CN207617448U - A kind of amphibious unmanned boat of anti-rollover - Google Patents
A kind of amphibious unmanned boat of anti-rollover Download PDFInfo
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- CN207617448U CN207617448U CN201721337464.7U CN201721337464U CN207617448U CN 207617448 U CN207617448 U CN 207617448U CN 201721337464 U CN201721337464 U CN 201721337464U CN 207617448 U CN207617448 U CN 207617448U
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- mechanical arm
- hull
- unmanned boat
- rollover
- amphibious unmanned
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Abstract
The utility model is related to amphibious unmanned boat technical fields, provide a kind of amphibious unmanned boat of anti-rollover.Including：Hull, master control set, dynamical system, communication system, obstacle avoidance system, energy supplying system, mechanical arm servo-drive system, one or more of mechanical arms, energy supplying system is the energy needed for the master control set, dynamical system, communication system, obstacle avoidance system, mechanical arm servo-drive system and the offer work of one or more of mechanical arms；Dynamical system, communication system, obstacle avoidance system, energy supplying system, mechanical arm servo-drive system, mechanical arm are connected to master control set, and complete the execution of respective task by receiving the control instruction of master control set；Mechanical arm is arranged in hull both sides, and is connected to mechanical arm servo-drive system, and lateral extension and retraction can be completed under the driving of mechanical arm servo-drive system, buoyance module is provided on mechanical arm.Under the action of mechanical arm and buoyance module, Attitude held stationary operation is adjusted, rollover is can effectively avoid.
Description
【Technical field】
The utility model is related to amphibious unmanned boat technical fields, more particularly to a kind of amphibious unmanned boat of anti-rollover.
【Background technology】
With universal and computer technology the progress of automation equipment, the engineening goods such as unmanned vehicle/unmanned boat are increasingly
It is widely used in life, but is influenced by reasons such as technologies, while meets " land delivers and waters ferry-boat " two kinds of fields
Scape, has both land vehicle and water craft function, gathers the two-fold advantage of automobile and ship, can make up unmanned boat can not voluntarily on
Bank, the unmanned boat robot that the plurality of application scenes such as difficult disadvantage are navigated by water in unmanned vehicle water is less, and technology restriction is more, far from
Can meet the needs of people are in production and life.
Especially amphibious unmanned boat operation when, since the junction in land and waters itself is uneven or intensity differs,
Amphibious unmanned boat has larger rollover risk when driving；In disembarkation or the operation of lower water, hull unilateral side unbalance stress is easy wide-angle
Askew ship causes to turn on one's side, and can not save oneself if amphibious unmanned boat is turned on one's side, and can not also carry out various tasks, great shadow again
The use of amphibious unmanned boat is rung.
In consideration of it, it is the art urgent problem to be solved to overcome the defect present in the prior art.
【Invention content】
The technical problems to be solved in the utility model is：
When amphibious unmanned boat operation, since the junction in land and waters itself is uneven, in disembarkation or the behaviour of lower water
In work, hull unilateral side unbalance stress is easy wide-angle askew ship, and amphibious unmanned boat has a rollover risk at any time, and once it is amphibious nobody
Shipboard turns over, and can not save oneself, can not also carry out various tasks again, the strong influence use of amphibious unmanned boat.
In conclusion the further technical problems to be solved of the utility model are to provide a kind of amphibious unmanned boat of anti-rollover.
The utility model adopts the following technical solution：
A kind of amphibious unmanned boat of anti-rollover, including：Hull, master control set, dynamical system, communication system, obstacle avoidance system, confession
Can system, mechanical arm servo-drive system, one or more of mechanical arms, the energy supplying system be the master control set, dynamical system,
Communication system, obstacle avoidance system, mechanical arm servo-drive system and one or more of mechanical arms provide the energy needed for work；Institute
Dynamical system, communication system, obstacle avoidance system, energy supplying system, mechanical arm servo-drive system, one or more of mechanical arms is stated to be connected to
Master control set, and complete the execution of respective task by receiving the control instruction of master control set；The one or more of machines
Tool arm is arranged in hull both sides, and is connected to the mechanical arm servo-drive system, can be complete under the driving of mechanical arm servo-drive system
Lateral extension at opposite hull and retraction；Wherein, it is provided with buoyance module on mechanical arm.
Further, the both sides or the mechanical arm that the mechanical arm is arranged in deck in ship structure are arranged in hull side
Both sides on wall；Wherein, when the mechanical arm is arranged in the both sides in deck in ship structure, working method is flip vertical side
Formula, or add the mode that flip horizontal combines for flip vertical；When the mechanical arm is arranged in the both sides on hull side wall,
Working method is flip horizontal.
Further, the buoyance module can be specially air bag, then is additionally provided with inside the amphibious unmanned boat of the anti-rollover
Air pump, the air pump are used to inject gas and/or gas bleeding for the air bag on specified mechanical arm so that corresponding mechanical arm exists
Working condition can be entered after stretching.On the other hand, the buoyance module can be specially foam and/or hollow buoy,
Described in foam and/or hollow buoy be arranged in the branch of mechanical arm, the branch does not work feelings in corresponding mechanical arm
Under condition, folds and collapse on mechanical arm trunk；Wherein, a mechanical arm trunk includes at least two branches.
The advantageous effect of the utility model embodiment is：
Under the master control set operation of amphibious unmanned boat, when traveling land is uneven, hull debarks or lower water operation, ship
When body unilateral side unbalance stress is easy the askew ship of wide-angle and leads to rollover, the mechanical arm is deployed to hull both sides, balances ship
The weight heart, buoyance module can increase buoyancy suffered by hull, and under the action of mechanical arm and buoyance module, adjustment Attitude is kept
Smooth operations can effectively avoid rollover.
【Description of the drawings】
It, below will be in the utility model embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Required attached drawing is briefly described.It should be evident that drawings described below is only the one of the utility model
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the amphibious unmanned boat structural schematic diagram of a kind of anti-rollover that the embodiment of the present invention 1 provides；
Fig. 2 is a kind of amphibious unmanned boat mechanical arm structural schematic diagram of anti-rollover provided in an embodiment of the present invention；
Fig. 3 is the amphibious unmanned boat structural schematic diagram of a kind of anti-rollover that embodiment 2 provides；
Fig. 4 is a kind of amphibious unmanned boat power system architecture schematic diagram of anti-rollover provided in an embodiment of the present invention；
Fig. 5 is a kind of amphibious unmanned boat working state schematic representation of anti-rollover provided in an embodiment of the present invention；
Wherein:1, hull；2, master control set；3, dynamical system；4, communication system；5, obstacle avoidance system；6, energy supplying system；
7, mechanical arm servo-drive system；8, mechanical arm；9, buoyance module；10, air bag；11, air pump；12, foam；13, gyroscope；14, swash
Optical radar；15, millimetre-wave radar；16, digital radio station；17, figure conducts electricity platform；18, wheel；19, diesel engine；20, spray pump；
21, intelligent rudder；22, caterpillar system.
【Specific implementation mode】
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Term "inner", "outside", " longitudinal direction ", " transverse direction ", "upper", "lower", "top", "bottom" in the description of the present invention,
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing this practicality newly
Type rather than require the utility model must be with specific azimuth configuration and operation, therefore be not construed as to the utility model
Limitation.
As long as in addition, technical characteristic involved in the various embodiments of the present invention described below each other it
Between do not constitute conflict and can be combined with each other.
Embodiment 1:
It is described in detail with reference to specific embodiment, as shown in Fig. 1~2, the utility model embodiment 1 provides
A kind of amphibious unmanned boat of anti-rollover, including：Hull 1, master control set 2, dynamical system 3, communication system 4, obstacle avoidance system 5, energy supply
System 6, mechanical arm servo-drive system 7, one or more of mechanical arms 8, the energy supplying system 6 are the master control set 2, dynamical system
System 3, communication system 4, obstacle avoidance system 5, mechanical arm servo-drive system 7 and one or more of mechanical arms 8 are provided needed for work
The energy；It is the dynamical system 3, communication system 4, obstacle avoidance system 5, energy supplying system 6, mechanical arm servo-drive system 7, one or more of
Mechanical arm 8 is connected to master control set 2, and completes the execution of respective task by receiving the control instruction of master control set 2；It is described
One or more of mechanical arms 8 are arranged in 1 both sides of hull, and are connected to the mechanical arm servo-drive system 7, can be in mechanical arm
The lower lateral extension for completing opposite hull 1 of the driving of servo-drive system 7 and retraction；Wherein, it is provided with buoyance module 9 on mechanical arm 8.
As shown in Fig. 2, further, both sides or the mechanical arm 8 on 1 deck of hull are arranged in the mechanical arm 8
Both sides on 1 side wall of hull are set；Wherein, when the mechanical arm 8 is arranged in the both sides on 1 deck of hull, work side
Formula is flip vertical mode, or adds the mode that flip horizontal combines for flip vertical；It is arranged in hull 1 in the mechanical arm 8
When both sides on side wall, working method is flip horizontal.Different working methods and installation site, helps to adapt to different
Working environment and working strength.
As shown in Fig. 2, further, the buoyance module 9 is specially air bag 10, then in the amphibious unmanned boat of the anti-rollover
Portion is additionally provided with air pump 11, and the air pump 11 is used to inject gas and/or gas bleeding for the air bag 10 on specified mechanical arm 8,
So that corresponding mechanical arm 8 can enter working condition after stretching.When air bag 10 is too late to the energy supply of amphibious unmanned boat itself
When, when mechanical arm 8 can not be supported fast and accurately to act, on the other hand, the buoyance module 9 can be specifically configured to foam 12
And/or hollow buoy, wherein the foam 12 and/or hollow buoy are arranged in the branch of mechanical arm 8, the branch
Under corresponding mechanical arm 8 not working condition, folds and collapse on 8 trunk of mechanical arm；Wherein, 8 trunk of a mechanical arm includes extremely
Shao Liangge branches.Foam 12 and/or hollow buoy can not only reduce energy supply, in the state that mechanical arm 8 is opened or is folded,
It can keep continuing to provide buoyancy.As shown in figure 5, the amphibious unmanned boat of a kind of anti-rollover proposed by the embodiment of the present invention, is stretching
Mechanical arm 8 is unfolded, and the working effect schematic diagram after pump filling air bag 10 of ventilating.
When amphibious unmanned boat is worked, the master controller of amphibious unmanned boat is logical by communication system and external commander
News, after receiving work order, when being navigated by water in waters, master control set 2 controls spray pump 20 and provides power resources, drives to close
When the edge zone on land, dynamical system 3 is switched to wheel 18 and provides driving dynamics by master control set 2, corresponding, is being debarked
While operation, master control set 2 opens 8 operation of mechanical arm, and mechanical arm 8 is usually hull 1 each side one, and mechanical arm 8 divides
Not to 1 left and right sides stretching, extension of hull, increase the contact area of hull 1 and the water surface, the increase hull 1 of buoyance module 9 connects with water body
Contacting surface is accumulated, and 1 buoyancy of hull is increased, and is helped amphibious unmanned boat to keep balance in disembarkation, is avoided turning on one's side, after the disembarkation completely of hull 1,
Mechanical arm 8 is withdrawn.Correspondingly, when amphibious unmanned boat is entered by land in water, dynamical system 3 is switched to spray pump by wheel 18
20, mechanical arm 8 starts, and after hull 1 completes lower hydrodynamic(al) work, mechanical arm 8 is withdrawn.When hull 1 encountered in waters stormy waves it is larger when,
Also it can start mechanical arm 8 and balance hull 1.
Embodiment 2:
On the basis of above example 1, when amphibious unmanned boat carries out specific task, especially in the evil of violent storm
Under bad weather, the signal of communication system 4 is impacted to become smaller；Running environment complex barrier object is more, and bad weather also will produce very much
The factor of amphibious unmanned boat normal operation is influenced, hull 1 cannot send in time with outside commander and refer under the influence of external environment
Order and information have the danger that the askew ship of meeting is toppled at any time.Be directed to different weather and environment at this time, original component or it is more or
It can not meet the job requirements of amphibious unmanned boat less.
For the above situation, in conjunction with shown in attached drawing 3, based on the structure of embodiment 1, on the amphibious unmanned boat of anti-rollover also
It is provided with gyroscope 13, the gyroscope 13 connects master control set 2, and the related data that acquisition is shaken by hull 1 is fed back to
Master control set 2；The acquisition parameter that the master control set 2 is used to be fed back according to the gyroscope 13 is selected a mechanical arm 8 and is entered
Working condition；And corresponding running parameter is issued into the mechanical arm servo-drive system 7, so that the mechanical arm servo-drive system 7 is controlled
It makes corresponding mechanical arm 8 and reaches corresponding working state.The working condition includes：Relative to 1 side wall of hull after the stretching, extension of mechanical arm 8
Vertical angle, mechanical arm 8 after level angle, the length distance of the stretching, extension of mechanical arm 8, the stretching, extension of mechanical arm 8 relative to 1 side wall of hull
One or more in 9 working condition of middle buoyance module.
Further, wherein the communication system 4 includes：Digital radio station 16, figure conduct electricity in platform 17, Big Dipper address card
One or more, the communication system 4 are arranged in hull 1, and the communication system 4 is for realizing image, sound, position
The collection and transmission of a variety of category informations such as confidence breath.The obstacle avoidance system 5 includes：Laser radar 14, millimetre-wave radar 15, water
One or more in lower sonar, the obstacle avoidance system 5 be arranged on hull 1, laser radar 14 for land traveling avoidance,
Avoidance when land and water is converted；Millimetre-wave radar 15 is used for a wide range of avoidance of water-area navigation, and underwater sonar is used for avoidance in water body.
When amphibious unmanned boat is worked, gyroscope 13 monitors 1 information of hull in real time, and feeds back to master control set 2, main
Control device 2 by analysis can adjust mechanical arm 8 in real time so that the balanced action of mechanical arm 8 maximizes, and efficiently coordinates ship
Other systems in body 1, complete amphibious unmanned boat disembarkation or lower hydrodynamic(al) is made.
Embodiment 3:
On the basis of above example 1, when amphibious unmanned boat carries out specific task, especially land and water junction, by
In its topography injustice, amphibious driving system needs the position absorbed water according to hull 1 to carry out driving mode switching, once the gradient turns
It changes excessive, traveling fortuitous events, the hull 1 such as overexert or hit easily to turn on one's side, can not save oneself.
For the above situation, in conjunction with shown in attached drawing 4, based on the structure of embodiment 1, the dynamical system 3 specifically includes：
Diesel engine 19, clutch, spray pump 20, intelligent rudder 21, caterpillar system 22, hydraulic foldable system；Wherein, diesel engine 19
By clutch in spray pump 20 and caterpillar system 22, the realization kinetic energy for selecting one transmits；Intelligent rudder 21 is respectively used in the spray
When 20 work of pump or when caterpillar system 22 works, the direction driving of unmanned boat is provided；Described in the hydraulic foldable system connection
Crawler belt in caterpillar system 22 and hull 1 stretch out the operation of hull 1 for realizing the crawler belt and are retracted into the operation of hull 1.
When amphibious unmanned boat carries out the switching of land and water different dynamic source, wheel 18 is easy to block on broken terrain
Firmly, dynamical system 3 can be switched to caterpillar system 22 and provide power resources by amphibious unmanned boat at this time, to increase amphibious unmanned boat pair
The adaptability of various complicated landforms.On the other hand, it when amphibious unmanned boat is put into the water operation, since hull 1 tilts, is easy to flood
The venthole for not having 1 surface of hull influences 3 working efficiency of dynamical system, and master control set 2 opens mast system 23 at this time, utilizes
Intake stack, discharge duct carry out air update to 1 internally-powered system 3 of hull, ensure that the action under amphibious unmanned boat carries out.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (9)
1. a kind of amphibious unmanned boat of anti-rollover, which is characterized in that including hull (1), master control set (2), dynamical system (3), lead to
News system (4), obstacle avoidance system (5), energy supplying system (6), mechanical arm servo-drive system (7), one or more of mechanical arms (8),
The energy supplying system (6) is the master control set (2), dynamical system (3), communication system (4), obstacle avoidance system (5), machinery
Arm servo-drive system (7) and one or more of mechanical arms (8) provide the energy needed for work；
The dynamical system (3), communication system (4), obstacle avoidance system (5), energy supplying system (6), mechanical arm servo-drive system (7), one
Item or a plurality of mechanical arm (8) are connected to master control set (2), and are completed respectively by receiving the control instruction of master control set (2)
From the execution of task；
The one or more of mechanical arms (8) are arranged in hull (1) both sides, and are connected to the mechanical arm servo-drive system
(7), lateral extension and the retraction of opposite hull (1) can be completed under mechanical arm servo-drive system (7) driving；Wherein, mechanical arm
(8) buoyance module (9) is provided on.
2. the amphibious unmanned boat of anti-rollover according to claim 1, which is characterized in that on the amphibious unmanned boat of anti-rollover also
It is provided with gyroscope (13), gyroscope (13) the connection master control set (2), and the dependency number of acquisition will be shaken by hull (1)
According to feeding back to master control set (2)；
The acquisition parameter that the master control set (2) is used to be fed back according to the gyroscope (13) selectes a mechanical arm (8) and enters work
Make state；And corresponding running parameter is issued into the mechanical arm servo-drive system (7), so as to the mechanical arm servo-drive system (7)
It controls corresponding mechanical arm (8) and reaches corresponding working state.
3. the amphibious unmanned boat of anti-rollover according to claim 2, which is characterized in that the working condition includes：
Relative to the level angle of hull (1) side wall, the length distance of mechanical arm (8) stretching, extension, mechanical arm after mechanical arm (8) stretching, extension
(8) after stretching relative to one in buoyance module (9) working condition in the vertical angle of hull (1) side wall, mechanical arm (8) or
Person is multinomial.
4. the amphibious unmanned boat of anti-rollover according to claim 1, which is characterized in that the mechanical arm (8) is arranged in hull
(1) both sides that the both sides on deck or the mechanical arm (8) are arranged on hull (1) side wall；Wherein, in the mechanical arm
(8) it is arranged at the both sides on hull (1) deck, working method is flip vertical mode, or adds level for flip vertical
Overturn the mode of combination；When the mechanical arm (8) is arranged in the both sides on hull (1) side wall, working method is turned over for level
Turn.
5. according to any amphibious unmanned boats of anti-rollover of claim 1-4, which is characterized in that buoyance module (9) tool
Body is air bag (10), then air pump (11) is additionally provided with inside the amphibious unmanned boat of the anti-rollover, and the air pump (11) is used to refer to
Determine air bag (10) injection gas and/or the gas bleeding on mechanical arm (8) so that corresponding mechanical arm (8) can after stretching
Into working condition.
6. according to any amphibious unmanned boats of anti-rollover of claim 1-4, which is characterized in that buoyance module (9) tool
Body is foam (12) and/or hollow buoy, wherein the foam (12) and/or hollow buoy are arranged on mechanical arm (8)
Branch on, the branch folds and collapses on mechanical arm (8) trunk under corresponding mechanical arm (8) not working condition；Its
In, a mechanical arm (8) trunk includes at least two branches.
7. the amphibious unmanned boat of anti-rollover according to claim 1, which is characterized in that the obstacle avoidance system (5) includes：Laser
One or more in radar (14), millimetre-wave radar (15), underwater sonar, the obstacle avoidance system (5) are arranged in hull (1)
On.
8. the amphibious unmanned boat of anti-rollover according to claim 1, which is characterized in that the communication system (4) includes：Number
Radio station (16), figure conduct electricity the one or more in platform (17), Big Dipper address card, and the communication system (4) is arranged in hull (1)
In.
9. the amphibious unmanned boat of anti-rollover according to claim 1, which is characterized in that the dynamical system (3) includes：Diesel oil
Engine (19), clutch, spray pump (20), intelligent rudder (21), caterpillar system (22), hydraulic foldable system；Wherein,
By clutch in spray pump (20) and caterpillar system (22), the realization kinetic energy for selecting one transmits diesel engine (19)；
When intelligent rudder (21) is respectively used to when the spray pump (20) work or caterpillar system (22) works, unmanned boat is provided
Direction drives；
The hydraulic foldable system connects crawler belt and hull (1) in the caterpillar system (22), is stretched for realizing the crawler belt
Go out hull (1) operation and is retracted into hull (1) operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721337464.7U CN207617448U (en) | 2017-10-17 | 2017-10-17 | A kind of amphibious unmanned boat of anti-rollover |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721337464.7U CN207617448U (en) | 2017-10-17 | 2017-10-17 | A kind of amphibious unmanned boat of anti-rollover |
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| Publication Number | Publication Date |
|---|---|
| CN207617448U true CN207617448U (en) | 2018-07-17 |
Family
ID=62826142
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721337464.7U Active CN207617448U (en) | 2017-10-17 | 2017-10-17 | A kind of amphibious unmanned boat of anti-rollover |
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| CN (1) | CN207617448U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115230885A (en) * | 2022-07-11 | 2022-10-25 | 滁州圆信苏滁测绘地理信息有限公司 | Unmanned survey ship with anticollision function |
| CN116749690A (en) * | 2023-08-17 | 2023-09-15 | 四川万博合创科技有限公司 | Floating device, method for using floating device as life raft and amphibious driving device |
-
2017
- 2017-10-17 CN CN201721337464.7U patent/CN207617448U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115230885A (en) * | 2022-07-11 | 2022-10-25 | 滁州圆信苏滁测绘地理信息有限公司 | Unmanned survey ship with anticollision function |
| CN116749690A (en) * | 2023-08-17 | 2023-09-15 | 四川万博合创科技有限公司 | Floating device, method for using floating device as life raft and amphibious driving device |
| CN116749690B (en) * | 2023-08-17 | 2023-10-27 | 四川万博合创科技有限公司 | Floating device, method for using floating device as life raft and amphibious driving device |
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Address after: 266000 167 road two, science and education, Huangdao District, Qingdao, Shandong Patentee after: QINGDAO ZHONGBANG INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 266000 167 road two, science and education, Huangdao District, Qingdao, Shandong Patentee before: QINGDAO ZHONGBANG DEFENSE INTELLIGENT EQUIPMENT CO.,LTD. |
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Effective date of registration: 20221102 Address after: 266400 Fusion Road 687, Fusion Road, Fusion Innovation Demonstration Zone, Guzhenkou, Binhai Street, Huangdao District, Qingdao City, Shandong Province Patentee after: QINGDAO WUJIANG TECHNOLOGY Co.,Ltd. Address before: 266000 167 road two, science and education, Huangdao District, Qingdao, Shandong Patentee before: QINGDAO ZHONGBANG INTELLIGENT TECHNOLOGY Co.,Ltd. |
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