An unmanned vessel collision avoidance mechanism

Abstract

This utility model discloses an unmanned surface vessel (USV) collision avoidance mechanism, comprising a mounting plate fixed to the hull and a storage sleeve connected below the mounting plate. U-shaped side clamps are movably connected to both ends of the storage sleeve. Horizontal damping buffer assemblies connected to the U-shaped side clamps are located inside both ends of the storage sleeve. Collision side wheels for impact contact are mounted on the U-shaped side clamps. A T-shaped plate is movably connected to the bottom of the storage sleeve, and a vertical damping buffer assembly connected to the T-shaped plate is located inside the bottom of the storage sleeve. A support structure is fixedly connected to the vertical portion of the T-shaped plate. The support structure has a fan-shaped connecting plate, and the fan-shaped connecting plate has several collision wheel assemblies detachably connected to it. This collision avoidance mechanism is installed at the bow and stern of the vessel and can handle two types of collisions through the collision wheels and buffer assemblies, preventing damage to the hull.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vessel technology, and in particular to an unmanned vessel anti-collision mechanism. Background Technology

[0002] Unmanned surface vessels (USVs) are fully automated surface robots that can navigate on water according to their intended missions without remote control, relying on precise satellite positioning and their own sensors.

[0003] When unmanned vessels are in operation, they are prone to collisions, so collision protection is necessary.

[0004] During the navigation of unmanned vessels, due to various unexpected factors, the vessel may collide with the water and shore, especially the bow or stern. In severe cases, such collisions may even cause the unmanned vessel to malfunction.

[0005] Therefore, an unmanned vessel collision avoidance mechanism is provided. Utility Model Content

[0006] This utility model aims to at least partially solve one of the technical problems in the above-mentioned technologies.

[0007] To achieve the above objectives, the first aspect of this utility model proposes an unmanned vessel collision avoidance mechanism, including an installation plate fixed to the hull and a storage sleeve connected to the underside of the installation plate;

[0008] The storage sleeve is equipped with U-shaped side clamps that are movably connected to both ends. The storage sleeve is equipped with horizontal damping buffer groups that are connected to the U-shaped side clamps inside both ends. The U-shaped side clamps are equipped with collision side wheels for collision contact.

[0009] The bottom of the storage sleeve is fitted with a T-shaped plate that is movably connected to it, and the bottom of the storage sleeve is provided with a vertical damping buffer group connected to the T-shaped plate. The vertical part of the T-shaped plate is fixedly connected to the support structure.

[0010] The support structure is provided with a fan-shaped connecting plate, and the fan-shaped connecting plate is provided with a number of collision wheel sets that are detachably connected to it.

[0011] In addition, the unmanned vessel collision avoidance mechanism proposed above according to this utility model may also have the following additional technical features:

[0012] As a further description of the above technical solution:

[0013] The mounting plate is fixedly connected to the storage sleeve via a connecting rod.

[0014] As a further description of the above technical solution:

[0015] The storage sleeve has side mounting cavities at both ends to accommodate U-shaped side clamps, and one end of each side mounting cavity is open, through which the U-shaped side clamps extend to the outside.

[0016] As a further description of the above technical solution:

[0017] A fixing rod is installed inside the side mounting cavity, and one end of the horizontal damping buffer group is sleeved with the fixing rod.

[0018] As a further description of the above technical solution:

[0019] The U-shaped side clamp has inner grooves on both sides, and stainless steel balls are placed inside the inner grooves. The stainless steel balls are in close contact with the inner wall of the side mounting cavity.

[0020] As a further description of the above technical solution:

[0021] The storage sleeve has a main mounting cavity at the bottom to accommodate the T-shaped plate. The bottom of the main mounting cavity is open, and the vertical part of the T-shaped plate extends to the outside through the opening.

[0022] As a further description of the above technical solution:

[0023] The horizontal portion of the T-shaped plate is equipped with guide structures at both ends for guiding its own movement. The guide structures include guide rods and guide sleeves.

[0024] The guide sleeve is fixed to the T-shaped plate, and the guide rod is fixed inside the top of the main mounting cavity. The guide rod is inserted into the guide sleeve.

[0025] As a further description of the above technical solution:

[0026] The support structure includes a main support rod, a circular ring, and diagonal support rods;

[0027] One end of the T-shaped plate is fixedly connected to a ring, and a support rod and an inclined support rod are fixedly provided on the outer circle of the ring. The support rod and the inclined support rod are fixedly connected to the inner circle of the fan-shaped connecting plate.

[0028] As a further description of the above technical solution:

[0029] The collision wheel assembly includes a collision wheel and a U-shaped plate connected thereto;

[0030] The U-shaped plate is equipped with a threaded connector, and the fan-shaped connecting plate is provided with a threaded connection groove that mates with the connector.

[0031] As a further description of the above technical solution:

[0032] The aforementioned fan-shaped connecting plate is provided with a shock-absorbing rubber layer for replacing the collision wheel assembly.

[0033] The beneficial effects of this utility model are:

[0034] According to the unmanned vessel anti-collision mechanism of this utility model, the device can be installed at the bow and stern of the unmanned vessel. When the unmanned vessel loses control due to an accident and crashes sideways into the shore or other objects, the presence of the collision side wheel causes the wheel to rotate upon contact, which plays a role in adjusting the direction. For example, after the collision, the vessel can sail along the shore to avoid side damage. At the same time, at the moment of collision, the horizontal damping buffer group inside the housing can buffer and absorb part of the impact force received by the collision side wheel, thus preventing damage to the unmanned vessel.

[0035] Similarly, when an unmanned boat loses control due to an accident and its bow or stern collides with the shore or other objects, the presence of collision wheels causes them to rotate upon contact, thus adjusting the direction. For example, after a collision, the rotation of several collision wheels can change the direction, which can also prevent damage to the bow or stern of the unmanned boat.

[0036] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0037] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0038] Figure 1 This is a schematic diagram of the external structure of Embodiment 1 of this utility model;

[0039] Figure 2 This is a schematic diagram of the internal structure of Embodiment 1 of this utility model;

[0040] Figure 3 This is a schematic diagram of the guiding structure of this utility model;

[0041] Figure 4 This is a schematic diagram of the U-shaped side clamp structure of this utility model;

[0042] Figure 5 This is a schematic diagram of the collision wheel assembly structure of this utility model. Detailed Implementation

[0043] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0044] The unmanned vessel collision avoidance mechanism of this utility model embodiment is described below with reference to the accompanying drawings.

[0045] Example 1:

[0046] like Figure 1 As shown, the unmanned vessel anti-collision mechanism of this utility model embodiment includes an installation plate 1 fixed to the hull and a storage sleeve 3 connected to the lower part of the installation plate 1. The installation plate 1 has at least three threaded holes. The mechanism of this application is installed on the bow and stern of the unmanned vessel through the threaded holes and bolts to achieve assembly and facilitate subsequent use.

[0047] U-shaped side clamps 4 are installed at both ends of the storage sleeve 3 and are movably connected to them, so that the U-shaped side clamps 4 can extend and retract in the storage sleeve 3. Collision side wheels 5 for collision contact are installed on the U-shaped side clamps 4 and the two are connected by a pin, so that the collision side wheels 5 can rotate. When the hull is involved in a side collision, it can play a guiding and steering role, and at least ensure that the hull can sail along the collision object to reduce damage.

[0048] A T-shaped plate 12 is installed at the bottom of the storage sleeve 3 and is movably connected to it, allowing the T-shaped plate 12 to extend and retract within the storage sleeve 3. The vertical portion of the T-shaped plate 12 is fixedly connected to the support structure, and a fan-shaped connecting plate 8 is provided on the support structure. The support structure 101 includes a main support rod 9, a ring 10, and an inclined support rod 11. One end of the T-shaped plate 12 is fixedly connected to the ring 10, and the support rod 9 and the inclined support rod 11 are fixedly provided on the outer circle of the ring 10. A complete support body is formed by welding. The support rod 9 and the inclined support rod 11 are connected to the inner circle of the fan-shaped connecting plate 8 by welding, thus supporting the fan-shaped connecting plate 8. Several movably connected components are provided on the fan-shaped connecting plate 8. The collision wheel assembly 102 is disassembled and connected. The collision wheel assembly 102 includes a collision wheel 6 and a U-shaped plate 7 connected to it. The collision wheel 6 is installed in the hollow of the U-shaped plate 7 by a pin, so that the collision wheel 6 can rotate. It can play a guiding and steering role when the bow or stern of the ship collides. Since the collision wheel assembly 102 is arranged on the fan-shaped connecting plate 8, it can better guide and steer when a collision occurs (similar to the guide wheels installed on the guardrail on the highway, which can make the car move or turn along the guardrail after a collision with the car, and not run out of the guardrail), reducing damage. Since the collision wheel assembly 102 can be disassembled, it can be replaced and maintained regularly.

[0049] like Figure 2As shown, the unmanned vessel anti-collision mechanism of this utility model has side mounting cavities for accommodating U-shaped side clamps 4 at both ends of the storage sleeve 3. To facilitate the movement of the U-shaped side clamps 4, one end of the side mounting cavity is set as an opening. The U-shaped side clamps 4 can extend to the outside through the opening to realize the telescopic function. The horizontal damping buffer group 14 is composed of two damping buffers. The non-output end of the damping buffer is sleeved with the fixing rod 13 inside the side mounting cavity. The non-output end of the damping buffer is provided with a collar (not shown in the figure). The collar is sleeved on the fixing rod 13 to realize the sleeve. The output end of the damping buffer is fixed to the U-shaped side clamp 4. When the hull is involved in a side collision, the collision side wheel 5 is subjected to force. At this time, the horizontal damping buffer group 14 can buffer the force and reduce the collision impact.

[0050] A main mounting cavity is opened inside the bottom of the storage sleeve 3. To facilitate the movement of the T-shaped plate 12, an opening is provided at the bottom of the main mounting cavity. The vertical part of the T-shaped plate 12 can extend to the outside through the opening to realize the telescopic function. The vertical damping buffer group 16 consists of two damping buffers (which do not have a collar compared to the horizontal damping buffer group 14). Since the main mounting cavity is larger than the two side mounting cavities, the damping buffers are also spaced further apart. The non-output end of the damping buffer is fixed to the inner wall of the top of the mounting cavity, and the output end is fixed to the horizontal part of the T-shaped plate 12. When the bow or stern of the ship collides, the collision wheel 6 is subjected to force. At this time, the vertical damping buffer group 16 can buffer the force and reduce the impact of the collision.

[0051] like Figure 2 and 3 As shown, in order to coordinate with the telescopic movement of the T-shaped rod 12, the unmanned vessel anti-collision mechanism of this utility model has a guide structure 103 installed at both ends of the horizontal part of the T-shaped plate 12 for guiding its own movement. The guide structure 103 includes a guide rod 17 and a guide sleeve 18.

[0052] The guide sleeve 18 is fixed to the T-shaped plate 12, and the guide rod 17 is fixed inside the top of the main mounting cavity, so that the guide rod 17 is inserted into the guide sleeve 18. When the T-shaped rod 12 extends or retracts (when the collision wheel 6 is under force), the guide rod 17 is inserted and moved in the guide sleeve 18 (in order to ensure movement, the length of the guide sleeve 18 is greater than that of the guide rod 17. In the unforced state, the guide rod 17 is only inserted into one-quarter of the guide sleeve 18. In the forced state, the guide rod 17 is fully inserted into the guide sleeve 18 and will not hit the guide sleeve 18). Therefore, the movement of the T-shaped plate 12 can be restricted, so that it is a linear movement when it extends or retracts, which facilitates the buffering of the vertical damping buffer group 16 and reduces damage.

[0053] like Figure 2 and 4As shown, in order to coordinate with the telescopic movement of the U-shaped side clamp 4, the unmanned vessel anti-collision mechanism of this utility model has inner grooves 19 on both sides of the U-shaped side clamp 4. A stainless steel ball 15 is placed inside the inner groove 19, with the stainless steel ball 15 protruding from the inner groove 19. At this time, the ball is between the ball and the side mounting cavity, so that the stainless steel ball 15 is in close contact with the inner wall of the side mounting cavity. When the U-shaped side clamp 4 telescopically moves, the stainless steel ball 15 rolls between the inner groove 19 and the inner wall of the side mounting cavity, ensuring that the U-shaped side clamp 4 moves in a straight line when telescopically moving, which facilitates the horizontal damping buffer group 14 to buffer the force and reduce damage.

[0054] like Figure 1 and 5 As shown, in order to disassemble the collision wheel assembly 102 and facilitate regular replacement and maintenance, the unmanned vessel anti-collision mechanism of this utility model provides a threaded connector 20 at the rear end of the U-shaped plate 7, and at the same time, several threaded connection grooves corresponding to the threaded connector 20 are opened on the fan-shaped connecting plate 8. The collision wheel assembly 102 is installed on the fan-shaped connecting plate 8 by means of threaded connection, which is simple to operate and convenient to disassemble.

[0055] In summary, the unmanned vessel collision avoidance mechanism according to the embodiments of this utility model is installed at the bow and stern, and can cope with two types of collisions through collision wheels and buffer components to avoid damage to the hull.

[0056] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0057] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0058] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An unmanned vessel collision avoidance mechanism, comprising a mounting plate (1) fixed to the hull and a storage sleeve (3) connected below the mounting plate (1), characterized in that: The storage sleeve (3) is equipped with U-shaped side clamps (4) that are movably connected to it at both ends. The storage sleeve (3) is provided with horizontal damping buffer groups (14) connected to the U-shaped side clamps (4) inside both ends. The U-shaped side clamps (4) are equipped with collision side wheels (5) for collision contact. The storage sleeve (3) has a T-shaped plate (12) installed at its bottom end and is movably connected thereto. The storage sleeve (3) has a vertical damping buffer group (16) connected to the T-shaped plate (12) inside its bottom end. The vertical part of the T-shaped plate (12) is fixedly connected to the support structure (101). The support structure (101) is provided with a fan-shaped connecting plate (8), and the fan-shaped connecting plate (8) is provided with a plurality of collision wheel sets (102) that are detachably connected thereto.

2. The unmanned vessel collision avoidance mechanism according to claim 1, characterized in that: The mounting plate (1) is fixedly connected to the storage sleeve (3) via a connecting rod (2).

3. The unmanned vessel collision avoidance mechanism according to claim 1, characterized in that: The storage sleeve (3) has side mounting cavities at both ends to accommodate the U-shaped side clamps (4), and one end of the side mounting cavity is open, through which the U-shaped side clamps (4) extend to the outside.

4. The unmanned vessel collision avoidance mechanism according to claim 3, characterized in that: A fixing rod (13) is installed inside the side mounting cavity, and one end of the horizontal damping buffer group (14) is sleeved with the fixing rod (13).

5. The unmanned vessel collision avoidance mechanism according to claim 3, characterized in that: The U-shaped side clamp (4) has inner grooves (19) on both sides, and stainless steel balls (15) are placed inside the inner grooves (19). The stainless steel balls (15) are in close contact with the inner wall of the side mounting cavity.

6. The unmanned vessel collision avoidance mechanism according to claim 1, characterized in that: The storage sleeve (3) has a main mounting cavity at the bottom end for accommodating the T-shaped plate (12). The bottom end of the main mounting cavity is open, and the vertical part of the T-shaped plate (12) extends to the outside through the opening.

7. The unmanned vessel collision avoidance mechanism according to claim 6, characterized in that: The horizontal portion of the T-shaped plate (12) is equipped with guide structures (103) for guiding its own movement at both ends. The guide structure (103) includes a guide rod (17) and a guide sleeve (18). The guide sleeve (18) is fixed to the T-shaped plate (12), and the guide rod (17) is fixed inside the top of the main mounting cavity. The guide rod (17) is inserted into the guide sleeve (18).

8. The unmanned vessel collision avoidance mechanism according to claim 1, characterized in that: The support structure includes a main support rod (9), a ring (10), and an inclined support rod (11); One end of the T-shaped plate (12) is fixedly connected to a ring (10). The outer circle of the ring (10) is fixedly provided with a support rod (9) and an inclined support rod (11). The support rod (9) and the inclined support rod (11) are fixedly connected to the inner circle of the fan-shaped connecting plate (8).

9. The unmanned vessel collision avoidance mechanism according to claim 1, characterized in that: The collision wheel assembly (102) includes a collision wheel (6) and a U-shaped plate (7) connected thereto; The U-shaped plate (7) is equipped with a threaded connector (20), and the fan-shaped connecting plate (8) is provided with a threaded connection groove that cooperates with the connector (20).

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