Edge-leaning anti-collision device and method for water conservancy survey unmanned ship

Abstract

The invention discloses an edge-leaning anti-collision device and method for a water conservancy survey unmanned ship, and relates to the technical field of water conservancy survey equipment. According to the edge-leaning anti-collision device for the water conservancy survey unmanned ship, the first-stage anti-collision mechanism, the second-stage anti-collision mechanism and the resistance increasing mechanism are arranged, and operation actions of the first-stage anti-collision mechanism, the second-stage anti-collision mechanism and the resistance increasing mechanism are mutually linked, so that when the first-stage anti-collision mechanism collides with a river bank firstly, the edge-leaning anti-collision device plays a role in buffering and anti-collision; the first-stage anti-collision mechanism and the second-stage anti-collision mechanism are arranged, air in the first-stage anti-collision mechanism can be extruded out and distributed into the second-stage anti-collision mechanism and the resistance increasing mechanism within an extremely short time, power is provided for operation of the second-stage anti-collision mechanism and the resistance increasing mechanism, and therefore the second-stage anti-collision mechanism and the resistance increasing mechanism can react within the extremely short time of collision while the first-stage anti-collision mechanism plays an anti-collision role, and the anti-collision effect is achieved. Therefore, on the basis of the anti-collision effect of the first-stage anti-collision mechanism, the effects of secondary anti-collision and reduction of the collision force can be achieved again, and the ship body is protected against collision to the maximum extent.

Description

Technical Field

[0001] The invention relates to the technical field of water conservancy survey equipment, and in particular to a device and method for preventing collision with the side of an unmanned water conservancy survey vessel. Background Art

[0002] In the fields of river management and water resources development and utilization, hydraulic survey unmanned boats are used to survey the corresponding water areas. Hydraulic survey unmanned boats have a high efficiency when used; The water conservancy survey unmanned boat is an aquatic survey equipment that integrates multiple high-tech means such as unmanned driving technology, detection technology, communication technology, and central controller technology. It has the characteristics of small size, light weight, easy to carry and transport, and can operate flexibly in various water environments.

[0003] A patent application with reference publication number CN217533174U discloses an anti-collision device for unmanned water conservancy survey boats. Through the design of a water pump and an anti-collision bag, the device has good anti-collision and buffering functions, which can greatly reduce the impact force on the unmanned boat when it is alongside, and solves the problem that traditional unmanned water conservancy survey boats are restricted by the hull, the thickness of the rubber strips and the volume of the springs are small, and the buffering effect is poor; through the design of a drain pipe and an externally threaded locking block, the water in the anti-collision bag can be discharged to the outside, thereby reducing the overall weight of the device when not in use, making it convenient for users to carry.

[0004] At present, when designing anti-collision, unmanned water conservancy survey boats, a single anti-collision device is often used to directly bear the impact force generated by the collision. Since the existing anti-collision device can provide sufficient buffering during low-speed collisions, and the single anti-collision device is prone to fail quickly under high-speed collisions, it is difficult to still have an effective anti-collision effect on the hull after multiple collisions. Therefore, it is difficult to reduce the damage to the hull during the collision process by relying solely on a single anti-collision device; for example, a patent application with publication number CN217533174U discloses an anti-collision device for unmanned water conservancy survey boats. This patent application adopts an anti-collision bag design, and the impact force is fully applied to the anti-collision bag. When the anti-collision bag hits the river bank at high speed, it is very easy to break and cannot continue to play an anti-collision role, so it cannot play a continuous anti-collision role in the subsequent water conservancy survey process.

[0005] Therefore, there is an urgent need for a hydraulic survey unmanned ship sideways collision avoidance device and method having multiple anti-collision structure designs that can jointly bear the impact force during the collision process, jointly protect the unmanned ship hull, and at the same time extend the service life of the anti-collision structure. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention provides a device and method for preventing collisions when pulling over an unmanned water conservancy survey vessel, which solves the problem that the current unmanned water conservancy survey vessel adopts a single type of anti-collision device to directly bear the impact force caused by the collision, has a single anti-collision structure, is prone to fail quickly under high-speed collisions, and is difficult to still have an effective anti-collision effect on the hull after multiple collisions.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a device for preventing collision with the side of an unmanned ship for water conservancy survey, comprising an unmanned survey ship, and further comprising: The first-level anti-collision mechanism is installed at the front end of the unmanned survey ship. It is used to contact the river bank first when approaching the side, to prevent the river bank or other obstacles from causing damage to the hull of the unmanned survey ship, and to discharge the gas inside itself at the moment of collision with the river bank; The secondary anti-collision mechanism is arranged at the front end of the unmanned survey ship. After the primary anti-collision mechanism collides with the river bank, the gas output by the primary anti-collision mechanism is used to inflate its own volume, complete the secondary collision contact with the river bank, and further reduce the impact of the impact force on the structure of the unmanned survey ship. The resistance-increasing mechanism is arranged at the bottom of the unmanned survey ship. After the first-level anti-collision mechanism collides with the river bank, it uses the gas output by the first-level anti-collision mechanism to drive its own structure to unfold, thereby increasing the resistance of the unmanned survey ship during travel and reducing the speed when colliding with the river bank.

[0008] Furthermore, it also includes: Multiple installation holes are evenly arranged on the bow end face of the unmanned survey ship to provide space for the installation of the first-level anti-collision mechanism. The interiors of the multiple installation holes are all detachably provided with sealing plugs for preventing the entry of river water. The arc-shaped installation groove is provided on one side of the top of the unmanned survey vessel near the installation hole, and is used to provide space for the installation of the secondary anti-collision mechanism; A plurality of gas delivery channels are evenly arranged at the top of the arc-shaped installation groove, and are used to connect the primary anti-collision mechanism and the secondary anti-collision mechanism. Part of the gas output by the primary anti-collision mechanism enters the secondary anti-collision mechanism through the primary anti-collision mechanism to complete the operation of inflating the secondary anti-collision mechanism. An installation groove is opened on one side of the bottom of the unmanned survey ship to provide space for the installation of the drag increasing mechanism. A second gas transmission channel is opened on one of the side walls of the installation groove to pass the gas output by the first-level anti-collision mechanism into the drag increasing mechanism to drive the structure of the drag increasing mechanism to unfold, and a protective cover for preventing impurities from entering can be removably provided inside the installation groove.

[0009] Furthermore, the first-level anti-collision mechanism comprises anti-collision unit 1, anti-collision unit 2 and anti-collision unit 5 which are equidistantly arranged in sequence, and an arc-shaped anti-collision plate is commonly provided at one end of the anti-collision unit 1, anti-collision unit 2 and the anti-collision unit for increasing the collision area with the river bank to reduce local force.

[0010] Furthermore, the anti-collision unit 1, the anti-collision unit 2 and the anti-collision unit have the same structure, the anti-collision unit 1 includes a gas cylinder and a gas pipe fixedly arranged at one end of the gas cylinder and connected to the inside thereof, for conveying the output gas to the resistance increasing mechanism, and a gas hole is also opened on one side of the top of the gas cylinder close to the gas pipe, for conveying the output gas to the secondary anti-collision mechanism to expand the volume of the secondary anti-collision mechanism; A piston is slidably provided on the side of the air cylinder away from the air supply pipe, and a push rod is fixedly provided at one end of the piston. One end of the push rod slides through the air cylinder and extends to the outside. A spring baffle is fixedly provided on the outer wall of the push rod, and a return spring is slidably provided on the outer wall of the push rod and between the air cylinder and the spring baffle.

[0011] Furthermore, the secondary anti-collision mechanism comprises a No. 1 airbag unit, a No. 2 airbag unit, a No. 3 airbag unit and a No. 4 airbag unit which are detachably connected to each other end to end, and the No. 1 airbag unit, the No. 2 airbag unit, the No. 3 airbag unit and the No. 4 airbag unit have the same structure; The No. 1 airbag unit includes a mounting seat and a limiting groove opened on the top of the mounting seat, an airbag component is detachably provided inside the limiting groove, and the airbag component includes a support plate detachably provided inside the limiting groove by bolts, an airbag is fixedly provided on the top of the support plate, an air nozzle is fixedly provided on the bottom of the airbag, the bottom end of the air nozzle slides through the mounting seat and extends to the outside, a connecting air pipe is fixedly provided on one end of the airbag, and a connecting air hole compatible with the connecting air pipe structure is opened at the other end of the airbag.

[0012] Furthermore, the resistance increasing mechanism includes a side plate 1 and a side plate 2 which are detachably arranged on both sides of the inside of the mounting groove by bolts, and a plurality of baffle assemblies are evenly arranged between the relative side walls of the side plate 1 and the side plate 2, and the plurality of baffle assemblies are synchronously driven by a power assembly to complete synchronous flipping or synchronous resetting.

[0013] Furthermore, the baffle assembly includes a long shaft with two ends rotatably arranged on the side walls of side plate one and side plate two, a baffle is fixedly sleeved on the outer wall of the long shaft, and a gear is fixedly sleeved on the side of the outer wall of the long shaft close to side plate two.

[0014] Further, the power assembly includes a slide fixedly arranged inside the mounting groove and a rack slidably sleeved outside the slide, one end of the rack is provided with a pneumatic assembly for driving the rack to move in a directional manner, and the other end of the rack is provided with a reset unit for driving the rack to reset; The reset unit includes a connecting sleeve 2 connected to the outer wall of the rack by bolts and a bearing plate fixedly arranged inside the mounting groove, a guide rod is fixedly arranged at one end of the connecting sleeve 2 away from the rack, one end of the guide rod slides through the bearing plate and extends to the outside, and a reset spring 2 is provided on the outer wall of the guide rod and is located between the bearing plate and the connecting sleeve 2.

[0015] Furthermore, the pneumatic assembly includes a cylinder fixedly arranged inside the mounting groove, piston component 1 and piston 3 are movably arranged on both sides of the cylinder, hydraulic oil for transmitting power is filled between piston component 1 and piston 3, and a transmission pipe is fixedly arranged at one end of the cylinder close to piston 3, which is used to transport air to the space area between the cylinder and the opposite side walls of piston 3; The piston component 1 comprises a piston 2 which is sealingly and slidably arranged inside a cylinder body, a push rod 2 is fixedly arranged at one end of the piston 2, the push rod 2 slides through the cylinder body and is fixedly arranged with a connecting sleeve 1.

[0016] The present invention also discloses a method for avoiding collision when pulling over an unmanned ship for water conservancy survey, which is used for an unmanned ship for water conservancy survey and avoiding collision when pulling over an unmanned ship. The method comprises the following steps: Step 1: When the unmanned survey ship returns to the river bank after completing the water conservancy survey, the bow of the ship first approaches the river bank. After the power is turned off, the unmanned survey ship collides with the river bank due to inertia, and the air inside the first-level anti-collision mechanism is squeezed out due to the collision. During the short time when the unmanned survey ship collides with the river bank, the squeezed gas is respectively transported to the inside of the second-level anti-collision mechanism and the resistance-increasing mechanism; Step 2: After the air output from the primary anti-collision mechanism enters the secondary anti-collision mechanism, the volume of the secondary anti-collision mechanism expands rapidly, and the distance it protrudes from the bow of the unmanned survey ship is greater than that of the primary anti-collision mechanism. At this time, the secondary anti-collision mechanism and the primary anti-collision mechanism collide with the river bank at the same time; Step 3: The air entering the resistance increasing mechanism from the first-level anti-collision mechanism drives the internal structure of the resistance increasing mechanism to expand, thereby increasing the resistance of the river water relative to the unmanned survey ship and reducing the kinetic energy of the ship hitting the river bank.

[0017] The present invention provides a device and method for preventing collision with the side of an unmanned ship for water conservancy survey. Compared with the prior art, it has the following beneficial effects: 1. A device and method for avoiding collision when approaching an unmanned ship for water conservancy survey. A primary anti-collision mechanism, a secondary anti-collision mechanism and a resistance-increasing mechanism are provided, and the operating actions of the three are linked to each other. When the primary anti-collision mechanism first collides with the river bank, in addition to playing a buffering and anti-collision effect, the air inside the primary anti-collision mechanism can be squeezed out and distributed to the secondary anti-collision mechanism and the resistance-increasing mechanism in a very short time, providing power for the operation of the secondary anti-collision mechanism and the resistance-increasing mechanism. Therefore, while the primary anti-collision mechanism plays an anti-collision role, the secondary anti-collision mechanism and the resistance-increasing mechanism can react in a very short time of collision, so that secondary anti-collision and reduction of collision force can be performed again on the basis of the anti-collision role of the primary anti-collision mechanism, so that the hull can be protected from collision to the greatest extent.

[0018] 2. A device and method for sideways collision avoidance for unmanned water conservancy survey vessels. The primary collision avoidance mechanism can first unload part of the impact force generated by the collision, thereby greatly reducing the impact force, thereby greatly reducing the impact force acting on the secondary collision avoidance mechanism, and can protect the secondary collision avoidance mechanism. After reducing the ship speed, the drag-increasing mechanism further reduces the subsequent collision energy. Compared with the current single collision avoidance structure design, the present invention adopts a multi-stage collision avoidance structure design, which can distribute the impact force to the primary collision avoidance mechanism and the secondary collision avoidance mechanism, and adds the design of the drag-increasing mechanism, so that the impact force directly received by each part of the collision avoidance structure is significantly reduced, avoiding the situation where the collision avoidance device fails due to excessive collision force, and solves the problem that the current unmanned water conservancy survey vessel adopts a single collision avoidance device to directly bear the impact force generated by the collision, the collision avoidance structure is single, and it is easy to fail quickly under high-speed collision, and it is difficult to still have an effective collision avoidance effect on the hull after multiple collisions.

[0019] 3. A device and method for avoiding collision when pulling over for an unmanned water conservancy survey vessel. The device and method utilize the air input from the primary anti-collision mechanism to rapidly inflate the secondary anti-collision mechanism, thereby forming an anti-collision zone in a preset area at the front end of the unmanned survey vessel. This can form a protective barrier at the position where the unmanned survey vessel is most vulnerable to collision, and provide a buffering and anti-collision effect on the vessel body on the basis of the primary anti-collision mechanism.

[0020] 4. A device and method for preventing collisions when approaching a bank for an unmanned water conservancy survey vessel. The device and method can push a rack to move a fixed distance by part of the air squeezed out by the primary anti-collision mechanism, thereby using the rack to push multiple baffle assemblies to flip at a fixed angle, thereby increasing the resistance of the hull and the water surface. The device can reduce the speed of the unmanned survey vessel in a short period of time when the unmanned survey vessel hits the river bank, reduce the speed of the vessel during the collision, and thus reduce the kinetic energy of the hull, greatly reducing the destructive force generated during the collision, thereby further protecting the unmanned survey vessel.

[0021] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the first overall three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the second overall three-dimensional structure of the present invention; Figure 3 This is a schematic diagram of the bottom structure of the unmanned survey ship of the present invention; Figure 4 This is a schematic diagram of the internal structure of the installation slot of the present invention; Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure of part A; Figure 6 It is a schematic diagram of the structure of the present invention in a decomposed state; Figure 7 For the present invention Figure 6 A schematic diagram of the enlarged structure of part B in FIG. Figure 8 This is a schematic structural diagram of the protective cover and the mounting groove of the present invention in an assembled state; Fig. 9 For the present invention Figure 8 A schematic diagram of the enlarged structure of part C in FIG. Fig.10 It is a structural schematic diagram of the primary anti-collision mechanism of the present invention; Fig.11 It is a cross-sectional structural schematic diagram of an anti-collision unit of the present invention; Fig.12 It is a schematic diagram of the structure of the second-level anti-collision mechanism of the present invention in the first decomposed state; Fig.13 It is a schematic diagram of the structure of the second decomposed state of the secondary anti-collision mechanism of the present invention; Fig.14 This is a schematic diagram of the structure of the airbag in the first state of the present invention; Fig.15 This is a schematic diagram of the structure of the airbag in the second state of the present invention; Fig.16 This is a schematic diagram of the structure of the resistance increasing mechanism of the present invention in a disassembled state; Fig.17 For the present invention Fig.16 The D part in the figure is an enlarged structural diagram; Fig.18 This is a schematic diagram of the structure of the power assembly of the present invention in a disassembled state; Fig.19 For the present invention Fig.18 The enlarged structural diagram of part E in FIG. Fig. 20 It is a schematic diagram of the cross-sectional structure of the pneumatic component of the present invention.

[0023] In the figure: 1. Unmanned survey ship; 2. First-level anti-collision mechanism; 21. Anti-collision unit 1; 211. Air cylinder; 212. Air pipe; 213. Air hole; 214. Piston 1; 215. Push rod 1; 216. Spring baffle; 217. Return spring 1; 22. Anti-collision unit 2; 23. Anti-collision unit; 24. Arc-shaped anti-collision plate; 3. Second-level anti-collision mechanism; 31. Mounting seat; 32. Limiting groove; 33. Support plate; 34. Air bag; 35. Air nozzle; 36. Connecting air pipe; 37. Connecting air hole; 4. Resistance increasing mechanism; 41. Side plate 1; 42. Side panel 2; 43. Baffle; 44. Long shaft; 45. Gear; 46. Power assembly; 461. Slide; 462. Rack; 463. Pneumatic assembly; a1. Cylinder; a2. Piston 2; a3. Push rod 2; a4. Connecting sleeve 1; a5. Piston 3; a6. Transmission pipe; 464. Connecting sleeve 2; 465. Load-bearing plate; 466. Guide rod; 467. Reset spring 2; 5. Mounting hole; 6. Arc-shaped mounting groove; 7. Gas transmission channel 1; 8. Sealing plug; 9. Protective cover; 10. Mounting groove; 11. Gas transmission channel 2. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The present invention provides four technical solutions: a device for preventing collision with the side of an unmanned ship for water conservancy survey, which specifically includes the following embodiments: See also Figure 1-9 The first embodiment is shown, a hydraulic survey unmanned vessel side collision avoidance device, comprising an unmanned survey vessel 1, wherein the unmanned survey vessel 1 has rubber protective pads at the edge of the hull except for the positions where the primary collision avoidance mechanism 2 and the secondary collision avoidance mechanism 3 are arranged, and further comprising: The first-level anti-collision mechanism 2 is arranged at the front end of the unmanned survey ship 1, and is used to first contact the river bank when approaching the side, to prevent the river bank or other obstacles from causing damage to the hull of the unmanned survey ship 1, and to discharge the gas inside itself at the moment of collision with the river bank; The secondary anti-collision mechanism 3 is arranged at the front end of the unmanned survey vessel 1, and is used to inflate its own volume by using the gas output by the primary anti-collision mechanism 2 after the primary anti-collision mechanism 2 collides with the river bank, so as to complete the secondary collision contact with the river bank, and further reduce the impact of the collision force on the structure of the unmanned survey vessel 1; The resistance increasing mechanism 4 is arranged at the bottom of the unmanned survey ship 1. After the first-level anti-collision mechanism 2 collides with the river bank, it uses the gas output by the first-level anti-collision mechanism 2 to drive its own structure to unfold, thereby increasing the resistance of the unmanned survey ship 1 during travel and reducing the speed when colliding with the river bank.

[0026] Also includes: A plurality of mounting holes 5 are evenly arranged on the bow end face of the unmanned survey vessel 1 to provide space for the installation of the primary anti-collision mechanism 2. The interiors of the plurality of mounting holes 5 are all detachably provided with sealing plugs 8 for preventing the ingress of river water. The arc-shaped installation groove 6 is provided on one side of the top of the unmanned survey vessel 1 close to the installation hole 5, and is used to provide space for the installation of the secondary anti-collision mechanism 3; A plurality of gas delivery channels 7 are evenly arranged at the top of the arc-shaped installation groove 6, and are used to connect the primary anti-collision mechanism 2 and the secondary anti-collision mechanism 3. Part of the gas output by the primary anti-collision mechanism 2 enters the secondary anti-collision mechanism 3 through the primary anti-collision mechanism 2 to complete the operation of inflating the secondary anti-collision mechanism 3; the plurality of gas delivery channels 7 are interconnected; The installation groove 10 is opened on one side of the bottom of the unmanned survey ship 1 to provide space for the installation of the resistance increasing mechanism 4. A gas transmission channel 11 is opened on one of the side walls of the installation groove 10 to pass the gas output by the first-level anti-collision mechanism 2 into the resistance increasing mechanism 4 to drive the structure of the resistance increasing mechanism 4 to unfold, and the interior of the installation groove 10 is also removably provided with a protective cover 9 for preventing impurities from entering.

[0027] See also Figure 10-11A second embodiment is shown, which differs from the first embodiment in that: a hydraulic survey unmanned vessel sideways anti-collision device, the first-level anti-collision mechanism 2 has anti-collision unit 1 21, anti-collision unit 22 and anti-collision unit 23 arranged equidistantly in sequence, and one end of the anti-collision unit 1 21, anti-collision unit 22 and anti-collision unit 23 is commonly provided with an arc-shaped anti-collision plate 24 for increasing the collision area with the river bank to reduce local force. The anti-collision unit 1 21, the anti-collision unit 22 and the anti-collision unit 23 are respectively and detachably arranged in the multiple installation holes 5; when the secondary anti-collision mechanism 3 is not inflated, the length of the arc-shaped anti-collision plate 24 protruding from the bow of the unmanned survey ship 1 is greater than the length of the secondary anti-collision mechanism 3 protruding from the unmanned survey ship 1. After the secondary anti-collision mechanism 3 is instantly filled with gas from the primary anti-collision mechanism 2, the length of the arc-shaped anti-collision plate 24 protruding from the bow of the unmanned survey ship 1 is less than the length of the secondary anti-collision mechanism 3 protruding from the unmanned survey ship 1. At this time, the secondary anti-collision mechanism 3 plays a major anti-collision and buffering role.

[0028] The anti-collision unit 1 21, the anti-collision unit 22 and the anti-collision unit 23 have the same structure. The anti-collision unit 1 21 includes a gas cylinder 211 and a gas pipe 212 fixedly arranged at one end of the gas cylinder 211 and connected to the inside thereof, which is used to transport the output gas to the resistance increasing mechanism 4, and a gas hole 213 is also opened on one side of the top of the gas cylinder 211 close to the gas pipe 212, which is used to transport the output gas to the secondary anti-collision mechanism 3 to expand the volume of the secondary anti-collision mechanism 3; A piston 214 is slidably provided on the side of the air cylinder 211 away from the air pipe 212, and a push rod 215 is fixedly provided at one end of the piston 214. One end of the push rod 215 slides through the air cylinder 211 and extends to the outside. A spring baffle 216 is fixedly sleeved on the outer wall of the push rod 215, and a return spring 217 is slidably sleeved on the outer wall of the push rod 215 and located between the air cylinder 211 and the spring baffle 216. The side wall of the arc-shaped anti-collision plate 24 is fixedly connected to the end of the push rod 215; long limit blocks are fixedly arranged on both sides of the outer wall of the gas cylinder 211, and long limit grooves matching the long limit block structure are opened on both sides of the inner wall of the mounting hole 5. After the long limit blocks on the outer wall of the gas cylinder 211 are inserted into the long limit grooves inside the mounting hole 5, the gas outlet position of the gas hole 213 can be determined to ensure that the gas hole 213 is connected to the gas transmission channel 7 at the corresponding position; a through hole is opened on the side wall of the sealing plug 8, and after the sealing plug 8 is installed in the mounting hole 5, the push rod 215 can slide through the mounting hole 5 in a sealed manner and extend to the outside; the piston 214 and the inner wall of the gas cylinder 211 are in a sealed sliding connection; See also Figure 12-15The third embodiment is shown, which differs from the second embodiment in that: a hydraulic survey unmanned vessel side collision avoidance device, the secondary collision avoidance mechanism 3 comprises a first airbag unit, a second airbag unit, a third airbag unit and a fourth airbag unit which are detachably connected to each other in sequence from head to tail, and the structures of the first airbag unit, the second airbag unit, the third airbag unit and the fourth airbag unit are the same; The No. 1 airbag unit includes a mounting seat 31 and a limiting groove 32 opened on the top of the mounting seat 31, and an airbag component is detachably arranged inside the limiting groove 32. The airbag component includes a support plate 33 detachably arranged inside the limiting groove 32 by bolts, an airbag 34 is fixedly arranged on the top of the support plate 33, and an air nozzle 35 is fixedly arranged on the bottom of the airbag 34. The bottom end of the air nozzle 35 slides through the mounting seat 31 and extends to the outside, a connecting air pipe 36 is fixedly arranged at one end of the airbag 34, and a connecting air hole 37 adapted to the structure of the connecting air pipe 36 is opened at the other end of the airbag 34. The connecting air pipe 36 is connected to the connecting air hole 37 in an adjacent airbag unit. The airbags 34 in the No. 1 airbag unit, the No. 2 airbag unit, the No. 3 airbag unit and the No. 4 airbag unit are sealed and connected to each other to form an arc-shaped integral airbag. The connecting air pipe 36 and the connecting air hole 37 at the head end and the tail end need to be filled with sealing plugs to maintain good air tightness inside the arc-shaped integral airbag. The No. 1 airbag unit, the No. 2 airbag unit, the No. 3 airbag unit and the No. 4 airbag unit are fixedly connected to the unmanned survey ship 1 by bolts; each air nozzle 35 is positioned opposite to one of the air delivery channels 7, that is, after the whole composed of the support plate 33 and the airbag 34 is installed in the limit groove 32, the air nozzle 35 is sealed and connected to the air delivery channel 7 at the corresponding position.

[0029] See also Figure 16-20 A fourth embodiment is shown, which differs from the third embodiment in that: a device for preventing collision with the side of an unmanned vessel for water conservancy survey, the resistance increasing mechanism 4 comprises a side panel 41 and a side panel 42 which are detachably arranged on both sides of the inside of the mounting groove 10 by bolts, a plurality of baffle assemblies are evenly arranged between the opposite side walls of the side panel 41 and the side panel 42, and the plurality of baffle assemblies are synchronously driven by a power assembly 46 to complete synchronous flipping or synchronous resetting.

[0030] The baffle assembly includes a long shaft 44 with two ends rotatably arranged on the side walls of the side plate 1 41 and the side plate 2 42, a baffle 43 is fixedly sleeved on the outer wall of the long shaft 44, and a gear 45 is fixedly sleeved on one side of the outer wall of the long shaft 44 close to the side plate 2 42. The protective cover 9 is detachably covered on the outside of the power assembly 46 to prevent water plants and other impurities in the river water from affecting the transmission between the power assembly 46 and the gear 45.

[0031] The power assembly 46 includes a slide 461 fixedly arranged inside the mounting groove 10 and a rack 462 slidably sleeved outside the slide 461, one end of the rack 462 is provided with a pneumatic assembly 463 for driving the rack 462 to move in a directional manner, and the other end of the rack 462 is provided with a reset unit for driving the rack 462 to reset. The reset unit includes a second connection sleeve 464 connected to the outer wall of the rack 462 by bolts and a bearing plate 465 fixedly arranged inside the mounting groove 10. A guide rod 466 is fixedly arranged at one end of the second connection sleeve 464 away from the rack 462. One end of the guide rod 466 slides through the bearing plate 465 and extends to the outside. A second reset spring 467 is slidably sleeved on the outer wall of the guide rod 466 and located between the bearing plate 465 and the second connection sleeve 464. The rack 462 is meshingly connected with the gear 45; The pneumatic assembly 463 includes a cylinder a1 fixedly arranged inside the mounting groove 10, and piston component 1 and piston 3 a5 are movably arranged on both sides of the cylinder a1, and hydraulic oil for transmitting power is filled between piston component 1 and piston 3 a5. A transmission pipe a6 is fixedly arranged at one end of the cylinder a1 close to piston 3 a5, and is used to transport air to the space area between the cylinder a1 and the opposite side walls of piston 3 a5; The piston component 1 includes a piston 2 a2 which is sealed and slidably arranged inside the cylinder a1, and a push rod 2 a3 is fixedly arranged at one end of the piston 2 a2, and the push rod 2 a3 slides through the cylinder a1 and is fixedly arranged with a connecting sleeve 1 a4. The connecting sleeve 1 a4 is fixedly connected to the outer wall of the rack 462 by bolts. The transmission pipe a6 is sealed and connected to the gas transmission channel 2 11, and the air intake channel formed by the gas transmission channel 2 11 is simultaneously connected to the gas transmission pipe 212 in the anti-collision unit 1 21, the anti-collision unit 22, and the anti-collision unit 23, that is, the gas output by the gas transmission pipe 212 can enter the transmission pipe a6 through the gas transmission channel 2 11.

[0032] The present invention also provides a method for avoiding collision when unmanned ship is pulled over for water conservancy survey, which is used for the device for avoiding collision when unmanned ship is pulled over for water conservancy survey. The method comprises the following steps: Step 1, when the unmanned survey ship 1 finishes the water conservancy survey and returns to the side, the bow first approaches the river bank. After the power is turned off, the unmanned survey ship 1 collides with the river bank due to inertia. Since the first-level anti-collision mechanism 2 is located at the front of the bow position, the first-level anti-collision mechanism 2 collides with the river bank before the hull, and the air inside the first-level anti-collision mechanism 2 is squeezed out due to the collision. During the short time when the unmanned survey ship 1 hits the river bank, the squeezed gas is respectively transported to the inside of the second-level anti-collision mechanism 3 and the resistance-increasing mechanism 4; the specific process is: since the arc-shaped anti-collision plate 24 is designed to be arc-shaped, it can increase the contact area with the river bank. After the arc-shaped anti-collision plate 24 collides with the river bank, the force of the river bank relative to the arc-shaped anti-collision plate 24 simultaneously pushes the anti-collision unit 1 21, the anti-collision unit 2 22, and the push rod 1 215 in the arc-shaped anti-collision plate 24 to move toward the direction of the air supply pipe 212, and the piston 1 214 squeezes the air inside the air cylinder 211 under the push of the push rod 1 215; Step 2: After the air output from the primary anti-collision mechanism 2 enters the secondary anti-collision mechanism 3, the volume of the secondary anti-collision mechanism 3 expands rapidly, and the distance of the secondary anti-collision mechanism 3 protruding from the bow of the unmanned survey ship 1 is greater than that of the primary anti-collision mechanism 2. At this time, the secondary anti-collision mechanism 3 and the primary anti-collision mechanism 2 contact and collide with the river bank at the same time; the specific process is: the air enters the gas transmission channel 7 at the corresponding position through the air hole 213, and since the interiors of the multiple gas transmission channels 7 are connected, the air passes through the multiple gas transmission channels 7 and the multiple corresponding gas transmission channels 7 connected in the multiple gas transmission channels 7. The air nozzles 35 enter into the correspondingly connected multiple airbags 34. Since the airbags 34 input a large amount of gas in a short period of time, the volumes of the multiple airbags 34 expand instantly due to inflation. After expansion, the volume of the airbags 34 increases greatly, and the airbags 34 instantly protrude from the arc-shaped anti-collision plate 24 away from the outer wall of the unmanned survey ship 1, so that they are at the most prominent position of the bow. Before the arc-shaped anti-collision plate 24 is squeezed to the limit position, the airbags 34 have been fully expanded. When the unmanned survey ship 1 continues to approach the river bank by inertia, the airbags 34 take over the arc-shaped anti-collision plate 24 and collide with the river bank; Step 3: The air entering the resistance increasing mechanism 4 from the primary anti-collision mechanism 2 drives the internal structure of the resistance increasing mechanism 4 to expand, thereby increasing the resistance of the river water to the unmanned survey ship 1 and reducing the kinetic energy of the ship hitting the river bank. The specific process is as follows: while the anti-collision unit 1 21 delivers air to the secondary anti-collision mechanism 3, part of the air inside the air cylinder 211 enters the transmission pipe a6 through the air pipe 212 and the air channel 2 11, and the gas continues to enter between the piston 3 a5 and the opposite side walls of the cylinder a1 through the transmission pipe a6. The piston 3 a5 moves under the push of the air, and the piston 3 a5 squeezes the hydraulic oil set between the piston 2 a2 and the piston 3 a5. Therefore, The piston 2 a2 and the piston 3 a5 move synchronously in the same direction, and the push rod 2 a3 pushes the rack 462 to slide along the outer wall of the slide seat 461 through the connecting sleeve 1 a4. Since the multiple gears 45 are meshed and connected with the rack 462 at the same time, when the rack 462 moves to the preset position, the gear 45 drives the long shaft 44 to rotate by a fixed angle of 90 degrees. At the same time, the spoiler 43 fixedly connected to the long shaft 44 is synchronously turned over. At this time, when the unmanned survey ship 1 moves, the multiple spoilers 43 are greatly increased by the resistance of the river water. In the short time when the unmanned survey ship 1 hits the river bank, the multiple spoilers 43 quickly reduce the ship speed and reduce the kinetic energy of hitting the river bank. After the collision process is completed, the reset spring 217 pushes the spring baffle 216 to reset the piston 214 and the arc-shaped anti-collision plate 24. At the same time, the reset spring 467 pushes the rack 462 to reset through the connecting sleeve 464, so that the multiple gears 45 return to their original positions under the drive of the rack 462.

[0033] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hydraulic survey unmanned vessel side collision prevention device, comprising an unmanned survey vessel, characterized in that: Also includes: The first-level anti-collision mechanism is installed at the front end of the unmanned survey ship. It is used to contact the river bank first when approaching the side, to prevent the river bank or other obstacles from causing damage to the hull of the unmanned survey ship, and to discharge the gas inside itself at the moment of collision with the river bank; The secondary anti-collision mechanism is arranged at the front end of the unmanned survey ship. After the primary anti-collision mechanism collides with the river bank, the gas output by the primary anti-collision mechanism is used to inflate its own volume, complete the secondary collision contact with the river bank, and further reduce the impact of the impact force on the structure of the unmanned survey ship. The resistance-increasing mechanism is arranged at the bottom of the unmanned survey ship. After the first-level anti-collision mechanism collides with the river bank, it uses the gas output by the first-level anti-collision mechanism to drive its own structure to unfold, thereby increasing the resistance of the unmanned survey ship during travel and reducing the speed when colliding with the river bank.

2. The hydraulic survey unmanned vessel anti-collision device according to claim 1, characterized in that: Also includes: Multiple installation holes are evenly arranged on the bow end face of the unmanned survey ship to provide space for the installation of the first-level anti-collision mechanism. The interiors of the multiple installation holes are all detachably provided with sealing plugs for preventing the entry of river water. The arc-shaped installation groove is provided on one side of the top of the unmanned survey vessel near the installation hole, and is used to provide space for the installation of the secondary anti-collision mechanism; A plurality of gas delivery channels are evenly arranged at the top of the arc-shaped installation groove, and are used to connect the primary anti-collision mechanism and the secondary anti-collision mechanism. Part of the gas output by the primary anti-collision mechanism enters the secondary anti-collision mechanism through the primary anti-collision mechanism to complete the operation of inflating the secondary anti-collision mechanism. An installation groove is opened on one side of the bottom of the unmanned survey ship to provide space for the installation of the drag increasing mechanism. A second gas transmission channel is opened on one of the side walls of the installation groove to pass the gas output by the first-level anti-collision mechanism into the drag increasing mechanism to drive the structure of the drag increasing mechanism to unfold, and a protective cover for preventing impurities from entering can be removably provided inside the installation groove.

3. The anti-collision device for unmanned water conservancy survey vessels according to claim 1 is characterized by: The first-level anti-collision mechanism comprises anti-collision unit 1, anti-collision unit 2 and anti-collision unit 1 which are equidistantly arranged in sequence. An arc-shaped anti-collision plate is commonly arranged at one end of the anti-collision unit 1, anti-collision unit 2 and the anti-collision unit for increasing the collision area with the river bank to reduce local stress.

4. The anti-collision device for unmanned water conservancy survey vessels according to claim 3 is characterized by: The anti-collision unit 1, the anti-collision unit 2 and the anti-collision unit have the same structure. The anti-collision unit 1 includes a gas cylinder and a gas pipe fixedly arranged at one end of the gas cylinder and connected to the inside of the gas cylinder, which is used to transport the output gas to the resistance increasing mechanism, and a gas hole is also opened on one side of the top of the gas cylinder close to the gas pipe, which is used to transport the output gas to the secondary anti-collision mechanism to expand the volume of the secondary anti-collision mechanism. A piston is slidably provided on the side of the air cylinder away from the air supply pipe, and a push rod is fixedly provided at one end of the piston. One end of the push rod slides through the air cylinder and extends to the outside. A spring baffle is fixedly provided on the outer wall of the push rod, and a return spring is slidably provided on the outer wall of the push rod and between the air cylinder and the spring baffle.

5. The anti-collision device for unmanned water conservancy survey vessels according to claim 1 is characterized by: The secondary anti-collision mechanism comprises a No. 1 airbag unit, a No. 2 airbag unit, a No. 3 airbag unit and a No. 4 airbag unit which are detachably connected to each other end to end, and the No. 1 airbag unit, the No. 2 airbag unit, the No. 3 airbag unit and the No. 4 airbag unit have the same structure; The No. 1 airbag unit includes a mounting seat and a limiting groove opened on the top of the mounting seat, an airbag component is detachably provided inside the limiting groove, and the airbag component includes a support plate detachably provided inside the limiting groove by bolts, an airbag is fixedly provided on the top of the support plate, an air nozzle is fixedly provided on the bottom of the airbag, the bottom end of the air nozzle slides through the mounting seat and extends to the outside, a connecting air pipe is fixedly provided on one end of the airbag, and a connecting air hole compatible with the connecting air pipe structure is opened at the other end of the airbag.

6. The anti-collision device for unmanned water conservancy survey vessels according to claim 2, characterized in that: The resistance increasing mechanism includes a side plate 1 and a side plate 2 which are detachably arranged on both sides of the inside of the installation groove by bolts, and a plurality of baffle assemblies are evenly arranged between the opposite side walls of the side plate 1 and the side plate 2. The plurality of baffle assemblies are synchronously driven by a power assembly to complete synchronous flipping or synchronous resetting.

7. The anti-collision device for unmanned water conservancy survey vessels according to claim 6, characterized in that: The baffle assembly comprises a long shaft with two ends rotatably arranged on the side walls of the first and second side plates respectively, a baffle is fixedly sleeved on the outer wall of the long shaft, and a gear is fixedly sleeved on one side of the outer wall of the long shaft close to the second side plate.

8. The anti-collision device for unmanned water conservancy survey vessels according to claim 6, characterized in that: The power assembly includes a slide fixedly arranged inside the mounting groove and a rack slidably sleeved outside the slide, one end of the rack is provided with a pneumatic assembly for driving the rack to move in a directional manner, and the other end of the rack is provided with a reset unit for driving the rack to reset; The reset unit includes a connecting sleeve 2 connected to the outer wall of the rack by bolts and a bearing plate fixedly arranged inside the mounting groove, a guide rod is fixedly arranged at one end of the connecting sleeve 2 away from the rack, one end of the guide rod slides through the bearing plate and extends to the outside, and a reset spring 2 is provided on the outer wall of the guide rod and is located between the bearing plate and the connecting sleeve 2.

9. The anti-collision device for unmanned water conservancy survey vessels according to claim 8, characterized in that: The pneumatic assembly includes a cylinder fixedly arranged inside the mounting groove, a piston component 1 and a piston 3 are movably arranged on both sides of the cylinder, a hydraulic oil for transmitting power is filled between the piston component 1 and the piston 3, and a transmission pipe is fixedly arranged at one end of the cylinder close to the piston 3 for conveying air to the space area between the cylinder and the opposite side walls of the piston 3; The piston component 1 comprises a piston 2 which is sealingly and slidably arranged inside a cylinder body, a push rod 2 is fixedly arranged at one end of the piston 2, the push rod 2 slides through the cylinder body and is fixedly arranged with a connecting sleeve 1.

10. A method for avoiding collision with an unmanned ship during water conservancy survey, characterized in that: The method for the hydraulic survey unmanned vessel side collision prevention device as claimed in any one of claims 1 to 9 comprises the following steps: Step 1: When the unmanned survey ship returns to the river bank after completing the water conservancy survey, the bow of the ship first approaches the river bank. After the power is turned off, the unmanned survey ship collides with the river bank due to inertia, and the air inside the first-level anti-collision mechanism is squeezed out due to the collision. During the short time when the unmanned survey ship collides with the river bank, the squeezed gas is respectively transported to the inside of the second-level anti-collision mechanism and the resistance-increasing mechanism; Step 2: After the air output from the primary anti-collision mechanism enters the secondary anti-collision mechanism, the volume of the secondary anti-collision mechanism expands rapidly, and the distance it protrudes from the bow of the unmanned survey ship is greater than that of the primary anti-collision mechanism. At this time, the secondary anti-collision mechanism and the primary anti-collision mechanism collide with the river bank at the same time; Step 3: The air entering the resistance increasing mechanism from the first-level anti-collision mechanism drives the internal structure of the resistance increasing mechanism to expand, thereby increasing the resistance of the river water relative to the unmanned survey ship and reducing the kinetic energy of the ship hitting the river bank.

Images