Boat-mounted sensor mounting structure

Abstract

The utility model belongs to the technical field of ship and ocean engineering, and particularly discloses a boat-mounted sensor mounting structure which comprises a containing cavity formed in the bottom of a boat, a containing cavity opening and closing mechanism, a sensor telescoping mechanism, a sensor rotating mechanism and a fixed shell embedded with a sensor. One end of the electric push rod is fixed at the top of the cavity, the other end is connected with the sensor rotating mechanism, the sensor rotating mechanism comprises a mounting plate connected with the other end of the electric push rod, a motor fixed on the mounting plate and an outer frame connected with the fixed shell through a rotating shaft, and the shaft end of the motor is fixed with the outer frame; the outer frame is driven by the motor to rotate, the fixed shell embedded with the sensor is made to rotate around the rotating shaft arranged on the outer frame, the sensing range of the sensor is expanded, the installation structure is simple, operation is convenient, the maintenance time of a worker on the sensor module is shortened, and the installation structure is suitable for being used and popularized in unmanned ship ocean exploration projects.

Description

Technical Field

[0001] This utility model belongs to the field of shipbuilding and marine engineering technology, and specifically discloses a shipborne sensor installation structure. Background Technology

[0002] With the rapid development of unmanned surface vessel (USV) technology, the tasks that USVs perform in various aquatic environments are becoming increasingly complex and diverse. As the "eyes" and "ears" of USVs, the performance and installation structure of sensors are crucial to the efficiency and safety of USV mission execution.

[0003] Sensors on traditional unmanned surface vessels (USVs) are often fixed in specific locations, making it difficult to adjust them flexibly according to mission requirements once installed. This fixed installation structure limits the sensor's field of view and sensing range, making it difficult for USVs to acquire comprehensive and accurate information about their surroundings in complex environments.

[0004] Because traditional unmanned surface vessels (USVs) have complex and fixed sensor mounting structures, maintenance personnel often need to spend a significant amount of time and effort disassembling and replacing sensors when they malfunction or require upgrades. This not only increases maintenance costs but can also affect the normal operation of the USV. Furthermore, the fixed mounting structure limits sensor replaceability, making it difficult for USVs to quickly replace suitable sensor modules when facing different mission requirements. Utility Model Content

[0005] To address the technical problems listed in the background section, this utility model provides a shipborne sensor mounting structure. The specific technical solution is as follows:

[0006] A shipborne sensor mounting structure includes a cavity placed at the bottom of the ship, a cavity opening and closing mechanism, a sensor telescopic mechanism, a sensor rotating mechanism, and a fixed housing in which the sensor is embedded. The front of the sensor, serving as the sensing surface, faces outward. The sensor telescopic mechanism includes a vertically arranged electric push rod, one end of which is fixed to the top of the cavity, and the other end of which is connected to the sensor rotating mechanism. The sensor rotating mechanism includes a mounting plate connected to the other end of the electric push rod, a motor fixed on the mounting plate, and an outer frame connected to the fixed housing via a rotating shaft. The motor shaft is fixed to the outer frame. There are two sets of outer frames, and the centerlines of the rotating shafts corresponding to each set of outer frames are perpendicular to each other but not on the same plane.

[0007] Preferably, the cavity opening and closing mechanism includes a telescopic door and a storage cavity disposed at the lower part of the cavity wall. When the telescopic door is extended, it can close the cavity. When the telescopic door is retracted, it can store itself in the storage cavity and open the cavity.

[0008] Preferably, the fixed housing is cylindrical, with only the sensing probe of the sensor facing outwards, and the rest placed inside the fixed housing. The outer flange of the sensor is tightly attached to the opening end face of the fixed housing and is snapped together with the fixed housing.

[0009] Preferably, the snap-fit ​​connection includes four sets of snaps evenly distributed. Each set of snaps includes a fixing block, a connecting rod and a telescopic rod parallel to the central axis of the cylinder, a connecting block, and an abutment block. One side of the fixing block is fixedly connected to the outer wall of the housing, and the other side is connected to one end of the connecting rod through a bearing. The other end of the connecting rod is fixedly connected to the connecting block. A telescopic rod is provided at the rear of the side of the connecting block away from the connecting rod. An abutment block is provided at the end of the telescopic rod. A spring is sleeved on the outer periphery of the telescopic rod. The two ends of the spring abut against the connecting block and the abutment block respectively, which can push the abutment block to press the outer peripheral flange of the sensor against the opening end face of the fixing housing.

[0010] Preferably, one outer frame is C-shaped, with a pair of horizontally positioned rotating shafts at the opening, whose centerlines coincide. The rotating shafts are inserted into bearings pre-embedded in the fixed housing. The other outer frame has a rotating shaft in a vertical position, which is inserted into a bearing pre-embedded in the fixed housing from the bottom of the horizontally placed fixed housing. The centerlines of the rotating shafts are all orthogonal to the centerline of the housing.

[0011] Preferably, a vertical groove is provided on the inner wall of the cavity, and the two sides of the mounting plate are configured as sliders that can be adapted to the groove. One end of the electric push rod is fixed to the top of the cavity, and the other end is connected to the top of the mounting plate.

[0012] Preferably, a damping rod is provided inside the fixed housing. One end of the damping rod is fixedly connected to the inner wall of the housing, and the other end abuts against the back of the sensor. A spring is sleeved on the outer wall of the damping rod.

[0013] Compared with the prior art, this utility model has the following advantages:

[0014] This utility model provides a shipborne sensor mounting structure. By rotating the outer frame with a motor, the fixed housing containing the sensor rotates around a pivot on the outer frame, expanding the sensor's sensing range (the sensing surface can swing left and right in the horizontal direction and pitch in the vertical direction). The damped snap-fit ​​connection makes the sensor more stable during rotation and quicker to replace. It is beneficial to use the sensor to flexibly and efficiently perform signal acquisition tasks of different directions and types, enabling the unmanned surface vessel to accurately and comprehensively obtain surrounding environmental information in complex environments.

[0015] The installation structure is simple and easy to operate, reducing the maintenance time and cost of sensor modules and enabling quick replacement of suitable sensor modules. Attached Figure Description

[0016] Figure 1 This is a diagram showing the installation location of the sensors on the bottom of the unmanned surface vessel in an embodiment of this utility model.

[0017] Figure 2This is a cross-sectional schematic diagram of the internal structure of the cavity of this utility model;

[0018] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0019] Figure 4 This is a front view of the sensor mounting structure in an embodiment of this utility model;

[0020] Figure 5 This is a side view of the sensor mounting structure in an embodiment of this utility model;

[0021] Figure 6 yes Figure 5 Schematic diagram of the internal structure of the middle shell;

[0022] Figure 7 yes Figure 5 Enlarged view of point B in the middle;

[0023] The components include: 1. Unmanned surface vessel body; 2. Cavity; 3. Slide 1; 4. Storage cavity; 6. Electric push rod 1; 7. Enclosed structure; 701. Electric push rod 2; 702. Sealing plate; 8. Adjustment structure; 801. Fixing plate; 802. Slider 1; 803. Placement plate 1; 804. Placement plate 2; 805. Rotating shaft 1; 806. Rotating shaft 2; 807. Motor 1; 808. Motor 2; 809. Rotating frame; 810. Connecting plate 1; 811. Connecting shaft 1; 812. Connecting plate 2; 813. Connecting shaft 2; 9. Shell; 10. Damping rod; 11. Spring 1; 12. Limiting structure; 1201. Fixing block; 1202. Connecting rod; 1203. Connecting block; 1204. Telescopic rod; 1205. Abutment block; 1206. Spring 2; 13. Sensor module; 14. Retaining ring. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0025] like Figures 1 to 7 As shown, this embodiment proposes a modular installation structure for sensors on an unmanned surface vessel (USV), including an USV body 1 and a sensor module 13 installed on the USV body 1, as well as an installation structure for connecting and fixing the sensor module. The sensor module 13 includes different types of sensor units, and a retaining ring 14 (i.e., the sensor outer peripheral flange in the utility model content) is sleeved on the front side of the outer wall of the sensor module 13.

[0026] The installation structure includes a cavity 2, a storage cavity 4, electric push rods 6, a sealing structure 7, an adjustment structure 8, a housing 9, and a limiting structure 12. The cavity 2 is located at the bottom center of the unmanned surface vessel body 1. The storage cavity 4 is located on the bottom rear side of the cavity 2. Several equidistant electric push rods 6 are located on the top side inside the cavity 2. The storage cavity 4 is located inside the sealing structure 7 (i.e., the cavity opening and closing mechanism in the utility model content). One end of each of the electric push rods 6 is fixedly connected to the inner wall of the cavity 2, and the other end is fixedly connected to the adjustment structure 8. The housing 9 is located at the front center of the adjustment structure 8. The sensor module 13 is located inside the housing 9. Four sets of limiting structures 12 are located on the four sides of the front outer wall of the housing 9.

[0027] A pumping structure (which is prior art and is not shown in the attached diagram, so it will not be described in detail here) is provided on one side of the cavity 2. The pumping structure is used to pump the water inside the cavity 2 out of the cavity 2 after it is closed.

[0028] The cavity 2 has sliding grooves 3 on both sides. The storage cavity 4 is connected to the cavity 2. The sensor unit includes a direction sensor, a position sensor, a distance sensor, an image sensor, and a radar, which are used to sense the unmanned surface vessel's navigation direction, position information, obstacle distance, image data, and surrounding environment information. The closed structure 7 includes electric push rods 701 and a sealing plate 702 (i.e., the door body of the telescopic door in the utility model). Electric push rods 701 are provided on both sides of the inner rear part of the storage cavity 4. One end of each electric push rod 701 is fixedly connected to the inner wall of the storage cavity 4, and the other end is fixedly connected to the sealing plate 702. Several electric push rods 6, electric push rods 701, and sensor module 13 are all waterproof devices. The front and rear sides of the storage cavity 4 are provided with sliding grooves 2. The front and rear sides of the sealing plate 702 are fixedly connected with sliders 2. The two sliders 2 are adapted to the sliding grooves 2 and are fitted with sealing sleeves. The storage cavity 4 can completely store the sealing plate 702.

[0029] The adjustment structure 8 includes a fixed plate 801 (i.e., the mounting plate in the utility model), a placement plate one 803, and a placement plate two 804. Slider one 802 is fixedly connected to both sides of the fixed plate 801, and the two sliders one 802 are respectively adapted to and connected to the slide groove one 3. The placement plate one 803 is fixedly connected to the front top side of the fixed plate 801. A rotating shaft one 805 passes through the interior of the placement plate one 803. A motor one 807 is fixedly connected to one end of the rotating shaft one 805, and a rotating frame 809 (i.e., the outer frame in the utility model) is fixedly connected to the other end of the placement plate one 803. The placement plate two 804 is fixedly connected to... On the front side of the fixed plate 801, a rotating shaft 806 is installed inside the second placement plate 804. One end of the rotating shaft 806 is fixedly connected to a motor 808, and the other end is fixedly connected to a connecting plate 810. The front part of the end of the connecting plate 810 away from the rotating shaft 806 is connected to a connecting plate 812. Both the first motor 807 and the second motor 808 are waterproof motors. The fixed plate 801, the first placement plate 803, the second placement plate 804, the first rotating shaft 805, the second rotating shaft 806, the rotating frame 809, the first connecting shaft 811, the second connecting plate 812, and the second connecting shaft 813 are all waterproofed.

[0030] A connecting shaft 811 is fixedly connected to the bottom of the rotating frame 809 on one side. The opposite ends of the two connecting shafts 811 are respectively connected to the housing 9 by bearings. A connecting shaft 813 is fixedly connected to the top of the side of the connecting plate 812 away from the connecting plate 810. The top end of the connecting shaft 813 is connected to the housing 9 by bearings. Damping rods 10 are provided on both sides of the inner rear part of the housing 9. One end of the two damping rods 10 is fixedly connected to the inner wall of the housing 9, and the other end abuts against the sensor module 13. Springs 11 are respectively sleeved on the outer walls of the two damping rods 10.

[0031] Motor 807 drives rotating shaft 805 to rotate, which in turn drives rotating frame 809 to rotate. Rotating frame 809 then drives sensor module 13 to adjust its horizontal angle. Motor 808 drives rotating shaft 806 to rotate, which in turn drives connecting plate 810 to rotate. Connecting plate 810 then drives connecting plate 812 to rotate, which in turn drives sensor module 13 to adjust its vertical angle. This allows sensor module 13 to be flexibly adjusted, increasing the sensor's field of view and sensing range, enabling the unmanned surface vessel to accurately and comprehensively obtain information about its surroundings in complex environments.

[0032] Each limiting structure 12 includes a fixing block 1201, a connecting rod 1202, a connecting block 1203, a telescopic rod 1204, and an abutment block 1205. The housing 9 is fixedly connected to one side of the fixing block 1201. The connecting rod 1202 is connected to the front bearing of the fixing block 1201. The connecting block 1203 is fixedly connected to the front end of the connecting rod 1202. The telescopic rod 1204 is provided at the rear of the side of the connecting block 1203 away from the connecting rod 1202. The abutment block 1205 is provided at the rear end of the telescopic rod 1204. The connecting block 1203 is fixedly connected to one end of the telescopic rod 1204, and the abutment block 1205 is fixedly connected to the other end. A spring 1206 is sleeved on the outer wall of the telescopic rod 1204. The retaining ring 14 abuts against the rear side of the abutment block 1205.

[0033] The damping rod 10, spring 11, and limiting structure 12 work together to reduce the vibration received by the sensor module 13, thereby preventing the sensor module 13 from colliding with the inner wall of the housing 9 and increasing the service life of the sensor module 13.

[0034] Rotate the connecting block 1203 to disengage the abutment block 1205 from the limit of the retaining ring 14, thereby allowing the sensor module 13 to be disassembled. The structure is simple and easy to operate, reducing the maintenance time and cost of the sensor module 13 and enabling quick replacement of the appropriate sensor module 13.

[0035] Finally, it should be noted that the above are merely preferred embodiments of this utility model and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A shipborne sensor mounting structure, characterized in that, The device includes a cavity located at the bottom of the vessel, a cavity opening and closing mechanism, a sensor telescopic mechanism, a sensor rotating mechanism, and a fixed housing with the sensor embedded in it. The front of the sensor, serving as the sensing surface, faces outward. The sensor telescopic mechanism includes a vertically arranged electric push rod, one end of which is fixed to the top of the cavity, and the other end of which is connected to the sensor rotating mechanism. The sensor rotating mechanism includes a mounting plate connected to the other end of the electric push rod, a motor fixed on the mounting plate, and an outer frame connected to the fixed housing via a rotating shaft. The motor shaft is fixed to the outer frame. There are two sets of outer frames, and the centerlines of the rotating shafts corresponding to each set of outer frames are perpendicular to each other but not on the same plane.

2. The shipborne sensor mounting structure according to claim 1, characterized in that, The cavity opening and closing mechanism includes a telescopic door and a storage cavity located at the lower part of the cavity wall. When the telescopic door is extended, it can close the cavity. When the telescopic door is retracted, it can be stored in the storage cavity and the cavity is opened.

3. The shipborne sensor mounting structure according to claim 2, characterized in that, The fixed housing is cylindrical. Only the sensing probe of the sensor faces outward, while the rest is placed inside the fixed housing. The outer flange of the sensor is tightly attached to the opening end face of the fixed housing and is snapped together with the fixed housing.

4. The shipborne sensor mounting structure according to claim 3, characterized in that, The snap-fit ​​connection includes four sets of snaps. Each set of snaps includes a fixing block, a connecting rod and a telescopic rod parallel to the central axis of the cylinder, a connecting block, and an abutment block. One side of the fixing block is fixedly connected to the outer wall of the housing, and the other side is connected to one end of the connecting rod through a bearing. The other end of the connecting rod is fixedly connected to the connecting block. A telescopic rod is provided at the rear of the side of the connecting block away from the connecting rod. An abutment block is provided at the end of the telescopic rod. A spring is sleeved on the outer periphery of the telescopic rod. The two ends of the spring abut against the connecting block and the abutment block respectively, which can push the abutment block to press the outer peripheral flange of the sensor against the opening end face of the fixing housing.

5. The shipborne sensor mounting structure according to claim 4, characterized in that, One outer frame is C-shaped, with a pair of horizontally positioned rotating shafts at the opening, whose centerlines coincide. The rotating shafts are inserted into bearings pre-embedded in the fixed housing. The other outer frame has a rotating shaft in a vertical position, which is inserted into a bearing pre-embedded in the fixed housing from the bottom of the horizontally placed fixed housing. The centerlines of the rotating shafts are all orthogonal to the centerline of the housing.

6. The shipborne sensor mounting structure according to claim 5, characterized in that, A vertical groove is provided on the inner wall of the cavity, and the two sides of the mounting plate are set as sliders that can be adapted to the groove. One end of the electric push rod is fixed to the top of the cavity, and the other end is connected to the top of the mounting plate.

7. The shipborne sensor mounting structure according to claim 6, characterized in that, A damping rod is installed inside the fixed housing. One end of the damping rod is fixedly connected to the inner wall of the housing, and the other end abuts against the back of the sensor. A spring is sleeved on the outer wall of the damping rod.

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