CN206704473U - A kind of unmanned boat for possessing accurate collision prevention function - Google Patents
A kind of unmanned boat for possessing accurate collision prevention function Download PDFInfo
- Publication number
- CN206704473U CN206704473U CN201720299573.8U CN201720299573U CN206704473U CN 206704473 U CN206704473 U CN 206704473U CN 201720299573 U CN201720299573 U CN 201720299573U CN 206704473 U CN206704473 U CN 206704473U
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- CN
- China
- Prior art keywords
- unmanned boat
- cabin
- controller
- collision prevention
- prevention function
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Abstract
It the utility model is related to intelligent navigational field, specifically a kind of unmanned boat for possessing accurate collision prevention function, lifting cabin is provided with the unmanned boat bow deck, the hatch in lifting cabin is equipped with hatch door, the bottom in lifting cabin is provided with vertical lift device, the servo console for possessing vertically and horizontally rotating function is installed in vertical lift device, millimetre-wave radar is installed on servo console, cartridge controller is gone back in unmanned boat, the input of controller is connected with millimetre-wave radar, and the output end of controller is connected with the directional control gear positioned at unmanned boat stern；The utility model possesses the features such as environmental suitability is strong, detection sensitivity is high to the acquisition for hindering boat information, while Heading control precision is higher, and unmanned boat steering is more accurate, possesses good application prospect.
Description
Technical field
Intelligent navigational field is the utility model is related to, specifically a kind of unmanned boat for possessing accurate collision prevention function.
Background technology
Unmanned boat is a kind of light-duty intelligent water surface apparatus of transport, and its intelligence degree is very high.Some countries abroad, nothing
People's ship is extensively using fields such as military affairs, scientific researches.However, research of the China for unmanned boat is still in the starting stage.Intelligent Collision Avoidance
Technology navigates by water one of intelligentized key technology as unmanned boat, is navigated by water for unmanned boat discretionary security significant.And
The premise for realizing intelligent Collision Avoidance is accurate and timely obtains water obstacle information, and this relates to the autonomous perception skill of unmanned boat
Art.
It is significant using appropriate sensor collection unmanned boat navigation environment information.Current most of unmanned boats are all
Using sensors such as marine radar, laser radar and video cameras.But due to such sensor cost is too high, easily by weather shadow
The problems such as ringing, limits the further development of the autonomous anticollision device of unmanned boat.
In addition, after sail information is obtained, particularly running into needs to implement the situation that collision prevention measure is changed course, existing skill
In art, the Heading control of unmanned surface vehicle is typically to be realized using special rudder arrangement or water spray transfer, this
Following defect generally be present in Heading control mode：
1. mobility is not strong, rudder arrangement or water spray transfer be difficult to effectively to realize unmanned boat the short period and compared with
A small range is realized and significantly turned to；
2. rudder is poor to accuracy, under complex environment, easily deviate default boat because rudder is poor to accuracy
The phenomenon of line, when serious, it also occur that maritime accidents forecast.
The content of the invention
To solve the problems, such as that existing unmanned boat exists in terms of acquisition of information and Heading control, the utility model provides a kind of
Possess and accurate obtain that sail information, environmental suitability are strong and mobility is strong and possess the unmanned boat of accurate collision prevention function.
Concrete scheme of the present utility model is：A kind of unmanned boat for possessing accurate collision prevention function, the unmanned boat bow deck
On be provided with lifting cabin, the hatch for lifting cabin is equipped with hatch door, and the bottom for lifting cabin is provided with vertical lift device, vertical lift device
On the servo console for possessing vertically and horizontally rotating function is installed, millimetre-wave radar is installed on servo console, in unmanned boat
Cartridge controller is inside gone back, the input of controller is connected with millimetre-wave radar, and the output end of controller is connected with positioned at unmanned boat stern
The directional control gear in portion, the directional control gear have a vertical drive shaft, the upper end overhanging deck of vertical drive shaft and
Shaft coupling is set with the end axis body, shaft coupling is connected with conical gear, and pinion shaft is connected with stepper motor in conical gear,
The lower end of vertical drive shaft is located at below deck and gondola is connected with the end axis body, is provided with motor inside gondola, drives
Dynamic motor output shaft is connected with propeller by main shaft, prevents in pod bottom surface along unmanned boat cox direction provided with a fin
Hit plate, the liftoff liftoff spacing for being smaller than propeller blade of fin Crashworthy plate.
Lifting bilge portion described in the utility model vertical lift device has vertically arranged jacking cylinder, jacking cylinder
Piston rod is provided with installing plate, and the servo console is fixed on a mounting board.
Gondola described in the utility model has a cylindrical nacelle, nacelle towards the cabin head of unmanned boat stem one end be circular cone
Shape face, nacelle towards the cabin tail of unmanned boat ship stern one end be arcwall face.
Controller output end described in the utility model respectively with the stepper motor and motor in directional control gear
Connection.
The course of work of the present utility model is substantially：
1st, when unmanned boat sails, the hatch door in lifting cabin is opened, starts vertical lift device, by servo console and millimeter wave thunder
It is lifted to up to from lifting cabin above unmanned boat bow deck；
2nd, start servo console, millimetre-wave radar scan position is adjusted, as far as possible in front of the acquisition unmanned boat of maximum magnitude
Hinder boat information；
3rd, collection is hindered boat information to input to controller by millimetre-wave radar, and controller is according to the collision prevention rule pre-set
Then, decide whether to make the decision changed course；
The 4th, if controller judges to need to change unmanned boat course, now, the operation that controller obtains according to judgment rule
Instruction exports stepper motor and motor into directional control gear respectively, and the course and the speed of a ship or plane of unmanned boat are adjusted
Whole, wherein stepper motor is used to change unmanned boat course, and motor is used to change the unmanned boat speed of a ship or plane.
The advantage that the utility model possesses is：
1st, millimetre-wave radar is introduced into unmanned boat field, passed instead of traditional marine radar, laser radar and video camera etc.
Sensor, unmanned boat automatic range and speed measuring function are not only realized, be also equipped with the spies such as environmental suitability is strong, detection sensitivity is high
Point；
2nd, this directional control gear possesses extremely strong mobility, the steering structure based on stepper motor and conical gear,
In the case of propeller rotational, 360 ° of rapid in-situ cycles of unmanned boat can be achieved, while control accuracy is higher, unmanned boat turns to
It is more accurate；
3rd, this directional control gear Heading control efficiency high, by rotating gondola, directly carried out using propeller driving force
Heading control, avoid what is lost in the prior art by the steering moment occurred in rudder arrangement indirect utilization propeller driving force
Phenomenon.
Brief description of the drawings
Fig. 1 is the utility model schematic diagram；
Fig. 2 is that cabin, servo console and millimetre-wave radar scheme of installation are lifted in the utility model；
Fig. 3 is directional control gear schematic diagram in the utility model.
In figure：1- unmanned boats, 2- liftings cabin, 3- hatch doors, 4- vertical lift devices, the vertical jacking cylinders of 5-, 6- installing plates,
7- servo consoles, 8- millimetre-wave radars, 9- controllers, 10- directional control gears, 11- decks, 12- vertical drive shafts, 13- circles
Bevel gear, 14- stepper motors, 15- shaft couplings, 16- rudder angle measuring instruments, 17- gondolas, 18- coned faces, 19- arcwall faces, 20-
Main shaft, 21- propellers, 22- fin Crashworthy plates.
Embodiment
In the present embodiment, a kind of unmanned boat 1 for possessing accurate collision prevention function, liter is provided with the bow deck 11 of unmanned boat 1
Cabin 2 drops, and the hatch in lifting cabin 2 is equipped with hatch door 3, and the bottom in lifting cabin 2 is provided with vertical lift device 4, the vertical lift device 4
With vertical jacking cylinder 5, the vertical piston rod of jacking cylinder 5 is provided with installing plate 6, is fixed with and possesses vertically on installing plate 6
With the servo console 7 for horizontally rotating function, millimetre-wave radar 8 is installed on servo console 7, to obtain hindering for the front of unmanned boat 1
Boat information, in addition, when unmanned boat 1 is in berthing suspended state, to slow down the loss of servo console 7 and millimetre-wave radar 8, hang down
Straight jacking cylinder 5, which is shunk, stores servo console 7 and millimetre-wave radar 8 into lifting cabin 2, while the hatch door 3 on hatch is closed.
In the present embodiment, in the middle part cartridge controller 9 of unmanned boat 1, the input of controller 9 is connected with millimetre-wave radar 8,
The output end of controller 9 is connected with the directional control gear 10 positioned at the stern of unmanned boat 1, and the directional control gear 10, which has, to hang down
Conical gear 13, circular cone directly are installed through the vertical drive shaft 12 on unmanned boat afterbody deck 11, the top of vertical drive shaft 12
Pinion shaft is connected with stepper motor 14 in gear 13, and stepper motor 14 forms drive connection with controller 9, to control unmanned boat
1 course, the upper end end of vertical drive shaft 12 are provided with rudder angle measuring instrument 16, the lower end position of vertical drive shaft 12 by shaft coupling 15
In being connected with gondola 17 on the axis body of the lower section of deck 11, gondola 17 has a cylindrical nacelle, and nacelle is towards the stem one end of unmanned boat 1
Cabin head be coned face 18, nacelle towards the cabin tail of the ship stern one end of unmanned boat 1 be arcwall face 19；The inside of gondola 17 is provided with driving
Motor（It is not drawn into figure）, motor with controller 9 also with forming drive connection, to control the speed of a ship or plane of unmanned boat 1, driving electricity
Machine output shaft is connected with propeller 21 by main shaft 20, and fin is provided with along the cox direction of unmanned boat 1 in the bilge lower surface of gondola 17
Crashworthy plate 22, the liftoff liftoff spacing for being smaller than the blade of propeller 21 of fin Crashworthy plate 22.
Claims (4)
- A kind of 1. unmanned boat for possessing accurate collision prevention function, it is characterised in that：Lifting is provided with the unmanned boat bow deck Cabin, the hatch for lifting cabin are equipped with hatch door, and the bottom for lifting cabin is provided with vertical lift device, and tool is provided with vertical lift device For the servo console of vertically and horizontally rotating function, millimetre-wave radar is installed on servo console, the also dress control in unmanned boat Device, the input of controller are connected with millimetre-wave radar, and the output end of controller is connected with positioned at the control of the course of unmanned boat stern Device processed, the directional control gear have a vertical drive shaft, the upper end overhanging deck of vertical drive shaft and on the end axis body Shaft coupling is set with, shaft coupling is connected with conical gear, and pinion shaft is connected with stepper motor, vertical drive shaft in conical gear Lower end be located at below deck and gondola be connected with the end axis body, motor is provided with inside gondola, motor exports Axle is connected with propeller by main shaft, and a fin Crashworthy plate, fin are provided with along unmanned boat cox direction in pod bottom surface The liftoff liftoff spacing for being smaller than propeller blade of Crashworthy plate.
- A kind of 2. unmanned boat for possessing accurate collision prevention function according to claim 1, it is characterised in that：The lifting bilge The vertical lift device in portion has jacking cylinder, and jacking cylinder piston bar is provided with installing plate, and the servo console is fixed on peace In loading board.
- A kind of 3. unmanned boat for possessing accurate collision prevention function according to claim 1, it is characterised in that：The gondola has Cylindrical nacelle, nacelle towards the cabin head of unmanned boat stem one end be coned face, cabin of the nacelle towards unmanned boat ship stern one end Tail is arcwall face.
- A kind of 4. unmanned boat for possessing accurate collision prevention function according to claim 1, it is characterised in that：The controller Output end is connected with the stepper motor in directional control gear and motor respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720299573.8U CN206704473U (en) | 2017-03-27 | 2017-03-27 | A kind of unmanned boat for possessing accurate collision prevention function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720299573.8U CN206704473U (en) | 2017-03-27 | 2017-03-27 | A kind of unmanned boat for possessing accurate collision prevention function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206704473U true CN206704473U (en) | 2017-12-05 |
Family
ID=60467368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720299573.8U Expired - Fee Related CN206704473U (en) | 2017-03-27 | 2017-03-27 | A kind of unmanned boat for possessing accurate collision prevention function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206704473U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109029465A (en) * | 2018-08-24 | 2018-12-18 | 上海大学 | A kind of unmanned boat tracking and obstacle avoidance system based on millimetre-wave radar |
| CN111591404A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider collision avoidance method |
| CN110952517B (en) * | 2019-12-17 | 2021-03-23 | 江苏昱博自动化设备有限公司 | Automatic change pasture and water clearance machine people |
| CN112874692A (en) * | 2021-02-01 | 2021-06-01 | 海之韵(苏州)科技有限公司 | Detachable, foldable and inflatable twin-body unmanned boat |
-
2017
- 2017-03-27 CN CN201720299573.8U patent/CN206704473U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109029465A (en) * | 2018-08-24 | 2018-12-18 | 上海大学 | A kind of unmanned boat tracking and obstacle avoidance system based on millimetre-wave radar |
| CN109029465B (en) * | 2018-08-24 | 2020-09-18 | 上海大学 | Millimeter wave radar-based tracking and obstacle avoidance system for unmanned ship |
| CN110952517B (en) * | 2019-12-17 | 2021-03-23 | 江苏昱博自动化设备有限公司 | Automatic change pasture and water clearance machine people |
| CN111591404A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider collision avoidance method |
| CN112874692A (en) * | 2021-02-01 | 2021-06-01 | 海之韵(苏州)科技有限公司 | Detachable, foldable and inflatable twin-body unmanned boat |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20171205 Termination date: 20180327 |