Unmanned ship with automatic risk avoiding function

Abstract

The invention provides an unmanned ship with an automatic risk avoiding function, and relates to the technical field of unmanned ships, the unmanned ship comprises an unmanned ship main body, an isolation obstacle avoiding support is arranged on the outer side of the unmanned ship main body, a plurality of lifting assemblies are arranged on the top of the unmanned ship main body, and the output ends of the lifting assemblies are fixedly connected with the side wall of the isolation obstacle avoiding support; guiding assemblies are symmetrically arranged on the outer side wall of the unmanned ship body along the center line of the unmanned ship body, the guiding assemblies can be attached to the side wall of the isolation obstacle avoidance support, and a plurality of buffering assemblies capable of being attached to the outer side wall of the unmanned ship body are arranged on the inner side wall of the isolation obstacle avoidance support. A lifting isolation obstacle avoidance support is integrated on the outer side of an unmanned ship body, and a lifting assembly on the top, a guiding assembly arranged on the outer wall and a multi-stage buffering assembly arranged on the inner side are combined, so that a mechanical danger avoiding system which is high in structural linkage and rapid in response and has the active protection capacity is constructed.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boats, and in particular to an unmanned boat with an automatic risk avoidance function. Background Art

[0002] Unmanned watercraft with automatic hazard avoidance are designed for autonomous navigation and mission execution in complex water environments. They integrate advanced perception, decision-making, and mechanical linkage systems. Upon detecting a potential obstacle, they automatically take measures to avoid collision or mitigate the resulting damage without human intervention. Through the integration of multiple sensors, intelligent control systems, and mechanical protective devices, these unmanned watercrafts monitor and respond to their surroundings in real time, ensuring safe navigation and effective mission execution.

[0003] The Chinese invention patent with authorization announcement number CN117963099B discloses an obstacle avoidance device for an unmanned boat. By setting a limit guide rail, the isolation obstacle avoidance bracket can be made more stable when moving longitudinally outside the unmanned boat body, preventing the isolation obstacle avoidance bracket from shaking, making the operation of the device more stable. The installation of a transmission gear plate can cooperate with the lifting drive motor and the transmission gear shaft to enable the isolation obstacle avoidance bracket to move longitudinally outside the unmanned boat body, so that the lower end of the isolation obstacle avoidance bracket is submerged in the water surface to protect the unmanned boat body, so that when the unmanned boat body is sailing on a water surface full of floating garbage, it can effectively prevent the garbage on the water surface from contacting the unmanned boat body, avoiding sharp objects in the garbage from scratching the unmanned boat body, and avoiding affecting the service life of the unmanned boat body. At the same time, the isolation obstacle avoidance bracket has a barrier effect. When the isolation obstacle avoidance bracket moves upward, it can replace the traditional handrail, enhance the functionality of the device, and prevent objects on the upper end of the unmanned boat body from falling into the water.

[0004] Existing obstacle avoidance devices generally adopt a relatively simple passive shock absorption scheme in the design of the buffer structure. Its mechanical response characteristics are relatively fixed and lack the dynamic adaptability of multiple degrees of freedom. This structural form has obvious limitations when facing the complex hydrological environment that unmanned boats may encounter during actual operation. In particular, when subjected to oblique impacts, side collisions, or multi-angle composite loads, traditional buffer components have difficulty in effectively dispersing and absorbing impact energy, resulting in stress concentration in the local structure, which in turn causes risks such as deformation of the hull frame, damage to the sealed cabin, and even failure of key equipment. In addition, this type of buffer structure usually only has a single-dimensional compression or shear response capability, which cannot match the multi-dimensional motion response generated by the unmanned boat during navigation due to wave disturbances, sudden obstacle encounters, or asymmetric collisions, further weakening the overall protection performance of the system. This not only reduces the reliability of the obstacle avoidance device under complex working conditions, but also has an adverse impact on the structural safety, mission continuity, and long-term service stability of the unmanned boat.

[0005] Therefore, it is necessary to provide a new unmanned boat with automatic risk avoidance function to solve the above technical problems. Summary of the Invention

[0006] In order to solve the above technical problems, the present invention provides an unmanned boat with an automatic risk avoidance function.

[0007] The unmanned boat with automatic risk avoidance function provided by the present invention comprises an unmanned boat body, an isolation and obstacle avoidance bracket is provided on the outside of the unmanned boat body, a plurality of lifting components are provided on the top of the unmanned boat body, and the output ends of the lifting components are fixedly connected to the side walls of the isolation and obstacle avoidance bracket; The outer side wall of the unmanned boat body is symmetrically provided with guide components along its center line, and the guide components can be fitted with the side wall of the isolation and obstacle avoidance bracket. The inner side wall of the isolation and obstacle avoidance bracket is provided with multiple buffer components that can be fitted with the outer side wall of the unmanned boat body.

[0008] Furthermore, the lifting assembly includes a cylinder, the bottom of the cylinder is fixedly connected to the top edge of the unmanned driving body, and the driving end of the cylinder is fixedly connected to a fixing plate.

[0009] Furthermore, the isolation and obstacle avoidance bracket includes a front bracket and side brackets symmetrically arranged at both ends of one side of the front bracket. The inner top wall of the front bracket is fixedly connected to the fixed plate, and two sliding blocks are fixedly connected to the top of the two side brackets respectively. The outer surface of the sliding block is slidably connected to a guide block, and the guide block is fixedly connected to the outside of the connecting plate.

[0010] Furthermore, two ends of the front side bracket adjacent to one side of the front side bracket are respectively provided with a bidirectional sliding groove, and a lateral connecting plate is slidably connected in the bidirectional sliding groove, and the end of the lateral connecting plate away from the front side bracket is rotatably connected to the lateral hole opened in the side bracket.

[0011] Furthermore, the guide assembly includes a guide block 1 and a guide block 2, wherein the guide block 1 is fixedly connected to the outer side wall of the side bracket, and the guide block 2 is fixedly connected to the top of the unmanned boat body through a bending bracket.

[0012] Furthermore, the guide block 1 and the guide block 2 are both arranged in a trapezoidal shape, and the guide block 2 is oriented in the opposite direction to the guide block 1.

[0013] Furthermore, adjacent sides of the two side brackets are respectively provided with anti-collision grooves matching a cross section of the guide block.

[0014] Furthermore, the buffer assembly includes a concave bracket, the side wall of the concave bracket is fixedly connected to the side bracket adjacent to the unmanned boat body, the middle part of the concave bracket away from the side wall bracket is fixedly connected to a sliding rod 1, and the two ends of the concave bracket away from the side wall bracket are telescopically slidable with sliding rod 2, the outer surface of the sliding rod 1 is symmetrically provided with sliding frames, a spring 1 is fixedly connected between the two sliding frames, the two sliding frames are rotatably connected to connecting rods at one end away from the concave bracket, the two connecting rods are rotatably connected to a bottom plate at one end away from the sliding bracket, the two sides of the bottom plate are fixedly connected to the two sliding rods 2, and a spring 2 fixedly connected to the bottom plate and the concave bracket is also provided on the outside of the sliding rod 2.

[0015] Furthermore, one end of the bottom plate away from the concave bracket is rotatably connected to the polygonal laminating plate, and a plurality of springs are fixedly connected between the polygonal laminating plate and the bottom plate.

[0016] Compared with related technologies, the unmanned boat with automatic risk avoidance function provided by the present invention has the following beneficial effects: This unmanned boat with automatic risk avoidance function integrates a liftable isolation obstacle avoidance bracket on the outside of the unmanned boat body, and combines the lifting components on the top, the guide components set on the outer wall and the multi-stage buffer components arranged on the inside to build a mechanical risk avoidance system with strong structural linkage, rapid response and active protection capability. The system can trigger the cylinder drive mechanism through the detection device before physical contact with the obstacle, so that the obstacle avoidance bracket can be quickly lowered below the water surface to form a physical barrier to block floating garbage or other obstacles outside the hull, thereby significantly reducing the risk of scratches on the hull shell and damage to internal equipment due to sharp or hard objects, and improving the operation safety and mission continuity of the unmanned boat in complex water environments.

[0017] By setting two guide blocks one and two facing opposite directions, when the obstacle avoidance bracket descends with the lifting assembly, the side bracket breaks away from the fit with guide block two, slides into the track of guide block one, and slides horizontally outward under its inclined guidance; and during the reset and rising process, it is guided inward by guide block two to complete the automatic switching from the obstacle avoidance state to the normal navigation state. This structure can realize the deployment and recovery of the obstacle avoidance system without external power assistance, thereby improving the autonomy and intelligence level of the system.

[0018] The multi-directional buffer assembly composed of the triple spring system can effectively disperse and absorb the impact energy from different directions, and can realize flexible buffering through mechanical structure even in the case of slight collision, thereby effectively protecting the main structure of the boat body and prolonging the service cycle thereof. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The overall structure schematic diagram of the unmanned boat with the automatic risk avoidance function is provided. Figure 2 The overall structure schematic diagram of the unmanned boat with the automatic risk avoidance function is provided. Figure 1 Figure 3 The overall structure schematic diagram of the unmanned boat with the automatic risk avoidance function is provided. Figure 2 Figure 4 The state structure schematic diagram of the isolation obstacle avoidance support is provided. Figure 1 Figure 5 The state structure schematic diagram of the isolation obstacle avoidance support is provided. Figure 2 Figure 6 The state structure schematic diagram of the isolation obstacle avoidance support is provided. Figure 3 Figure 7 The state structure schematic diagram of the isolation obstacle avoidance support is provided. Figure 4 Figure 8 The structure schematic diagram of the guide block is provided. Figure 9 The structure schematic diagram of the buffer assembly is provided.

[0020] In the figure, 1 is an unmanned boat body, 2 is a front side support, 3 is a lateral connecting plate, 4 is a side support, 5 is an anti-collision groove, 6 is a bidirectional sliding groove, 7 is a guide block, 8 is a cylinder, 9 is a fixed plate, 10 is a guide block one, 11 is a guide block two, 12 is a bent support, 13 is a concave support, 14 is a sliding rod one, 15 is a sliding rod two, 16 is a sliding frame, 17 is a spring one, 18 is a connecting rod, 19 is a bottom plate, 20 is a multi-edge fitting plate, 21 is a spring two, and 22 is a spring three. DETAILED DESCRIPTION

[0021] ​​​​​​The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0022] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 as well as Figure 9 , Figure 1 A schematic diagram of the overall structure of the unmanned boat with automatic risk avoidance function provided by the present invention; Figure 2 Another perspective structural diagram of the unmanned boat body provided by the present invention Figure 1 ; Figure 3 Another perspective structural diagram of the unmanned boat body provided by the present invention Figure 2 ; Figure 4 Schematic diagram of the state structure of the isolation obstacle avoidance bracket provided by the present invention Figure 1 ; Figure 5 Schematic diagram of the state structure of the isolation obstacle avoidance bracket provided by the present invention Figure 2 ; Figure 6 Schematic diagram of the state structure of the isolation obstacle avoidance bracket provided by the present invention Figure 3 ; Figure 7 Schematic diagram of the state structure of the isolation obstacle avoidance bracket provided by the present invention Figure 4 ; Figure 8 A schematic structural diagram of the guide block provided by the present invention; Figure 9 This is a schematic structural diagram of the buffer assembly provided by the present invention.

[0023] In the specific implementation process, Figures 1 to 9 As shown, the unmanned boat with automatic risk avoidance function provided by the present invention includes an unmanned boat body 1, an isolation and obstacle avoidance bracket is provided on the outside of the unmanned boat body 1, and a plurality of lifting components are provided on the top of the unmanned boat body 1, and the output end of the lifting component is fixedly connected to the side wall of the isolation and obstacle avoidance bracket; The outer wall of the unmanned boat body 1 is symmetrically provided with guide components along its center line, and the guide components can be fitted with the side walls of the isolation and obstacle avoidance bracket. The inner wall of the isolation and obstacle avoidance bracket is provided with multiple buffer components that can be fitted with the outer wall of the unmanned boat body.

[0024] The lifting assembly comprises a cylinder 8 fixedly connected at the bottom to the top edge of the unmanned body, and a fixed plate 9 fixedly connected to the driving end of the cylinder 8, wherein the cylinder is driven by gas pressure to realize the reciprocating movement of the piston, and has the characteristics of large output force and simple operation. The isolation and obstacle avoidance support comprises a front support 2 and side supports 4 symmetrically arranged at both ends of one side of the front support 2, wherein the inner top wall of the front support 2 is fixedly connected to the fixed plate 9, the top of each side support 4 is fixedly connected to a sliding block, the outer surface of the sliding block is slidably connected to a guide block 7, the guide block 7 is fixedly connected to the outer side of the connecting plate, the front support 2 is provided with a bidirectional sliding groove 6 adjacent to both ends of one side of the front support 2, and the bidirectional sliding groove 6 is slidably connected to a lateral connecting plate 3, and the end of the lateral connecting plate 3 away from the front support 2 is rotatably connected to the lateral hole of the side support 4.

[0025] It should be noted that the inner side of the guide block 7 is provided with a guide groove, the sliding block can slide horizontally in the guide groove, and the upper end cross section of the sliding block is larger than the lower end cross section, so as to avoid the disengagement of the sliding block.

[0026] As shown in Figures 3 to 6 The guide assembly comprises a guide block one 10 and a guide block two 11, the guide block one 10 is fixedly connected to the outer side wall of the side support 4, and the guide block two 11 is fixedly connected to the top of the unmanned boat body 1 through a bent support 12, wherein the guide block one 10 and the guide block two 11 are both arranged in a trapezoidal shape, the guide block two 11 is opposite to the guide block one 10, and the adjacent sides of the two side supports 4 are respectively provided with an anti-collision groove 5 matched with the cross section of the guide block one 10.

[0027] It should be noted that the guide block two 11 is opposite to the guide block one 10 and parallel to each other, thereby forming a guide path, the side support 4 slides outwardly under the guidance of the guide block one 10 during the descending process, and the side support 4 slides inwardly under the guidance of the guide block two 11 during the ascending process when being above the guide block one 10.

[0028] As shown in Figure 9As shown, the buffer assembly includes a concave bracket 13, the side wall of the concave bracket 13 is fixedly connected to the side bracket 4 near the unmanned boat body 1, the middle part of the concave bracket 13 away from the side wall bracket is fixedly connected to a sliding rod 14, and the two ends of the concave bracket 13 away from the side wall bracket are telescopically slidable with sliding rods 2 15, and the outer surface of the sliding rod 14 is symmetrically provided with sliding frames 16, and a spring 17 is fixedly connected between the two sliding frames 16, and the two sliding frames 16 are rotatably connected to the ends of the concave bracket 13 away from the concave bracket 13. The two connecting rods 18 are rotatably connected to the bottom plate 19 at one end away from the sliding bracket, and the two sides of the bottom plate 19 are fixedly connected to the two sliding rods 2 15, and the outer side of the sliding rod 2 15 is also provided with a spring 21 fixedly connected to the bottom plate 19 and the concave bracket 13, and the end of the bottom plate 19 away from the concave bracket 13 is rotatably connected to a multilateral bonding plate 20, and multiple springs 3 22 are fixedly connected between the multilateral bonding plate 20 and the bottom plate 19.

[0029] It should be noted that an annular groove is provided on the concave bracket 13 for the sliding rod 2 15 to slide horizontally. After being squeezed by the bottom plate 19, the sliding rod 2 15 will extend into the annular groove, so that the impact force of the bottom plate 19 acts on the spring 2 21 between the concave bracket 13.

[0030] The function of the multiple springs 22 is that the polygonal bonding plate 20 may be offset in angle after contacting the unmanned boat body 1. At this time, the polygonal bonding plate will bend the spring, and the spring will generate a reaction force, which can reset the polygonal bonding plate after the polygonal bonding plate 20 is separated from the unmanned boat body 1.

[0031] Furthermore, sensors are installed in front and on both sides of the unmanned boat body 1 to detect obstacles in the surrounding environment, including but not limited to ultrasonic sensors, infrared sensors or laser rangefinders. Ultrasonic sensors are suitable for medium and long-distance obstacle detection, have good anti-interference ability and a large detection range, and can be installed one in front of the bow and on both sides; infrared sensors are suitable for close-range obstacle detection, especially for transparent or low-reflectivity objects. They have good recognition effects, and several infrared sensors can be arranged around the hull as auxiliary; laser rangefinders provide high-precision distance measurement, which can be used for accurate obstacle avoidance in complex environments, and a safety distance threshold is set for each sensor. When the detected distance is less than the threshold, it is considered that there is a potential danger.

[0032] The working principle provided by the present invention is as follows: during the normal driving of the unmanned boat body 1 on the water surface, when the detection device identifies the presence of potential obstacles (such as floating garbage, fixed obstacles, other ships, etc.) in front or to the side and determines that the preset danger threshold is reached, the system will actively start the cylinder 8 drive mechanism before the unmanned boat body 1 comes into physical contact with the obstacle, thereby realizing mechanical automatic avoidance and protection response. Specifically, the cylinder 8 outputs power from the top downward, driving the fixed plate 9 connected to it to descend synchronously, and the fixed plate 9 further transmits the motion to the front bracket 2 and the side brackets 4 symmetrically arranged on both sides thereof, so that the entire isolation and obstacle avoidance bracket assembly moves downward rapidly in the vertical direction, covering the outer side of the unmanned boat body 1, forming a circle of physical protection barrier. In this process, as the side bracket 4 gradually descends, its original fit with the guide block 2 11 is broken, and it contacts the top of the guide block 10 located below. The guide block 10 is trapezoidal in design, and its inclined surface provides a guide path for the side bracket 4 to slide horizontally. Under this guiding effect, the two side brackets 4 continue to descend while beginning to slide horizontally outward until they finally enter the anti-collision groove 5 position and stabilize in a vertical state, completing the deployment action. At this time, the concave bracket 13 installed on the inner side of the side bracket 4 and its multi-stage spring linkage structure are tightly fitted with the outer wall of the unmanned boat body 1 to form a complete mechanical support system. Once the side bracket 4 encounters an impact force from the outside and shrinks inward, the guide block 10 will be embedded in the anti-collision groove 5 to effectively transfer the impact energy to the buffer component. During the buffering process, the multilateral bonding plate 20 first contacts the surface of the hull, and after being squeezed, it drives the bottom plate 19 to move inward. The bottom plate 19 pushes the sliding rod 2 15 at both ends to compress the spring 2 21 in the annular groove, absorbing most of the impact kinetic energy. At the same time, the bottom plate 19 drives the sliding frame 16 to move along the sliding rod 14 through the connecting rod 18, further compressing the spring 17 to form a second layer of buffer protection. In addition, multiple springs 3 22 are distributed between the multilateral bonding plate 20 and the bottom plate 19 to cope with the angular deviation caused by non-positive collisions, ensuring that the bonding plate can still be quickly reset after being deformed by force to maintain structural integrity. Through the above-mentioned multi-level buffering mechanism, the unmanned boat can efficiently absorb vibration energy when encountering a collision, reduce the direct impact on the boat body, and protect the internal equipment and structural safety. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. 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 circumstances.

[0033] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An unmanned boat with an automatic risk avoidance function, comprising an unmanned boat body (1), wherein an isolation and obstacle avoidance bracket is provided on the outside of the unmanned boat body (1), characterized in that: A plurality of lifting components are provided on the top of the unmanned boat body (1), and the output ends of the lifting components are fixedly connected to the side walls of the isolation and obstacle avoidance bracket; The outer side wall of the unmanned boat body (1) is symmetrically provided with guide components along its center line, and the guide components can be fitted with the side wall of the isolation and obstacle avoidance bracket, and the inner side wall of the isolation and obstacle avoidance bracket is provided with a plurality of buffer components that can be fitted with the outer side wall of the unmanned boat body.

2. The unmanned boat with automatic risk avoidance function according to claim 1, characterized in that: The lifting assembly comprises a cylinder (8), the bottom of the cylinder (8) is fixedly connected to the top edge of the unmanned driving body, and the driving end of the cylinder (8) is fixedly connected to a fixing plate (9).

3. The unmanned boat with automatic risk avoidance function according to claim 2, characterized in that: The isolation obstacle avoidance bracket comprises a front bracket (2) and side brackets (4) symmetrically arranged at both ends of one side of the front bracket (2); the inner top wall of the front bracket (2) is fixedly connected to the fixed plate (9); the tops of the two side brackets (4) are respectively fixedly connected to two sliding blocks; the outer surfaces of the sliding blocks are slidably connected to guide blocks (7); and the guide blocks (7) are fixedly connected to the outer sides of the connecting plates.

4. The unmanned boat with automatic risk avoidance function according to claim 3, characterized in that: Two ends of the front side bracket (2) adjacent to one side of the front side bracket (2) are respectively provided with a bidirectional sliding groove (6), a lateral connecting plate (3) is slidably connected in the bidirectional sliding groove (6), and an end of the lateral connecting plate (3) away from the front side bracket (2) is rotatably connected to the lateral hole provided in the side bracket (4).

5. The unmanned boat with automatic risk avoidance function according to claim 4, characterized in that: The guide assembly comprises a guide block 1 (10) and a guide block 2 (11), wherein the guide block 1 (10) is fixedly connected to the outer side wall of the side bracket (4), and the guide block 2 (11) is fixedly connected to the top of the unmanned boat body (1) via a bending bracket (12).

6. The unmanned boat with automatic risk avoidance function according to claim 5, characterized in that: The guide block 1 (10) and the guide block 2 (11) are both arranged in a trapezoidal shape, and the guide block 2 (11) is oriented in the opposite direction to the guide block 1 (10).

7. The unmanned boat with automatic risk avoidance function according to claim 6, characterized in that: Adjacent sides of the two side brackets (4) are respectively provided with anti-collision grooves (5) that match the cross section of the guide block 1 (10).

8. The unmanned boat with automatic risk avoidance function according to claim 7, characterized in that: The buffer assembly includes a concave bracket (13), the side wall of the concave bracket (13) is fixedly connected to the side bracket (4) adjacent to the unmanned boat body (1), the middle part of the concave bracket (13) away from the side bracket is fixedly connected to a sliding rod (14), and the two ends of the concave bracket (13) away from the side bracket are telescopically slidable with sliding rods (15), the outer surface of the sliding rod (14) is symmetrically provided with sliding frames (16), a spring (17) is fixedly connected between the two sliding frames (16), the ends of the two sliding frames (16) away from the concave bracket (13) are respectively rotatably connected to connecting rods (18), the ends of the two connecting rods (18) away from the sliding bracket are rotatably connected to a bottom plate (19), the two sides of the bottom plate (19) are fixedly connected to the two sliding rods (15), and the outer side of the sliding rod (15) is also provided with a spring (21) fixedly connected to the bottom plate (19) and the concave bracket (13).

9. The unmanned boat with automatic risk avoidance function according to claim 8, characterized in that: One end of the bottom plate (19) away from the concave bracket (13) is rotatably connected to the polygonal laminating plate (20), and a plurality of springs (22) are fixedly connected between the polygonal laminating plate (20) and the bottom plate (19).

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