CN113186801A - Intelligent unmanned combined floating bridge - Google Patents
Intelligent unmanned combined floating bridge Download PDFInfo
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- CN113186801A CN113186801A CN202110647550.2A CN202110647550A CN113186801A CN 113186801 A CN113186801 A CN 113186801A CN 202110647550 A CN202110647550 A CN 202110647550A CN 113186801 A CN113186801 A CN 113186801A
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- 238000007667 floating Methods 0.000 title claims abstract description 120
- 210000001503 joint Anatomy 0.000 claims abstract description 65
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 210000000078 claw Anatomy 0.000 claims abstract description 42
- 238000003032 molecular docking Methods 0.000 claims abstract description 31
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 20
- 239000011521 glass Substances 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims description 37
- 230000005540 biological transmission Effects 0.000 claims description 20
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical group [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 239000000446 fuel Substances 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 241000675802 Octogomphus specularis Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D15/00—Movable or portable bridges; Floating bridges
- E01D15/14—Floating bridges, e.g. pontoon bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D21/00—Methods or apparatus specially adapted for erecting or assembling bridges
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Abstract
The invention relates to an intelligent unmanned combined floating bridge, which comprises a floating bridge plate for vehicle running, a bottom intelligent mobile platform, a close-range docking mechanism and a claw throwing mechanism, wherein the floating bridge plate is positioned at the upper part of the bottom intelligent mobile platform; the bottom intelligent mobile platform is fixedly connected with the floating bridge plate and is of an undetachable structure, and the side surface of the bottom intelligent mobile platform is provided with a guide groove; a cabin body is formed by the floating bridge plate and the intelligent mobile platform at the bottom, and the close-range docking mechanism is arranged in the cabin body; glass lanes are arranged on two sides of the floating bridge plate; the claw throwing mechanism is arranged on the outer side of the glass sidewalk and fixed at the bottom of the glass sidewalk; the front end of the floating bridge is provided with an image recognition camera and a laser positioning device; propellers are arranged at four corners of the bottom of the intelligent moving platform; the cabin is internally provided with a controller, a communication module, a power supply module and a water flow information acquisition device. The invention can realize the quick and accurate butt joint of the floating bridge at short distance and long distance.
Description
Technical Field
The invention belongs to the technical field of unmanned ships, and particularly relates to an intelligent unmanned combined floating bridge.
Background
In recent years, with the rapid development of the unmanned ship industry in China, the number of consumption-grade and industrial-grade unmanned ships is increased day by day, the application of the unmanned ships permeates into various fields, but the unmanned ships develop too quickly, and the infrastructure matched with the unmanned ships develops too slowly. The mode that erects when civil pontoon bridge, industrial grade pontoon bridge and the military pontoon bridge carry out the butt joint task in the existing market is single, and accomplish under operating personnel's participation basically, and the all autonomous removal butt joint technique is not perfect enough, and especially pontoon bridge body butt joint and disassemble all need a large amount of manpowers and traction ship, and need a large amount of time to accomplish, and from the military affairs perspective, the equipment of building a bridge must erect and disassemble fast, because in case the activity duration is overlength, will become enemy's target of surveying and attacking.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent unmanned combined floating bridge, which can realize the quick and accurate butt joint of the floating bridge.
An intelligent unmanned combined floating bridge comprises floating bridge plates, a bottom intelligent mobile platform which is used for bearing the floating bridge plates and can move in all directions, a short-distance butt joint mechanism used for short-distance butt joint of the floating bridges and a claw throwing mechanism used for long-distance butt joint of the floating bridges, wherein the floating bridge plates are positioned on the upper portion of the bottom intelligent mobile platform; the bottom intelligent mobile platform is an intelligent mobile chassis capable of moving in all directions, is fixedly connected with the floating bridge plate to form an undetachable structure, and is provided with a guide groove on the side; the floating bridge plate and the bottom intelligent mobile platform form a cabin body, the close-range docking mechanism is arranged in the cabin body, and the cabin body is used as a storage room for storing the close-range docking mechanism; glass walkways are arranged on two sides of the floating bridge plate, and guardrails are arranged on the outer sides of the glass walkways; the claw throwing mechanism is arranged on the outer side of the glass sidewalk and fixed at the bottom of the glass sidewalk; the front end of the floating bridge is provided with an image recognition camera and a laser positioning device; propellers are arranged at four corners of the bottom of the intelligent mobile platform; the cabin body is internally provided with a controller, a communication module, a power supply module and a water flow information acquisition device, the communication module, the power supply module and the water flow information acquisition device are electrically connected with the controller, and the close-range docking mechanism, the claw-hooking throwing mechanism and the propeller are electrically connected with the controller.
The close-range docking mechanism comprises a small hydraulic station, a hydraulic push rod, a first pair of joints and a second pair of joints, wherein the first pair of joints and the second pair of joints are arranged at two ends of the hydraulic push rod; the bottom intelligent mobile platform is provided with a guide rail groove, and the hydraulic push rod is arranged in the guide rail groove; the hydraulic push rods comprise secondary push rods and are used for driving the second pair of joints to move in the guide rail grooves; the first butt joint is installed at the fixed end of the hydraulic push rod, and the second butt joint is installed at the extending end of the second-stage push rod.
The first butt joint comprises a first grapple, a fixed end at the tail part of the grapple and a guide plate support frame, the first grapple comprises a hook head, a hook body and a hook tail, the hook tail is connected with the guide plate support frame through the fixed end at the tail part of the grapple, and the guide plate support frame is fixed at the fixed end of the hydraulic push rod; the hook head comprises a hook tongue, a hook tongue pin and a thread lock lifting pin, the hook tongue is U-shaped, the corner part of the U-shaped hook tongue is rotatably connected to the front end of the grapple through the hook tongue pin, and the front end of the hook tongue is provided with a through hole; the front end of the hook head is provided with a fixed claw, and a grapple detection device is arranged in a concave space formed by the fixed claw and the coupler knuckle and is a pressure sensor; the threaded lock lifting pin is in threaded connection with the first grapple, and the tail end of the threaded lock lifting pin is inserted into the through hole at the front end of the coupler knuckle so as to limit the rotation of the coupler knuckle; the threaded lock lifting pin is externally provided with a toothed nut.
The second pair of joints comprise a second grapple, a fixed end at the tail part of the grapple and a guide plate support frame, the second grapple comprises a hook head, a hook body and a hook tail, the hook tail is connected with the guide plate support frame through the fixed end at the tail part of the grapple, and the guide plate support frame is connected with the extending end of the hydraulic push rod; the hook head comprises a hook tongue, a hook tongue pin and a thread lock lifting pin, the hook tongue is U-shaped, the corner part of the U-shaped hook tongue is rotatably connected to the front end of the grapple through the hook tongue pin, and the front end of the hook tongue is provided with a through hole; the front end of the hook head is provided with a fixed claw, and a grapple detection device is arranged in a concave space formed by the fixed claw and the coupler knuckle and is a pressure sensor; the positions of the knuckle of the second grapple and the fixed claw are opposite to the positions of the knuckle of the first grapple and the fixed claw; the threaded lock lifting pin is in threaded connection with the first grapple, and the tail end of the threaded lock lifting pin is inserted into the through hole at the front end of the coupler knuckle so as to limit the rotation of the coupler knuckle; a toothed nut is arranged outside the lifting pin of the thread lock;
the guide plate supporting frame is provided with a supporting frame, a first rotating motor is fixed on the supporting frame, the output end of the first rotating motor is connected with a belt wheel, and the belt wheel is arranged on the hook body and is in belt transmission connection with a nut with teeth.
The front end of the inner side of the guide plate is provided with a grapple detection camera.
The guide plate rotating motor is a high-torque low-speed rotating motor.
The claw throwing mechanism comprises a throwing mechanism and a clamping arm mechanism which are arranged in parallel, the throwing mechanism comprises a claw for connecting two sections of floating bridges, a pneumatic emitter for emitting a grapple, a rope guide pipe and a winder for winding and unwinding a rope connected with the grapple, the tail end of the claw is connected with the rope, the rope is placed in the rope guide pipe of the winder, and the tail end of the rope bypasses a roller and is fixed at the output end of the winder; the pneumatic emitter is arranged between the grapples at the tail ends of the rope guide pipes; the clamping arm mechanism comprises a rotary receiving arm rod for butting the hook, a groove clamping arm for fixing the hook, a rotary arm rod and a rotary hydraulic cylinder, the rotary hydraulic cylinder is fixed at the bottom of the bottom intelligent mobile platform, and the rotary arm rod and the groove clamping arm are vertically fixed together and connected to the output end of the rotary hydraulic cylinder; the top of the groove clamping arm is provided with a groove; the rotary receiving arm rod comprises an arc-shaped rod wall and a straight rod arm, and is respectively connected to the tail end of the groove in a rotating mode through a second rotating motor.
The communication module comprises a communicator, the communicator comprises a Bluetooth module, a GPS (global positioning system) positioner, a 4G data transmission module and a graph transmission module, the bottom intelligent mobile platform is in communication connection with each other through the Bluetooth module, and wireless communication connection is carried out between the bottom intelligent mobile platform and a main control center on the bank through the 4G data transmission module and the graph transmission module.
The power module comprises a cable, a power supply, a relay, a power converter and an alarm, wherein the power supply is a storage battery arranged inside the bottom intelligent mobile platform, and the storage battery is a lithium battery or a fuel battery and directly supplies power for the bottom intelligent mobile platform.
The water flow data acquisition module comprises a flow velocity detection sensor, a flow detection sensor and a water depth detection radar, and the water depth detection radar is arranged in the cabin body; the flow velocity detection sensor and the flow detection sensor are arranged at the bottom of the bottom intelligent mobile platform and used for detecting the flow velocity and the flow of water flow in the current water area.
The invention has the beneficial effects that:
1) according to the invention, real-time position information between adjacent floating bridges is acquired through the laser docking device and the image recognition camera, the relative accuracy rate of the head and the tail between the adjacent floating bridges is improved, the relative position between the adjacent floating bridges is controlled, the throwing hit rate of the long-distance throwing connecting mechanism of the unmanned intelligent combined floating bridge can be improved, and the docking efficiency is improved.
2) According to the invention, after the lapping task is completed by throwing the connecting mechanism between the adjacent floating bridges, the laser butt joint device is used for acquiring the relative information of the front and rear positions between the rear end of the front floating bridge and the front end of the rear floating bridge, namely the second pair of joints and the first pair of joints, so that the speed of rope recovery of the reels at two sides is adjusted, the intelligent unmanned combined floating bridge for lapping can be positioned on the same straight line as far as possible, and the butt joint accuracy rate in short-distance butt joint is improved.
3) The invention is provided with the short-distance grapple guide plate for guiding the butt-joint grapple to butt joint, the image recognition device on the grapple is used for collecting the position information between the two grapples, and the position of the floating bridge is adjusted by adjusting the rotating speed of the propeller, so that the butt-joint accuracy is improved.
4) The invention is provided with a short-distance docking mechanism moving device, the guide plate and the hook claw extend out before the adjacent floating bridges are docked in a short distance, and the adjacent floating bridges are retracted into the floating bridges after the docking is successful, so that the short-distance docking accuracy can be improved and the collision of the floating bridges in the short distance can be avoided.
5) The intelligent unmanned combined floating bridge has two functions of automatic cruising and remote control on water, can automatically complete butt joint on water, does not need manual operation, and reduces the labor cost; meanwhile, the four groups of propeller power groups can enable the floating bridge to move to a designated area quickly, and the efficiency is high.
Drawings
Fig. 1 is an external structural schematic diagram of an intelligent unmanned combined floating bridge provided in an embodiment of the invention;
fig. 2 is a schematic bottom structure diagram of an intelligent unmanned combined floating bridge provided in an embodiment of the present invention;
fig. 3 is a schematic view of an internal structure of an intelligent unmanned combined floating bridge provided in an embodiment of the present invention;
fig. 4 is an enlarged schematic view of a short-distance docking mechanism in an intelligent unmanned combined floating bridge according to an embodiment of the present invention;
FIG. 5 is an enlarged view of a first pair of tabs according to the present invention;
FIG. 6 is an enlarged view of a second pair of tabs according to the present invention;
fig. 7 is a schematic diagram of a state of an intelligent unmanned combined floating bridge provided by an embodiment of the invention after docking;
FIG. 8 is a schematic view of a knuckle according to the present invention;
wherein,
1-floating bridge plate, 2-guardrail, 3-glass walkway, 4-laser positioning device, 5-bottom intelligent mobile platform, 6-cabin, 7-propeller, 8-image recognition camera, 101-guide plate, 102-grapple one, 103-hook head, 104-knuckle, 105-grapple detection device, 106-grapple two, 107-toothed nut, 108-knuckle pin, 109-screw lock lifter, 110-rotating motor one, 111-support frame, 112-guide plate support frame, 113-grapple tail fixed end, 114-hook tail, 115-hook body, 116-belt wheel, 117-guide plate rotating motor, 118-grapple detection camera, 201-hook jaw, 202-pneumatic transmitter, 203-rope guide tube, 204-roller, 205-winder, 206-rotating receiving arm, 207-groove clamp arm, 208-rotating arm rod, 209-rotating hydraulic cylinder, 301-small hydraulic station, 302-guide rail groove, 303-hydraulic push rod, 304-secondary push rod, 401-controller, 402-water flow data acquisition device, 403-power module, 404-communication module, 405-flow velocity detection sensor and flow detection sensor.
Detailed Description
In order to better explain the present invention, the following detailed description of the technical solution and effects of the present invention is made with reference to the accompanying drawings.
As shown in fig. 1-3, an intelligent unmanned combined floating bridge comprises a floating bridge plate 1, a bottom intelligent mobile platform 5 capable of moving in all directions and used for bearing the floating bridge plate 1, a short-distance docking mechanism used for short-distance docking between floating bridges, and a claw throwing mechanism used for long-distance docking between floating bridges, wherein the floating bridge plate 1 is positioned on the upper part of the bottom intelligent mobile platform 5; the bottom intelligent mobile platform 5 is an intelligent mobile chassis capable of moving in all directions, is fixedly connected with the floating bridge plate 1 to form a non-detachable structure, and is provided with a guide groove on the side; the floating bridge plate 1 and the bottom intelligent mobile platform 5 form a cabin body 6, the close-range docking mechanism is arranged inside the cabin body 6, and the cabin body 6 is used for accommodating the close-range docking mechanism as a storage room. Glass lanes 3 are arranged on two sides of the floating bridge plate 1, and the size of the glass lanes and the size of the floating bridge plate are larger than that of the bottom moving platform; the outer side of the glass sidewalk 3 is provided with a guardrail 2, and the glass sidewalk 3 and the guardrail 2 are fixed together; the claw throwing mechanism is arranged on the outer side of the glass moving channel 3 and fixed at the bottom of the glass moving channel 3. The image recognition camera 8 and the laser positioning device 4 are installed at the front end of the floating bridge, other combined floating bridges near the floating bridge can be automatically found and positioned, close-distance and long-distance butt joint work between two sections of floating bridges can be carried out, and meanwhile, the searched information and butt joint work information are transmitted to a main control center on the shore.
As shown in fig. 4, the close docking mechanism includes a small hydraulic station, a hydraulic push rod 303, and a first pair of joints and a second pair of joints disposed at two ends of the hydraulic push rod 303, wherein the connection of the second pair of joints of one floating bridge with the first pair of joints of another floating bridge realizes the connection of the two floating bridges; the bottom intelligent mobile platform 5 is provided with a guide rail groove 302, and a hydraulic push rod 303 is arranged in the guide rail groove 302; the hydraulic push rods 303 comprise secondary push rods 304 for driving the second pair of joints to move in the guide rail grooves 302; the first pair of joints is installed at the fixed end of the hydraulic push rod 303, the second pair of joints is installed at the extending end of the second-stage push rod 304, and in a contraction state, the second pair of joints occupies one half of the bottom intelligent mobile platform 5.
As shown in fig. 5, the first butt joint comprises a first grapple 102, a grapple tail fixing end 113 and a guide plate support frame 112, the first grapple 102 comprises a hook head 103, a hook body 115 and a hook tail 114, the hook tail 114 is connected with the guide plate support frame 112 through the grapple tail fixing end 113, and the guide plate support frame 112 is fixed at the fixing end of the hydraulic push rod 303; the hook head 103 comprises a hook tongue 104, a hook tongue pin 108 and a thread lock lifting pin 109, and the three form a complete grapple opening and closing system; as shown in fig. 8, the knuckle 104 is U-shaped, the corner part of the U-shaped knuckle 104 is rotatably connected to the front end of the first grapple 102 by a knuckle pin 108, and the front end of the knuckle 104 is provided with a through hole; the front end of the hook head 103 is provided with a fixed claw, a grapple detection device 105 is arranged in a concave space formed by the fixed claw and the knuckle 104, the grapple detection device 105 is a pressure sensor, and whether the butt joint is completed or not is judged by detecting the change of the pressure at the moment of the butt joint. The threaded lock lifting pin 109 is in threaded connection with the first grapple 102, and the tail end of the threaded lock lifting pin is inserted into a through hole in the front end of the coupler knuckle 104, so that the rotation of the coupler knuckle 104 can be limited; the threaded lock lifting pin 109 is externally provided with a toothed nut 107.
As shown in fig. 6, the second pair of joints includes a second grapple 106, a grapple tail fixed end 113, and a guide plate support frame 112, the second grapple 106 includes a hook head 103, a hook body 115, and a hook tail 114, the hook tail 114 is connected with the guide plate support frame 112 through the grapple tail fixed end 113, and the guide plate support frame 112 is connected with the extending end of the hydraulic push rod 303; the hook head 103 comprises a hook tongue 104, a hook tongue pin 108 and a thread lock lifting pin 109, and the three form a complete grapple opening and closing system; the knuckle 104 is U-shaped, the corner part of the U-shaped knuckle 104 is rotatably connected to the front end of the first grapple 102 through a knuckle pin 108, and the front end of the knuckle 104 is provided with a through hole; the front end of the hook head 103 is provided with a fixed claw, a grapple detection device 105 is arranged in a concave space formed by the fixed claw and the knuckle 104, the grapple detection device 105 is a pressure sensor, and whether the butt joint is completed or not is judged by detecting the change of the pressure at the moment of the butt joint. The positions of the knuckle 104 and the fixing claw of the second grapple 106 are opposite to the positions of the knuckle 104 and the fixing claw of the first grapple 102, the knuckle 104 of the second grapple 106 corresponds to the fixing claw of the first grapple 102, the fixing claw of the second grapple 106 corresponds to the knuckle 104 of the first grapple 102, and the second grapple 106 and the knuckle 104 of the first grapple 102 are hooked with each other to realize the butt joint of the first butt joint and the second butt joint. The threaded lock lifting pin 109 is in threaded connection with the first grapple 102, and the tail end of the threaded lock lifting pin is inserted into a through hole in the front end of the coupler knuckle 104, so that the rotation of the coupler knuckle 104 can be limited; a toothed nut 107 is arranged outside the thread lock lifting pin 109; the guide plate supporting frame 112 is provided with a supporting frame 111, a first rotating motor 110 is fixed on the supporting frame 111, the output end of the first rotating motor 110 is connected with a belt wheel 116, the belt wheel 116 is arranged on a hook body 115 and is in belt transmission connection with a toothed nut 107, the rotation of the first rotating motor 110 drives the belt wheel 116 to rotate, the threaded lock lifting pin 109 is driven to rotate through belt transmission, the threaded lock lifting pin is in threaded connection with a first grabbing hook, so that the threaded lock lifting pin 109 is driven to move up and down on a second grabbing hook 106, when the threaded lock lifting pin 109 moves upwards, the tail end of the threaded lock lifting pin leaves a through hole at the front end of the coupler knuckle 104, and the coupler knuckle 104 can rotate; when the screw lock lifting pin 109 is moved downward and its end is inserted into the through hole at the front end of the knuckle 104, the knuckle 104 is not rotated. The two sides of the support frame 111 are rotatably connected with a guide plate 101 through a guide plate rotating motor 117, and the guide plate is inserted into the guide groove in the butt joint process of the first grapple 102 and the second grapple 106 to guide the movement of the floating bridge and assist in completing the butt joint with the first butt joint of other floating bridges.
The front end of the inner side of the guide plate 101 is provided with a grapple detection camera 118 which detects a second grapple and adjusts the rotation of the guide plate by detecting whether the second grapple is detected.
The guide plate rotating motor 117 is a high-torque low-speed rotating motor for controlling the rotation of the guide plate 101.
When the two floating bridges are in a connection state, the first grapple 102 and the second grapple 106 are in a butt locking state, the tail end of the screw lock lifting pin 109 is inserted into the through hole at the front end of the coupler knuckle 104, and the coupler knuckle 104 cannot rotate, as shown in fig. 7. When the two floating bridges are separated, the first grabbing hook 102 and the second grabbing hook 106 are changed from a butt joint locking state to an unlocking state, the first rotating motor 110 rotates to drive the belt wheel 116 to rotate, the threaded lock lifting pin 109 is driven by the toothed nut 107 to lift, the tail end of the threaded lock lifting pin leaves a through hole in the front end of the coupler knuckle 104, and the coupler knuckle 104 of the second grabbing hook 106 can rotate and is separated from the interior of the first grabbing hook 102; when in the fully open position, the knuckle 104 is in a fully outwardly pivoted position. The butt joint locking state is changed into the unlocking state, and as long as one of the first grapple 102 or the second grapple 106 is in the unlocking state, the short-distance butt joint mechanism can be opened. When two floating bridges need to be connected, as long as one grapple of the grapple I102 or the grapple II 106 is in the fully open position, the grapple can be mutually hooked after colliding with the grapple hook of the other floating bridge, thereby achieving the connected state.
Screw 7 is installed in 5 bottom four corners in bottom intelligent Mobile platform, and the bilateral symmetry face of screw 7 and the bilateral symmetry face of bottom intelligent Mobile platform become 120 degrees directions and place, and this structure utilizes the differential to realize the omni-directional movement of pontoon bridge.
The claw throwing mechanism comprises a throwing mechanism and a clamping arm mechanism which are arranged in parallel, the throwing mechanism comprises a claw 201 for connecting two sections of floating bridges, a pneumatic emitter 202 for emitting a grapple, a rope guide pipe 203 and a winder 205 for winding and unwinding the rope connected with the grapple, the tail end of the claw 201 is connected with the rope, the rope is placed in the rope guide pipe 203 of the winder 205, and the tail end of the rope bypasses a roller 204 and is fixed at the output end of the winder 205; the pneumatic launcher 202 is disposed between the end grapples of the rope guide 203. The clamping arm mechanism comprises a rotary receiving arm rod 206 for butting the hook 201, a groove clamping arm 207 for fixing the hook 201, a rotary arm rod 208 and a rotary hydraulic cylinder 209, wherein the rotary hydraulic cylinder 209 is fixed at the bottom of the bottom intelligent mobile platform 5, the rotary arm rod 208 and the groove clamping arm 207 are vertically fixed together and connected to the output end of the rotary hydraulic cylinder 209, and the rotary hydraulic cylinder drives the rotary arm rod 208 and the groove clamping arm 207 to rotate for 180 degrees; the top of the groove clamping arm 207 is provided with a groove for clamping the ejected hook 201; the rotary receiving arm 206 comprises an arc-shaped arm and a straight arm which are respectively connected to the tail end of the groove in a rotating mode through a second rotating motor.
The cabin body 6 is internally provided with a controller 401, a communication module 404, a power supply module 403 and a water flow information acquisition device, wherein the communication module 404, the power supply module 403 and the water flow information acquisition device are electrically connected with the controller 401, the short-distance docking mechanism, the claw-hooking throwing mechanism and the propeller are electrically connected with the controller, and the control system is specific, the guide plate rotating motor 117, the first rotating motor 110, the second rotating motor, the propeller 7, the small hydraulic station 301, the rotary hydraulic cylinder 209, the winder 205, the pneumatic emitter 202, the image recognition camera 8, the laser positioning device 4, the claw detection camera 118 and the claw detection device are electrically connected with the controller 401, so that the movement of the intelligent mobile platform, the docking of the short-distance docking mechanism and the claw-hooking throwing mechanism and the water flow data acquisition device 402 inside the platform are controlled. The controller 401 is a control center of the intelligent platform, receives the image recognition camera 8, the laser positioning device 4, the grapple detection camera 118 and information collected and transmitted by the water flow data acquisition device, and then sends different working instructions to the guide plate rotating motor 117, the rotating motor I110, the rotating motor II, the propeller 7, the small hydraulic station 301, the rotating hydraulic cylinder 209, the winder 205 and the pneumatic transmitter which are electrically connected with the electronic circuit through the inside, and controls the cooperative action of all the executing mechanisms to realize the automatic reconnaissance of the intelligent mobile platform and the butt joint of the floating bridge, thereby realizing the taking off and landing of the unmanned aerial vehicle on the floating bridge.
The communication module includes the communicator, the communicator includes bluetooth module, the GPS locator, 4G number transmission module and picture transmission module, carry out the communication through bluetooth module between the intelligent mobile platform 5 in bottom and connect, and carry out wireless communication through 4G number transmission module and picture transmission module and the total control center on the bank and be connected, give the artifical total control platform of real-time information transmission who docks between the intelligent mobile platform 5 in bottom, when emergency appears in bottom intelligent mobile platform 5, the alarm device of artifical total control platform can send alarm signal suggestion bottom intelligent mobile platform 5 breaks down.
In this embodiment, the controller is of a model STM32F103RCT6, the Bluetooth module is of a New bit XY-MBD87A model, the GPS locator is of a GT500 model, and the 4G data transmission module and the image transmission module are integrated by CUAV data transmission.
The power module 403 includes a cable, a power supply, a relay, a power converter, and an alarm. The power is the storage battery that bottom intelligent Mobile platform 5 was inside to be set up, storage battery is lithium cell or fuel cell, directly is the power supply of bottom intelligent Mobile platform 5. The cable is embedded in the edge or the inner part of the platform and the equipment and cannot interfere with the normal operation of the platform.
The water flow data acquisition module comprises a flow velocity detection sensor, a flow detection sensor and a water depth detection radar, and the water depth detection radar is arranged in the cabin body; flow velocity detection sensor and flow detection sensor 405 set up in bottom intelligent Mobile platform bottom for detect the velocity of flow and the flow of current waters rivers, transmit the information of gathering for controller 401, can judge whether to carry out butt joint work in current waters according to the water flow parameter of gathering or the total control center control command on the bank.
Preferably, the propeller 7 is a ducted propeller and can be controlled by a controller to move by itself according to a mission-planned route.
The intelligent unmanned combined floating bridge has the following working process of connection between floating bridges:
the bottom intelligent mobile platform 5 can be used as a ship body for bearing various water equipment, when a section of floating bridge needs to be docked with other floating bridges, the bottom intelligent mobile platform 5 nearby can be automatically searched through a Bluetooth module, Bluetooth communication is carried out with the bottom intelligent mobile platform 5 in the nearest idle state, real-time communication of a local area communication network is established, the current bottom intelligent mobile platform 5 sends self coordinates and approaches to a target, when the distance does not reach a preset remote range, relative parallel between the floating bridges is carried out through the laser positioning device 4 and the image recognition camera 8, whether the two sides of the floating bridge to be docked are opposite or not is judged, the laser positioning device 4 and the image recognition camera 8 transmit relative signals to the controller, and the propeller is adjusted by the controller so as to adjust the position of the floating bridge. When the distance between the two sections of floating bridges reaches a preset remote range, the controller 401 sends a working instruction to the rotary hydraulic station, the rotary hydraulic cylinder 209 is started to drive the rotary arm rod 208 and the groove clamping arm 207 to rotate, the groove clamping arm 207 rotates by 90 degrees from the horizontal direction to the vertical direction, and the rotary receiving arm rod 206 is unfolded to the horizontal direction through the second rotary motor. When two sections of floating bridges are opposite, the controller 401 sends a working instruction to the starting emitter, the pneumatic emitter 202 ejects the hook 201, and the hook 201 is hung on the rotary receiving arm rod 206 of the second section of floating bridge; the controller 401 sends a working instruction to the second rotating motor, the second rotating motor rotates, the rotating receiving arm rod 206 rotates to the vertical direction, and the hook claw 201 slides into the groove of the groove clamping arm 207; the controller 401 of the first pontoon sends a working instruction to the reel 205, the reel 205 starts to tighten the rope, so that the claw 201 and the groove clamp arm 207 are fixed, and the rope is recovered; the laser positioning device 4 is used for simultaneously controlling the rope retracting speed of the reels 205 at two sides, so that the two sections of floating bridges are parallel, opposite and close to each other; the floating bridges are positioned through the laser positioning devices 4 carried by the floating bridges according to coordinates, meanwhile, the image recognition cameras 8 are used for assisting positioning, the speed of the floating bridges is adjusted to be basically consistent with the positions of the adjacent floating bridges, when the two floating bridges reach a preset close distance, the controller 401 sends out a stop work instruction to the reel 205, and the reel 205 stops working. The controller 401 sends a working instruction to the small hydraulic station 301, the small hydraulic station 301 in the floating bridge works to drive the hydraulic push rod 303 and the secondary push rod 304 to extend out, and the guide plate support frame 112 connected with the secondary push rod 304 is pushed, so that the second pair of joints of the short-distance docking mechanism is pushed to extend out; the controller 401 sends a working instruction to the guide plate rotating motor 117, the guide plate rotating motor 117 rotates, the guide plates 101 are unfolded into a horn shape, the guide plates 101 on the two sides are completely opened to expose the second grapple 106 outside, at the moment, the controller 401 sends a working instruction to the propeller 7 and the winder 205, the propeller 7 and the winder 205 work to enable the two sections of floating bridges to be positioned on the same straight line, when the grapple detection camera 118 at the front end of the guide plates 101 detects that the second grapple 106 of the second section of floating bridge enters the range of the guide plates 101 of the first section of floating bridge, the controller 401 sends a reversal instruction to the guide plate rotating motor 117 while the propeller 7 drives the two sections of floating bridges to approach, and the guide plates 101 move along the guide grooves of the second section of floating bridge after rotating inwards, so as to guide the first grapple 102 to be butted with the second grapple 106; the image recognition camera 8 transmits real-time docking image information of the first grapple 102 and the second grapple 106 to the controller, and the controller transmits to the general control center on the shore until the first grapple 102 and the second grapple 106 are successfully docked as shown in fig. 7. The controller 401 sends an instruction to the small hydraulic station 301, the small hydraulic station 301 in the floating bridge works, the hydraulic push rod 303 is retracted, and the close-range docking mechanisms of the two sections of floating bridges are retracted into the cabin body 6 of the first section of floating bridge. The controller 401 sends a reverse rotation command to the rotary hydraulic cylinder 209, the rotary hydraulic cylinder 209 rotates in reverse direction, the groove clamping arm 207 rotates 180 degrees counterclockwise in the direction of the first section pontoon, the hook 201 automatically drops, and the reel 205 retracts the hook 201.
When the floating bridge needs to be disconnected, the controller 401 sends a working instruction to the small hydraulic station 301, the small hydraulic station 301 works, the hydraulic push rod 303 and the secondary push rod 304 are pushed out, and the close-range docking mechanism extends out of the cabin body 6 of the floating bridge; the controller 401 sends a working instruction to the first rotating motor 110, the first rotating motor 110 works to drive the toothed nut 107 to rotate, the toothed nut 107 drives the threaded lock lifting pin 109 to ascend, the threaded lock lifting pin 109 is driven by the toothed nut 107 to lift, the coupler knuckle 104 rotates outwards under the action of tensile force, the coupler knuckle 104 of the second grapple 106 rotates to be separated from the inside of the first grapple 102, and the two grapples are disconnected; the first section of floating bridge close-range docking mechanism is retracted into the cavity; the controller 401 sends a working instruction to the propeller 7, the propeller 7 works, the floating bridge is driven to return to the starting point, and the next task is continuously executed after the instruction of the master control center.
The intelligent unmanned combined floating bridge can adapt to most water area environments, can be scheduled in real time according to the requirements of tasks, has strong flexibility, more importantly, can automatically and quickly finish connection and butt joint work when a platform is in a moving state, and has excellent wave resistance and safe and reliable structure.
Claims (10)
1. The utility model provides an unmanned combination pontoon bridge of intelligence which characterized in that: the device comprises a floating bridge plate for vehicle running, a bottom intelligent mobile platform capable of moving in all directions and used for bearing the floating bridge plate, a short-distance butt joint mechanism used for short-distance butt joint between floating bridges and a claw throwing mechanism used for long-distance butt joint between the floating bridges, wherein the floating bridge plate is positioned at the upper part of the bottom intelligent mobile platform; the bottom intelligent mobile platform is an intelligent mobile chassis capable of moving in all directions, is fixedly connected with the floating bridge plate to form an undetachable structure, and is provided with a guide groove on the side; the floating bridge plate and the bottom intelligent mobile platform form a cabin body, the close-range docking mechanism is arranged in the cabin body, and the cabin body is used as a storage room for storing the close-range docking mechanism; glass walkways are arranged on two sides of the floating bridge plate, and guardrails are arranged on the outer sides of the glass walkways; the claw throwing mechanism is arranged on the outer side of the glass sidewalk and fixed at the bottom of the glass sidewalk; the front end of the floating bridge is provided with an image recognition camera and a laser positioning device; propellers are arranged at four corners of the bottom of the intelligent moving platform; the cabin body is internally provided with a controller, a communication module, a power supply module and a water flow information acquisition device, the communication module, the power supply module and the water flow information acquisition device are electrically connected with the controller, and the close-range docking mechanism, the claw-hooking throwing mechanism and the propeller are electrically connected with the controller.
2. The intelligent unmanned combined floating bridge of claim 1, wherein: the close-range docking mechanism comprises a small hydraulic station, a hydraulic push rod, a first pair of joints and a second pair of joints, wherein the first pair of joints and the second pair of joints are arranged at two ends of the hydraulic push rod; the bottom intelligent mobile platform is provided with a guide rail groove, and the hydraulic push rod is arranged in the guide rail groove; the hydraulic push rods comprise secondary push rods and are used for driving the second pair of joints to move in the guide rail grooves; the first butt joint is installed at the fixed end of the hydraulic push rod, and the second butt joint is installed at the extending end of the second-stage push rod.
3. The intelligent unmanned combined floating bridge of claim 1, wherein: the first butt joint comprises a first grapple, a fixed end at the tail part of the grapple and a guide plate support frame, the first grapple comprises a hook head, a hook body and a hook tail, the hook tail is connected with the guide plate support frame through the fixed end at the tail part of the grapple, and the guide plate support frame is fixed at the fixed end of the hydraulic push rod; the hook head comprises a hook tongue, a hook tongue pin and a thread lock lifting pin, the hook tongue is U-shaped, the corner part of the U-shaped hook tongue is rotatably connected to the front end of the grapple through the hook tongue pin, and the front end of the hook tongue is provided with a through hole; the front end of the hook head is provided with a fixed claw, and a grapple detection device is arranged in a concave space formed by the fixed claw and the coupler knuckle and is a pressure sensor; the threaded lock lifting pin is in threaded connection with the first grapple, and the tail end of the threaded lock lifting pin is inserted into the through hole at the front end of the coupler knuckle so as to limit the rotation of the coupler knuckle; the threaded lock lifting pin is externally provided with a toothed nut.
4. The intelligent unmanned combined floating bridge of claim 3, wherein: the second pair of joints comprise a second grapple, a fixed end at the tail part of the grapple and a guide plate support frame, the second grapple comprises a hook head, a hook body and a hook tail, the hook tail is connected with the guide plate support frame through the fixed end at the tail part of the grapple, and the guide plate support frame is connected with the extending end of the hydraulic push rod; the hook head comprises a hook tongue, a hook tongue pin and a thread lock lifting pin, the hook tongue is U-shaped, the corner part of the U-shaped hook tongue is rotatably connected to the front end of the grapple through the hook tongue pin, and the front end of the hook tongue is provided with a through hole; the front end of the hook head is provided with a fixed claw, and a grapple detection device is arranged in a concave space formed by the fixed claw and the coupler knuckle and is a pressure sensor; the positions of the knuckle of the second grapple and the fixed claw are opposite to the positions of the knuckle of the first grapple and the fixed claw; the threaded lock lifting pin is in threaded connection with the first grapple, and the tail end of the threaded lock lifting pin is inserted into the through hole at the front end of the coupler knuckle so as to limit the rotation of the coupler knuckle; a toothed nut is arranged outside the lifting pin of the thread lock;
the guide plate supporting frame is provided with a supporting frame, a first rotating motor is fixed on the supporting frame, the output end of the first rotating motor is connected with a belt wheel, and the belt wheel is arranged on the hook body and is in belt transmission connection with a nut with teeth.
5. The intelligent unmanned combined floating bridge according to claim 3 or 4, wherein: the front end of the inner side of the guide plate is provided with a grapple detection camera.
6. The intelligent unmanned combined floating bridge according to claim 3 or 4, wherein: the guide plate rotating motor is a high-torque low-speed rotating motor.
7. The intelligent unmanned combined floating bridge of claim 1, wherein: the claw throwing mechanism comprises a throwing mechanism and a clamping arm mechanism which are arranged in parallel, the throwing mechanism comprises a claw for connecting two sections of floating bridges, a pneumatic emitter for emitting a grapple, a rope guide pipe and a winder for winding and unwinding a rope connected with the grapple, the tail end of the claw is connected with the rope, the rope is placed in the rope guide pipe of the winder, and the tail end of the rope bypasses a roller and is fixed at the output end of the winder; the pneumatic emitter is arranged between the grapples at the tail ends of the rope guide pipes; the clamping arm mechanism comprises a rotary receiving arm rod for butting the hook, a groove clamping arm for fixing the hook, a rotary arm rod and a rotary hydraulic cylinder, the rotary hydraulic cylinder is fixed at the bottom of the bottom intelligent mobile platform, and the rotary arm rod and the groove clamping arm are vertically fixed together and connected to the output end of the rotary hydraulic cylinder; the top of the groove clamping arm is provided with a groove; the rotary receiving arm rod comprises an arc-shaped rod wall and a straight rod arm, and is respectively connected to the tail end of the groove in a rotating mode through a second rotating motor.
8. The intelligent unmanned combined floating bridge of claim 7, wherein: the communication module comprises a communicator, the communicator comprises a Bluetooth module, a GPS (global positioning system) positioner, a 4G data transmission module and a graph transmission module, the bottom intelligent mobile platform is in communication connection with each other through the Bluetooth module, and wireless communication connection is carried out between the bottom intelligent mobile platform and a main control center on the bank through the 4G data transmission module and the graph transmission module.
9. The intelligent unmanned combined floating bridge of claim 7, wherein: the power module comprises a cable, a power supply, a relay, a power converter and an alarm, wherein the power supply is a storage battery arranged inside the bottom intelligent mobile platform, and the storage battery is a lithium battery or a fuel battery and directly supplies power for the bottom intelligent mobile platform.
10. The intelligent unmanned combined floating bridge of claim 1, wherein: the water flow data acquisition module comprises a flow velocity detection sensor, a flow detection sensor and a water depth detection radar, and the water depth detection radar is arranged in the cabin body; the flow velocity detection sensor and the flow detection sensor are arranged at the bottom of the bottom intelligent mobile platform and used for detecting the flow velocity and the flow of water flow in the current water area.
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| CN202110647550.2A CN113186801A (en) | 2021-06-10 | 2021-06-10 | Intelligent unmanned combined floating bridge |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114032753A (en) * | 2021-11-29 | 2022-02-11 | 南京理工大学 | Automatic floating bridge block butt joint control system and method for erecting floating bridge |
| CN118292337A (en) * | 2024-06-03 | 2024-07-05 | 河南黄河水工机械有限公司 | Multipurpose canal combined bridge for hydraulic engineering |
-
2021
- 2021-06-10 CN CN202110647550.2A patent/CN113186801A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114032753A (en) * | 2021-11-29 | 2022-02-11 | 南京理工大学 | Automatic floating bridge block butt joint control system and method for erecting floating bridge |
| CN114032753B (en) * | 2021-11-29 | 2024-09-24 | 南京理工大学 | Automatic butt joint control system and method for floating bridge blocks for erecting floating bridge |
| CN118292337A (en) * | 2024-06-03 | 2024-07-05 | 河南黄河水工机械有限公司 | Multipurpose canal combined bridge for hydraulic engineering |
| CN118292337B (en) * | 2024-06-03 | 2024-08-23 | 河南黄河水工机械有限公司 | Multipurpose canal combined bridge for hydraulic engineering |
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