CN114604386B - Be used for unmanned ship obstacle recognition device - Google Patents
Be used for unmanned ship obstacle recognition device Download PDFInfo
- Publication number
- CN114604386B CN114604386B CN202210318094.1A CN202210318094A CN114604386B CN 114604386 B CN114604386 B CN 114604386B CN 202210318094 A CN202210318094 A CN 202210318094A CN 114604386 B CN114604386 B CN 114604386B
- Authority
- CN
- China
- Prior art keywords
- rod
- fixedly connected
- side wall
- sliding
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Abstract
The invention discloses an unmanned ship obstacle recognition device, which comprises a ship body, wherein a fixing frame is arranged on one side of the ship body, the fixing frame is connected to the ship body through a damping mechanism, one side of the fixing frame is fixedly connected with a shell through a connecting rod, the side wall of the shell is fixedly connected with two fan-shaped discs, a supporting rod is rotatably connected between the two fan-shaped discs, one end of the supporting rod is provided with a detection probe, the detection probe is provided with an ash cleaning mechanism for cleaning the detection probe, the shell is also internally provided with a main control module for controlling the detection probe, the shell is internally provided with a heat dissipation mechanism for dissipating heat of the main control module, and the shell is internally provided with a driving mechanism for driving the heat dissipation mechanism and the supporting rod to work. The invention can improve the recognition capability of the unmanned ship to surrounding obstacles and has the adaptability to obstacles with different distances.
Description
Technical Field
The invention relates to the technical field of unmanned ships, in particular to a barrier recognition device for an unmanned ship.
Background
The unmanned ship environment obstacle recognition system utilizes various sensors carried by the unmanned ship environment obstacle recognition system, including a laser scanner, an X-band radar, a vision sensor and the like, senses the navigation environment, acquires surrounding navigation environment information, can quickly recognize moving/static targets, shorelines and the like in the navigation channel, and effectively distinguishes real obstacles and false targets after fusing multi-source information from different sensors, so that the unmanned ship can master the information of the navigation channel in all directions. And further, data support is provided for the path planning of the unmanned ship in the channel and the automatic collision prevention of the obstacle.
At present, an environment sensing system of an unmanned ship mainly adopts a laser scanner, a radar or a camera to sense an environment obstacle, and different types of sensors have a certain identification range. The obstacle in the safe navigation range of the unmanned ship cannot be effectively identified by simply relying on a sensor, for example, radar has a radar blind area, and the obstacle in the blind area is difficult to identify; the effective measurement range of the laser scanner is within 100m, and the laser scanner cannot identify long-distance obstacles; the image data can clearly display the obstacle ahead, but it is difficult to accurately acquire distance data between the obstacle and the ship.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an obstacle recognition device for an unmanned ship, which can improve the recognition capability of the unmanned ship on surrounding obstacles and has the adaptability to obstacles with different distances.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the invention discloses an unmanned ship obstacle recognition device, which comprises a ship body, wherein one side of the ship body is provided with a fixing frame, the fixing frame is connected to the ship body through a damping mechanism, one side of the fixing frame is fixedly connected with a shell through a connecting rod, the side wall of the shell is fixedly connected with two fan-shaped discs, a supporting rod is rotatably connected between the two fan-shaped discs, one end of the supporting rod is provided with a detection probe, the detection probe is provided with a dust removing mechanism for cleaning the detection probe, the shell is internally provided with a main control module for controlling the detection probe, the shell is internally provided with a heat radiating mechanism for radiating the main control module, the shell is internally provided with a driving mechanism for driving the heat radiating mechanism and the supporting rod to work, the driving mechanism comprises a driving motor fixedly connected to the upper end of the shell, an output shaft of the driving motor penetrates through the side wall of the shell and is fixedly connected with a first bevel gear, the side wall of the shell is provided with a circular groove in a sliding way, the inner wall of the shell is internally provided with a cylinder in a penetrating way, the threaded rod is connected with a cylinder in a threaded way, one end of the threaded rod is in threaded connection with the cylinder, one end of the threaded rod is fixedly connected with a second bevel gear in sliding way, and the side wall of the sliding way is connected with a sliding block on the side wall of the sliding block, and the sliding block is connected with one end of the sliding block in a sliding way.
Preferably, the damping mechanism comprises a rotating rod which is connected to the ship body in a cross rotation mode, the side walls of the two rotating rods are all penetrated and provided with bar grooves, a positioning shaft is penetrated and arranged between the bar grooves, the two rotating rods are connected with a cross rod in a common rotation mode at one end, far away from the ship body, of the rotating rod, and the cross rod is fixedly connected to the fixing frame through the positioning mechanism.
Preferably, the heat dissipating device comprises a heat dissipating tube fixedly connected in the shell, an air hole on the heat dissipating tube faces the main control module, a sliding plug cylinder is fixedly connected to the inner wall of the shell, a sliding plug is connected in the sliding plug cylinder in a sealing sliding manner, a first one-way valve which only allows air to flow downwards is arranged on the sliding plug cylinder, a sliding plug rod is fixedly connected to the side wall of the sliding plug, an eccentric wheel is fixedly connected to one end of the threaded rod, which is located in the shell, an annular groove is formed in the side wall of the eccentric wheel, an L-shaped rod is connected in a sliding manner in the annular groove, and one end, far away from the eccentric wheel, of the L-shaped rod is connected to the side wall of the sliding plug rod in a rotating manner, and the lower end of the sliding plug cylinder is communicated with the heat dissipating tube.
Preferably, the ash removal mechanism comprises a movable groove arranged on the side wall of the detection probe, a movable block is slidably connected in the movable groove, the movable block is elastically connected to the inner wall of the movable groove through a telescopic air bag, a connecting piece is fixedly connected to the side wall of the movable block, an ash removal plate is fixedly connected to the connecting piece, and an inflator for controlling the air bag to stretch is further arranged on the supporting rod.
Preferably, the positioning mechanism comprises a supporting rod fixedly connected to the cross rod, and the supporting rod is fixedly connected to the inner side of the fixing frame through a positioning ring.
Preferably, the lower end of the positioning shaft is elastically connected to the ship body through a spring, and both ends of the positioning shaft are connected with limiting discs in a threaded manner.
Preferably, the ash removing plate is made of rubber materials, and bristles are uniformly distributed on one side of the ash removing plate, which is close to the detection probe.
Preferably, the support rod is further provided with a solar panel for supplying power to the driving motor and the detection probe.
The invention has the following beneficial effects:
1. the shell is connected to the ship body through the damping mechanism, so that the influence of vibration generated by bumping the ship body on the obstacle recognition device can be effectively reduced when the ship body walks;
2. the first bevel gear is driven to rotate through the rotation of the driving motor, the second bevel gear meshed with the first bevel gear is driven to rotate through the rotation of the first bevel gear, the threaded rod is driven to rotate through the rotation of the second bevel gear, the cylinder connected with the threaded rod is driven to move through the rotation of the threaded rod, the slide block is pushed to reciprocate in the slide groove through the connecting rod by the movement of the cylinder, and then the detection probe detects a certain range near the ship body, so that the area of detection obstacle is increased, and the safety range of the ship body during running is improved;
3. the eccentric wheel is driven to rotate through the rotation of the threaded rod, the sliding plug rod is made to reciprocate through the cooperation of the annular groove and the L-shaped rod, and the sliding plug rod reciprocates to press air in the sliding plug cylinder into the radiating pipe and is discharged through the air outlet on the radiating pipe, so that the main control module is cooled and radiated.
Drawings
Fig. 1 is a schematic structural view of an unmanned ship obstacle recognition device according to the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 3 is an enlarged schematic view of the structure at B in FIG. 1;
fig. 4 is an enlarged schematic view of the structure at C in fig. 1.
In the figure: 1 ship body, 2 fixing frame, 3 connecting rod, 4 cooling tube, 5 main control module, 6 driving motor, 7 connecting rod, 8 slider, 9 fan-shaped disc, 10 spout, 11 inflator, 12 bracing piece, 13 test probe, 14 movable block, 15 connecting piece, 16 clear grey board, 17 flexible gasbag, 18 first bevel gear, 19 second bevel gear, 20L shape pole, 21 threaded rod, 22 drum, 23 casing, 24 eccentric wheel, 25 sliding plug, 26 spring, 27 locating shaft, 28 bull stick, 29 holding ring, 30 supporting pole, 31 horizontal pole, 32 bar groove, 33 sliding plug pole, 34 sliding plug section of thick bamboo, 35 first check valve.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1-4, the invention relates to an obstacle recognition device for an unmanned ship, which comprises a ship body 1, wherein one side of the ship body 1 is provided with a fixing frame 2, the fixing frame 2 is connected to the ship body 1 through a damping mechanism, the damping mechanism comprises rotating rods 28 which are connected to the ship body 1 in a cross rotation manner, the side walls of the two rotating rods 28 are respectively provided with a bar groove 32 in a penetrating manner, a positioning shaft 27 is arranged between the two bar grooves 32 in a penetrating manner, one ends of the two rotating rods 28, far away from the ship body 1, are connected with a cross rod 31 in a co-rotation manner, the cross rod 31 is fixedly connected to the fixing frame 2 through a positioning mechanism, the positioning mechanism comprises a supporting rod 30 fixedly connected to the cross rod 31, the supporting rod 30 is fixedly connected to the inner side of the fixing frame 2 through a positioning ring 29, the lower end of the positioning shaft 27 is elastically connected to the ship body 1 through a spring 26, and two ends of the positioning shaft 27 are respectively connected with limiting discs in a threaded manner.
One side of the fixing frame 2 is fixedly connected with a shell 23 through a connecting rod 3, the side wall of the shell 23 is fixedly connected with two fan-shaped discs 9, a supporting rod 12 is rotationally connected between the two fan-shaped discs 9, a solar cell panel for supplying power to a driving motor 6 and a detection probe 13 is further arranged on the supporting rod 12, the detection probe 13 is installed at one end of the supporting rod 12, a dust removing mechanism for cleaning the detection probe 13 is installed on the detection probe 13 and comprises a movable groove formed in the side wall of the detection probe 13, a movable block 14 is slidably connected in the movable groove, the movable block 14 is elastically connected on the inner wall of the movable groove through a telescopic air bag 17, a connecting piece 15 is fixedly connected on the side wall of the movable block 14, a dust removing plate 16 is fixedly connected on the connecting piece 15, the dust removing plate 16 is made of rubber materials, bristles are uniformly distributed on one side, close to the detection probe 13, an inflator 11 for controlling the telescopic air bag is further installed on the supporting rod 12, and a main control module 5 for controlling the detection probe 13 is further arranged in the shell 23.
The inside of the shell 23 is provided with a heat dissipation mechanism for dissipating heat of the main control module 5, the heat dissipation device comprises a heat dissipation pipe 4 fixedly connected in the shell 23, an air hole on the heat dissipation pipe 4 faces the main control module 5, the inner wall of the shell 23 is fixedly connected with a sliding plug cylinder 34, the sliding plug cylinder 34 is internally and slidably connected with a sliding plug 25 in a sealing manner, a first one-way valve 35 which only allows air to flow downwards from top to bottom is arranged on the sliding plug 25, the side wall of the sliding plug 25 is fixedly connected with a sliding plug rod 33, one end of a threaded rod 21 positioned in the shell 23 is fixedly connected with an eccentric wheel 24, an annular groove is formed in the side wall of the eccentric wheel 24, an L-shaped rod 20 is slidably connected in the annular groove, one end, far away from the eccentric wheel 24, of the L-shaped rod 20 is rotatably connected to the side wall of the sliding plug rod 33, and the lower end of the sliding plug cylinder 34 is communicated with the heat dissipation pipe 4.
The inside of the shell 23 is also provided with a driving mechanism for driving the heat dissipation mechanism and the supporting rod 12 to work, the driving mechanism comprises a driving motor 6 fixedly connected to the upper end of the shell 23, an output shaft of the driving motor 6 penetrates through the side wall of the shell 23 and is fixedly connected with a first bevel gear 18, the side wall of the shell 23 is provided with a round groove, a cylinder 22 is connected in a sliding manner, the inner wall of the shell 23 is provided with a threaded rod 21 extending into the cylinder 22 in a penetrating manner, the threaded rod 21 is in threaded connection with the cylinder 22, one end of the threaded rod 21 is fixedly connected with a second bevel gear 19 meshed with the first bevel gear 18, the side wall of the supporting rod 12 is provided with a sliding groove 10, the sliding groove 10 is in sliding connection with a sliding block 8, the upper end of the sliding block 8 is rotationally connected with a connecting rod 7, and one end of the connecting rod 7 far away from the sliding block 8 is rotationally connected to the side wall of the cylinder 22.
In the invention, when the obstacle recognition device is used, the shell 23 is connected to the ship body 1 through the damping mechanism, so that the influence of vibration generated by bumping of the ship body 1 on the obstacle recognition device can be effectively reduced when the ship body 1 walks, the first bevel gear 18 is driven to rotate through the rotation of the driving motor 6, the first bevel gear 18 drives the second bevel gear 19 meshed with the first bevel gear 18 to rotate, the second bevel gear 19 drives the threaded rod 21 to rotate, the threaded rod 21 drives the cylinder 22 in threaded connection with the threaded rod 21 to move, the cylinder 22 moves to push the sliding block 8 to reciprocate in the sliding groove 10 through the connecting rod 7, the detection probe 13 is further used for detecting a certain range near the ship body 1, the area of detection obstacle is increased, and the safety range of the ship body 1 during traveling is improved.
Meanwhile, when the threaded rod 21 rotates, the eccentric wheel 24 is driven to rotate, the eccentric wheel 24 rotates to enable the sliding plug rod 33 to reciprocate through the cooperation of the annular groove and the L-shaped rod 20, and the sliding plug rod 33 reciprocates to press air in the sliding plug cylinder 34 into the radiating pipe 4 and is discharged through an exhaust port on the radiating pipe 4 to cool and radiate the main control module 5.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (6)
1. The utility model provides a be used for unmanned boats and ships obstacle recognition device, includes hull (1), its characterized in that, one side of hull (1) is provided with mount (2), mount (2) are connected on hull (1) through damper, one side of mount (2) is through connecting rod (3) fixedly connected with casing (23), the lateral wall fixedly connected with two fan-shaped discs (9) of casing (23), two rotate between fan-shaped discs (9) and be connected with bracing piece (12), detect probe (13) are installed to one end of bracing piece (12), install on detect probe (13) and be used for carrying out abluent ash removal mechanism to detect probe (13), still be provided with in casing (23) and be used for controlling detect probe (13) master control module (5), be equipped with in casing (23) and be used for carrying out the radiating mechanism to master control module (5) the actuating mechanism that works, actuating mechanism includes driving motor (6) of fixed connection in casing (23) upper end, drive motor (6) of output shaft (6) are connected with one side wall (18) in the circular groove is opened in the casing (23), the inner wall of the shell (23) is provided with a threaded rod (21) extending into the cylinder (22) in a penetrating manner, the threaded rod (21) is in threaded connection with the cylinder (22), one end of the threaded rod (21) is fixedly connected with a second bevel gear (19) meshed with the first bevel gear (18), the side wall of the supporting rod (12) is provided with a sliding groove (10), the sliding groove (10) is internally connected with a sliding block (8) in a sliding manner, the upper end of the sliding block (8) is rotationally connected with a connecting rod (7), and one end, far away from the sliding block (8), of the connecting rod (7) is rotationally connected to the side wall of the cylinder (22); the damping mechanism comprises rotating rods (28) which are connected to the ship body (1) in a crossed and rotating mode, strip-shaped grooves (32) are formed in the side walls of the two rotating rods (28) in a penetrating mode, a locating shaft (27) is arranged between the two strip-shaped grooves (32) in a penetrating mode, one ends, far away from the ship body (1), of the two rotating rods (28) are connected with a cross rod (31) in a rotating mode, and the cross rod (31) is fixedly connected to the fixing frame (2) through the locating mechanism; the heat dissipation mechanism comprises a heat dissipation pipe (4) fixedly connected in a shell (23), an air hole on the heat dissipation pipe (4) faces a main control module (5), a sliding plug cylinder (34) is fixedly connected to the inner wall of the shell (23), a sliding plug (25) is connected to the sliding plug cylinder (34) in a sealing sliding manner, a first one-way valve (35) which only allows air to flow downwards from top to bottom is arranged on the sliding plug (25), a sliding plug rod (33) is fixedly connected to the side wall of the sliding plug (25), an annular groove is formed in the side wall of the threaded rod (21) and is fixedly connected with an eccentric wheel (24), an L-shaped rod (20) is connected to the side wall of the eccentric wheel (24) in a sliding manner, one end of the L-shaped rod (20) away from the eccentric wheel (24) is connected to the side wall of the sliding plug rod (33) in a rotating manner, and the lower end part of the sliding plug cylinder (34) is communicated with the heat dissipation pipe (4).
2. The device for identifying the unmanned ship obstacle according to claim 1, wherein the ash removing mechanism comprises a movable groove formed in the side wall of the detection probe (13), a movable block (14) is slidably connected in the movable groove, the movable block (14) is elastically connected to the inner wall of the movable groove through a telescopic airbag (17), a connecting piece (15) is fixedly connected to the side wall of the movable block (14), an ash removing plate (16) is fixedly connected to the connecting piece (15), and an inflator (11) for controlling the expansion of the airbag is further mounted on the support rod (12).
3. The device for identifying the unmanned ship obstacle according to claim 1, wherein the positioning mechanism comprises a supporting rod (30) fixedly connected to the cross rod (31), and the supporting rod (30) is fixedly connected to the inner side of the fixed frame (2) through a positioning ring (29).
4. The device for identifying the unmanned ship obstacle according to claim 1, wherein the lower end of the positioning shaft (27) is elastically connected to the ship body (1) through a spring (26), and both ends of the positioning shaft (27) are connected with limiting plates in a threaded manner.
5. The device for identifying the unmanned ship obstacle according to claim 2, wherein the ash removing plate (16) is made of rubber materials, and bristles are uniformly distributed on one side of the ash removing plate (16) close to the detection probe (13).
6. An arrangement for unmanned ship obstacle recognition according to claim 1, wherein the support bar (12) is further provided with a solar panel for powering the drive motor (6) and the detection probe (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210318094.1A CN114604386B (en) | 2022-03-27 | 2022-03-27 | Be used for unmanned ship obstacle recognition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210318094.1A CN114604386B (en) | 2022-03-27 | 2022-03-27 | Be used for unmanned ship obstacle recognition device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114604386A CN114604386A (en) | 2022-06-10 |
| CN114604386B true CN114604386B (en) | 2023-09-29 |
Family
ID=81867172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210318094.1A Active CN114604386B (en) | 2022-03-27 | 2022-03-27 | Be used for unmanned ship obstacle recognition device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114604386B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003111075A (en) * | 2001-09-27 | 2003-04-11 | Masahiro Sugimoto | Obstacle detecting method and apparatus |
| CN211651664U (en) * | 2020-03-03 | 2020-10-09 | 江苏海事职业技术学院 | Unmanned ship navigation environment barrier recognition device |
| CN213746037U (en) * | 2020-12-03 | 2021-07-20 | 周博 | Tourism hotel surveillance camera machine device |
| CN214275022U (en) * | 2020-12-24 | 2021-09-24 | 山东海福德机械有限公司 | Damping support of Roots blower |
| CN113636018A (en) * | 2021-09-07 | 2021-11-12 | 舟山市自然资源测绘设计中心 | Fishing boat is with synthesizing investigation fixing device |
-
2022
- 2022-03-27 CN CN202210318094.1A patent/CN114604386B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003111075A (en) * | 2001-09-27 | 2003-04-11 | Masahiro Sugimoto | Obstacle detecting method and apparatus |
| CN211651664U (en) * | 2020-03-03 | 2020-10-09 | 江苏海事职业技术学院 | Unmanned ship navigation environment barrier recognition device |
| CN213746037U (en) * | 2020-12-03 | 2021-07-20 | 周博 | Tourism hotel surveillance camera machine device |
| CN214275022U (en) * | 2020-12-24 | 2021-09-24 | 山东海福德机械有限公司 | Damping support of Roots blower |
| CN113636018A (en) * | 2021-09-07 | 2021-11-12 | 舟山市自然资源测绘设计中心 | Fishing boat is with synthesizing investigation fixing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114604386A (en) | 2022-06-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111791214A (en) | Inspection robot and inspection system for inspecting construction tunnel | |
| CN112180941A (en) | Multi-sensor fusion unmanned vehicle detection obstacle avoidance system and obstacle avoidance method | |
| KR20150141190A (en) | Methods and systems for detecting weather conditions using vehicle onboard sensors | |
| RU2014107873A (en) | DRIVING ASSISTANCE AND DRIVING ASSISTANCE | |
| CN208760540U (en) | A kind of unmanned vehicle of more applications | |
| CN114604386B (en) | Be used for unmanned ship obstacle recognition device | |
| CN107677783A (en) | A kind of floating monitoring device of quality of river water | |
| CN106814354A (en) | Mobile lidar and vehicle | |
| CN111986444B (en) | Railway construction early warning device for safety with typhoon monitoring function | |
| CN114764975A (en) | Rail guard system for intelligent transportation in tunnel and control method thereof | |
| CN114013529B (en) | Inspection robot | |
| CN104908888B (en) | Cylindricality mast anticollision device, collision-prevention device and its method | |
| CN206627621U (en) | Mobile lidar and vehicle | |
| CN212825366U (en) | Inspection robot and inspection system for inspecting construction tunnel | |
| CN110228066B (en) | Tunnel detection device and obstacle avoidance unit and obstacle avoidance method thereof | |
| CN109229046A (en) | A kind of anti-automobile crash device | |
| CN108951471A (en) | Emergency gate lock for cell gate inhibition | |
| CN215663903U (en) | Positioning device for water patrol monitoring ship | |
| CN213632699U (en) | Ultrathin image acquisition device suitable for rail transit vehicle | |
| CN109552216A (en) | Automatic driving vehicle | |
| CN113687346B (en) | High-speed early warning microwave radar for foggy days | |
| CN214311447U (en) | Autonomous cruise unmanned ship with path planning function | |
| CN212276588U (en) | All-weather automatic acousto-optic directional anti-collision warning system of rotary scanning type | |
| CN114888636A (en) | Intelligent cutter damage monitoring system and method based on three-dimensional laser scanning | |
| CN108860635B (en) | Unmanned aerial vehicle that conveniently adjusts flies accuse with keeping away barrier device automatically |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |