A steering device for unmanned ship

Abstract

The invention discloses a steering device for an unmanned ship, comprising a box, a control panel, a communication module, a power module, a transmission shaft, a measuring shaft, a motor and a transmission gear; wherein the control panel serves as a control center of the steering device, connects and monitors electronic equipment in the steering device, the communication module provides a communication channel for the control panel to interact with external commands, and the power module provides power for the electronic equipment in the steering device; the transmission shaft and the measuring shaft are rotatably arranged in the box, and synchronous rotation is achieved through the transmission gear, wherein the transmission shaft extends through the top of the box to provide an external physical port; a rotation monitoring device is arranged on the measuring shaft, and the rotation state of the transmission shaft can be fed back to the control panel; under the action of the steering motor, the invention realizes automatic rotation of a disk frame on the unmanned ship, can automatically complete the steering and feedback the angle in real time, and can also display the driving steering state during non-manual operation to the user.

Description

Technical Field

[0001] The invention relates to the field of unmanned equipment, in particular to a steering device for an unmanned ship. Background Art

[0002] Many domestic and foreign companies have invested heavily in the development of unmanned boats, giving full play to the advantages of low cost, no crew and low risk, and maximizing the value of water robots. With the continuous development of artificial intelligence, more and more intelligent unmanned equipment or devices have been developed. Among them, unmanned boats are fully automatic surface robots that can navigate on the water according to preset tasks without remote control, with the help of precise satellite positioning and self-sensing, and the English abbreviation is USV.

[0003] Unmanned ships mainly rely on the intelligent control system based on the computer system in the boat to realize the control of the whole ship, including turning and speed regulation. At present, how to choose a matching intelligent steering wheel for unmanned ships has become a problem in the market. The steering wheel device in the traditional ship steering equipment is basically a mechanical steering wheel, which can only be used for manual operation. When the ship is converted into an unmanned ship, it is difficult to integrate it into the intelligent control system, and it is impossible to realize steering wheel linkage and status monitoring. It is not convenient to switch between manual mode and automatic mode, and it cannot meet the diversified steering control needs of the boat, thereby reducing the use efficiency and intelligence level of the steering device. Especially in the testing phase of the unmanned ship, when the steering wheel needs to be frequently controlled, another steering wheel system is required, which increases the cost.

[0004] In view of this, overcoming the defects of the above-mentioned prior art is an urgent problem to be solved in the field of this technology. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the existing ship steering device does not meet the requirements of intelligent steering of unmanned ships, is difficult to be compatible with the intelligent control system to realize automatic steering and two-way monitoring, is not conducive to the steering transformation of the unmanned ship system, and reduces the utilization efficiency of the steering device.

[0006] The present invention achieves the above-mentioned purpose through the following technical solution: A steering device for an unmanned ship includes a box, a control panel, a communication module, a power module, a transmission shaft, a measuring shaft, a motor and a transmission gear.

[0007] The control panel is installed inside the box, and the communication module and the power module are embedded in the control panel, wherein the control panel serves as the control center of the steering device, connecting and monitoring the electronic equipment in the steering device, specifically, connecting and monitoring the communication module, the power module, the measuring axis and the motor operating condition information through the control panel; the communication module provides a communication channel for the control panel to interact with external commands, and the power module provides power for the electronic equipment in the steering device; the power module receives external power and converts it into multiple DC or AC power for use by the control panel, the communication module and the motor.

[0008] The transmission shaft is rotatably arranged in the housing and extends through the top of the housing to provide an external physical port; the measuring shaft is rotatably arranged inside the housing, and a rotation monitoring device is arranged on the measuring shaft to transmit the rotation monitoring value to the control panel; the motor is fixed to the bottom of the housing by bolts, and the output shaft of the motor is connected to the bottom of the transmission shaft to drive the transmission shaft to rotate; the transmission gear includes a driving gear and a driven gear; the driving gear is fixed on the transmission shaft and rotates synchronously with the transmission shaft; the driven gear is fixed on the measuring shaft and rotates synchronously with the measuring shaft; the driving gear and the driven gear are meshed with each other to realize the linkage between the measuring shaft and the transmission shaft, so that the rotation state of the transmission shaft is fed back to the control panel through the measuring shaft.

[0009] Furthermore, the box body includes a bottom box, a partition and a top cover; the partition is arranged in the middle of the bottom box and is provided with a through hole for limiting the lateral movement of the transmission shaft and the measuring shaft; the top cover is covered on the bottom box and is provided with a through hole for limiting the lateral movement of the transmission shaft; the diameter of the partition is larger than the diameter of the box body, and a threaded hole is provided at its extended portion to facilitate fixing the box body on a designated platform.

[0010] Furthermore, the transmission shaft or the measuring shaft is provided with bearings at the contact point with the through hole of the partition or the top cover, which can reduce the friction between the transmission shaft and the measuring shaft and the partition or the top cover during rotation, and the measuring shaft can be rotatably positioned longitudinally on the partition through the bearing; specifically, two contact ball bearings are provided on the transmission shaft, the first contact ball bearing is used to reduce the friction at the contact point between its upper end and the through hole of the top cover, and the second contact ball bearing is used to reduce the friction at the contact point between its lower end and the through hole of the partition; a contact ball bearing is provided on the measuring shaft to reduce the friction at the contact point between its middle part and the through hole of the partition, and at the same time, a thrust ball bearing is provided on each side of the contact ball bearing of the measuring shaft, so as to fix the measuring shaft longitudinally on the partition.

[0011] Furthermore, the steering device also includes a limit probe, a limit boss and a limit sensor; the limit probe is fixedly connected to the top of the measuring shaft; the limit boss is hoisted on the lower end surface of the top cover as the rotation boundary of the limit probe, and its installation position corresponds to the rotation path of the limit probe; the limit sensor is connected to the control board and is arranged on both sides of the limit boss, and can detect the extrusion signal of the limit probe, thereby monitoring the limit probe limit position, that is, when the measuring shaft rotates, the limit sensor can detect the extrusion signal of the limit probe and transmit the limit signal to the control board, and the control board adjusts the motor working condition according to the signal of the limit sensor to realize the control of the movement boundary of the limit probe; specifically, in the initial state, the limit probe is at an equal angle to the two sides of the limit boss; when the measuring shaft rotates clockwise, it can drive the limit probe to rotate to one side of the limit boss and squeeze the corresponding limit sensor, and when the measuring shaft rotates counterclockwise, it can drive the limit probe to rotate to the other side of the limit boss and squeeze the corresponding limit sensor.

[0012] Furthermore, a magnet module is fixedly arranged at the bottom of the measuring shaft, and a magnetic induction module is arranged at a corresponding position on the control board; the magnetic induction module monitors the status of the magnet module and transmits it to the control board, and the control board can further calculate the rotation condition of the measuring shaft according to the magnetic induction signal; wherein the magnet module is a circular, square or elongated magnet.

[0013] Furthermore, the communication module includes a wired communication interface or a wireless communication card; the wired communication interface is installed at the bottom of the base box for connecting external devices; the wireless communication card provides a wireless communication channel for the control board; and a data interface is also provided at the bottom of the base box to facilitate wired connection between the control board and the external controller.

[0014] Furthermore, the steering device also includes a disc rack, which is installed on the external physical port on the top of the transmission shaft to provide a human-machine operation interface.

[0015] Furthermore, the steering device also includes a friction disc and a cover plate; a square through hole is provided in the middle of the friction disc, and a square interface is provided at the corresponding position of the transmission shaft. The friction disc can be sleeved on the corresponding position of the transmission shaft and rotated in conjunction with it, and at the same time, the lower end surface of the friction disc is attached to the upper end surface of the top cover; a circular through hole is provided in the middle of the cover plate, and a circular interface is provided at the corresponding position of the transmission shaft. The cover plate can be sleeved on the corresponding position of the transmission shaft without friction, and can be detachably fixed on the top cover and cover the entire friction disc; specifically, a groove is provided on the lower end surface of the cover plate to cover the friction disc, and the cover plate is fixed to the upper end surface of the top cover by a snap-fit ​​device or a threaded interface. The upper end surface contacts the groove of the cover plate, and the lower end surface contacts the upper end surface of the top cover. When the transmission shaft rotates to drive the friction plate to rotate, the upper end surface of the friction plate rubs against the groove on the cover plate, and the lower end surface rubs against the upper end surface of the top cover. The friction force generated provides rotation resistance for user control, and the tighter the snap-fit ​​device or the threaded interface is screwed, the greater the pressure of the cover plate on the friction plate, and the greater the friction resistance provided by the friction plate. When manually operated, the snap-fit ​​device or the threaded interface can be tightened to the specified range first. The friction plate provides a moderate friction resistance, which greatly improves the user's steering feel. When in unmanned mode, the threaded interface can be loosened first, thereby reducing the friction resistance of the transmission shaft and reducing the output of the motor.

[0016] Furthermore, the friction disc is made of rubber or plastic.

[0017] Furthermore, the power module also includes a power interface, which is arranged at the bottom of the base box and can introduce an external power supply into the power module; the power interface can also receive direct current introduced by the data interface.

[0018] Compared with the prior art, the present invention has the following advantages.

[0019] 1. Automatic steering closed-loop control is realized through the control panel, transmission shaft, measuring shaft and limit sensor, providing a steering device for the unmanned ship to meet the needs of automated driving of the unmanned ship, and facilitating the rapid transformation of manned ships into unmanned ships; and a disk rack is set up to meet the manual control needs of users during experiments.

[0020] 2. The steering resistance of the transmission shaft can be adjusted through the friction plate and the cover plate, which greatly improves the user's steering feel. The appropriate adjustment of the tightness of the cover plate can achieve the state transition between low friction resistance during automatic driving and high friction resistance during manual control, and even different friction resistances can be adjusted according to the user's strength habits.

[0021] 3. The magnet module and magnetic induction module are used as the measuring axis working condition monitoring system, which has high monitoring accuracy and strong vibration resistance, and can adapt to the ups and downs and vibrations of the water surface when the unmanned boat sprints at high speed.

[0022] 4. The steering device for unmanned boats, under the action of the steering motor and the transmission shaft, realizes the automatic rotation of the disk frame on the unmanned boat. It can not only automatically complete the steering and feedback the turning angle to the external controller in real time, but also show the user the driving steering status when it is not operated manually. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a top perspective view of the steering device in the embodiment.

[0025] Figure 2 It is a bottom perspective view of the steering device in the embodiment.

[0026] Figure 3 It is a front view of the equipment behind the hidden box and the rack in the embodiment.

[0027] Figure 4 This is a bottom-up stereoscopic view of the equipment with the hidden box and the rear part of the rack in the embodiment.

[0028] Figure 5 This is an exploded view of the equipment behind the hidden cabinet and rack in the embodiment.

[0029] Figure 6 It is a three-dimensional diagram of the bottom box and the partition plate in the embodiment when they are isolated.

[0030] Figure 7 It is a three-dimensional view of the top cover in the embodiment when it is isolated.

[0031] Figure 8 This is a sectional stereoscopic view of the equipment behind the hidden disk rack in the embodiment.

[0032] In the figure: 1-box; 2-control board; 3-communication module; 4-power module; 5-drive shaft; 6-measuring shaft; 7-motor; 9-friction disc; 10-cover plate; 11-disc rack; 101-bottom box; 102-partition plate; 103-top cover; 104-limit boss; 105-limit sensor; 106-data interface; 107-power interface; 201-magnetic induction module; 501-contact ball bearing; 502-thrust ball bearing; 601-limit probe; 602-magnet module; 801-driving gear; 802-driven gear. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] In the description of the present invention, the terms "inside", "outside", "longitudinal", "lateral", "upper", "lower", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0035] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0036] Embodiment 1, as Figure 1-8 As shown, a steering device for an unmanned ship comprises a box body 1, a control panel 2, a communication module 3, a power module 4, a transmission shaft 5, a measuring shaft 6, a motor 7 and a transmission gear; the box body 1 is a cylinder with a diameter of 10 cm; the control panel 2 is installed inside the box body 1, and the communication module 3 and the power module 4 are embedded in the control panel 2, wherein the control panel 2 is provided with a PCB processor, which can be used as a control center of the steering device, connecting and monitoring the electronic equipment in the steering device, specifically, connecting and monitoring the working condition information of the communication module 3, the power module 4, the measuring shaft 6 and the motor 7 through the control panel 2; the communication module 3 provides a communication channel for the control panel 2 to interact with external commands, and the power module 4 includes a charge and discharge manager and a voltage converter to provide power for the electronic equipment in the steering device, specifically, the power module 4 receives the external power supply and converts it into multiple DC or AC power for use by the control panel 2, the communication module 3 and the motor 7;

[0037] The transmission shaft 5 is rotatably arranged in the housing 1 and extends through the top of the housing 1 to provide an external physical port; the measuring shaft 6 is rotatably arranged inside the housing 1, and a rotation monitoring device is arranged on the measuring shaft 6 to transmit the rotation monitoring value to the control board 2; the motor 7 is fixed to the bottom of the housing 1 by bolts, and the output shaft of the motor 7 is connected to the bottom of the transmission shaft 5 to drive the transmission shaft 5 to rotate; the transmission gear includes a driving gear 801 and a driven gear 802; the driving gear 801 is fixed on the transmission shaft 5 and keeps synchronous rotation with the transmission shaft 5; the driven gear 802 is fixed on the measuring shaft 6 and keeps synchronous rotation with the measuring shaft 6; the driving gear 801 and the driven gear 802 are meshed with each other to realize the linkage between the measuring shaft 6 and the transmission shaft 5, so that the rotation state of the transmission shaft 5 is fed back to the control board 2 through the measuring shaft 6; specifically, the transmission shaft 5 is 20 cm long and 3 cm in diameter; the measuring shaft 6 is 12 cm long and 3 cm in diameter.

[0038] In this embodiment, the box body 1 includes a bottom box 101, a partition 102 and a top cover 103; the partition 102 is arranged in the middle of the bottom box 101, and is provided with a through hole for limiting the lateral movement of the transmission shaft 5 and the measuring shaft 6; the top cover 103 covers the bottom box 101, and is provided with a through hole for limiting the lateral movement of the transmission shaft 5; the diameter of the partition 102 is larger than the diameter of the box body 1, the diameter of the partition 102 is 11 cm, and a threaded hole is provided at its extended portion to facilitate fixing the box body 1 on a designated platform.

[0039] In this embodiment, the transmission shaft 5 or the measuring shaft 6 is provided with a bearing at the contact point with the through hole of the partition 102 or the top cover 103, which can reduce the friction between the transmission shaft 5 and the measuring shaft 6 and the partition 102 or the top cover 103 during rotation, and the measuring shaft 6 can be rotatably positioned longitudinally on the partition 102 through the bearing; specifically, two contact ball bearings 501 are provided on the transmission shaft 5, and the diameter and position of the first contact ball bearing 501 and the through hole on the top cover 103 correspond to each other, so as to reduce the friction at the contact point between the upper end of the transmission shaft 5 and the through hole of the top cover 103, and the second contact ball bearing 501 is provided on the transmission shaft 5. The ball bearing 501 and the through hole on the partition 102 have corresponding diameters and positions, and are used to reduce the friction at the contact between the lower end of the transmission shaft 5 and the through hole on the partition 102; a contact ball bearing 501 is arranged on the measuring shaft 6, and the diameters and positions of the through hole on the partition 102 correspond to each other, and are used to reduce the friction at the contact between the middle part of the measuring shaft 6 and the through hole on the partition 102, and at the same time, a thrust ball bearing 502 is arranged on each side of the contact ball bearing 501 of the measuring shaft 6, and the two thrust ball bearings 502 clamp the partition 102 from both sides, thereby fixing the measuring shaft 6 longitudinally on the partition 102.

[0040] In this embodiment, the steering device also includes a limit probe 601, a limit boss 104 and a limit sensor 105; the limit probe 601 is fixedly connected to the top of the measuring shaft 6; the limit boss 104 is hoisted on the lower end surface of the top cover 103, serving as the rotation boundary of the limit probe 601, and its installation position corresponds to the rotation path of the limit probe 601, and the rotation path diameter of the limit probe 601 is 4 cm; the limit sensor 105 is connected to the control board 2, and is arranged on both sides of the limit boss 104, and can detect the extrusion signal of the limit probe 601, thereby monitoring the limit position of the limit probe 601, that is, when the measuring shaft 6 rotates, the limit The position sensor 105 can detect the extrusion signal of the limit probe 601 and transmit the limit signal to the control board 2. The control board 2 adjusts the working condition of the motor 7 according to the signal of the limit sensor 105 to realize the control of the movement boundary of the limit probe 601; specifically, in the initial state, the angle between the limit probe 601 and the two sides of the limit boss 104 is equal, both are 178 degrees; when the measuring shaft 6 rotates clockwise, it can drive the limit probe 601 to rotate to the left side of the limit boss 104 and squeeze the left limit sensor 105; when the measuring shaft 6 rotates counterclockwise, it can drive the limit probe 601 to rotate to the right side of the limit boss 104 and squeeze the right limit sensor 105.

[0041] In this embodiment, a magnet module 602 is fixedly arranged at the bottom of the measuring shaft 6, and a magnetic induction module 201 with model number SMF008025 is arranged at a corresponding position on the control board 2; the magnetic induction module 201 monitors the state of the magnet module 602 and transmits it to the control board 2, and the control board 2 can further calculate the real-time rotation condition of the measuring shaft 6 according to the magnetic induction signal; wherein the magnet module 602 is a long strip magnet.

[0042] In this embodiment, the communication module 3 includes a wired communication interface or a wireless communication card; the wired communication interface includes an Ethernet interface, which is installed at the bottom of the base box 101 and is used to connect external devices; the wireless communication card provides a wireless communication channel for the control board 2; a data interface 106 is also provided at the bottom of the base box 101, including a serial port interface and a CAN interface, to facilitate the wired connection between the control board 2 and the external controller.

[0043] In this embodiment, the steering device also includes a disc rack 11 with a diameter of 40 cm. The disc rack 11 is installed on the external physical port on the top of the transmission shaft 5 to provide a human-machine operation interface. Specifically, the external physical port is a universal interface extending outward by 5 cm, which can be adapted to the fixed interface of the disc rack 11 sold on the market, especially the standard disc rack 11 interface.

[0044] In this embodiment, the steering device also includes a friction disc 9 and a cover plate 10, and the friction disc 9 is 1.1 cm thick; a square through hole is provided in the middle of the friction disc 9, and a square interface is provided at the corresponding position of the transmission shaft 5. The friction disc 9 can be sleeved on the corresponding position of the transmission shaft 5 and rotated in conjunction with it, and at the same time, the lower end surface of the friction disc 9 is attached to the upper end surface of the top cover 103; a circular through hole is provided in the middle of the cover plate 10, and a circular interface is provided at the corresponding position of the transmission shaft 5. The cover plate 10 can be sleeved on the corresponding position of the transmission shaft 5 without friction, and can be detachably fixed on the top cover 103 and cover the entire friction disc 9; specifically, a groove is provided on the lower end surface of the cover plate 10, the depth of the groove is 1 cm, and the diameter is consistent with the friction disc 9, the groove can completely cover the friction disc 9, and the cover plate 10 is fixed by a threaded interface On the upper end surface of the top cover 103, the upper end surface of the friction disc 9 contacts the groove of the cover plate 10, and the lower end surface contacts the upper end surface of the top cover 103. When the transmission shaft 5 rotates to drive the friction disc 9 to rotate, the upper end surface of the friction disc 9 rubs against the groove on the cover plate 10, and the lower end surface rubs against the upper end surface of the top cover 103. The generated friction force provides rotation resistance for user control, and the tighter the threaded interface is screwed, the greater the pressure of the cover plate 10 on the friction disc 9, and the greater the friction resistance provided by the friction disc 9. When manually operated, the threaded interface can be tightened to the specified range first, so that the cover plate 10 presses the friction disc 9. The friction disc 9 provides a moderate friction resistance, which greatly improves the user's steering feel. When in unmanned mode, the threaded interface can be loosened first, thereby reducing the friction resistance of the transmission shaft 5 to a minimum, thereby maximizing the reduction of the output of the motor 7.

[0045] In this embodiment, the friction disc 9 is made of rubber.

[0046] In this embodiment, the power module 4 also includes a power interface 107 , which is disposed at the bottom of the base box 101 and can introduce an external power source into the power module 4 ; the power interface 107 can also receive direct current introduced by the data interface 106 .

[0047] Embodiment 2: Based on embodiment 1, when the unmanned boat is in experimental testing, the corresponding working steps of manual operation are as follows.

[0048] Step 1: First, adjust the tightness of the threaded interface, change the squeezing force of the cover plate 10 on the friction disc 9, and make the friction force provided by the friction disc 9 meet the user's hand feel requirements.

[0049] Step 2: When the user turns right clockwise or turns left counterclockwise to rotate the disc rack 11, a steering command for turning right or left is generated, and the disc rack 11 drives the transmission shaft 5 to rotate clockwise or counterclockwise, and the transmission shaft 5 drives the driving gear 801 to rotate clockwise or counterclockwise, and the driving gear 801 engages with the driven gear 802, driving the driven gear 802 to rotate in the opposite direction, thereby realizing the counterclockwise or clockwise rotation of the driven gear 802.

[0050] Step 3: The driven gear 802 drives the measuring shaft 6 to rotate, and the magnet module 602 at the bottom of the measuring shaft 6 rotates. The magnetic induction module 201 detects the magnetic signal of the magnet module 602 rotating, and transmits it to the control board 2. The PCB processor on the control board 2 receives the magnetic signal of the magnetic induction module 201, and obtains the rotation signal of the disk rack 11 by calculating the rotation angular velocity and angle of the magnet module 602. The control board 2 exchanges information with the external controller through wired communication or wireless communication. The external controller forwards the manual steering command to the rudder angle execution system of the unmanned ship, thereby passively realizing the control and adjustment of the rudder angle; wherein, during the counterclockwise or clockwise rotation of the measuring shaft 6, the extreme motion angles in both directions are 178 degrees; when the measuring shaft 6 rotates counterclockwise, it can drive the limit probe 6 01 rotates to the right side of the limit boss 104 and squeezes the right limit sensor 105, the right limit sensor 105 transmits a signal to the control board 2, the control board 2 transfers it to the external controller through wired communication or wireless communication, the external controller informs the user through voice or indicator light that it is in the "maximum right turn"; when the measuring shaft 6 rotates clockwise, it can drive the limit probe 601 to rotate to the left side of the limit boss 104 and squeeze the left limit sensor 105, the left limit sensor 105 transmits a signal to the control board 2, the control board 2 transfers it to the external controller through wired communication or wireless communication, the external controller informs the user through voice or indicator light that it is in the "maximum left turn"; at the same time, the limit boss 104 clamps the limit probe 601 to prevent the limit probe 601 from continuing to rotate.

[0051] Example 3, based on Example 1, when the unmanned ship is in automatic mode, the corresponding working steps of the steering device are as follows.

[0052] Step 1: First, adjust the tightness of the threaded interface to change the squeezing force of the cover plate 10 on the friction disc 9 so that the friction force provided by the friction disc 9 is at the minimum.

[0053] Step 2: The external controller issues a steering instruction to the control board 2 through wired communication or wireless communication.

[0054] Step 3: After the control board 2 parses the instruction, it drives the motor 7 to rotate, and the motor 7 drives the transmission shaft 5 to rotate. The measuring shaft 6 monitors the rotation state of the transmission shaft 5, and the magnetic induction module 201 monitors the rotation state of the magnet module 602. The PCB processor on the control board 2 receives the magnetic signal of the magnetic induction module 201, and obtains the rotation signal of the disk rack 11 by calculating the rotation angular velocity and angle of the magnet module 602. The control board 2 exchanges information with the external controller through wired communication or wireless communication, and then reports the current rotation state of the rotating device. When the rotation angles of the transmission shaft 5 and the measuring shaft 6 meet the steering instruction requirements, the external controller issues a stop rotation instruction to the control board 2, and the control board 2 locks the motor 7 for standby; at the same time, the external controller forwards the steering instruction to the rudder angle execution system of the unmanned ship to actively control and adjust the rudder angle.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A steering device for an unmanned ship, characterized in that: It comprises a housing (1), a control panel (2), a communication module (3), a power module (4), a transmission shaft (5), a measuring shaft (6), a motor (7) and a transmission gear; The control panel (2) is installed inside the box (1), and the communication module (3) and the power module (4) are embedded in the control panel (2), wherein the control panel (2) serves as a control center of the steering device, connecting and monitoring electronic equipment in the steering device, the communication module (3) provides a communication channel for the control panel (2) to interact with external commands, and the power module (4) provides power for the electronic equipment in the steering device; The transmission shaft (5) is rotatably disposed in the box body (1) and extends through the top of the box body (1) to provide an external physical port; The measuring shaft (6) is rotatably arranged inside the box (1), and a rotation monitoring device is arranged on the measuring shaft (6) so as to transmit a rotation monitoring value to the control panel (2); The motor (7) is fixed to the bottom of the box (1), and the output shaft of the motor (7) is connected to the bottom of the transmission shaft (5) to drive the transmission shaft (5) to rotate; The transmission gear comprises a driving gear (801) and a driven gear (802), wherein the driving gear (801) is fixed on the transmission shaft (5), and the driven gear (802) is fixed on the measuring shaft (6), and the driving gear (801) and the driven gear (802) are meshed with each other to realize the linkage of the measuring shaft (6) and the transmission shaft (5), so that the rotation state of the transmission shaft (5) is fed back to the control board (2) through the measuring shaft (6); The box body (1) comprises a bottom box (101), a partition (102) and a top cover (103); the partition (102) is arranged in the middle of the bottom box (101) and is provided with a through hole for limiting the lateral movement of the transmission shaft (5) and the measuring shaft (6); the top cover (103) covers the bottom box (101) and is provided with a through hole for limiting the lateral movement of the transmission shaft (5); the diameter of the partition (102) is larger than the diameter of the box body (1), and a threaded hole is provided at the outer extension portion thereof to facilitate fixing the box body (1) on a designated platform; The transmission shaft (5) is provided with bearings at the locations where it contacts the through holes of the partition (102) and the top cover (103), so as to reduce friction between the transmission shaft (5) and the partition (102) and the top cover (103) during rotation; the measuring shaft (6) is rotatably positioned longitudinally on the partition (102) via the bearings; the measuring shaft (6) is provided with bearings at the locations where it contacts the through holes of the partition (102), so as to reduce friction between the measuring shaft (6) and the partition (102) during rotation; The steering device further comprises a limit probe (601), a limit boss (104) and a limit sensor (105); the limit probe (601) is fixedly connected to the top of the measuring shaft (6); the limit boss (104) is hoisted on the lower end surface of the top cover (103) and serves as a rotation boundary of the limit probe (601), and its installation position corresponds to the rotation path of the limit probe (601); the limit sensor (105) is connected to the control panel (2), is arranged on both sides of the limit boss (104), and can detect the extrusion signal of the limit probe (601).

2. The steering device according to claim 1, characterized in that: A magnet module (602) is fixedly arranged at the bottom of the measuring shaft (6), and a magnetic induction module (201) is arranged at a corresponding position on the control board (2); the magnetic induction module (201) monitors the state of the magnet module (602) and transmits the state to the control board (2).

3. The steering device according to claim 2, characterized in that: The communication module (3) comprises a wired communication interface or a wireless communication card; the wired communication interface is installed at the bottom of the base box (101) and is used to connect to an external device; the wireless communication card provides a wireless communication channel for the control board (2); and a data interface (106) is also provided at the bottom of the base box (101) to facilitate wired connection between the control board (2) and an external controller.

4. The steering device according to claim 3, characterized in that: It also comprises a disk rack (11), wherein the disk rack (11) is installed on an external physical port on the top of the transmission shaft (5) to provide a human-machine operation interface.

5. The steering device according to claim 4, characterized in that: It also comprises a friction disc (9) and a cover plate (10); a square through hole is arranged in the middle of the friction disc (9); a square interface is arranged at a corresponding position of the transmission shaft (5); the friction disc (9) can be sleeved on a corresponding position of the transmission shaft (5) and rotated in conjunction with the transmission shaft, and the lower end surface of the friction disc (9) is in contact with the upper end surface of the top cover (103); a circular through hole is arranged in the middle of the cover plate (10); a circular interface is arranged at a corresponding position of the transmission shaft (5); the cover plate (10) can be sleeved on a corresponding position of the transmission shaft (5) without friction, and can be detachably fixed on the top cover (103) and cover the entire friction disc (9).

6. The steering device according to claim 5, characterized in that: The friction disc (9) is made of rubber or plastic.

7. The steering device according to claim 6, characterized in that: The power module (4) further comprises a power interface (107), wherein the power interface (107) is arranged at the bottom of the bottom box (101) and can introduce an external power source into the power module (4).

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