Unmanned underwater vehicle anti-collision structure

Abstract

The application belongs to the technical field of anti-collision, and particularly relates to an unmanned underwater vehicle anti-collision structure, which comprises an underwater vehicle body, a containing bin mounted at the bottom of the underwater vehicle body, bin doors rotatably mounted on the two sides of the containing bin through torsion springs, a suspension air bag fixedly mounted on the outer wall of the bin door, a communication pipe arranged in the containing bin, a discharge pipe fixedly mounted on the outer wall of the communication pipe, an air tank arranged in the containing bin, a gas feeding pipe fixedly connected to the top of the air tank, another end of the gas feeding pipe extending into the communication pipe, a gas blocking ball joint rotatably mounted in the discharge pipe, a rotating ball groove for the rotation of the gas blocking ball joint being formed in the discharge pipe, and a flow-through opening being formed in the gas blocking ball joint. Through the cooperation of the above structures, fish can be warned by the bubble spouting, and the collision can be reduced.

Description

Technical Field

[0001] This invention belongs to the field of collision avoidance technology, specifically a collision avoidance structure for unmanned underwater vehicles. Background Technology

[0002] As a key piece of equipment for marine exploration and operations, underwater vehicles are devices capable of autonomous or remote-controlled navigation underwater, using various technical means to detect the marine environment, collect data, and perform specific tasks.

[0003] Because fish have a different visual system than humans, they may not be able to accurately identify the shape, size, and movement patterns of underwater vehicles. In their eyes, the vehicle may not be a dangerous object. In particular, underwater vehicles emit various sounds when they are operating, including the sound of motors running and the pulse sound of equipment working. These sounds may be mistaken by some fish as food signals or companion signals, causing them to swim towards the vehicle and increasing the chance of collision. Various sensors carried by the underwater vehicle, such as sonar, cameras, and temperature sensors, may be damaged or displaced due to the impact, resulting in inaccurate or interrupted data collection. This will affect the vehicle's perception of its surrounding environment and prevent it from performing its mission normally.

[0004] Therefore, the present invention provides a collision avoidance structure for unmanned underwater vehicles. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0006] The technical solution adopted by the present invention to solve its technical problem is: the anti-collision structure of the unmanned underwater vehicle described in the present invention includes an underwater vehicle body and a receiving compartment installed at the bottom of the underwater vehicle body;

[0007] The two sides of the containment chamber are equipped with doors that rotate via torsion springs, and the outer walls of the doors are fixedly fitted with suspension airbags.

[0008] The interior of the containment chamber is equipped with a connecting pipe, and a discharge pipe is fixedly installed on the outer wall of the connecting pipe.

[0009] The interior of the containment chamber is equipped with an air box, and an air supply pipe is fixedly connected to the top of the air box. The other end of the air supply pipe extends into the interior of the connecting pipe.

[0010] The discharge pipe has a rotating ball joint inside, and the discharge pipe has a rotating ball groove for the ball joint to rotate. The ball joint has a flow port.

[0011] The container is equipped with a support frame that slides inside. A connecting pipe is fixedly installed inside the support frame. Multiple connecting pipes are provided and are equidistantly arranged inside the support frame. A slider is fixedly installed on the side wall of the support frame. A groove is provided on the inner wall of the container, and one end of the slider extends into the groove.

[0012] Inside the containment chamber, a wire block is fixedly installed. Inside the wire block, a connecting rope is installed. One end of the connecting rope is fixedly connected to the support frame, and the other end of the connecting rope is fixedly connected to the chamber door.

[0013] A control block is installed at the discharge pipe position. A continuous guide groove is opened inside the control block. A connecting rod is fixedly connected to the balloon block. One end of the connecting rod extends into the interior of the control block. A guide block is fixedly installed on the outer wall of the connecting rod. One end of the guide block extends into the interior of the continuous guide groove.

[0014] A second bevel gear is rotatably mounted on the connecting pipe, and a transmission rod is fixedly mounted on the second bevel gear. A first pressing block is fixedly mounted on the end of the transmission rod near the control block, and a second pressing block is fixedly mounted on the end of the control block near the transmission rod. Multiple second pressing blocks are arranged in a ring on the control block.

[0015] A return spring is fixedly connected to one end of the transmission rod near the control block, and the other end of the return spring is fixedly connected to the control block.

[0016] An installation cylinder is fixedly installed on the side wall of the support frame. A water turbine blade is rotatably installed inside the installation cylinder. A rotating shaft is fixedly installed on the water turbine blade. A first bevel gear that meshes with the second bevel gear is fixedly installed on the rotating shaft.

[0017] An elastic tube is fixedly installed inside the discharge pipe. The two ends of the elastic tube are in contact with the inner wall of the discharge pipe, and the middle part of the elastic tube contracts toward the central axis of the elastic tube.

[0018] The first bevel gear is configured as a sector gear.

[0019] The beneficial effects of this invention are as follows:

[0020] 1. The anti-collision structure of the unmanned underwater vehicle described in this invention uses a suspended airbag on the hatch to open the hatch underwater. With the help of the connecting rope, the support frame is pulled out of the housing, and the mounting cylinder is completely submerged. The movement of the underwater vehicle body causes the water flow to drive the water turbine blades to rotate, which in turn drives the first bevel gear to rotate. At this time, the second bevel gear drives the transmission rod to rotate, and the first pressure block presses against the second pressure block, pushing both control blocks towards the discharge pipe. At the same time, with the cooperation of the guide block and the continuous guide groove, multiple air-blocking balloon sections are continuously rotated 90 degrees, so that the discharged bubbles are intermittent, which can warn fish and save compressed gas.

[0021] 2. The anti-collision structure for an unmanned underwater vehicle described in this invention, when the balloon-blocking section blocks the discharge pipe, the compressed gas in the air box can press against the middle contraction part of the elastic tube. At this time, the middle part of the elastic tube will also deform and store elastic potential energy until the balloon-blocking section no longer blocks the discharge pipe. When the gas is discharged, the elastic tube will quickly release the elastic potential energy and contract towards the center, while generating a force that can assist the discharged gas, allowing the gas to be discharged further underwater, further increasing the warning range for fish. Attached Figure Description

[0022] The invention will now be further described with reference to the accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the underwater vehicle body in this invention;

[0024] Figure 2 This is a schematic diagram of the structure of the receiving chamber in this invention;

[0025] Figure 3 This is an internal view of the storage compartment in this invention;

[0026] Figure 4 This is a schematic diagram of the structure of the water turbine blade in this invention;

[0027] Figure 5 This is a schematic diagram of the connecting pipe in this invention;

[0028] Figure 6 In this invention Figure 5 Enlarged view of point A in the image.

[0029] In the diagram: 1. Underwater vehicle body; 2. Reservoir; 3. Door; 4. Suspension airbag; 5. Wire block; 6. Connecting rope; 7. Support frame; 8. Mounting cylinder; 9. Water turbine blade; 10. Air box; 11. Air supply pipe; 12. Connecting pipe; 13. Discharge pipe; 14. Shaft; 15. Balloon baffle; 16. Flow port; 17. Connecting rod; 18. Elastic tube; 19. Control block; 20. Continuous guide groove; 21. Guide block; 22. First bevel gear; 23. Second bevel gear; 24. Transmission rod; 25. First pressure block; 26. Second pressure block; 27. Return spring. Detailed Implementation

[0030] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0031] like Figures 1 to 6As shown in the figure, the anti-collision structure for an unmanned underwater vehicle according to an embodiment of the present invention includes an underwater vehicle body 1 and a receiving compartment 2 installed at the bottom of the underwater vehicle body 1. The receiving compartment 2 can be located at the bottom or one side of the underwater vehicle body 1.

[0032] The two sides of the containment chamber 2 are equipped with doors 3 that are rotatably mounted by torsion springs. Suspension airbags 4 are fixedly installed on the outer wall of the doors 3. When the doors 3 are opened upwards, the torsion springs will deform and store elastic potential energy. The torsion springs can keep the doors 3 in a closed position. Therefore, when the underwater vehicle body 1 is above the water surface, the doors 3 on both sides of the containment chamber 2 will remain closed under the action of the torsion springs. When the underwater vehicle body 1 enters the water, the suspension airbags 4 installed on the doors 3 will float upwards and drive the doors 3 to open.

[0033] The interior of the receiving chamber 2 is provided with a connecting pipe 12, and a discharge pipe 13 is fixedly installed on the outer wall of the connecting pipe 12. The interior of the receiving chamber 2 is provided with an air box 10, and an air supply pipe 11 is fixedly connected to the top of the air box 10. The other end of the air supply pipe 11 extends into the interior of the connecting pipe 12.

[0034] The air tank 10 can be equipped with compressed gas or a compressed gas cylinder. The air tank 10 is connected to the connecting pipe 12 through the air supply pipe 11. Therefore, the compressed gas inside the air tank 10 can enter the interior of the connecting pipe 12 through the air supply pipe 11 and finally be discharged through the discharge pipe 13. When the underwater vehicle body 1 is underwater, the gas is discharged from the discharge pipe 13, which will generate bubbles underwater. The ejected bubbles can warn fish, thereby reducing the problem of fish colliding with the underwater vehicle body 1.

[0035] Multiple discharge pipes 13 are provided, and multiple discharge pipes 13 can discharge multiple air bubbles, thereby improving the warning effect on fish. Multiple connecting pipes 12 are also provided.

[0036] It should be noted that the connecting pipe 12 needs to be symmetrically arranged inside the receiving chamber 2 so that the bubbles can be sprayed out evenly to both sides, which can reduce the impact of the bubbles on the movement of the underwater vehicle body 1 when they are sprayed out.

[0037] The discharge pipe 13 is rotatably mounted with a ball-blocking section 15. The discharge pipe 13 has a rotating ball groove for the ball-blocking section 15 to rotate, and the ball-blocking section 15 has a flow port 16.

[0038] When the passage of the flow port 16 is parallel to the pipeline path of the discharge pipe 13, the discharge pipe 13 can discharge the compressed gas in the gas box 10. At this time, by rotating the air-blocking ball joint 15 by 90 degrees, the passage of the flow port 16 can be made to be non-parallel to the pipeline path of the discharge pipe 13. At this time, the air-blocking ball joint 15 can block the discharge pipe 13, and the compressed gas in the gas box 10 cannot be discharged.

[0039] In a preferred embodiment of the present invention, a support frame 7 is slidably installed inside the receiving chamber 2, and a connecting pipe 12 is fixedly installed inside the support frame 7. Multiple connecting pipes 12 are provided, and multiple connecting pipes 12 are equidistantly arranged inside the support frame 7. A slider is fixedly installed on the side wall of the support frame 7, and a groove is opened on the inner wall of the receiving chamber 2. One end of the slider extends into the inside of the groove.

[0040] The support frame 7, through the cooperation of the slider and the slide groove, can limit the sliding trajectory of multiple connecting pipes 12. By controlling the support frame 7 to slide towards the door 3, the support frame 7 can drive multiple connecting pipes 12 to extend out from the inside of the receiving chamber 2. By extending multiple discharge pipes 13 outward, the warning range can be expanded when bubbles are sprayed.

[0041] In a preferred embodiment of the present invention, a wire block 5 is fixedly installed inside the receiving compartment 2, and a connecting rope 6 is provided inside the wire block 5. One end of the connecting rope 6 is fixedly connected to the support frame 7, and the other end of the connecting rope 6 is fixedly connected to the compartment door 3.

[0042] A top-pressure spring is installed between the slider and the slide. When the hatch 3 is opened, the connecting rope 6 is pulled at the same time, causing the support frame 7 to drive the slider to slide outward inside the slide. At the same time, the top-pressure spring will deform and store elastic potential energy. When the underwater vehicle body 1 emerges from underwater, the hatch 3 will reset and close under the action of the torsion spring. At the same time, the connecting rope 6 will no longer be pulled. The top-pressure spring releases its elastic potential energy, which can drive the slider to reset and slide. At the same time, the support frame 7 and multiple connecting pipes 12 are brought back into the housing 2 to complete the storage.

[0043] In a preferred embodiment of the present invention, a control block 19 is provided at the position of the discharge pipe 13. A continuous guide groove 20 is provided inside the control block 19. A connecting rod 17 is fixedly connected to the balloon block 15. One end of the connecting rod 17 extends into the interior of the control block 19. A guide block 21 is fixedly installed on the outer wall of the connecting rod 17. One end of the guide block 21 extends into the interior of the continuous guide groove 20.

[0044] Since there are multiple discharge pipes 13, the control block 19 is located on the connecting pipe 12, in the middle of the multiple discharge pipes 13, and is slidably connected to the pipe position between adjacent discharge pipes 13. At the same time, there are two connecting rods 17, one of which connects the balloon joint 15 above the control block 19 in series, and the other connects the balloon joint 15 below the control block 19 in series. Therefore, there need to be two control blocks 19 symmetrically arranged so that the rotation of the two connecting rods 17 can be controlled at the same time.

[0045] Two control blocks 19 slide one upward and the other downward. When they slide, they can drive the continuous guide groove 20 to rotate. At this time, the guide block 21 will drive the connecting rod 17 to rotate 90 degrees. The continuous guide groove 20 is a common internal guide groove structure of a ballpoint pen. Each rotation is 90 degrees.

[0046] In a preferred embodiment of the present invention, a second bevel gear 23 is rotatably mounted on the connecting pipe 12, a transmission rod 24 is fixedly mounted on the second bevel gear 23, a first pressing block 25 is fixedly mounted on one end of the transmission rod 24 near the control block 19, and a second pressing block 26 is fixedly mounted on one end of the control block 19 near the transmission rod 24. Multiple second pressing blocks 26 are provided, and the multiple second pressing blocks 26 are arranged in a ring on the control block 19.

[0047] The control block 19 is equipped with a second bevel gear 23. Both ends of the transmission rod 24 mounted on the second bevel gear 23 are equipped with first pressing blocks 25, which are in contact with one end of each of the two control blocks 19. Four second pressing blocks 26 are provided on each control block 19, corresponding to the rotation trajectory of the continuous guide groove 20. When the second bevel gear 23 drives the transmission rod 24 to rotate, the first pressing blocks 25 press against the second pressing blocks 26. Since the outer walls of both the first pressing blocks 25 and the second pressing blocks 26 are arc-shaped... Therefore, the first pressure block 25 will move along the outer wall of the second pressure block 26, pushing both control blocks 19 toward the discharge pipe 13. At the same time, with the cooperation of the guide block 21 and the continuous guide groove 20, multiple air-blocking sections 15 will rotate 90 degrees. As the second bevel gear 23 continues to rotate, the air-blocking sections 15 can rotate continuously inside the discharge pipe 13. Each rotation of 90 degrees realizes the reciprocating operation of opening and closing the discharge pipe 13, making the discharged bubbles intermittent, which can save compressed gas.

[0048] In a preferred embodiment of the present invention, a return spring 27 is fixedly connected to one end of the transmission rod 24 near the control block 19, and the other end of the return spring 27 is fixedly connected to the control block 19.

[0049] When the control block 19 moves toward the discharge pipe 13, the return spring 27 will be in a deformed state. When the second bevel gear 23 is not subjected to external force, the return spring 27 can drive the control block 19 to reset, thereby controlling the balloon blocking joint 15 to block the discharge pipe 13. When the first pressing block 25 presses against the second pressing block 26, causing the control block 19 to slide toward the discharge pipe 13, the balloon blocking joint 15 will not block the discharge pipe 13. Conversely, it will block it. With this setting, the gas discharge can be controlled when the underwater vehicle body 1 moves underwater, and the gas discharge will be blocked when it stops moving, thus avoiding waste.

[0050] In a preferred embodiment of the present invention, a mounting cylinder 8 is fixedly installed on the side wall of the support frame 7, a water turbine blade 9 is rotatably installed inside the mounting cylinder 8, a rotating shaft 14 is fixedly installed on the water turbine blade 9, and a first bevel gear 22 that meshes with the second bevel gear 23 is fixedly installed on the rotating shaft 14.

[0051] When the support frame 7 is pulled out of the receiving chamber 2, the mounting cylinder 8 will be completely submerged underwater. The movement of the underwater vehicle body 1 will cause the water flow to drive the water turbine blade 9 to rotate. At the same time, it can work with the rotating shaft 14 to drive the first bevel gear 22 to rotate. At this time, the second bevel gear 23 will drive the transmission rod 24 to rotate. The first pressure block 25 will press against the second pressure block 26, pushing both control blocks 19 toward the discharge pipe 13. Meanwhile, with the cooperation of the guide block 21 and the continuous guide groove 20, multiple air-blocking balloon sections 15 will rotate continuously by 90 degrees, so that the discharged bubbles are intermittent, which can warn fish and save compressed gas.

[0052] In a preferred embodiment of the present invention, an elastic tube 18 is fixedly installed inside the discharge pipe 13. The two ends of the elastic tube 18 are in contact with the inner wall of the discharge pipe 13, and the middle part of the elastic tube 18 contracts toward the central axis of the elastic tube 18.

[0053] When the balloon-blocking section 15 obstructs the discharge pipe 13, the compressed gas in the air box 10 will still enter the discharge pipe 13 for storage. This gas can press against the middle contraction part of the elastic tube 18. At this time, the middle part of the elastic tube 18 will also deform and store elastic potential energy until the balloon-blocking section 15 no longer obstructs the discharge pipe 13. When the gas is discharged, the elastic tube 18 will quickly release the elastic potential energy and contract towards the center. At the same time, the generated compression force can provide assistance to the discharged gas, allowing the gas to be discharged further underwater, further increasing the warning range for fish.

[0054] In a preferred embodiment of the present invention, the first bevel gear 22 is configured as a sector gear.

[0055] By setting the first bevel gear 22 in a fan shape, the transmission speed of the water turbine blade 9 to the second bevel gear 23 can be reduced, thereby reducing the air output speed.

[0056] Working principle: When the underwater vehicle body 1 enters the water, the suspending airbag 4 installed on the hatch 3 will float upwards, simultaneously opening the hatch 3. When the hatch 3 opens, it will pull the connecting rope 6, causing the support frame 7 to slide outwards inside the slide groove. At this time, the support frame 7 can drive multiple connecting pipes 12 to extend out from the inside of the receiving chamber 2. When the support frame 7 is pulled out of the receiving chamber 2, the mounting cylinder 8 will be completely submerged underwater. Through the movement of the underwater vehicle body 1, the water flow will drive the water turbine blade 9 to rotate. At the same time, it can cooperate with the rotating shaft 14 to drive the first bevel gear 22 to rotate. At this time, the second bevel gear 23 drives the transmission rod 24 to rotate. The first pressure block 25 will press against the second pressure block 26, pushing both control blocks 19 towards the discharge pipe 13. At the same time, with the cooperation of the guide block 21 and the continuous guide groove 20, multiple air-blocking balloon sections 15 will rotate continuously by 90 degrees, making the discharged bubbles intermittent. This can warn fish while also saving compressed gas.

[0057] When the balloon-blocking section 15 blocks the discharge pipe 13, the compressed gas in the air box 10 can press against the middle contraction part of the elastic tube 18. At this time, the middle part of the elastic tube 18 will also deform and store elastic potential energy until the balloon-blocking section 15 no longer blocks the discharge pipe 13. When the gas is discharged, the elastic tube 18 will quickly release the elastic potential energy and contract towards the center. At the same time, the force generated can give the discharged gas an assist, so that the gas can be discharged further underwater, further increasing the warning range for fish.

[0058] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on the perspective of the observer, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0059] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0060] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A collision avoidance structure for an unmanned underwater vehicle, characterized in that: Includes the underwater vehicle body (1) and the housing (2) installed at the bottom of the underwater vehicle body (1); The two sides of the receiving chamber (2) are equipped with chamber doors (3) by means of torsion springs, and the outer wall of the chamber door (3) is fixedly equipped with a suspension airbag (4). The interior of the receiving chamber (2) is provided with a connecting pipe (12), and a discharge pipe (13) is fixedly installed on the outer wall of the connecting pipe (12). The interior of the containment chamber (2) is provided with an air box (10), and the top of the air box (10) is fixedly connected with an air supply pipe (11), the other end of which extends into the interior of the connecting pipe (12). The discharge pipe (13) is rotatably installed with a balloon blocking section (15), and the discharge pipe (13) has a rotating ball groove for the balloon blocking section (15) to rotate. The balloon blocking section (15) has a flow port (16). A control block (19) is provided at the position of the discharge pipe (13). A continuous guide groove (20) is provided inside the control block (19). A connecting rod (17) is fixedly connected to the balloon block (15). One end of the connecting rod (17) extends into the interior of the control block (19). A guide block (21) is fixedly installed on the outer wall of the connecting rod (17). One end of the guide block (21) extends into the interior of the continuous guide groove (20). A second bevel gear (23) is rotatably mounted on the connecting pipe (12), and a transmission rod (24) is fixedly mounted on the second bevel gear (23). A first pressing block (25) is fixedly mounted on one end of the transmission rod (24) near the control block (19), and a second pressing block (26) is fixedly mounted on one end of the control block (19) near the transmission rod (24). Multiple second pressing blocks (26) are provided, and multiple second pressing blocks (26) are arranged in a ring on the control block (19). A return spring (27) is fixedly connected to one end of the transmission rod (24) near the control block (19), and the other end of the return spring (27) is fixedly connected to the control block (19); A mounting cylinder (8) is fixedly installed on the side wall of the support frame (7). A water turbine blade (9) is rotatably installed inside the mounting cylinder (8). A rotating shaft (14) is fixedly installed on the water turbine blade (9). A first bevel gear (22) that meshes with the second bevel gear (23) is fixedly installed on the rotating shaft (14).

2. The anti-collision structure for an unmanned underwater vehicle according to claim 1, characterized in that: The receiving chamber (2) is slidably installed with a support frame (7), and the connecting pipe (12) is fixedly installed inside the support frame (7). Multiple connecting pipes (12) are provided, and multiple connecting pipes (12) are equidistantly arranged inside the support frame (7). A slider is fixedly installed on the side wall of the support frame (7), and a groove is opened on the inner wall of the receiving chamber (2). One end of the slider extends into the groove.

3. The anti-collision structure for an unmanned underwater vehicle according to claim 2, characterized in that: Inside the container (2), a wire block (5) is fixedly installed. Inside the wire block (5), a connecting rope (6) is provided. One end of the connecting rope (6) is fixedly connected to the support frame (7), and the other end of the connecting rope (6) is fixedly connected to the container door (3).

4. The anti-collision structure for an unmanned underwater vehicle according to claim 1, characterized in that: An elastic tube (18) is fixedly installed inside the discharge pipe (13). The two ends of the elastic tube (18) are attached to the inner wall of the discharge pipe (13), and the middle part of the elastic tube (18) contracts toward the central axis of the elastic tube (18).

5. The anti-collision structure for an unmanned underwater vehicle according to claim 4, characterized in that: The first bevel gear (22) is configured as a sector gear.

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