Unmanned ship with underwater obstacle avoidance mechanism

Abstract

The utility model relates to the field of unmanned ships, in particular to an unmanned ship with an underwater obstacle avoidance mechanism, which comprises a ship body, a storage groove is arranged on the ship body and positioned on the front side of a driving system, an obstacle avoidance protection unit is arranged at the storage groove and comprises an obstacle avoidance plate, and connecting rods are symmetrically connected onto the top inclined surface of the obstacle avoidance plate. According to the obstacle avoidance device, the obstacle avoidance plate is controlled to ascend and descend through the servo electric cylinder, the obstacle avoidance plate is contained in a ship body groove during normal sailing, streamline is kept, and resistance is reduced; when in danger, the front protective screen is formed through rapid unfolding, the semicircular convex plate disperses the impact force of reefs, the hollow obstacle avoidance convex block and the formed cavity are combined to reduce weight and absorb energy, the impact of rigid collision on the ship body is reduced, and the arranged obstacle avoidance protection unit can effectively play a role in avoiding collision of obstacles for propellers of the driving system. Therefore, the protection performance is improved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned surface vessel (USV) technology, and in particular to an USV equipped with an underwater obstacle avoidance mechanism. Background Technology

[0002] Unmanned surface vessels (USVs) are vessels that can autonomously or remotely navigate on or under water to perform missions. They are mainly used for patrol, anti-submarine warfare, and other tasks, and also have autonomous navigation and modular mission execution capabilities.

[0003] When underwater unmanned surface vessels (USVs) navigate in complex waters (such as coral reef areas, shipwreck areas, and areas with dense fishing nets), their propellers are easily struck or entangled by underwater obstacles, leading to damage or even failure of the propulsion system. In order to prevent damage to the propulsion drive system, the traditional obstacle avoidance method is to install a rigid protective net around the propeller. Although this can block large obstacles, it significantly increases the navigation resistance and cannot cope with flexible obstacles. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing an unmanned surface vessel equipped with an underwater obstacle avoidance mechanism.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An unmanned surface vessel (USV) equipped with an underwater obstacle avoidance mechanism includes a hull. A storage slot is provided on the front side of the drive system on the hull. An obstacle avoidance protection unit is provided in the storage slot. The obstacle avoidance protection unit includes an obstacle avoidance plate. Connecting rods are symmetrically connected to the top slope of the obstacle avoidance plate. The top of the connecting rods is connected to a servo electric cylinder installed in the internal installation compartment of the hull. Multiple semi-circular arc protrusions are provided in the middle of the bottom slope of the obstacle avoidance plate. Obstacle avoidance protrusions are symmetrically installed on both sides of the semi-circular arc protrusions. A cutting unit is symmetrically and horizontally arranged on the top of the obstacle avoidance plate.

[0007] In addition, a preferred structure is that the top of the connecting rod is provided with a piston rod connector for connecting the piston rod at the bottom output end of the servo electric cylinder, and the bottom of the connecting rod is provided with a barrier plate connector for connecting the barrier plate.

[0008] In addition, a preferred structure is that the top inclined surface of the obstacle avoidance plate has a mounting hole, the obstacle avoidance plate connector is installed at the mounting hole, and multiple openings are formed through the obstacle avoidance plate.

[0009] In addition, a preferred structure is that the obstacle avoidance protrusion includes a block, with mounting plates symmetrically arranged on both sides of the block. The mounting plates are used to be installed on the obstacle avoidance plate, and the obstacle avoidance protrusion has a cavity.

[0010] Furthermore, in a preferred configuration, the cutting unit includes a mounting base, which is mounted on the inclined surface on the front side of the obstacle avoidance plate, and each mounting base is provided with a cutting blade.

[0011] The beneficial effects of this utility model are as follows: This utility model controls the raising and lowering of the obstacle avoidance plate through a servo electric cylinder. During normal navigation, it is stored in the hull groove to maintain a streamlined shape and reduce resistance. In case of danger, it quickly unfolds to form a front protective barrier. The semi-circular arc convex plate disperses the impact force of the reef. Combined with the hollow design of the obstacle avoidance protrusion, the cavity is designed to reduce weight and absorb energy, reducing the impact of rigid collisions on the hull. The obstacle avoidance protection unit can effectively prevent the propeller of the drive system from being hit by obstacles, thereby improving its protective performance. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the bottom structure of the unmanned surface vessel;

[0013] Figure 2 This is a schematic diagram of the structure above the unmanned surface vessel;

[0014] Figure 3 This is a schematic diagram of the internal structure of an unmanned surface vessel;

[0015] Figure 4 This is a schematic diagram of the overall structure of the obstacle avoidance and protection unit;

[0016] Figure 5 A structural diagram showing the components installed on the obstacle avoidance plate;

[0017] Figure 6 This is a schematic diagram of the structure after the connecting rod and the obstacle avoidance plate are separated;

[0018] Figure 7 This is a structural diagram of the obstacle avoidance plate and its components after disassembly.

[0019] Figure 8 This is a schematic diagram of the obstacle avoidance bump.

[0020] In the diagram: 01 Hull, 011 Storage slot, 012 Installation compartment, 02 Obstacle avoidance protection unit, 03 Drive system, 1 Servo electric cylinder, 2 Connecting rod, 21 Piston rod connector, 22 Obstacle avoidance plate connector, 3 Obstacle avoidance plate, 31 Mounting hole, 32 Opening, 4 Obstacle avoidance protrusion, 41 Block, 42 ​​Mounting plate, 43 Cavity, 5 Semi-circular arc protrusion, 6 Cutting unit, 61 Cutting blade, 62 Mounting base. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0022] Reference Figure 1-8An unmanned surface vessel (USV) equipped with an underwater obstacle avoidance mechanism includes a hull 01. The hull 01 has a storage slot 011 located on the front side of a drive system 03. An obstacle avoidance protection unit 02 is installed in the storage slot 011. The obstacle avoidance protection unit 02 includes an obstacle avoidance plate 3. Connecting rods 2 are symmetrically connected to the top inclined surface of the obstacle avoidance plate 3. The top of the connecting rods 2 is connected to a servo electric cylinder 1 installed in an internal mounting compartment 012 of the hull 01. Multiple semi-circular arc protrusions 5 are provided in the middle of the bottom inclined surface of the obstacle avoidance plate 3. Obstacle avoidance protrusions 4 are symmetrically installed on both sides of the semi-circular arc protrusions 5. A cutting unit 6 is symmetrically and horizontally arranged on the top of the obstacle avoidance plate 3. By raising and lowering the obstacle avoidance plate 3, it can cope with complex underwater structures and prevent them from damaging the propeller of the existing drive system 03.

[0023] The connecting rod 2 has a piston rod connector 21 at the top for connecting the piston rod at the bottom output end of the servo cylinder 1, and a barrier plate connector 22 at the bottom for connecting the barrier plate 3. The connecting rod 2 is used to connect the servo cylinder 1 and the barrier plate 3.

[0024] In addition, a mounting hole 31 is provided on the top inclined surface of the obstacle avoidance plate 3, and the obstacle avoidance plate connector 22 is installed at the mounting hole 31. Multiple openings 32 are provided through the obstacle avoidance plate 3 to reduce the resistance of the obstacle avoidance plate 3.

[0025] Furthermore, the obstacle avoidance protrusion 4 includes a block 41, with mounting plates 42 symmetrically arranged on both sides of the block 41. The mounting plates 42 are used to be installed on the obstacle avoidance plate 3. A cavity 43 is provided on the obstacle avoidance protrusion 4, and the cavity 43 reduces the weight of the obstacle avoidance protrusion 4.

[0026] Meanwhile, the cutting unit 6 includes a mounting base 62, which is installed on the front inclined surface of the obstacle avoidance plate 3. Each mounting base 62 is provided with a cutting blade 61, which is used for cutting.

[0027] In this embodiment, when the unmanned surface vessel (USV) traverses complex underwater terrain, it can use the obstacle avoidance protection unit 02 to avoid obstacles. The piston rod at the bottom of the servo cylinder 1 extends out, and the connection between the piston rod and the hull 01 is sealed. The piston rod of the servo cylinder 1 pushes out the connecting rod 2, causing the obstacle avoidance plate 3 to detach from the storage slot 011. The obstacle avoidance plate 3 blocks the front of the drive system 03. When the hull 01 is traveling forward, the obstacle avoidance plate 3, together with the obstacle avoidance protrusion 4 and the semi-circular arc protrusion 5, can partially block some coral reefs and prevent them from damaging the drive system 03. Even if it hits a reef, only the obstacle avoidance plate 3, the obstacle avoidance protrusion 4, and the semi-circular arc protrusion 5 will be damaged. Thus, all components can be replaced and the cost is low. At the same time, the cutting blade 61 can cut part of the rope to prevent it from getting tangled on the propeller of the drive system 03.

[0028] In this invention, the obstacle avoidance plate 3 is raised and lowered by a servo electric cylinder 1. During normal navigation, it is stored in the hull 01 groove to maintain a streamlined shape and reduce resistance. In case of danger, it is quickly deployed to form a front protective barrier. The semi-circular arc protrusion 5 disperses the impact force of the reef. Combined with the hollow design of the obstacle avoidance protrusion 4, the cavity 43 reduces weight and absorbs energy, reducing the impact of rigid collisions on the hull. The obstacle avoidance protection unit 02 can effectively prevent the propeller of the drive system 03 from being hit by obstacles, thereby improving its protective performance.

[0029] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An unmanned surface vessel equipped with an underwater obstacle avoidance mechanism, comprising a hull (01), characterized in that, A storage slot (011) is provided on the hull (01) in front of the drive system (03). An obstacle avoidance protection unit (02) is provided in the storage slot (011). The obstacle avoidance protection unit (02) includes an obstacle avoidance plate (3). A connecting rod (2) is symmetrically connected to the top slope of the obstacle avoidance plate (3). The top of the connecting rod (2) is connected to the servo electric cylinder (1) installed in the installation compartment (012) inside the hull (01). A plurality of semi-circular arc protrusions (5) are provided in the middle of the bottom slope of the obstacle avoidance plate (3). Obstacle avoidance protrusions (4) are symmetrically installed on both sides of the semi-circular arc protrusions (5). A cutting unit (6) is symmetrically and horizontally arranged on the top of the obstacle avoidance plate (3).

2. The unmanned surface vessel equipped with an underwater obstacle avoidance mechanism according to claim 1, characterized in that, The top of the connecting rod (2) is provided with a piston rod connector (21) for connecting the piston rod at the bottom output end of the servo electric cylinder (1), and the bottom of the connecting rod (2) is provided with a barrier plate connector (22) for connecting the barrier plate (3).

3. An unmanned surface vessel equipped with an underwater obstacle avoidance mechanism according to claim 2, characterized in that, The top inclined surface of the obstacle avoidance plate (3) is provided with an installation hole (31), the obstacle avoidance plate connector (22) is installed at the installation hole (31), and multiple openings (32) are provided through the obstacle avoidance plate (3).

4. An unmanned surface vessel equipped with an underwater obstacle avoidance mechanism according to claim 1, characterized in that, The obstacle avoidance protrusion (4) includes a block (41), and mounting plates (42) are symmetrically arranged on both sides of the block (41). The mounting plates (42) are used to be installed on the obstacle avoidance plate (3). A cavity (43) is opened on the obstacle avoidance protrusion (4).

5. An unmanned surface vessel equipped with an underwater obstacle avoidance mechanism according to claim 1, characterized in that, The cutting unit (6) includes a mounting base (62), which is installed on the front inclined surface of the obstacle avoidance plate (3). Each mounting base (62) is provided with a cutting blade (61).

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