CN202038437U - Miniature water surface robot possessing novel obstacle avoidance device - Google Patents

Abstract

The utility model relates to a small water surface robot with a new type of obstacle avoidance device, which includes a hull and an obstacle avoidance device arranged on the hull. Highlight warning device, warning horn, ranging sensor, camera and video transmission module and the water depth ranging sensor and underwater sweeping sonar arranged below the waterline of the hull, the camera and the wireless video transmission module include a camera connected with a signal and The wireless video transmission device is connected with the main console or the ground console with wireless signals. The utility model has better obstacle avoidance effect, and the LED highlight warning device and warning horn can well draw the attention of passing ships; the underwater sweeping sonar and water depth sensor can plan paths, avoid obstacles and effectively prevent grounding.

Description

A Small Surface Robot with a New Obstacle Avoidance Device

technical field

The utility model relates to the technical field of water surface robots, in particular to a small water surface robot with a novel obstacle avoidance device.

Background technique

Small surface robots are less likely to be noticed than large ships when navigating in the water, so how to be more easily noticed by people and how to actively avoid obstacles are topics that must be studied to ensure their safe driving and work. At present, unmanned ships are an emerging field, and the technology in this area is still relatively scarce, and the obstacle avoidance devices of unmanned small surface robots are not sensitive and comprehensive enough.

Utility model content

Aiming at the deficiencies of the obstacle avoidance devices of the above existing small surface robots, the purpose of this utility model is to provide a small surface robot with a new obstacle avoidance device that can realize obstacle avoidance navigation on more complicated water surfaces.

The purpose of this utility model is achieved by adopting the following technical solutions: a small surface robot with a novel obstacle avoidance device, which includes a hull and an obstacle avoidance device arranged on the hull, and the obstacle avoidance device includes a battery arranged on the upper part of the hull , a single-chip microcomputer, an LED highlight warning device connected to the single-chip microcomputer signal, a warning horn, a ranging sensor, a camera and a video transmission module, and a water depth ranging sensor and an underwater sweeping sonar arranged below the waterline of the hull, the battery and Single-chip microcomputer, LED highlighted warning device, warning horn, ranging sensor, camera and wireless video transmission module, water depth ranging sensor and underwater sweeping sonar are all circuit-connected, and described camera and wireless video transmission module comprise the camera of signal connection and The wireless video transmission device is connected with the main console or the ground console with wireless signals.

As a preferred technical solution of the present invention, the distance measuring sensor is a laser distance measuring sensor, which is installed on a servo motor, which is connected to the battery circuit and connected to the single chip microcomputer signal, and the servo motor swings and drives The laser ranging sensor rocks.

As a preferred technical solution of the present invention, the underwater sweeping sonar is installed at the front end of the hull below the waterline of the hull to measure the distance between the front of the hull and obstacles.

As a preferred technical solution of the utility model, the distance measuring sensors are three ultrasonic distance measuring sensors, which are respectively fixed on the bow and both sides of the hull.

Compared with the prior art, the utility model has the advantages of:

1. The obstacle avoidance effect is better, and the LED highlight warning device and warning horn can draw the attention of passing ships. Effectively reduce encounters with ships that are difficult to avoid (such as large, high-speed ships);

2. Through the results of multiple measurements in a short period of time by the underwater sweeping sonar, judge the position and direction of the obstacle, so as to plan the path and avoid the obstacle;

4. The water depth sensor is used to measure the distance between the bottom of the hull and the bottom of the water, which can effectively prevent the occurrence of grounding;

5. The camera and wireless video transmission module can allow more intelligent operators to participate in the ship's obstacle avoidance process at any time, and can also complete navigation in complex water surface environments.

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment the utility model is further described:

Fig. 1 is a schematic diagram of the planar module structure of the obstacle avoidance device of the small water surface robot of the present invention.

Detailed ways

As shown in Figure 1, the small surface robot includes a hull 7 and an obstacle avoidance device arranged on the hull 7, and the obstacle avoidance device includes a battery 9 arranged on the upper part of the hull, a single-chip microcomputer 10, and LED highlight warnings connected with the single-chip microcomputer 10 signals respectively Device 1, warning horn 2, laser ranging sensor 3, camera and video transmission module 6, and water depth ranging sensor 5 and underwater sweeping sonar 4 arranged below the hull waterline 8, battery 9 and LED highlight warning device 1. Warning horn 2, laser ranging sensor 3, camera and wireless video transmission module 6, water depth ranging sensor 5 and underwater sweeping sonar 4 are all circuit connected, and the camera and wireless video transmission module 6 include a camera connected by signal And a wireless video transmission device, the wireless video transmission device is connected with the main console or the ground console with wireless signals.

Described laser ranging sensor 5 is installed on a servo motor (not shown in the figure), and this servo motor is connected with battery 9 circuits, and is connected with single chip 10 signal, and this servo motor swings and drives laser ranging sensor 5 to swing, The single-chip microcomputer 10 can obtain the relative direction and distance between the obstacle and the hull by calculating the angle of the servo motor and the laser ranging sensor 5 swinging and rotating.

The underwater sweeping sonar 4 is installed at the front end of the hull below the waterline 8 of the hull, and is used to measure the distance between the hull 7 and obstacles ahead. The effect of water depth ranging sensor 5 is to detect its distance to the bottom of the water. The camera and the wireless video transmission module 6 are used to remotely control the robot to complete the work through real-time video information transmitted to the main console or the ground console in the case of over-the-horizon, and at the same time turn off the automatic control function of the robot.

During the working process of the small surface robot, the LED highlight warning device 1 is always flashing to remind passing ships to pay attention; the warning horn 2 always sends out warning recordings, also to remind passing ships, when the laser ranging sensor 3 or underwater sweeping sonar 4 When an obstacle within a certain range is detected, the warning horn 2 emits a high-frequency warning sound to strengthen the reminder effect.

The utility model is not limited to the above-mentioned embodiments. For example, the laser ranging sensor 3 can be replaced by three ultrasonic ranging sensors, which can be directly fixed on the bow and both sides of the hull respectively, and can simultaneously detect obstacles around the hull.

Claims (4)

1. A small water surface robot with a novel obstacle avoidance device, characterized in that: comprise a hull and an obstacle avoidance device arranged on the hull, the obstacle avoidance device includes a battery arranged on the upper part of the hull, a single-chip microcomputer, and a signal connected to the single-chip microcomputer respectively LED bright warning device, warning horn, ranging sensor, camera and video transmission module, water depth ranging sensor and underwater sweeping sonar arranged below the waterline of the hull, the battery and single-chip microcomputer, LED bright warning device, warning horn , distance measuring sensor, camera and wireless video transmission module, water depth ranging sensor and underwater sweeping sonar are all circuit connected, and described camera and wireless video transmission module include camera and wireless video transmission device of signal connection, wireless video transmission device and wireless video transmission device Main console or ground console wireless signal connection. 2. The small water surface robot with novel obstacle avoidance device according to claim 1, characterized in that: the distance measuring sensor is a laser distance measuring sensor, which is installed on a servo motor, and the servo motor is connected to the battery circuit Connect and connect with the signal of the single chip microcomputer, the servo motor swings and drives the laser ranging sensor to swing. 3. The small surface robot with novel obstacle avoidance device according to claim 1, characterized in that: the underwater sweeping sonar is installed at the front end of the hull below the waterline of the hull. 4. The small water surface robot with novel obstacle avoidance device according to claim 1, characterized in that: the distance measuring sensors are three ultrasonic distance measuring sensors, which are respectively fixed on the bow and both sides of the hull.

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