CN218907566U - Intelligent obstacle avoidance device based on unmanned ship - Google Patents

Abstract

The utility model discloses an intelligent obstacle avoidance device based on an unmanned ship, which belongs to the technical field of obstacle avoidance sensors and comprises a mounting backboard, wherein the front surface of the mounting backboard is provided with a middle frame, the front surface of the mounting backboard is positioned in the middle frame and is provided with an obstacle avoidance sensor main body, the front surface of the mounting backboard is connected with two elastic components, and the other end of the elastic component is connected with a middle block. This keep away barrier device based on unmanned ship intelligence through setting up drive assembly, top frame, chain, second sprocket, connecting axle, second bearing, rotatory frame and spliced pole, and drive assembly during operation is rotated through first sprocket control chain and second sprocket, and the connecting seat removes along with the rotation of chain this moment, and the connecting seat rotates the process and moves through rotatory frame drive spliced pole and slide bar, and slide bar and cleaning brush are to the rubbish of protective housing surface cover to both sides propelling movement, realize the clearance on control protective housing surface, avoid the rubbish of cover to the influence of avoiding obstacle sensor main part to use.

Description

Intelligent obstacle avoidance device based on unmanned ship

Technical Field

The utility model belongs to the technical field of obstacle avoidance sensors, and particularly relates to an intelligent obstacle avoidance device based on an unmanned ship.

Background

Engineering measurements are a very important task in the infrastructure construction process. In recent years, the requirements of China on the accuracy and timeliness of the measurement work of offshore beach, submarine topography survey and land underwater topography survey and monitoring work are gradually improved, the accuracy of underwater topography measurement is ensured to be an important path for accelerating the construction speed of hydraulic engineering, unmanned ships are more and more widely applied in the aspects of engineering measurement, water conservancy survey, marine survey and the like, after the unmanned ship is detected by an obstacle avoidance sensor, the direction of the unmanned ship is automatically adjusted to realize the obstacle avoidance process of the unmanned ship, the obstacle avoidance sensor is used at the bow of the ship, and part of the obstacle avoidance sensor is arranged at a position corresponding to the water surface, so that direct collision between sundries in water and the obstacle avoidance sensor can occur, or the surface of the obstacle avoidance sensor is covered by garbage in water, thereby influencing the use safety and the service life.

Disclosure of Invention

In order to overcome the defects, the utility model provides the intelligent obstacle avoidance device based on the unmanned ship, which solves the problems that the obstacle avoidance sensor has poor anti-collision effect in use and the surface of the sensor is possibly covered by garbage in the use process.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the intelligent obstacle avoidance device comprises an installation backboard, wherein a middle frame is arranged on the front surface of the installation backboard, an obstacle avoidance sensor main body is arranged at a position, located in the middle frame, of the front surface of the installation backboard, two elastic components are connected to the front surface of the middle frame, an intermediate block is connected to the other end of the elastic components, the intermediate block is connected to a sliding guide plate, the sliding guide plate is slidably arranged in a guide groove, the guide groove is formed in the front surface of the middle frame, two guide plates are connected to the front surface of the sliding guide plate, a top frame is arranged on the protective casing, a driving device is arranged in the top frame, a rotary connecting device is externally connected to the driving device, a connecting column is arranged in the rotary connecting device in a sliding mode, and one side, corresponding to the protective casing, of the sliding rod is connected with a cleaning brush.

As a further aspect of the utility model: the sliding rod is arranged in the connecting hole in a sliding mode, the connecting hole is formed in the front face of the top frame, two sliding grooves are formed in the connecting hole, and sliding blocks connected to the sliding rod are arranged in the sliding grooves in a sliding mode.

As a further aspect of the utility model: the driving device comprises a driving assembly, the driving assembly is arranged in the top frame, an output shaft of the driving assembly is connected with a first sprocket, and the first sprocket is in transmission connection with a second sprocket through a chain.

As a further aspect of the utility model: the connecting shaft is connected under the second chain wheel, a second bearing is sleeved outside the connecting shaft, the second bearing is arranged in the top frame, and the rotary connecting device is connected outside the chain.

As a further aspect of the utility model: the rotary connecting device comprises a connecting seat, the connecting seat is connected outside the chain, a rotating shaft is connected to the connecting column, and a first bearing is sleeved outside the rotating shaft.

As a further aspect of the utility model: the first bearing is clamped at the central position below the rotating frame, the connecting column is connected in the rotating frame in a sliding mode, and the connecting column is cylindrical.

Compared with the prior art, the utility model has the beneficial effects that:

1. this keep away barrier device based on unmanned ship intelligence through setting up drive assembly, the top frame, first sprocket, the chain, the second sprocket, the connecting seat, the connecting axle, the second bearing, rotatory frame and spliced pole, drive assembly during operation is through first sprocket control chain and second sprocket rotation, the connecting seat removes along with the rotation of chain this moment, the connecting seat rotates the process and moves through rotatory frame drive spliced pole and slide bar, slide bar and cleaning brush are to the both sides propelling movement of the rubbish that the protective housing surface covered, realize the clearance on control protective housing surface, avoid the rubbish of cover to the influence of keeping away the use of barrier sensor main part.

2. This keep away barrier device based on unmanned ship intelligence through setting up protective housing, slip deflector, guide way, elastic component and intermediate frame, and protective housing openly receives the striking time, and protective housing is by the extrusion along the guide way backward movement this moment, and elastic component shrink realizes the buffering to the striking this moment, avoids protective housing to influence the condition of avoiding barrier sensor main part safety because receiving violent striking and appear, makes its use more safe and reliable.

3. This keep away barrier device based on unmanned ship intelligence is circular through setting up the spliced pole, and slider and spout guarantee that the rectilinear movement process of slide bar at the horizontal direction is more stable, the spliced pole can keep the contact between with rotatory frame, rotatory frame can appear rotating at the removal in-process, keeps extrusion and the connection to the spliced pole, makes the stable reciprocating motion of slide bar more stable going on smoothly.

Drawings

Fig. 1 is a schematic view of a three-dimensional structure of the present utility model.

Fig. 2 is a schematic view of a three-dimensional structure of a sliding guide plate according to the present utility model.

Fig. 3 is a schematic view of a middle frame of the present utility model.

Fig. 4 is a schematic view showing a cross-sectional structure of the top frame of the present utility model.

Fig. 5 is a schematic view showing a three-dimensional structure of the sliding rod of the present utility model.

Fig. 6 is an enlarged schematic view of the portion a of fig. 5 according to the present utility model.

In the figure: 1. mounting a backboard; 2. a middle frame; 3. a guide groove; 4. an obstacle avoidance sensor body; 5. sliding the guide plate; 6. a middle block; 7. an elastic component; 8. a protective housing; 9. a top frame; 10. a connection hole; 11. a slide bar; 12. cleaning brushes; 13. a chute; 14. a slide block; 15. a connecting column; 16. a rotary connection device; 161. a connecting seat; 162. a rotating shaft; 163. a first bearing; 164. a rotating frame; 17. a driving device; 171. a drive assembly; 172. a first sprocket; 173. a chain; 174. a second sprocket; 175. a connecting shaft; 176. and a second bearing.

Detailed Description

The technical scheme of the patent is further described in detail below with reference to the specific embodiments.

As shown in fig. 1-6, the present utility model provides a technical solution: based on unmanned ship intelligence obstacle avoidance device, including installation backplate 1, the front of installation backplate 1 is equipped with middle frame 2, and the front of installation backplate 1 is located the position of middle frame 2 and is equipped with keeps away the obstacle sensor main part 4, and the front of middle frame 2 is connected with two elastic component 6, and the other end of elastic component 6 is connected with middle piece 7, through setting up elastic component 6, and elastic component 6 is when being extruded, can cushion the protection to the striking that receives, avoids appearing violent collision damage condition.

The middle block 7 is connected on the sliding guide plate 5, the sliding guide plate 5 is slidably arranged in the guide groove 3, the guide groove 3 is formed in the front face of the middle frame 2, the front faces of the two sliding guide plates 5 are connected with the same protective shell 8, and when the protective shell 8 is impacted, the sliding guide plate 5 moves backwards for a certain distance along the guide groove 3, and a certain stroke is reserved for realizing movement and extrusion of the elastic component 6.

The protective shell 8 is provided with a top frame 9, a driving device 17 is arranged in the top frame 9, a rotary connecting device 16 is connected outside the driving device 17, the driving device 17 comprises a driving assembly 171, the driving assembly 171 is arranged in the top frame 9, an output shaft of the driving assembly 171 is connected with a first sprocket 172, and the first sprocket 172 is in transmission connection with a second sprocket 174 through a chain 173.

The connecting shaft 175 is connected under the second sprocket 174, the second bearing 176 is sleeved outside the connecting shaft 175, the second bearing 176 is arranged in the top frame 9, the rotary connecting device 16 is connected outside the chain 173, and the rotary connecting device 16 is controlled to move along a track type track by arranging the driving assembly 171, the first sprocket 172, the second sprocket 174 and the chain 173, and controlling the first sprocket 172, the chain 173 and the second sprocket 174 to rotate in the rotation process of the driving assembly 171.

The rotary connecting device 16 is slidably provided with a connecting column 15, the rotary connecting device 16 comprises a connecting seat 161, the connecting seat 161 is connected outside a chain 173, the connecting column 15 is connected with a rotating shaft 162, and a first bearing 163 is sleeved outside the rotating shaft 162.

The central point under the rotatory frame 164 is established to first bearing 163 card, and spliced pole 15 sliding connection is in rotatory frame 164, and spliced pole 15 is established to cylindrically, through setting up connecting seat 161, realizes that rotatory frame 164 is driven by chain 173 and removes, and connecting axle 175 and second bearing 176 guarantee that rotatory frame 164 can rotate, and rotatory frame 164 can appear rotating when being driven along the track type orbit by connecting seat 161 and remove, guarantees that rotatory frame 164 still can keep the connection with spliced pole 15 through the autogenous rotation when there is the rotation condition.

The spliced pole 15 is connected in one side of slide bar 11, and one side that slide bar 11 corresponds protective housing 8 is connected with cleaning brush 12, through setting up cleaning brush 12 and slide bar 11, and the shape of slide bar 11 is similar with protective housing 8's shape, guarantees that slide bar 11 removes the process cleaning brush 12 and carries out the propelling movement clearance to protective housing 8 positive rubbish smoothly.

The slide bar 11 slides and establishes in connecting hole 10, and connecting hole 10 has seted up in the front of top frame 9, has seted up two spouts 13 in the connecting hole 10, and the spout 13 is slided and is equipped with the slider 14 of connecting on slide bar 11, through setting up slider 14 and spout 13, and spout 13 is the T shape, guarantees that slider 14 and slide bar 11 can not appear rotatory or the condition of rocking at the in-process of rectilinear movement.

The working principle of the utility model is as follows: when the garbage on the surface of the protective shell 8 is cleaned, the driving assembly 171 is controlled to work, the driving assembly 171 controls the chain 173 and the second chain wheel 174 to rotate through the first chain wheel 172, at the moment, the connecting seat 161 moves along with the rotation of the chain 173, the connecting seat 161 drives the connecting column 15 and the sliding rod 11 to move in the rotating process of the connecting seat 161 through the rotating frame 164, the moving track of the connecting seat 161 is a runway type, the reciprocating linear movement of the connecting seat 161 can be controlled, the sliding rod 11 and the cleaning brush 12 push the garbage covered on the surface of the protective shell 8 to two sides, after the garbage on the surface of the protective shell 8 is cleaned, the driving assembly 171 is controlled to stop working, when sundries in water backwards collide on the surface of the protective shell 8, the sliding guide block slides backwards in the sliding guide groove 3 at the moment, and the elastic assembly 6 is extruded and contracted at the moment, so that the impact buffering and protection are realized.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art in a specific case.

While the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes may be made without departing from the spirit of the present patent within the knowledge of one of ordinary skill in the art.

Claims (6)

1. Based on unmanned ship intelligence obstacle avoidance device, including installation backplate (1), its characterized in that: the front of installation backplate (1) is equipped with middle frame (2), the position that the front of installation backplate (1) is located middle frame (2) is equipped with keeps away barrier sensor main part (4), the front of middle frame (2) is connected with two elastic component (6), the other end of elastic component (6) is connected with middle piece (7), middle piece (7) are connected on slip deflector (5), slip deflector (5) are slided and are established in guide way (3), the front at middle frame (2) is seted up in guide way (3), two the front of slip deflector (5) is connected with same protective housing (8), be equipped with top frame (9) on protective housing (8), be equipped with drive arrangement (17) in top frame (9), drive arrangement (17) external connection have rotary connection device (16), the slip of rotary connection device (16) is equipped with spliced pole (15), spliced pole (15) are connected on one side of slide bar (11), one side that corresponds of slide bar (11) is connected with protective brush (12).

2. The unmanned ship-based intelligent obstacle avoidance apparatus of claim 1, wherein: the sliding rod (11) is arranged in the connecting hole (10) in a sliding mode, the connecting hole (10) is formed in the front face of the top frame (9), two sliding grooves (13) are formed in the connecting hole (10), and a sliding block (14) connected to the sliding rod (11) is arranged in the sliding groove (13) in a sliding mode.

3. The unmanned ship-based intelligent obstacle avoidance apparatus of claim 1, wherein: the driving device (17) comprises a driving assembly (171), the driving assembly (171) is arranged in the top frame (9), a first sprocket (172) is connected to an output shaft of the driving assembly (171), and the first sprocket (172) is in transmission connection with a second sprocket (174) through a chain (173).

4. The unmanned ship-based intelligent obstacle avoidance apparatus of claim 3, wherein: the second sprocket (174) is connected with a connecting shaft (175) below, a second bearing (176) is sleeved outside the connecting shaft (175), the second bearing (176) is arranged in the top frame (9), and the rotary connecting device (16) is connected outside the chain (173).

5. The unmanned ship-based intelligent obstacle avoidance apparatus of claim 4, wherein: the rotary connecting device (16) comprises a connecting seat (161), the connecting seat (161) is connected outside a chain (173), a rotating shaft (162) is connected to the connecting column (15), and a first bearing (163) is sleeved outside the rotating shaft (162).

6. The unmanned ship-based intelligent obstacle avoidance apparatus of claim 5, wherein: the first bearing (163) is clamped at the central position under the rotary frame (164), the connecting column (15) is slidably connected in the rotary frame (164), and the connecting column (15) is cylindrical.

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