An unmanned tugboat capable of detecting a contact position

Abstract

The application provides an unmanned tugboat capable of detecting a contact position, comprising an unmanned tugboat body, a hull propulsion device and a plurality of contact detection devices; the plurality of contact detection devices are installed on a circular arc plate and are uniformly arranged in a circular arc shape on the circular arc plate; the circular arc plate is fixed at a bow of the unmanned tugboat body; the hull propulsion device comprises a propeller and a propeller direction changing device; the propeller is located at the bottom of the tail end of the unmanned tugboat body; the propeller direction changing device is used for changing the direction of the propeller to the direction of the proximity switch after receiving the signal of the proximity switch. According to the application, the contact position of the unmanned tugboat and the ship can be directly determined through the plurality of contact detection devices, then the direction of the propeller is changed through the rudder box according to the signal of the proximity switch, the propelling force of the propeller directly acts on the contact position, and the propelling force of the contact position is maximized.

Description

Technical Field

[0001] This invention relates to the field of unmanned tugboat technology, and more specifically to an unmanned tugboat capable of detecting contact positions. Background Technology

[0002] Traditional tugboats require manual operation, posing safety hazards and high labor intensity. With rapid urbanization and improvements in port water environments, more and more cities are recognizing waterways as a crucial resource for urban development. However, traditional tugboats, mostly diesel-powered, suffer from high noise levels, severe pollution, and poor safety, making them unsuitable for urban port waters. While existing unmanned tugboats utilize various contactless sensor technologies, such as cameras, sonar, and lidar, to acquire information about their surroundings, these sensors are susceptible to environmental influences in actual use, leading to measurement inaccuracies and preventing the unmanned tugboat from accurately sensing its contact position with berthing vessels, potentially causing berthing accidents. Furthermore, existing unmanned tugboats only achieve maximum propulsion when perpendicular to the berthing vessel, resulting in low operational efficiency. Summary of the Invention

[0003] To address the aforementioned technical issues, an unmanned tugboat capable of detecting contact locations is provided.

[0004] The technical means employed in this invention are as follows:

[0005] An unmanned tugboat capable of detecting contact points includes an unmanned tugboat body, a hull propulsion device, and multiple contact detection devices.

[0006] Multiple contact detection devices are mounted on an arc plate and are evenly arranged in an arc shape on the arc plate; the arc plate is fixed to the bow of the unmanned tugboat body;

[0007] The contact detection device includes two contact plates located on the upper and lower sides of the arc plate, respectively, and the head ends of the two contact plates are fixed by a vertically arranged support plate, which protrudes from the bow of the unmanned tugboat body; a slider is fixed between the middle of the two contact plates, and the arc plate has an opening groove at the corresponding position of the slider that slides with the slider. The opening groove extends along the radial direction of the arc plate, and a spring is provided between the tail end of the opening groove and the slider; a proximity switch is installed on the upper surface of the tail end of the arc plate at the corresponding position of the contact plate.

[0008] The propulsion system includes a thruster and a thruster reversing device; the thruster is located at the bottom of the stern of the unmanned tugboat body.

[0009] The thruster reversing device is used to receive the signal from the proximity switch and then point the thruster in the direction of the proximity switch.

[0010] Preferably, the orthographic projection of the thruster on the horizontal plane is located at the center of the orthographic projection of the outer arc of the arc plate on the horizontal plane.

[0011] Preferably, the thruster steering device includes a servo gear box fixed to the body of the unmanned tugboat. The output shaft of the servo gear box is vertically arranged and connected to the upper end of the vertically arranged thruster connecting rod through a coupling. The lower end of the thruster connecting rod is fixedly connected to the top of the thruster.

[0012] Preferably, the unmanned tugboat body includes two pontoons, and the two pontoon plates fixed to the upper surface of the pontoons are fixedly connected by a hull bracket, and the two ends of the arc plate are respectively fixed to the head ends of the two pontoon plates.

[0013] Preferably, a vertically mounted support is fixed to the middle of the rear of the hull bracket, and a right-angle bracket is fixed to the support via lugs. The servo gear box is fixed to the top of the horizontal part of the right-angle bracket. A bearing support is fixed to the side wall of the vertical part of the right-angle bracket, and the thruster connecting rod passes through the bearing support. There are two bearing supports, located at the upper and lower parts of the thruster connecting rod, respectively.

[0014] Preferably, the head end of the right-angle bracket is fixed with a vertically arranged protective ring.

[0015] Preferably, the number of contact detection devices is 5.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] 1. The present invention can directly determine the contact position between the unmanned tugboat and the ship by means of multiple contact detection devices. Then, according to the signal of the proximity switch, the direction of the thruster is changed through the servo gear box, so that the thrust of the thruster is directly applied to the contact position, thereby achieving the maximum thrust at the contact position.

[0018] 2. Unmanned tugboats do not need to be perpendicular to the ship and can achieve maximum propulsion within the range of the arc plate.

[0019] Based on the above reasons, this invention can be widely promoted in fields such as unmanned tugboats. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional schematic diagram of an unmanned tugboat capable of detecting contact position according to a specific embodiment of the present invention.

[0022] Figure 2 This is a front view of an unmanned tugboat capable of detecting contact position according to a specific embodiment of the present invention.

[0023] Figure 3 This is a top view of an unmanned tugboat capable of detecting contact position according to a specific embodiment of the present invention.

[0024] Figure 4 for Figure 3 Enlarged view of a portion of the image.

[0025] Figure 5 for Figure 4 Sectional view along the AA direction.

[0026] Figure 6 This is a schematic diagram of the hull support and frame structure in a specific embodiment of the present invention.

[0027] Figure 7 This is a schematic diagram of the arc plate structure in a specific embodiment of the present invention.

[0028] In the diagram: 1. Float plate; 2. Hull support; 3. Proximity switch; 4. Contact plate; 5. Arc plate; 6. Spring; 7. Slider; 8. Right-angle bracket; 9. Steering gear box; 10. Protective ring; 11. Thruster; 12. Float; 13. Thruster connecting rod; 14. Coupling; 15. Bearing support; 16. Output shaft; 17. Ear plate; 18. Support plate; 19. Opening slot; 20. Stand. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0033] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0034] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0035] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0036] like Figures 1-7 As shown, an unmanned tugboat capable of detecting contact positions includes an unmanned tugboat body, a hull propulsion device, and multiple contact detection devices (five are used in this specific embodiment).

[0037] Multiple contact detection devices are mounted on the arc plate 5 and are evenly arranged in an arc shape on the arc plate 5; the arc plate 5 is fixed to the bow of the unmanned tugboat body;

[0038] The contact detection device includes two contact plates 4 located on the upper and lower sides of the arc plate 5, respectively, and the head ends of the two contact plates 4 are fixed by a vertically arranged support plate 18, which protrudes from the bow of the unmanned tugboat body; a slider 7 is fixed between the middle of the two contact plates 4, and the arc plate 5 has an opening groove 19 at the corresponding position of the slider 7 for sliding cooperation with the slider 7 (see...). Figure 7 The opening groove 19 extends along the radial direction of the arc plate 5, and a spring 6 is provided between the tail end of the opening groove 19 and the slider 7; a proximity switch 3 is installed on the upper surface of the tail end of the arc plate 5 at the position corresponding to the contact plate 4.

[0039] The propulsion device includes a thruster 11 and a thruster reversing device; the thruster 11 is located at the bottom of the stern of the unmanned tugboat body; the orthographic projection of the thruster 11 on the horizontal plane is located at the center of the orthographic projection of the outer arc of the arc plate 5 on the horizontal plane.

[0040] The thruster reversing device is used to receive the signal from the proximity switch 3 and then point the thruster 11 toward the direction of the proximity switch 3.

[0041] The thruster steering device includes a servo gear box 9 fixed on the body of the unmanned tugboat. The output shaft of the servo gear box 9 is vertically arranged and connected to the upper end of the vertically arranged thruster connecting rod 13 via a coupling 14. The lower end of the thruster connecting rod 13 is fixedly connected to the top of the thruster 11.

[0042] The unmanned tugboat body includes two pontoons 12, and the two pontoon plates 1 fixed to the upper surface of the pontoons 12 are fixedly connected by the hull support 2. The two ends of the arc plate 5 are respectively fixed to the head ends of the two pontoon plates 1.

[0043] A vertically mounted support frame 20 is fixed to the middle of the rear of the hull support 2. A right-angle bracket 8 is fixed to the support frame 20 via a lug plate 17. The steering gear box 9 is fixed to the top of the horizontal part of the right-angle bracket 8. Two vertically arranged bearing supports 15 are fixed to the side wall of the vertical part of the right-angle bracket 8, and the thruster connecting rod 13 passes through the bearing supports 15. A vertically mounted protective ring 10 is fixed to the head end of the right-angle bracket 8.

[0044] In operation: Contact plate 4 contacts the vessel being pushed, thereby driving slider 7, which is fixed to contact plate 4, to move along the opening slot 19 of arc plate 5. Simultaneously, spring 6 is compressed. When the tail end of contact plate 4 approaches proximity switch 3, proximity switch 3 is triggered and transmits a signal to servo gearbox 9. After contact plate 4 moves a certain distance, support plate 18 contacts arc plate 5, transmitting force to arc plate 5. Arc plate 5 is fixed to the hull support 2, thus transmitting the force to the entire unmanned tugboat body. Based on the signal from proximity switch 3, servo gearbox 9 rotates its output shaft 16, thereby driving coupling 14 to rotate. Coupling 14 drives thruster connecting rod 13 to rotate, which in turn drives thruster 11 to rotate, thus directing the thrust of thruster 11 towards the contact position, maximizing the thrust at the contact position. This unmanned tugboat can achieve maximum thrust without needing to be perpendicular to the vessel being pushed, at any angle within the included angle R of the outer arc of arc plate 5.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned tugboat capable of detecting a contact location, comprising an unmanned tugboat body, characterized by, The ship body propulsion device and the plurality of contact detection devices are further included; The plurality of contact detection devices are installed on the circular arc plate and are uniformly arranged in a circular arc shape on the circular arc plate; the circular arc plate is fixed at the bow of the unmanned tugboat body; The contact detection device includes two contact plates respectively located on the upper and lower sides of the circular arc plate, and the head ends of the two contact plates are fixed by a vertically arranged support plate which protrudes from the bow of the unmanned tugboat body; a sliding block is fixed between the middle portions of the two contact plates, the circular arc plate has an open slot at the position corresponding to the sliding block, the open slot extends in the radial direction of the circular arc plate, and a spring is arranged between the tail end of the open slot and the sliding block; a proximity switch is installed on the upper surface of the tail end of the circular arc plate at the position corresponding to the contact plate; The ship body propulsion device includes a propeller and a propeller direction changing device; the propeller is located at the bottom of the tail end of the unmanned tugboat body; The propeller direction changing device is used to make the propeller point to the direction of the proximity switch after receiving the signal of the proximity switch; The horizontal projection of the propeller is located at the center of the horizontal projection of the outer circle of the circular arc plate; The propeller direction changing device includes a steering gear box fixed on the unmanned tugboat body, the output shaft of the steering gear box is vertically arranged, and the upper end of the propeller connecting rod is connected with the output shaft through a shaft coupling; the lower end of the propeller connecting rod is fixedly connected with the top of the propeller.

2. The unmanned tugboat capable of detecting a contact position according to claim 1, characterized in that, The unmanned tugboat body includes two floating boxes, and the two floating box plates fixed on the upper surfaces of the floating boxes are fixedly connected through a ship body support; the two ends of the circular arc plate are respectively fixed at the head ends of the two floating box plates.

3. An unmanned tugboat capable of detecting a contact location as claimed in claim 2, characterized in that, The middle portion of the rear part of the ship body support is fixed with a vertically arranged stand; the steering gear box is installed on the top of the stand.

4. An unmanned tugboat capable of detecting a contact position according to claim 3, characterized in that, The steering gear box is fixed on the top of the stand through a right-angle support; the right-angle support is fixedly connected with the stand through an ear plate; the steering gear box is fixed on the top of the horizontal part of the right-angle support.

5. An unmanned tugboat capable of detecting a contact location as claimed in claim 4, wherein, The sidewall of the vertical part of the right-angle support is fixed with a bearing support; the propeller connecting rod passes through the bearing support.

6. An unmanned tugboat capable of detecting a contact location as claimed in claim 5, wherein, There are two bearing supports, and they are respectively located at the upper and lower portions of the propeller connecting rod.

7. An unmanned tugboat capable of detecting a contact location as claimed in claim 4, wherein, The head end of the right-angle support is fixed with a vertically arranged retainer.

8. The unmanned tugboat capable of detecting a contact position according to claim 1, wherein, The number of the contact detection devices is five.

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