CN205801453U - A kind of unmanned boat dodging obstacle and overturn-preventing - Google Patents

A kind of unmanned boat dodging obstacle and overturn-preventing Download PDF

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Publication number
CN205801453U
CN205801453U CN201620740975.2U CN201620740975U CN205801453U CN 205801453 U CN205801453 U CN 205801453U CN 201620740975 U CN201620740975 U CN 201620740975U CN 205801453 U CN205801453 U CN 205801453U
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CN
China
Prior art keywords
preventing
overturn
hull
unmanned boat
controller
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Expired - Fee Related
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CN201620740975.2U
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Chinese (zh)
Inventor
刘云平
徐泽
张永宏
刘佳
刘青山
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Nanjing University of Information Science and Technology
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Nanjing University of Information Science and Technology
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Publication of CN205801453U publication Critical patent/CN205801453U/en
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  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The utility model discloses a kind of unmanned boat dodging obstacle and overturn-preventing, hull is provided with Overthrow preventing device and avoiding device;Overthrow preventing device includes passive type overturn-preventing structure and active overturn-preventing structure.Compared with prior art, the beneficial effects of the utility model are: hull is provided with Overthrow preventing device and avoiding device;Overthrow preventing device includes passive type overturn-preventing structure and active overturn-preventing structure, passive overturn-preventing scheme is the installation ship wing on hull, the passive resistance increased when will roll, reduce and roll probability, cushion pad also can be sticked to reduce unknown impulsive force around hull, this design can improve the stability of hull, and avoiding device is possible to prevent unmanned boat collision obstacle to cause the loss of hull, and helps unmanned boat to dodge obstacle smoothly.

Description

A kind of unmanned boat dodging obstacle and overturn-preventing
Technical field
This utility model relates to a kind of unmanned boat dodging obstacle and overturn-preventing.
Background technology
At present, the protective capability that major part unmanned boat does not carries Overthrow preventing device or device is limited, and avoiding device is the most not Can well combine with Overthrow preventing device, and in general anti-tilt device, the only design of two air bags is easy to allow Ship leans forward or hypsokinesis during air bag ejects.And Overthrow preventing device and avoiding device are complementary, after ship collision It is easy to rollover, and avoiding device in this time can allow ship holding level to reduce loss.General unmanned boat is due to only Use single Overthrow preventing device even not have related device to cause the poor ability of overturn-preventing, and avoiding device is also kept away The shortcoming making measure the most single or to fail mutually to link with overturn-preventing exists.
Utility model content
This utility model needs the problem solved to be the deficiency the highest for the excessively simple accuracy of above-mentioned existing avoiding device, And provide a kind of high accuracy to dodge the unmanned boat of obstacle and overturn-preventing.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is:
A kind of unmanned boat dodging obstacle and overturn-preventing, including hull, hull is provided with Overthrow preventing device and avoiding device; Overthrow preventing device includes passive type overturn-preventing structure and active overturn-preventing structure,
Passive type overturn-preventing structure includes the ship wing being separately mounted to hull both sides and the cushion pad being sticked around hull;
Active overturn-preventing structure includes overturn-preventing module, compression gas tank, pipeline I, pipeline II, electronic valve I, electronics Valve II, main gasbag and auxiliary balloon, main gasbag has two, is separately positioned on the both sides of hull, and auxiliary balloon has 4, respectively Being symmetricly set on the front-end and back-end of hull, main gasbag is connected with compression gas tank by pipeline I, and pipeline I arranges electronic valve Door I, pipeline II is connected with pipeline I, and pipeline II arranges electronic valve II,
Overturn-preventing module includes controller, acceleration sensor, electronic compass, gyroscope and mercoid switch, acceleration sensor, Electronic compass and gyroscope are connected with controller respectively, and the hull recorded is rolled and adds by acceleration sensor, electronic compass, gyroscope Speed, the incoming controller of data of hull side degree of tilt, controller judges whether to open electronic valve I and electricity through algorithm predicts Sub-valve II, mercoid switch presets and topples angle, reach to topple angle time forced-triggered electronic valve I and electronic valve II;
Avoiding device includes camera module, laser radar and sonar, and camera module is directly connected with grounded receiving station, Laser radar and sonar all controllers with overturn-preventing module are connected, and data are passed to controller by laser radar and sonar, control By algorithm, device judges whether front has barrier and dodge mode, controller by sharp radar and the real time data of sonar and The mode of dodging passes to grounded receiving station for ground staff's reference.
Controller will use stm32 single-chip microcomputer or arm single-chip microcomputer.
The longitudinal axis of mercoid switch and the axis oriented normal of hull.
Acceleration transducer, electronic compass and gyroscope are arranged in same level.
The ship wing is positioned at below midship water line place.
Photographic head is arranged on hull bottom foremost.
The ship wing is the flat cylindroid bodily form, and smooth surface.
Compared with prior art, the beneficial effects of the utility model are: hull is provided with Overthrow preventing device and avoiding device; Overthrow preventing device includes passive type overturn-preventing structure and active overturn-preventing structure, and passive overturn-preventing scheme is to install on hull The ship wing, the passive resistance increased when will roll, reduce and roll probability, also can stick cushion pad around hull to reduce the unknown Impulsive force, this design can improve the stability of hull, and avoiding device is possible to prevent unmanned boat collision obstacle to cause hull Loss, and help unmanned boat to dodge obstacle smoothly.
Accompanying drawing explanation
Fig. 1 is the structural representation of the unmanned boat dodging obstacle and overturn-preventing of the present utility model;
Fig. 2 is the structural representation of the ship wing;
Fig. 3 is the structural representation of overturn-preventing module;
Fig. 4 is the schematic diagram of the inflatable structure in active overturn-preventing structure;
Fig. 5 is to dodge principle flow chart;
Fig. 6 is overturn-preventing principle flow chart.
Wherein, 1-overturn-preventing module;
11-controller;12-mercoid switch;13-acceleration sensor;14-electronic compass;15-gyroscope;
2-main gasbag;
21-pipeline I;22-electronic valve I;23-compression gas tank;24-electronic valve II;25-pipeline II;
3-auxiliary balloon;
4-camera module;5-laser radar;6-sonar;7-hull;The 8-ship wing.
Detailed description of the invention
Presently in connection with accompanying drawing, this utility model is described in further detail.These accompanying drawings are the schematic diagram of simplification, Basic structure of the present utility model is described the most in a schematic way, and therefore it only shows the composition relevant with this utility model.
As shown in figures 1 to 6, a kind of unmanned boat dodging obstacle and overturn-preventing, including hull, hull is provided with overturn-preventing dress Put and avoiding device;Overthrow preventing device includes passive type overturn-preventing structure and active overturn-preventing structure,
Passive type overturn-preventing structure includes the ship wing being separately mounted to hull both sides and the cushion pad being sticked around hull; The ship wing provides extra resistance to slow down unmanned boat rollover, adds the stability of hull simultaneously, allows the unmanned boat can be more stable Traveling, the cushion pad around hull then can reduce impulsive force;
Active overturn-preventing structure includes overturn-preventing module, compression gas tank, pipeline I, pipeline II, electronic valve I, electronics Valve II, main gasbag and auxiliary balloon, main gasbag has two, is separately positioned on the both sides of hull, and auxiliary balloon has 4, respectively Being symmetricly set on the front-end and back-end of hull, main gasbag is connected with compression gas tank by pipeline I, and pipeline I arranges electronic valve Door I, pipeline II is connected with pipeline I, and pipeline II arranges electronic valve II,
Overturn-preventing module includes controller, acceleration sensor, electronic compass, gyroscope and mercoid switch, acceleration sensor, Electronic compass and gyroscope are connected with controller respectively, and the hull recorded is rolled and adds by acceleration sensor, electronic compass, gyroscope Speed, the incoming controller of data of hull side degree of tilt, controller judges whether to open electronic valve I and electricity through algorithm predicts Sub-valve II, mercoid switch presets and topples angle, reach to topple angle time forced-triggered electronic valve I and electronic valve II;When The when that hull will rolling, controller opens electronic valve I and electronic valve II, and the order of airbag-releasing is: main gasbag is first Opening, auxiliary balloon is opened subsequently, revises hull, makes hull more stable,
Avoiding device includes camera module, laser radar and sonar, and camera module is directly connected with grounded receiving station, Laser radar and sonar all controllers with overturn-preventing module are connected, and data are passed to controller by laser radar and sonar, control By algorithm, device judges whether front has barrier and dodge mode, controller by sharp radar and the real time data of sonar and The mode of dodging passes to grounded receiving station for ground staff's reference.
Controller will use stm32 single-chip microcomputer or arm single-chip microcomputer.
The longitudinal axis of mercoid switch and the axis oriented normal of hull.
Acceleration transducer, electronic compass and gyroscope are arranged in same level.
The ship wing is positioned at below midship water line place.
Photographic head is arranged on hull bottom foremost.
The ship wing is the flat cylindroid bodily form, and smooth surface, will not increase longitudinal resistance, from without there being the speed of ship Impact, but the lateral resistance of ship can be increased, thus overturn-preventing.
Dodge obstacle and overturn-preventing unmanned boat dodge the method with overturn-preventing, comprise the following steps:
The first step, enabling signal are emitted to camera module, laser radar and sonar, and video flowing is transmitted by camera module Draw and dodge suggestion and by phase by dodging algorithm after transferring data to controller to grounded receiving station, laser radar and sonar Data are answered to be transferred to grounded receiving station for ground staff's reference;
After second step, discovery obstacle, hull halts, and waits that ground controller does not sends control instruction, controller Mode of dodging be preset as front and have obstacle but do not affect navigation, then continue to move ahead, there is obstacle impact navigation in front, then from side Passing through, front has barrier and side to pass through, then retreat and set new route;
3rd step, enabling signal are transferred to acceleration transducer, electronic compass, gyroscope and mercoid switch, system start-up, Acceleration transducer, electronic compass and gyroscope are drawn the need of beating by overturn-preventing algorithm after transferring data to controller Open electronic valve I and electronic valve II;Mercoid switch monitors hull inclined degree in real time, the strongest when beyond predetermined angle when System is opened after electronic valve I and electronic valve II, electronic valve I and electronic valve II open, and main gasbag is first inflated, auxiliary balloon Inflate subsequently.
Main gasbag is opened latter 0.6 second, and auxiliary balloon is opened.
With above-mentioned according to desirable embodiment of the present utility model for enlightenment, by above-mentioned description, related work people Member can carry out various change and amendment completely in the range of without departing from this utility model technological thought.This reality The content being not limited in description by novel technical scope, it is necessary to determine its technology according to right Property scope.

Claims (7)

1. dodge a unmanned boat for obstacle and overturn-preventing, including hull, it is characterised in that: hull be provided with Overthrow preventing device and Avoiding device;Overthrow preventing device includes passive type overturn-preventing structure and active overturn-preventing structure,
Passive type overturn-preventing structure includes the ship wing being separately mounted to hull both sides and the cushion pad being sticked around hull;
Active overturn-preventing structure includes overturn-preventing module, compression gas tank, pipeline I, pipeline II, electronic valve I, electronic valve II, main gasbag and auxiliary balloon, main gasbag has two, is separately positioned on the both sides of hull, and auxiliary balloon has 4, is respectively symmetrically Being arranged on the front-end and back-end of hull, main gasbag is connected with compression gas tank by pipeline I, and pipeline I arranges electronic valve I, Pipeline II is connected with pipeline I, and pipeline II arranges electronic valve II,
Overturn-preventing module includes controller, acceleration sensor, electronic compass, gyroscope and mercoid switch, acceleration sensor, electronics Compass and gyroscope are connected with controller respectively, and the hull recorded is rolled and accelerates by acceleration sensor, electronic compass, gyroscope Degree, the incoming controller of data of hull side degree of tilt, controller judges whether to open electronic valve I and electronics through algorithm predicts Valve II, mercoid switch presets and topples angle, reach to topple angle time forced-triggered electronic valve I and electronic valve II;
Avoiding device includes camera module, laser radar and sonar, and camera module is directly connected with grounded receiving station, laser Radar and sonar all controllers with overturn-preventing module are connected, and data are passed to controller by laser radar and sonar, and controller leads to Crossing algorithm and judge whether front has barrier and dodge mode, controller is by sharp radar and the real time data of sonar and dodges Mode passes to grounded receiving station for ground staff's reference.
The unmanned boat dodging obstacle and overturn-preventing the most according to claim 1, it is characterised in that: controller will use Stm32 single-chip microcomputer or arm single-chip microcomputer.
The unmanned boat dodging obstacle and overturn-preventing the most according to claim 1, it is characterised in that: the longitudinal axis of mercoid switch with The axis oriented normal of hull.
The unmanned boat dodging obstacle and overturn-preventing the most according to claim 1, it is characterised in that: acceleration transducer, electricity Sub-compass and gyroscope are arranged in same level.
The unmanned boat dodging obstacle and overturn-preventing the most according to claim 1, it is characterised in that: the ship wing is positioned at midship Locate below water line.
The unmanned boat dodging obstacle and overturn-preventing the most according to claim 1, it is characterised in that: photographic head is arranged on hull Bottom foremost.
The unmanned boat dodging obstacle and overturn-preventing the most according to claim 1, it is characterised in that: the ship wing is flat Elliptic Cylinder Shape, and smooth surface.
CN201620740975.2U 2016-07-13 2016-07-13 A kind of unmanned boat dodging obstacle and overturn-preventing Expired - Fee Related CN205801453U (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106043617A (en) * 2016-07-13 2016-10-26 南京信息工程大学 Unmanned ship capable of avoiding obstacles and preventing from overturning and method for avoiding obstacles and preventing unmanned ship from overturning of unmanned ship
CN108001655A (en) * 2017-12-12 2018-05-08 余姚市荣事特电子有限公司 A kind of sightseeing ship

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106043617A (en) * 2016-07-13 2016-10-26 南京信息工程大学 Unmanned ship capable of avoiding obstacles and preventing from overturning and method for avoiding obstacles and preventing unmanned ship from overturning of unmanned ship
CN108001655A (en) * 2017-12-12 2018-05-08 余姚市荣事特电子有限公司 A kind of sightseeing ship
CN108001655B (en) * 2017-12-12 2019-06-07 余姚市菲特塑料有限公司 A kind of sightseeing ship

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CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20161214

Termination date: 20180713