CN205801453U - A kind of unmanned boat dodging obstacle and overturn-preventing - Google Patents
A kind of unmanned boat dodging obstacle and overturn-preventing Download PDFInfo
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- 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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- preventing
- overturn
- hull
- unmanned boat
- controller
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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
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620740975.2U CN205801453U (en) | 2016-07-13 | 2016-07-13 | A kind of unmanned boat dodging obstacle and overturn-preventing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620740975.2U CN205801453U (en) | 2016-07-13 | 2016-07-13 | A kind of unmanned boat dodging obstacle and overturn-preventing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205801453U true CN205801453U (en) | 2016-12-14 |
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ID=57511084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620740975.2U Expired - Fee Related CN205801453U (en) | 2016-07-13 | 2016-07-13 | A kind of unmanned boat dodging obstacle and overturn-preventing |
Country Status (1)
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| CN (1) | CN205801453U (en) |
Cited By (2)
| 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 |
-
2016
- 2016-07-13 CN CN201620740975.2U patent/CN205801453U/en not_active Expired - Fee Related
Cited By (3)
| 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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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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 |