Multi-functional box culvert detection unmanned ship

Abstract

The utility model discloses a kind of multifunctional box culvert detection unmanned ship, including detection unmanned ship body, the outer surface of this detection unmanned ship body is fixedly connected with lead-in line pole, and the connecting box perpendicularly welded with the one end of lead-in line pole;Collision separation mechanism for separating detection unmanned ship body and box culvert, including with the mounting outer frame of detection unmanned ship body through bolt fixation, the connecting rod of one end insertion mounting outer frame inside;Through the mounting outer frame and deflection component of design, under the separation effect of mounting outer frame and deflection component, make detection unmanned ship body and box culvert inner wall or obstacle separate, with the function of anti-collision, avoid the case that detection unmanned ship body directly collides with box culvert inner wall or obstacle and is damaged, electric push rod drive contact block is pressed against box culvert inner wall, make detection unmanned ship body and the inclination between box culvert inner wall, beneficial to the detection unmanned ship body of navigation leaving box culvert inner wall, with the function of anti-collision and change detection unmanned ship body angle.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned surface vessel (USV) technology for box culvert inspection, and specifically relates to a multifunctional unmanned surface vessel for box culvert inspection. Background Technology

[0002] Defects may exist in the underground pipe network of urban drainage culverts, such as outlets, seepage, and accumulation, which need to be detected. One commonly used detection equipment is a multi-functional unmanned surface vessel (USV). It is usually equipped with a high-definition pixel camera, a camera support gimbal, a lighting source, a lidar, a battery, and a data control box. When the USV is inspecting in the urban drainage culvert, it uses the principle of motor-driven propeller rotation to navigate the USV in the culvert. With the coordinated action of the high-definition pixel camera, lighting source, and lidar, it forms engineering inspection videos, providing intuitive images for subsequent analysis.

[0003] When testing unmanned surface vessels (USVs) navigating within urban drainage culverts, they may collide with narrow areas, corners, or obstacles due to operational errors, potentially damaging the hull, onboard cameras, etc. This indicates a defect where USVs collide with the inner walls of the culverts or obstacles, which needs to be improved.

[0004] Existing unmanned surface vessels (USVs) lack collision avoidance designs that separate the vessel hull from the inner wall of the culvert or obstacles when navigating and inspecting urban drainage culverts. To address this, this application proposes a multi-functional unmanned surface vessel for culvert inspection. Utility Model Content

[0005] The purpose of this utility model is to provide a multifunctional unmanned surface vessel for box culvert inspection, so as to solve the problem mentioned in the background art that the unmanned surface vessel does not have an anti-collision design that separates the hull from the inner wall of the box culvert or obstacles.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a multifunctional unmanned surface vessel for box culvert inspection, comprising...

[0007] The unmanned hull is inspected, and a lead rod and a connecting box are fixedly connected to one end of the lead rod on its outer surface.

[0008] The anti-collision separation mechanism for separating the detection unmanned vessel hull and the box culvert includes an outer frame fixed to the detection unmanned vessel hull by bolts, a connecting rod with one end inserted into the inner frame of the outer ...

[0009] The components located away from the junction box include a partition block installed inside the junction box, an electric actuator installed inside the junction box and perpendicular to the partition block, and a contact block fixedly connected to one end of the electric actuator that passes through the junction box and the mounting frame.

[0010] Preferably, the deflection assembly includes a guide rod that passes through the stabilizing frame, a sleeve sleeved on the outside of the guide rod, and a guide wheel that is rotatably connected to the sleeve via a bearing.

[0011] Preferably, the mounting frame has a "U" shaped structure, and the connecting rod inserted vertically into the mounting frame is perpendicular to the pressure plate. The pressure plate is matched with the shock-absorbing rubber pad and the pressure sensor.

[0012] Preferably, the lead rod is fixed to the hull of the unmanned vessel by bolts, and the lead rod and the connecting box are internally connected.

[0013] Preferably, the partition block is fixed to the symmetrically distributed electric actuators by bolts, and a sealing ring a is provided on one end of the mounting frame.

[0014] Preferably, a fixing plate is welded onto the mounting frame. The fixing plate includes a curved portion and a horizontal portion. A protruding plate is welded onto the horizontal portion. The top surface of the long strip protruding plate, which is rectangular in orthographic projection, is curved.

[0015] Preferably, a drive propeller is fixedly connected to the bottom of the detection unmanned vessel, a control box and a gimbal support plate are fixedly connected to the surface of the detection unmanned vessel, a lidar is electrically connected to the surface of the control box, and a rear lighting camera and a front lighting camera, which are electrically connected to the control box, are fixedly connected to the gimbal support plate.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. In this utility model, the designed mounting frame and deflection component separate the unmanned detection vessel from the inner wall of the culvert or obstacles, thus providing an anti-collision function and preventing the unmanned detection vessel from being damaged by direct collision with the inner wall of the culvert or obstacles.

[0018] 2. In this utility model, by designing a remote component and pressure sensor, under the action of continuous collision force, the pressure sensor under pressure transmits a signal that requires the electric push rod to be activated. The electric push rod drives the contact block to abut against the inner wall of the box culvert, so that the detection unmanned vessel body and the inner wall of the box culvert are tilted, which is conducive to the navigation of the detection unmanned vessel body leaving the inner wall of the box culvert, and has multiple functions. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a side view of the mounting frame of this utility model.

[0021] Figure 3 This is a cross-sectional view of the mounting frame of this utility model.

[0022] Figure 4 This is a cross-sectional view of the reinforcing box of this utility model;

[0023] In the diagram: 1. Unmanned surface vessel hull; 2. Mounting frame; 3. Stabilizing frame; 11. Drive propeller; 12. Control box; 13. LiDAR; 14. Gimbal support plate; 15. Rear lighting camera; 16. Front lighting camera; 21. Connecting rod; 22. Shock-absorbing rubber pad; 23. Pressure sensor; 24. Pressure plate; 41. Guide rod; 42. Sleeve; 43. Guide wheel; 51. Lead wire rod; 52. Connecting box; 53. Contact block; 54. Electric actuator; 61. Fixing plate; 62. Protruding plate; 521. Separator block. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figures 1 to 4This utility model provides a technical solution: a multifunctional unmanned surface vessel (USV) for box culvert inspection, comprising a USV hull 1, on which a lead rod 51 and a connecting box 52 perpendicularly welded to one end are fixedly connected to the outer surface of the USV hull 1. The lead rod 51 is fixed to the USV hull 1 by bolts, and a data cable led out from the USV hull 1 can pass through the inside of the lead rod 51, so that the data cable is electrically connected to an electric push rod 54 inside the connecting box 52. A collision-prevention separation mechanism for separating the USV hull 1 and the box culvert includes an outer mounting frame 2 fixed to the USV hull 1 by bolts, a connecting rod 21 with one end inserted into the outer mounting frame 2, a stabilizing frame 3 welded to the exposed end of the connecting rod 21, and a deflection assembly. Under the separation effect of the outer mounting frame 2 and the deflection assembly, the USV hull 1 is separated from the inner wall of the box culvert or obstacles, providing a collision-prevention function and preventing the USV hull 1 from being damaged by direct collision with the inner wall of the box culvert or obstacles. The internal components include a shock-absorbing rubber pad 22 and a pressure sensor 23, which are fixedly connected, and a pressure plate 24 fixedly connected to the end of the connecting rod 21. When the detection unmanned vessel 1 is close to the inner wall of the box culvert and continuously collides, the pressure plate 24 applies a force to the pressure sensor 23 under the action of the collision force, causing the pressure sensor 23 to transmit a signal that the electric push rod 54 needs to be activated. The components away from the box 52 include a partition block 521 installed inside the connecting box 52, an electric push rod 54 installed inside the connecting box 52 and perpendicular to the partition block 521, and a contact block 53 fixedly connected to one end of the electric push rod 54 that passes through the connecting box 52 and the mounting frame 2. After receiving the signal, the electric push rod 54 will be activated, changing from a shortened state to an extended state. The contact block 53 moves and abuts against the inner wall of the box culvert, creating an angle between the detection unmanned vessel 1 and the inner wall of the box culvert. This facilitates the navigation of the detection unmanned vessel 1 in a direction away from the inner wall of the box culvert, and has the function of adjusting the angle of the detection unmanned vessel 1.

[0026] In this embodiment, the deflection assembly includes a guide rod 41 that passes through the stabilizing frame 3, a sleeve 42 sleeved on the outside of the guide rod 41, and a guide wheel 43 rotatably connected to the sleeve 42 via a bearing. When the unmanned vessel 1 approaches the inner wall of the box culvert, the guide wheel 43 on the deflection assembly contacts the inner wall of the box culvert first, avoiding collision between the unmanned vessel 1 and the inner wall of the box culvert. In addition, the guide wheel 43 is rotatably connected to the sleeve 42, and the guide wheel 43 rotatably contacts the inner wall of the box culvert. During the collision, the contact posture can be adjusted by rotation. Compared with rigid collision, it can avoid the impact force of rigid collision being transmitted to the unmanned vessel 1 through the contact surface, thereby preventing deformation or breakage of the internal components of the unmanned vessel 1.

[0027] In this embodiment, the mounting frame 2 is a "U" shaped structure. The connecting rod 21, which is vertically inserted into the mounting frame 2, is perpendicular to the pressure plate 24. The pressure plate 24 matches the shock-absorbing rubber pad 22 and the pressure sensor 23. When the unmanned vessel hull 1 is detected to be close to the inner wall of the box culvert and continuously colliding, the pressure plate 24 applies a force to the pressure sensor 23 under the action of the collision force, so that the pressure sensor 23 transmits a signal that the electric push rod 54 needs to be activated.

[0028] In this embodiment, the lead rod 51 is fixed to the detection unmanned vessel 1 by bolts. The lead rod 51 and the internal connection box 52 are connected. The data line led out from the detection unmanned vessel 1 can pass through the inside of the lead rod 51, so that the data line is electrically connected to the electric push rod 54 inside the connection box 52.

[0029] In this embodiment, the partition block 521 is fixed to the symmetrically distributed electric actuators 54 by bolts. A sealing ring a is provided on one end of the mounting frame 2. The sealing ring a seals the piston rod of the electric actuator 54 and the mounting frame 2. The electric actuator 54 is a model with a protection level of IP67, which has the performance of dustproof and waterproof for a certain period of time.

[0030] In this embodiment, a fixing plate 61 is welded onto the mounting frame 2. The fixing plate 61 includes a curved part and a horizontal part. A protruding plate 62 is welded onto the horizontal part. The top surface of the long strip protruding plate 62, which is rectangular in orthographic projection, is curved. There is a gap between the top surface of the protruding plate 62 and the top surface of the front lighting camera 16 to prevent the top surface of the front lighting camera 16 from being hit.

[0031] In this embodiment, a drive propeller 11 is fixedly connected to the bottom of the detection unmanned vessel 1, and a control box 12 and a gimbal support plate 14 are fixedly connected to the surface of the detection unmanned vessel 1. A lidar 13 is electrically connected to the surface of the control box 12, and a rear lighting camera 15 and a front lighting camera 16, which are electrically connected to the control box 12, are fixed on the gimbal support plate 14. The detection unmanned vessel 1 uses a motor, coupling, and drive shaft to drive the drive propeller 11 to rotate. Various control devices for the lidar 13, the rear lighting camera 15, the front lighting camera 16, the pressure sensor 23, and the electric actuator 54 are installed inside the control box 12.

[0032] Working principle and usage process of this utility model:

[0033] When the unmanned vessel 1 is navigating and testing inside the box culvert and approaches the inner wall or obstacle of the box culvert, the outer frame 2 and the deflection component separate the unmanned vessel 1 from the inner wall or obstacle of the box culvert, thus providing a collision protection function and preventing the unmanned vessel 1 from being damaged by direct collision with the inner wall or obstacle of the box culvert.

[0034] The guide wheel 43 on the deflection assembly contacts the inner wall of the box culvert first to avoid collision between the unmanned detection vessel 1 and the inner wall of the box culvert.

[0035] In addition, the guide wheel 43 is rotatably connected to the sleeve 42, and the guide wheel 43 rotates and contacts the inner wall of the box culvert. During the collision, the contact posture can be adjusted by rotation. Compared with rigid collision, it can avoid the impact force of rigid collision from being transmitted to the detection unmanned vessel 1 through the contact surface, which would lead to deformation or breakage of the internal components of the detection unmanned vessel 1.

[0036] When the unmanned vessel 1 is detected to be close to and continuously colliding with the inner wall of the box duct, under the action of the continuous collision force, the pressure plate 24 applies a force to the pressure sensor 23, causing the pressure sensor 23 to transmit a signal that requires the electric push rod 54 to be activated.

[0037] When the electric actuator 54 receives a signal, it will start and change from the shortened state to the extended state. The contact block 53 moves and abuts against the inner wall of the box culvert, so that the detection unmanned vessel 1 and the inner wall of the box culvert are tilted, which is conducive to the navigation of the detection unmanned vessel 1 to sail away from the inner wall of the box culvert. It has the function of adjusting the angle of the detection unmanned vessel 1.

[0038] In summary: The detection unmanned vessel has a collision avoidance design that separates the hull from the inner wall of the box culvert or obstacles. With the separation effect of the outer frame 2 and the deflection component, the detection unmanned vessel hull 1 is separated from the inner wall of the box culvert or obstacles, thus having a collision avoidance function. The electric push rod 54 drives the contact block 53 to abut against the inner wall of the box culvert, so that the detection unmanned vessel hull 1 and the inner wall of the box culvert are tilted at an angle, which is conducive to the navigation of the detection unmanned vessel hull 1 away from the inner wall of the box culvert.

[0039] Although embodiments of the present invention have been shown and described (see the detailed description above), it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-functional unmanned surface vessel for box culvert inspection, characterized in that: include The unmanned vessel (1) is inspected. A lead rod (51) and a connecting box (52) are fixedly connected to one end of the lead rod (51) and welded perpendicularly to it. The anti-collision separation mechanism for separating the detection unmanned vessel hull (1) and the box culvert includes an installation frame (2) fixed to the detection unmanned vessel hull (1) by bolts, a connecting rod (21) with one end inserted into the installation frame (2), a stabilizing frame (3) welded to the exposed end of the connecting rod (21), and a deflection assembly. The installation frame (2) is provided with a shock-absorbing rubber pad (22) and a pressure sensor (23) fixedly connected inside, and a pressure plate (24) fixedly connected to the end of the connecting rod (21). The components away from the main components include a partition block (521) installed inside the connector box (52), an electric actuator (54) installed inside the connector box (52) and perpendicular to the partition block (521), and a contact block (53) fixedly connected to one end of the electric actuator (54) through the connector box (52) and the mounting frame (2).

2. The multifunctional unmanned surface vessel for box culvert inspection according to claim 1, characterized in that: The deflection assembly includes a guide rod (41) that passes through the stabilizing frame (3), a sleeve (42) sleeved on the outside of the guide rod (41), and a guide wheel (43) that is rotatably connected to the sleeve (42) via a bearing.

3. The multifunctional unmanned surface vessel for box culvert inspection according to claim 1, characterized in that: The mounting frame (2) has a "U" shaped structure. The connecting rod (21) inserted vertically into the mounting frame (2) is perpendicular to the pressure plate (24). The pressure plate (24) matches the shock-absorbing rubber pad (22) and the pressure sensor (23).

4. The multifunctional unmanned surface vessel for box culvert inspection according to claim 1, characterized in that: The lead rod (51) is fixed to the detection unmanned vessel hull (1) by bolts, and the lead rod (51) and the connecting box (52) are internally connected.

5. The multifunctional unmanned surface vessel for box culvert inspection according to claim 1, characterized in that: The separator (521) is fixed to the symmetrically distributed electric push rods (54) by bolts, and a sealing ring a is provided on one end of the mounting frame (2).

6. The multifunctional unmanned surface vessel for box culvert inspection according to claim 1, characterized in that: A fixing plate (61) is welded onto the mounting frame (2). The fixing plate (61) includes a curved part and a horizontal part. A protruding plate (62) is welded onto the horizontal part. The top surface of the long strip protruding plate (62), which is rectangular in orthographic projection, is curved.

7. The multifunctional unmanned surface vessel for box culvert inspection according to claim 1, characterized in that: A drive propeller (11) is fixedly connected to the bottom of the detection unmanned vessel (1). A control box (12) and a gimbal support plate (14) are fixedly connected to the surface of the detection unmanned vessel (1). A lidar (13) is electrically connected to the surface of the control box (12). A rear lighting camera (15) and a front lighting camera (16) that are electrically connected to the control box (12) are fixed on the gimbal support plate (14).

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