (52). The other side of each of the two third fixing columns (53) is fixedly connected to the inner side surface of the second n-shaped fixing plate (51). The second pushing plate (54) is fixedly connected to the extending end of an electric push rod (55). The fixed end of the electric push rod (55) is fixedly connected to the inner side surface of the second n-shaped fixing plate (51). The input end of the electric push rod (55) is electrically connected to the output ends of a linkage triggering module and a drive control module in a control box (12).

6. The automatic berthing device for an unmanned ship according to claim 1, wherein: The guide wheel component (7) includes two stepped plates (71). The upper surfaces of the two stepped plates (71) are respectively fixedly connected to the two guide plates (8). The right sides of the bottom surfaces of the two stepped plates (71) are respectively fixedly connected to the two support plates (74). The two support plates (74) are respectively fixedly connected to the two fourth fixing plates (75). The two fourth fixing plates (75) are respectively fixedly connected to the front and rear sides of the base (6). The two stepped plates (71) are respectively rotatably connected to the three second rotating shafts (72) through six bearings in pairs. The three second rotating shafts (72) are respectively fixedly connected to the three guide wheels (73). The three guide wheels (73) are set in a shape that decreases from right to left in sequence.

7. An automatic berthing device for an unmanned ship according to claim 1, characterized in that: The unmanned ship component (9) includes an unmanned ship body (91). The unmanned ship body (91) is located between the two guide plates (8). Clamping holes (92) are formed in the front and rear sides of the unmanned ship body (91). The two clamping holes (92) are both set to be oval. The two clamping holes (92) are respectively adapted to the two clamping rods (56). Two second signal transmitters (93) are installed on the unmanned ship body (91). An unmanned ship control box (94) is installed on the unmanned ship body (91). A signal receiving module, a drive control module, a route adjustment module, a short-distance stop module, and a second wireless receiving end are arranged in the unmanned ship control box (94), and the second wireless receiving end is also adapted to the wireless output end on the remote controller; A distance setting parameter function is arranged in the short-distance stop module; The signal receiving module is provided with a third wireless receiving end, and the third wireless receiving end is adapted to the signal output ends on the two first signal transmitters (11) and the two second signal transmitters (93).

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