Unmanned ship detection device mounting structure and unmanned ship

Abstract

This disclosure relates to an unmanned surface vessel (USV) detection equipment mounting structure and the USV itself, which has extended and folded states. The structure comprises a first part, a second part, and a third part rotatably connected in sequence. The first part is fixedly connected to the bottom of the USV, and the third part is equipped with underwater detection equipment. Deflection mechanisms are provided between the first and second parts, and between the second and third parts. Each deflection mechanism includes a motor, an eccentric wheel, and a torque sensor. The motor is driven by the eccentric wheel, and the torque sensor monitors torque changes during rotation. The mechanism is configured such that when the torque detected by the torque sensor exceeds a preset range, the corresponding eccentric wheel slips. Through this technical solution, the USV detection equipment mounting structure, with its extended and folded states, effectively solves the problems existing in current mounting structures regarding storage, transportation, deployment and recovery, and obstacle avoidance, thereby improving the safety and convenience of using the USV.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned surface vessel (USV) technology, specifically to an installation structure for an USV detection device and an USV. Background Technology

[0002] With the rapid development of marine resource development, marine monitoring, maritime rescue, and military security, unmanned surface vessels (USVs), as intelligent devices capable of autonomously performing tasks in complex marine environments, are becoming increasingly important. USVs, equipped with various detection devices such as sonar, radar, optical cameras, and water quality sensors, collect and monitor information on marine targets, underwater topography, and marine environmental parameters. These devices need to operate at a certain depth to obtain accurate data.

[0003] To increase the attitude stability of unmanned surface vessel (USV) detection equipment and reduce the impact of propulsion system vibration and noise, as well as surface waves, on underwater detection equipment and sensors, existing USVs typically employ a screw-connected structure. This structure secures the lower extension to the bottom of the USV, allowing the underwater detection equipment and sensors to be mounted on the lower part of the extension. However, this mounting method has the following problems:

[0004] 1. When storing and placing unmanned surface vessels (USVs) after they leave the water, the presence of the lower extension structure necessitates a relatively high support frame to hold the USV and protect it from collisions with the ship's hull. An excessively high center of gravity makes the USV highly unstable, especially on a swaying mother ship or a bumpy car. This storage method is even more dangerous, requiring reinforcement of the mounting frame and the USV to ensure safety during storage and transportation. This undoubtedly increases the complexity and cost of operations.

[0005] 2. The excessively high installation position requires operators to stand at a high position to assist in securing and releasing the deployment and installation structures during the deployment and recovery of the unmanned surface vessel. Performing such operations on a violently rocking mother ship greatly increases the risk to the operators.

[0006] 3. During the unmanned surface vessel's navigation, the detection equipment may encounter underwater obstacles such as reefs and shipwrecks, which may easily lead to damage to the detection equipment. Utility Model Content

[0007] The purpose of this disclosure is to provide an installation structure for an unmanned surface vessel (USV) detection device. This installation structure has an extended state and a folded state, which can effectively solve the problems existing in the storage, transportation, deployment and recovery, and navigation obstacle avoidance of the existing installation structures, and improve the safety and convenience of using USVs.

[0008] To achieve the above objectives, this disclosure provides an unmanned surface vessel (USV) detection equipment mounting structure, which has an extended state and a folded state, and includes a first part, a second part, and a third part rotatably connected in sequence. The first part is fixedly connected to the bottom of the USV, and the underwater detection equipment is mounted on the third part. A deflection mechanism is provided between the first part and the second part, and between the second part and the third part. The deflection mechanism includes a motor, an eccentric wheel, and a torque sensor. The motor is driven by the eccentric wheel to drive the second part and the third part to rotate clockwise through the two eccentric wheels, and to be in the extended state; or to drive the second part and the third part to rotate counterclockwise through the two eccentric wheels, and to be in the folded state. The torque sensor is used to monitor the torque change during the rotation process, and is configured such that when the torque detected by the torque sensor exceeds a preset range, the corresponding eccentric wheel slips.

[0009] Optionally, in the extended state, the underwater detection device descends below the water surface; in the folded state, the underwater detection device rises to a position close to the bottom of the unmanned vessel.

[0010] Optionally, the length of the second part is greater than the length of the third part. In the folded state, the second part, the third part, and the unmanned surface vessel are parallel, and the second part at least partially overlaps with the third part.

[0011] Optionally, the second part is provided with mounting slots at both ends, and the motor and the torque sensor are installed in the corresponding mounting slots. The opening of the mounting slot is provided with a waterproof seal.

[0012] Optionally, a receiving cavity for accommodating cables is formed between the waterproof seal and the mounting groove.

[0013] Optionally, the first part and the third part are provided with circular holes corresponding to the deflection mechanism. The deflection mechanism also includes a main shaft, one end of which is connected to the motor for transmission, and the other end of which is connected to the eccentric wheel for transmission. The eccentric wheel is located in the corresponding circular hole, and the outer circumferential surface of the eccentric wheel is in movable contact with the inner wall of the circular hole.

[0014] Optionally, it may also include a first bearing and a second bearing, the first bearing and the second bearing being used to support the spindle and the motor shaft, respectively.

[0015] Based on the above solutions, this disclosure also provides an unmanned surface vessel (USV) including the above-mentioned USV detection equipment installation structure.

[0016] Through the above technical solution, the installation structure of the unmanned surface vessel (USV) detection equipment provided in this disclosure has a foldable state. When the USV is out of the water for storage and placement, the underwater detection equipment can be folded to a position close to the bottom of the USV, which lowers the center of gravity of the USV. This eliminates the need for excessively tall installation brackets, reduces the need for bracket reinforcement, and lowers the risks of storage and transportation. It also simplifies the operation process and reduces operating costs. In addition, in the folded state, the underwater detection equipment is close to the bottom of the USV. During the deployment and retrieval of the USV, operators do not need to stand in an excessively high position to operate, especially on a violently rocking mother ship. This greatly reduces the risk factor for operators and improves the safety of the deployment and retrieval process.

[0017] In addition, this application sets up a torque sensor and an eccentric wheel slippage mechanism. When the installation structure of the unmanned surface vessel (USV) detection equipment encounters an obstacle and the torque detected by the torque sensor exceeds the preset range, the eccentric wheel corresponding to the torque sensor slips, causing the second or third part to rotate counterclockwise. This avoids excessive compression between the USV detection equipment installation structure and the obstacle, thus effectively protecting the underwater detection equipment from damage and improving the reliability of the USV in performing missions in complex marine environments.

[0018] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of the installation structure of the unmanned surface vessel (USV) detection equipment and the installation of the USV provided in the embodiments of this disclosure;

[0021] Figure 2 This is another schematic diagram of the installation structure of the unmanned surface vessel (USV) detection equipment and the USV provided in the embodiments of this disclosure;

[0022] Figure 3 This is an exploded view of the installation structure of the unmanned surface vessel detection equipment provided in the embodiments of this disclosure;

[0023] Figure 4 This is a schematic diagram of the installation structure of the unmanned surface vessel detection equipment provided in the embodiments of this disclosure;

[0024] Figure 5 yes Figure 4 Sectional view along the AA direction.

[0025] Explanation of reference numerals in the attached figures

[0026] 1. First part; 10. Unmanned surface vessel; 2. Second part; 21. Mounting slot; 22. Circular hole; 3. Third part; 4. Underwater detection equipment; 5. Deflection mechanism; 51. Motor; 52. Eccentric wheel; 53. Torque sensor; 54. Main shaft; 6. Waterproof seal; 61. Receiving cavity; 7. First bearing; 8. Second bearing. Detailed Implementation

[0027] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0028] In this disclosure, unless otherwise stated, directional terms such as "top" and "bottom" refer to the top and bottom along the height direction in the usage state of this disclosure. Furthermore, the terms "first," "second," etc., used in this disclosure are for distinguishing one element from another and do not have sequential or importance implications. In the following description, when referring to the accompanying drawings, unless otherwise explained, the same reference numerals in different drawings denote the same or similar elements. The above definitions are for explanation and illustration only and should not be construed as limiting this disclosure.

[0029] According to exemplary embodiments of this disclosure, reference is made to Figures 1 to 5 As shown, an unmanned surface vessel (USV) detection equipment mounting structure is provided, which has an extended state and a folded state, and includes a first part 1, a second part 2, and a third part 3 that are rotatably connected in sequence. The first part 1 is fixedly connected to the bottom of the USV 10, and an underwater detection device 4 is installed on the third part 3. A deflection mechanism 5 is provided between the first part 1 and the second part 2, and between the second part 2 and the third part 3. The deflection mechanism 5 includes a motor 51, an eccentric wheel 52, and a torque sensor 53. The motor 51 is driven by the eccentric wheel 52, so that the second part 2 and the third part 3 are rotated clockwise through the two eccentric wheels 52 and are in the extended state; or the second part 2 and the third part 3 are rotated counterclockwise through the two eccentric wheels 52 and are in the folded state. The torque sensor 53 is used to monitor the torque change during the rotation process, and is configured such that when the torque detected by the torque sensor 53 exceeds a preset range, the corresponding eccentric wheel 52 slips.

[0030] Through the above technical solution, the installation structure of the unmanned surface vessel (USV) detection equipment provided in this disclosure has a foldable state. When the USV 10 is out of the water for storage and placement, the underwater detection equipment 4 can be folded to a position close to the bottom of the USV 10, which lowers the center of gravity of the USV 10. It eliminates the need for excessively tall installation brackets, reduces the need for bracket reinforcement, and reduces the danger of storage and transportation. It also simplifies the operation process and reduces operating costs. In addition, in the folded state, the underwater detection equipment 4 is close to the bottom of the USV 10. During the deployment and recovery of the USV 10, the operators do not need to stand in an excessively high position to operate, especially on the mother ship which is rocking violently. This greatly reduces the risk factor for the operators and improves the safety of the deployment and recovery process.

[0031] In addition, this application sets up a slippage mechanism between the torque sensor 53 and the eccentric wheel 52. When the installation structure of the unmanned surface vessel (USV) detection equipment encounters an obstacle and the torque detected by the torque sensor 53 exceeds the preset range, the eccentric wheel 52 corresponding to the torque sensor 53 slips, causing the second part 2 or the third part 3 to rotate counterclockwise. This avoids the USV detection equipment installation structure from colliding head-on with the obstacle and causing damage, thereby effectively protecting the underwater detection equipment 4 from damage and improving the reliability of the USV 10 in performing missions in complex marine environments.

[0032] In the above technical solution, when the torque detected by the torque sensor 53 exceeds the preset range, it means that the installation structure of the unmanned surface vessel detection equipment may encounter an obstacle. At this time, the eccentric wheel 52 slips, and the two deflection mechanisms 5 drive the second part 2 and the third part 3 to rotate counterclockwise, so that the second part 2 and the third part 3 can avoid the obstacle. Through the mechanism based on torque monitoring and the slippage of the eccentric wheel 52, underwater obstacles can be dealt with in a timely and effective manner, avoiding damage to the installation structure of the unmanned surface vessel detection equipment, and improving the reliability and safety of the unmanned surface vessel 10 in performing tasks in complex marine environments.

[0033] It should be noted that when the unmanned surface vessel (USV) detection equipment mounting structure is folded, the eccentric wheels 52 of both deflection mechanisms 5 can rotate counterclockwise, keeping the USV detection equipment mounting structure in a folded state. However, during underwater detection operations, the eccentric wheels 52 of the two deflection mechanisms 5 can rotate according to the actual usage situation. For example, when the second part 2 encounters an obstacle, the torque sensor 53 of the deflection mechanism 5 located between the first part 1 and the second part 2 detects a torque exceeding the preset range, causing the corresponding eccentric wheel 52 to slip, thus driving the second part 2 to rotate counterclockwise and avoid the obstacle. At this time, the third part 3 and the deflection mechanism 5 located between the second part 2 and the third part 3 rotate synchronously with the second part 2. In other words, the eccentric wheels 52 of the deflection mechanism 5 located between the second part 2 and the third part 3 remain locked (i.e., no slippage occurs).

[0034] Similarly, when the third part 3 encounters an obstacle, the torque sensor 53 of the deflection mechanism 5 located between the second part 2 and the third part 3 detects a torque exceeding the preset range, causing the eccentric wheel 52 of the deflection mechanism 5 located between the second part 2 and the third part 3 to slip, causing the third part 3 to rotate counterclockwise relative to the second part 2. At this time, the eccentric wheel 52 of the deflection mechanism 5 located between the first part 1 and the second part 2 remains locked (i.e., no slippage occurs). This helps to reduce the risk of obstacles damaging the installation structure of the unmanned surface vessel detection equipment.

[0035] The slippage mechanism of the eccentric wheel 52 can employ a friction-type slippage structure or any other suitable structure; this disclosure does not impose specific limitations on this. When a friction-type slippage structure is used, an annular friction plate can be installed at the connection between the main shaft 54 ​​and the eccentric wheel 52. One side of the friction plate is fixed to the main shaft 54 ​​via a keyway, and the other side contacts the inner wall of the eccentric wheel 52. A compression spring is installed at the end of the main shaft 54, and the spring preload is adjusted by a nut to maintain a constant frictional force between the friction plate and the inner wall of the eccentric wheel 52. In this way, during normal rotation, the motor 51 transmits torque through the main shaft 54, and the frictional force between the friction plate and the eccentric wheel 52 is sufficient to drive its rotation, achieving extension or folding actions. When the torque sensor 53 detects that the torque exceeds the limit (such as a collision), the frictional force between the friction plate and the eccentric wheel 52 is less than the resistance of the obstacle, and the two slide relative to each other (i.e., slippage). The main shaft 54 ​​rotates freely while the eccentric wheel 52 stops driving the components, avoiding hard collisions and protecting the installation structure of the unmanned surface vessel detection equipment.

[0036] In the specific embodiments provided in this disclosure, in the extended state, the underwater detection device 4 descends below the water surface; in the folded state, the underwater detection device 4 rises to a position close to the bottom of the unmanned surface vessel 10. Through this configuration, in the extended state, the underwater detection device 4 descends below the water surface, ensuring that it can perform data acquisition and monitoring at a suitable depth, meeting the needs of the unmanned surface vessel 10 in performing its detection tasks. In the folded state, the underwater detection device 4 rises to a position close to the bottom of the unmanned surface vessel 10. This design effectively lowers the center of gravity of the unmanned surface vessel 10 during storage and transportation, reduces the height requirements for the mounting bracket, improves the stability and safety of the unmanned surface vessel 10 during storage and transportation, and also facilitates the deployment and retrieval operations of the unmanned surface vessel 10, reducing the risk factor for operators.

[0037] In the specific embodiments provided in this disclosure, reference is made to Figures 1 to 4As shown, the length of the second part 2 can be greater than the length of the third part 3. In the folded state, the second part 2, the third part 3, and the unmanned surface vessel 10 are parallel, and the second part 2 at least partially overlaps with the third part 3. This arrangement makes the folded structure more compact and occupies less space, further optimizing the convenience of storing and transporting the unmanned surface vessel 10. It also helps reduce the risk of collision damage to the installation structure in the folded state and can protect the underwater detection equipment 4.

[0038] In the specific embodiments provided in this disclosure, reference is made to Figure 5 As shown, the two ends of the second part 2 can be respectively provided with mounting slots 21. The motor 51 and the torque sensor 53 are installed in the corresponding mounting slots 21. The opening of the mounting slot 21 is detachably provided with a waterproof seal 6. This arrangement facilitates the installation and maintenance of the motor 51 and the torque sensor 53, and also makes the entire installation structure more compact. Here, the waterproof seal 6 can effectively prevent seawater from entering the mounting slot 21, protecting the motor 51 and the torque sensor 53 from seawater corrosion, and improving the working stability and service life of the equipment in the marine environment.

[0039] In this disclosure, the dimensions of the mounting slot 21 are precisely designed according to the size of the motor 51 and the torque sensor 53 to ensure that the motor 51 and the torque sensor 53 can be tightly installed in the mounting slot 21.

[0040] In the specific embodiments provided in this disclosure, reference is made to Figure 2 , Figure 3 and Figure 5 As shown, a receiving cavity 61 for accommodating cables can be formed between the waterproof seal 6 and the mounting groove 21. The arrangement of the receiving cavity 61 allows for the proper placement of cables for components such as the motor 51 and torque sensor 53, preventing cables from being pulled and damaged during the rotation of the installation structure. It also further enhances the waterproof performance of the overall structure, ensuring that the cables can work normally in a humid marine environment, and improving the reliability and stability of the installation structure.

[0041] In this disclosure, a groove can be made at the opening of the mounting groove 21 for embedding the waterproof seal 6, while leaving a gap between the waterproof seal 6 and the bottom wall of the groove so that the space where this gap is located can be used as a receiving cavity 61 for accommodating cables.

[0042] In the specific embodiments provided in this disclosure, reference is made to Figure 3 and Figure 5As shown, the first part 1 and the third part 3 may be provided with circular holes 22 corresponding to the deflection mechanism 5. The deflection mechanism 5 also includes a main shaft 54, one end of which is connected to the motor 51 for transmission, and the other end of which is connected to the eccentric wheel 52 for transmission. The eccentric wheel 52 is located in the corresponding circular hole 22, and the outer circumferential surface of the eccentric wheel 52 is in movable contact with the inner wall of the circular hole 22. With this arrangement, the eccentric wheel 52 can stably drive the second part 2 and the third part 3 to rotate during rotation, ensuring the reliability of the installation structure during extension and folding. It also facilitates the installation and disassembly of the deflection mechanism 5, and makes the maintenance and repair of the equipment convenient. The main shaft 54 ​​and the motor 51 can be connected by a coupling.

[0043] In the specific embodiments provided in this disclosure, reference is made to Figure 3 and Figure 5 As shown, the unmanned surface vessel (USV) detection equipment mounting structure may further include a first bearing 7 and a second bearing 8, which respectively support the rotating shafts of the main shaft 54 ​​and the motor 51. This reduces frictional resistance during rotation, improving the smoothness and stability of the rotation of the motor 51 and the main shaft 54. Furthermore, by providing the first bearing 7 and the second bearing 8, wear on the motor 51 and the main shaft 54 ​​during rotation can be reduced, extending the service life of the equipment and ensuring the long-term stable operation of the USV detection equipment mounting structure, thereby improving the overall performance and reliability of the USV 10.

[0044] In this disclosure, a bearing mounting base can be provided to mount the motor 51 and the spindle 54 in the mounting groove 21.

[0045] Based on the above technical solutions, this disclosure also provides an unmanned surface vessel 10, including the above-mentioned unmanned surface vessel detection equipment installation structure. The unmanned surface vessel 10 provided in this disclosure also has the above-mentioned features, and will not be described again here to avoid repetition.

[0046] Reference Figures 1 to 5 As shown, the usage process of the unmanned surface vessel detection equipment installation structure disclosed herein is detailed below:

[0047] The first part 1 of the unmanned surface vessel (USV) detection equipment mounting structure is connected to the bottom of the USV 10. When the underwater detection equipment 4 is needed to perform an underwater detection task, the motor 51 is started. The motor 51 drives the second part 2 and the third part 3 to rotate clockwise through the eccentric wheel 52, so that the USV detection equipment mounting structure changes from a folded state to an extended state. The underwater detection equipment 4 descends to a predetermined depth below the water surface to work. During the rotation, the torque sensor 53 monitors the torque change in real time and feeds the data back to the control system of the USV 10.

[0048] When the unmanned surface vessel 10 completes its exploration mission and needs to be stored or transported, the motor 51 is restarted, causing the motor 51 to drive the second part 2 and the third part 3 to rotate counterclockwise through the eccentric wheel 52, converting the installation structure into a folded state. The underwater exploration equipment 4 rises to a position close to the bottom of the unmanned surface vessel 10, lowering the center of gravity of the unmanned surface vessel 10, making it easier to store and transport.

[0049] During the navigation of the unmanned surface vessel 10, if the second part 2 encounters an obstacle, such as a reef or a shipwreck, the torque detected by the torque sensor 53 will exceed the preset range. At this time, the corresponding eccentric wheel 52 will slip, causing the second part 2 to rotate counterclockwise. This will cause the third part 3 and the deflection mechanism 5 located between the second part 2 and the third part 3 to rotate synchronously with the second part 2 and move away from the obstacle. Similarly, if the third part 3 encounters an obstacle, the slippage mechanism of the torque sensor 53 and the eccentric wheel 52 will also protect the third part 3 and the underwater detection equipment 4 located in the third part 3. In this way, the overall structure of the detection equipment installation of this unmanned surface vessel can be reliably protected.

[0050] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0051] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0052] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. An installation structure for an unmanned surface vessel (USV) detection device, characterized in that, It has an extended state and a folded state, and includes a first part (1), a second part (2), and a third part (3) that are rotatably connected in sequence. The first part (1) is fixedly connected to the bottom of the unmanned surface vessel (10), and an underwater detection device (4) is installed on the third part (3). A deflection mechanism (5) is provided between the first part (1) and the second part (2), and between the second part (2) and the third part (3). The deflection mechanism (5) includes a motor (51), an eccentric wheel (52), and a torque sensor (53). The motor (51) is connected to the eccentric wheel (52) for transmission, so that the second part (2) and the third part (3) are rotated clockwise through the two eccentric wheels (52) and are in the extended state; or the second part (2) and the third part (3) are rotated counterclockwise through the two eccentric wheels (52) and are in the folded state. The torque sensor (53) is used to monitor the torque change during the rotation process, and is configured such that when the torque detected by the torque sensor (53) exceeds a preset range, the corresponding eccentric wheel (52) slips.

2. The installation structure for the unmanned surface vessel detection equipment according to claim 1, characterized in that, In the extended state, the underwater detection device (4) descends below the water surface; in the folded state, the underwater detection device (4) rises to a position close to the bottom of the unmanned vessel (10).

3. The installation structure for the unmanned surface vessel detection equipment according to claim 2, characterized in that, The length of the second part (2) is greater than the length of the third part (3). In the folded state, the second part (2), the third part (3) and the unmanned vessel (10) are parallel, and the second part (2) overlaps with the third part (3) at least partially.

4. The installation structure for the unmanned surface vessel detection equipment according to claim 1, characterized in that, The second part (2) has mounting slots (21) at both ends. The motor (51) and the torque sensor (53) are installed in the corresponding mounting slots (21). A waterproof seal (6) is detachably provided at the opening of the mounting slot (21).

5. The installation structure for the unmanned surface vessel detection equipment according to claim 4, characterized in that, A receiving cavity (61) for accommodating cables is formed between the waterproof seal (6) and the mounting groove (21).

6. The installation structure for the unmanned surface vessel detection equipment according to claim 4, characterized in that, The first part (1) and the third part (3) are provided with circular holes (22) corresponding to the deflection mechanism (5). The deflection mechanism (5) also includes a main shaft (54). One end of the main shaft (54) is connected to the motor (51) for transmission, and the other end of the main shaft (54) is connected to the eccentric wheel (52) for transmission. The eccentric wheel (52) is located in the corresponding circular hole (22), and the outer circumferential surface of the eccentric wheel (52) is in movable contact with the inner wall of the circular hole (22).

7. The installation structure for the unmanned surface vessel detection equipment according to claim 6, characterized in that, It also includes a first bearing (7) and a second bearing (8), which are used to support the main shaft (54) and the rotating shaft of the motor (51), respectively.

8. An unmanned surface vessel, characterized in that, The unmanned surface vessel (USV) detection equipment installation structure includes any one of claims 1-7.

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