A modular steering system for unmanned ships

Abstract

The present invention discloses a modular steering system for an unmanned ship, the steering system comprising a control module, a steering module, a steering module and a control module; the control module is connected with the steering module, the steering module and the control module; the steering module can provide a human-machine operation interface; the steering module can provide steering power for the unmanned ship; the control module can display the information of the steering system and can provide a human-machine operation interface; the control module, as the control center of the steering system, can accept action instructions from the control module or the steering module, and forward the instructions to the steering module after processing, so as to realize the automatic steering function of the unmanned ship; the control module can drive the steering module to act according to the real-time steering state of the steering module, so as to mechanically display the steering state through the steering module; the control module can drive the control module to act according to the real-time steering state of the steering module, so as to digitally display the steering state through the control module.

Description

Technical Field

[0001] The invention relates to the field of unmanned ship equipment, and in particular to a modular steering system 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] The traditional ship steering system consists of a steering wheel and a steering system. The steering wheel transmits steering signals to the steering device through a pull rod. The overall intelligence level is low and the control method is single, which is not conducive to the testing of unmanned ships. In the process of unmanned ship modification or new construction, the construction of the steering system becomes a key and difficult point.

[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 system does not meet the requirements of intelligent transformation and construction of unmanned ships, is difficult to be quickly compatible with the intelligent control system, cannot achieve two-way display of manual and automatic steering, and reduces the utilization efficiency of the steering system.

[0006] The present invention achieves the above-mentioned object through the following technical solutions: providing a modular steering system for an unmanned ship, the unmanned ship comprising a control cabin, a cockpit and a power cabin, the steering system comprising a control module, a steering module, a steering module and a control module; the control module is installed in the control cabin of the unmanned ship, and is connected to the steering module, the steering module and the control module through a data cable; the steering module is installed on an operating table in the cockpit, and can provide a human-machine operating interface; the steering module is installed on the bottom surface of the power cabin, and can provide steering power for the unmanned ship; the control module is installed on a monitoring table in the cockpit, and can display the information of the steering system and can provide human-machine operation interface. The control module, steering module, steering module and control module are all provided with power supply interfaces, which can be directly connected to and utilize the existing power supply system in the unmanned ship; the control module, as the control center of the steering system, can accept the action instructions of the control module or the steering module, and forward them to the steering module after processing, so as to realize the automatic steering function of the unmanned ship; the control module can drive the steering module to move according to the real-time steering state of the steering module, so as to mechanically display the steering state through the steering module; the control module can drive the control module to move according to the real-time steering state of the steering module, so as to digitally display the steering state through the control module.

[0007] Furthermore, the steering module includes a disc body, a disc frame, a control panel, a communication panel, a transmission shaft, a measuring shaft, a motor in the disc and a disc-moving gear; the control panel is installed inside the disc body, and the communication panel is embedded in the control panel, wherein the control panel serves as a control center of the steering system, connects and monitors the electronic equipment in the steering system, and the communication panel provides a communication channel for the control panel to interact with the control module; the transmission shaft is rotatably arranged in the disc body and extends through the top of the disc body to provide an external physical port for fixing the disc frame; the measuring shaft is rotatably arranged inside the disc body, A rotation monitoring device is arranged on the measuring shaft, which can transmit the rotation monitoring value to the control board; the motor in the disk is fixed to the bottom of the disk body by bolts, and the output shaft of the motor in the disk is connected to the bottom of the transmission shaft, which can drive the transmission shaft to rotate; the disk-moving gear includes a main disk gear and a slave disk gear; wherein the main disk gear is fixed on the transmission shaft and keeps synchronous rotation with the transmission shaft; the slave disk gear is fixed on the measuring shaft and keeps synchronous rotation with the measuring shaft; the main disk gear and the slave disk 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 board through the measuring shaft.

[0008] Furthermore, the disk 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 disk body, and a threaded hole is provided at its extended portion to facilitate fixing the disk body on the operating table in the cockpit.

[0009] 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 corresponds to the diameter and position of the through hole on the top cover, and is used to reduce the friction at the contact point between the upper end of the transmission shaft and the through hole of the top cover, and the second contact ball bearing corresponds to the diameter and position of the through hole on the partition, and is used to reduce the friction at the contact point between the lower end of the transmission shaft and the through hole of the partition; a contact ball bearing is provided on the measuring shaft, and the diameter and position of the through hole on the partition correspond to each other, and is used to reduce the friction at the contact point between the middle part of the measuring shaft and the through hole of the partition, and at the same time, a thrust ball bearing is provided on both sides of the contact ball bearing of the measuring shaft, and the two thrust ball bearings clamp the partition from both sides, thereby fixing the measuring shaft longitudinally on the partition.

[0010] Furthermore, the steering module 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 in the disk 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.

[0011] 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, the control board packages the information and transmits it to the control module, and the control module further calculates the rotation condition of the measuring shaft; wherein the magnet module is a round, square or long strip magnet.

[0012] Furthermore, the steering module 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 fitted 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, and the diameter is consistent with that of the friction disc. The groove can completely cover the friction disc. The cover plate is fixed to the upper end surface of the top cover through a threaded interface. The end face contacts the groove of the cover plate, and the lower end face contacts the upper end face of the top cover. When the transmission shaft rotates, the friction plate is driven to rotate. The upper end face of the friction plate rubs against the groove on the cover plate, and the lower end face rubs against the upper end face of the top cover. The friction force generated provides rotation resistance for user control, and the tighter 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 someone operates the disc rack, the threaded interface can be tightened to the specified range first. The friction disc provides a moderate friction resistance, which greatly improves the user's steering feel. When no one operates the disc rack, that is, there is no need for friction resistance when steering through the control module, the threaded interface can be loosened first, thereby reducing the friction resistance of the transmission shaft and reducing the output of the motor in the disc.

[0013] Furthermore, the friction disc is made of rubber or plastic.

[0014] Furthermore, the steering module includes a steering motor, a hanging shaft, a power motor, a propeller and a rudder blade. The steering motor is vertically fixedly installed on the deck of the power compartment, and a driving gear is arranged on the output shaft of the steering motor; a bearing is arranged in the middle of the hanging shaft, and the hanging shaft passes through the bearing as a dividing line and is vertically installed on the central axis of the bottom of the power compartment, and a driven gear is arranged on the upper end of the hanging shaft; the driving gear and the driven gear are meshed with each other to realize the rotational linkage between the steering motor and the hanging shaft; the lower end of the hanging shaft is fixedly connected to the top of the power motor by bolts, the power motor is hung and the rotational torque of the steering motor is transmitted; the propeller is fixed to the output shaft of the power motor by bolts; the rudder blade is hoisted under the power motor; specifically, a through hole is arranged at a designated point on the center line of the bottom of the power compartment deck, and the bearing in the middle of the hanging shaft is a self-sealing waterproof bearing and is embedded in the through hole of the power compartment; the setting direction of the rudder blade is the same as the longitudinal line of the power motor.

[0015] Furthermore, the control module also includes a liquid crystal touch display and / or a mobile phone terminal. The liquid crystal touch display is connected to the control module through a wired interface, providing a human-machine touch control interface and a data display interface; the control module has a network access function, and a management APP can be installed on the mobile phone terminal to provide a remote operation interface and exchange data with the control module through network access.

[0016] Compared with the prior art, the present invention has the following advantages.

[0017] 1. The modular division of the steering system is conducive to the separation and combination of functions. When building an unmanned ship or modifying a manned ship, it is only necessary to embed the modular steering system into the hull, which improves the debugging efficiency and simplifies the installation process.

[0018] 2. The steering module realizes automatic steering closed-loop control through the control panel, transmission shaft, measuring shaft and limit sensor, and realizes adjustable steering resistance of the transmission shaft through the friction plate and cover plate, which greatly improves the user's steering feel; the appropriate adjustment of the tightness of the cover plate can realize 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.

[0019] 3. The control module can accept action instructions from the control module or the steering module, and forward them to the steering module after processing, so as to realize the automatic steering function of the unmanned ship; it can also drive the steering module to move according to the real-time steering status of the steering module, so as to mechanically display the steering status through the rack; it can also drive the control module to move according to the real-time steering status of the steering module, so as to digitally display the steering status through a liquid crystal touch display or a mobile phone terminal.

[0020] 4. The steering power is increased by the power motor and propeller, the steering effect is good, and the flexibility is improved; the steering system can be used as the backup navigation power of the unmanned boat. When the propeller output direction is consistent with the forward direction of the unmanned boat, the steering system can push the unmanned boat forward slowly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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.

[0022] Figure 1 It is a stereoscopic diagram of the steering system after hiding the hull in the embodiment.

[0023] Figure 2 Schematic diagram of the connection of the steering system control module in the embodiment.

[0024] Figure 3 It is a front perspective view of the steering module in the embodiment.

[0025] Figure 4 It is a bottom perspective view of the steering module in the embodiment.

[0026] Figure 5It is a front perspective view of the internal equipment of the steering module in the embodiment.

[0027] Figure 6 It is a bottom-up stereoscopic view of the internal equipment of the steering module in the embodiment.

[0028] Figure 7 It is an exploded view of the internal equipment of the steering module in the embodiment.

[0029] Figure 8 It is a three-dimensional view of the bottom box and the partition of the steering module in the embodiment when they are isolated.

[0030] Fig. 9 It is a three-dimensional view of the top cover of the steering module in the embodiment when it is isolated.

[0031] Fig.10 It is a cross-sectional stereoscopic view of the steering module in the embodiment.

[0032] Fig.11 It is a stereoscopic view of the steering module in the embodiment.

[0033] In the figure: 1-control module; 2-steering module; 3-rudder module; 4-control module; 201-disk body; 202-disk frame; 203-control board; 204-communication board; 205-transmission shaft; 206-measuring shaft; 207-disk motor; 209-friction disk; 210-cover plate; 211-bottom box; 212-partition plate; 213-top cover; 214-limit boss; 215-limit sensor; 216-magnetic induction response module; 217-contact ball bearing; 218-thrust ball bearing; 219-limit probe; 220-magnet module; 221-main plate gear; 222-slave plate gear; 301-steering motor; 302-hanging shaft; 303-power motor; 304-propeller; 305-driving gear; 306-driven gear; 307-waterproof bearing; 308-rudder blade; 401-LCD touch display; 402-mobile terminal. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Embodiment 1, as Figure 1-11 As shown, a modular steering system for an unmanned ship is provided. The unmanned ship includes a control cabin, a cockpit and a power cabin. The steering system includes a control module 1, a steering module 2, a steering module 3 and a control module 4.

[0038] The control module 1 is installed in the control cabin of the unmanned ship and is connected to the steering module 2, the steering module 3 and the control module 4 through a data cable; the control module 1 is a control box composed of a SIM32F series CPU processor as the core, which needs to complete the steering system data calculation and cooperate with the monitoring center to process remote command information.

[0039] The steering module 2 is installed on the operating table in the cockpit and can provide a human-machine operation interface; the steering module 3 is installed on the bottom surface of the power compartment and can provide steering power for the unmanned ship; the control module 4 is installed on the monitoring table in the cockpit, displays the information of the steering system, and can provide a human-machine operation interface; the control module 1, the steering module 2, the steering module 3 and the control module 4 are all provided with power supply interfaces, which can be directly connected to and utilize the existing power supply system in the unmanned ship; the control module 1, as the control center of the steering system, can accept the action instructions of the control module 4 or the steering module 2, and forward them to the steering module 3 after processing, so as to realize the automatic steering function of the unmanned ship; the control module 1 can drive the steering module 2 to act according to the real-time steering state of the steering module 3, so as to mechanically display the steering state through the steering module 2; the control module 1 can drive the control module 4 to act according to the real-time steering state of the steering module 3, so as to digitally display the steering state through the control module 4.

[0040] In this embodiment, the steering module 2 includes a disk body 201, a disk frame 202, a control board 203, a communication board 204, a transmission shaft 205, a measuring shaft 206, an in-disk motor 207 and a disk driving gear; the disk body 201 is a cylinder with a diameter of 10 cm.

[0041] The control board 203 is installed inside the disk body 201, and the communication board 204 is embedded in the control board 203, wherein the control board 203 serves as the control center of the steering system, connecting and monitoring the electronic equipment in the steering system, and the communication board 204 provides a communication channel for the control board 203 to interact with the control module 1; specifically, a PCB processor is provided on the control board 203; the control board 203 is connected to and monitors the working condition information of the communication board 204, the measuring shaft 206 and the motor 207 in the disk; the communication board 204 provides a communication channel for the control board 203 to interact with the control module 1.

[0042] The transmission shaft 205 is rotatably disposed in the disk body 201 and extends through the top of the disk body 201 to provide an external physical port for fixing the disk rack 202; specifically, the disk rack 202 has a diameter of 40 cm, and the disk rack 202 is installed at the external physical port on the top of the transmission shaft 205 to provide a human-machine operation interface. The external physical port is a universal interface extending outward by 5 cm, which can be adapted to the fixed interface of the disk rack 202 sold on the market, especially the standard disk rack 202 interface.

[0043] The measuring shaft 206 is rotatably arranged inside the disk body 201, and a rotation monitoring device is arranged on the measuring shaft 206, which can transmit the rotation monitoring value to the control board 203; the motor 207 in the disk is fixed to the bottom of the disk body 201 by bolts, and the output shaft of the motor 207 in the disk is connected to the bottom of the transmission shaft 205, which can drive the transmission shaft 205 to rotate; the disk-moving gear includes a main disk gear 221 and a slave disk gear 222; wherein the main disk gear 221 is fixed on the transmission shaft 205 and keeps synchronous rotation with the transmission shaft 205; the slave disk gear 222 is fixed on the measuring shaft 206 and keeps synchronous rotation with the measuring shaft 206; the main disk gear 221 and the slave disk gear 222 are meshed with each other to realize the linkage between the measuring shaft 206 and the transmission shaft 205, so that the rotation state of the transmission shaft 205 is fed back to the control board 203 through the measuring shaft 206; specifically, the transmission shaft 2055 is 20 cm long and 3 cm in diameter; the measuring shaft 2066 is 12 cm long and 3 cm in diameter.

[0044] In this embodiment, the disk body 201 includes a bottom box 211, a partition 212 and a top cover 213; the partition 212 is arranged in the middle of the bottom box 211, and is provided with a through hole for limiting the lateral movement of the transmission shaft 205 and the measuring shaft 206; the top cover 213 covers the bottom box 211, and is provided with a through hole for limiting the lateral movement of the transmission shaft 205; the diameter of the partition 212 is larger than the diameter of the disk body 201, and a threaded hole is provided at its extended portion to facilitate fixing the disk body 201 on the operating table in the cockpit.

[0045] In this embodiment, the transmission shaft 205 or the measuring shaft 206 is provided with a bearing at the contact point with the through hole of the partition 212 or the top cover 213, which can reduce the friction between the transmission shaft 205 and the measuring shaft 206 and the partition 212 or the top cover 213 during rotation. The measuring shaft 206 is rotatably positioned longitudinally on the partition 212 through the bearing; specifically, two contact ball bearings 217 are provided on the transmission shaft 205, and the diameter and position of the first contact ball bearing 217 and the through hole on the top cover 213 correspond to each other, so as to reduce the friction at the contact point between the upper end of the transmission shaft 205 and the through hole of the top cover 213, and the second contact ball bearing 217 is provided on the transmission shaft 205. The contact ball bearing 217 corresponds to the diameter and position of the through hole on the partition 212, and is used to reduce the friction between the lower end of the transmission shaft 205 and the through hole of the partition 212; a contact ball bearing 217 is arranged on the measuring shaft 206, and the diameter and position of the through hole on the partition 212 correspond to each other, and is used to reduce the friction between the middle part of the measuring shaft 206 and the through hole of the partition 212. At the same time, a thrust ball bearing 218 is arranged on each side of the contact ball bearing 217 of the measuring shaft 206. The two thrust ball bearings 218 clamp the partition 212 from both sides, thereby fixing the measuring shaft 206 longitudinally on the partition 212.

[0046] In this embodiment, the steering module 2 also includes a limit probe 219, a limit boss 214 and a limit sensor 215; the limit probe 219 is fixedly connected to the top of the measuring shaft 206; the limit boss 214 is hoisted on the lower end surface of the top cover 213, serving as the rotation boundary of the limit probe 219, and its installation position corresponds to the rotation path of the limit probe 219; the limit sensor 215 is connected to the control board 203, and is arranged on both sides of the limit boss 214, and can detect the extrusion signal of the limit probe 219, thereby monitoring the limit position of the limit probe 219, that is, when the measuring shaft 206 rotates, the limit sensor 215 can detect the limit The control board 203 adjusts the working condition of the motor 207 in the disk according to the signal of the limit sensor 215, so as to control the movement boundary of the limit probe 219. Specifically, in the initial state, the angles of the limit probe 219 to both sides of the limit boss 214 are equal, both are 178 degrees. When the measuring shaft 206 rotates clockwise, the limit probe 219 can be driven to rotate to one side of the limit boss 214 and squeeze the corresponding limit sensor 215. When the measuring shaft 206 rotates counterclockwise, the limit probe 219 can be driven to rotate to the other side of the limit boss 214 and squeeze the corresponding limit sensor 215.

[0047] In this embodiment, a magnet module 220 is fixedly provided at the bottom of the measuring shaft 206, and a magnetic induction module 216 with model number SMF008025 is provided at a corresponding position on the control board 203; the magnetic induction module 216 monitors the status of the magnet module 220 and transmits it to the control board 203, and the control board 203 packages the information and transmits it to the control module 1, and the control module 1 further calculates the rotation condition of the measuring shaft 206; wherein the magnet module 220 is a round, square or long strip magnet.

[0048] In this embodiment, the steering module 2 also includes a friction disc 209 and a cover plate 210. The friction disc 209 is 1.1 cm thick. A square through hole is provided in the middle of the friction disc 209, and a square interface is provided at the corresponding position of the transmission shaft 205. The friction disc 209 can be sleeved on the corresponding position of the transmission shaft 205 and rotated in conjunction with it. At the same time, the lower end surface of the friction disc 209 is attached to the upper end surface of the top cover 213. A circular through hole is provided in the middle of the cover plate 210, and a circular interface is provided at the corresponding position of the transmission shaft 205. The cover plate 210 can be sleeved on the corresponding position of the transmission shaft 205 without friction, and can be detachably fixed on the top cover 213 and cover the entire friction disc 209. Specifically, a groove is provided on the lower end surface of the cover plate 210, and the groove has a depth of 1 cm and a diameter consistent with that of the friction disc 209. The groove can completely cover the friction disc 209, and the cover plate 210 is fixed to the upper end of the top cover 213 through a threaded interface. The upper end surface of the friction disc 209 contacts the groove of the cover plate 210, and the lower end surface contacts the upper end surface of the top cover 213. When the transmission shaft 205 rotates, the friction disc 209 is driven to rotate, and the upper end surface of the friction disc 209 rubs against the groove on the cover plate 210, and the lower end surface rubs against the upper end surface of the top cover 213. The friction force generated provides rotation resistance for user control, and the tighter the threaded interface is screwed, the greater the pressure of the cover plate 210 on the friction disc 209, and the greater the friction resistance provided by the friction disc 209. When someone operates the disk rack 202, the threaded interface can be tightened to a specified range first, so that the cover plate 210 presses the friction disc 209. The friction disc 209 provides a moderate friction resistance, which greatly improves the user's steering feel. When no one operates the disk rack 202, that is, there is no need for friction resistance when steering through the control module 4, the threaded interface can be loosened first, thereby reducing the friction resistance of the transmission shaft 205 and reducing the output of the motor 207 in the disk.

[0049] In this embodiment, the friction disc 209 is made of rubber.

[0050] In this embodiment, the steering module 3 includes a steering motor 301, a hanging shaft 302, a power motor 303, a propeller 304 and a rudder blade 308. The steering motor 301 is vertically fixedly installed on the deck of the power cabin, and a driving gear 305 is arranged on the output shaft of the steering motor 301; a bearing is arranged in the middle of the hanging shaft 302, and the hanging shaft 302 is penetrated by the bearing as a dividing line and is vertically installed on the central axis of the bottom of the power cabin, and a driven gear 306 is arranged on the upper end of the hanging shaft 302; the driving gear 305 and the driven gear 306 are meshed with each other to realize the steering motor 301 and the hanging shaft 302 are rotationally linked; the lower end of the hanging shaft 302 is fixedly connected to the top of the power motor 303 by bolts, hanging the power motor 303 and transmitting the rotation torque of the steering motor 301; the propeller 304 is fixed to the output shaft of the power motor 303 by bolts; the rudder blade 308 is hoisted under the power motor 303; specifically, a through hole is set at a designated point on the center line of the bottom of the power cabin deck, and the bearing in the middle of the hanging shaft 302 is a self-sealing waterproof bearing 307, and is embedded in the through hole of the power cabin; the setting direction of the rudder blade 308 is the same as the longitudinal line of the power motor 303.

[0051] In this embodiment, the control module 4 also includes a 10-inch LCD touch display 401 and a mobile phone terminal 402. The LCD touch display 401 is connected to the control module 1 through a wired interface, providing a human-machine touch control interface and a data display interface; the control module 1 has a network access function, and the mobile phone terminal 402 can be installed with an unmanned ship heading management related APP, providing a remote operation interface, and exchanging data with the control module 1 through network access.

[0052] Embodiment 2: Based on embodiment 1, when the unmanned ship is in experimental testing, when someone operates the rack 202, the corresponding working steps are as follows.

[0053] Step 1: Install the steering system: install the steering module 2 on the operating table in the cockpit; install the steering module 3 at the bottom through hole of the power compartment; install the control module 4 on the monitoring table in the cockpit; connect the control module 1, steering module 2, steering module 3 and control module 4 to the existing power system in the unmanned boat.

[0054] Step 2: Initialize the states of the control module 1, the steering module 2, the steering module 3 and the control module 4. Specifically, the steering is reset to zero: the angles of the limit probe 219 on both sides of the limit boss 214 are equal and are both 178 degrees, and the rudder direction is reset to zero: the power motor 303 and the rudder blade 308 point to the front of the unmanned boat.

[0055] Step 3: First, adjust the tightness of the threaded interface to change the squeezing force of the cover plate 210 on the friction disk 209, so that the friction force provided by the friction disk 209 meets the user's hand feeling requirements.

[0056] Step 4: When the user turns right clockwise or left counterclockwise to rotate the disc frame 202, a right or left turn steering command is generated, the disc frame 202 drives the transmission shaft 205 to rotate clockwise or counterclockwise, the transmission shaft 205 drives the driving gear 305 to rotate clockwise or counterclockwise, the main disc gear 221 engages with the slave disc gear 222, driving the slave disc gear 222 to rotate in the opposite direction, thereby realizing the counterclockwise or clockwise rotation of the slave disc gear 222.

[0057] Step 3: The measuring shaft 206 is driven to rotate by the disc gear 222, and the magnet module 220 at the bottom of the measuring shaft 206 rotates. The magnetic induction module 216 detects the magnetic signal of the rotation of the magnet module 220 and transmits it to the control board 203. The PCB processor on the control board 203 receives the magnetic signal of the magnetic induction module 216, packages the information and transmits it to the control module 1 via the communication board 204; the control module 1 obtains the rotation instruction of the disc rack 202 by calculating the rotation angular velocity and angle of the magnet module 220, and then forwards the rotation instruction to the control module 1. The rotating motor of the steering module 3 drives the driving gear 305 to rotate counterclockwise or clockwise, and the driving gear 305 meshes with the driven gear 306, driving the driven gear 306 to rotate in the opposite direction, so that the hanging shaft 302 rotates clockwise or counterclockwise, and the power motor 303 turns when the hanging shaft 302 rotates; then the power motor 303 is started, and the power motor 303 drives the propeller 304 to work, generating a thrust force, thereby realizing the control and adjustment of the rudder angle of the unmanned ship; at the same time, the control module 1 displays the steering instruction related information in real time on the liquid crystal display. The measuring axis 206 rotates counterclockwise or clockwise, and the limit motion angles in both directions are 178 degrees. When the measuring axis 206 rotates counterclockwise, the limit probe 219 can be driven to rotate to the right side of the limit boss 214 and squeeze the right limit sensor 215. The right limit sensor 215 transmits a signal to the control board 203, and the control board 203 forwards this information to the control module 1. The control module 1 reports the signal to the LCD touch display 401 and the mobile terminal 402. The user knows that the user is in the "maximum right turn"; when the measuring shaft 206 rotates clockwise, the limit probe 219 can be driven to rotate to the left side of the limit boss 214 and squeeze the left limit sensor 215, and the left limit sensor 215 transmits a signal to the control board 203, and the control board 203 forwards this information to the control module 1, and the control module 1 informs the user that the user is in the "maximum left turn" through the LCD touch display 401 and the mobile phone terminal 402; at the same time, the limit boss 214 clamps the limit probe 219 to prevent the limit probe 219 from continuing to rotate.

[0058] Embodiment 3, based on embodiment 1, when the unmanned ship is in automatic mode, the corresponding working steps of the steering system are as follows.

[0059] Step 1: Install the steering system: install the steering module 2 on the operating table in the cockpit; install the steering module 3 at the bottom through hole of the power compartment; install the control module 4 on the monitoring table in the cockpit; connect the control module 1, steering module 2, steering module 3 and control module 4 to the existing power system in the unmanned boat.

[0060] Step 2: Initialize the states of the control module 1, the steering module 2, the steering module 3 and the control module 4. Specifically, the steering is reset to zero: the angles of the limit probe 219 on both sides of the limit boss 214 are equal and are both 178 degrees, and the rudder direction is reset to zero: the power motor 303 and the rudder blade 308 point to the front of the unmanned boat.

[0061] Step 3: Adjust the tightening degree of the threaded interface to change the squeezing force of the cover plate 210 on the friction disk 209 so that the friction force provided by the friction disk 209 is at the minimum.

[0062] Step 4: The user sends a steering command to the control module 1 through the LCD touch display 401 and the mobile phone terminal 402 . The control module 1 parses the steering command and forwards it to the control board 203 .

[0063] Step 5: The control board 203 drives the motor to rotate, the motor drives the transmission shaft 205 to rotate, the measuring shaft 206 monitors the rotation state of the transmission shaft 205, the magnetic induction module 216 monitors the rotation state of the magnet module 220, and the PCB processor on the control board 203 receives the magnetic signal of the magnetic induction module 216, packages the information and transmits it to the control module 1 via the communication board 204; the control module 1 obtains the rotation signal of the disk rack 202 by calculating the rotation angular velocity and angle of the magnet module 220, and then obtains the current rotation state of the steering module 3. When the rotation angles of the transmission shaft 205 and the measuring shaft 206 meet the requirements, the control module 1 obtains the rotation signal of the disk rack 202 and the current rotation state of the steering module 3. When the steering command is required, the control module 1 issues a stop rotation command to the control board 203, and the control board 203 locks the standby motor in the disk; at the same time, the control module 1 forwards the steering command to the steering module 3, starts the rotating motor, and the rotating motor drives the driving gear 305 to rotate. The driving gear 305 is engaged with the driven gear 306, driving the driven gear 306 to rotate in the opposite direction, realizing the rotation of the hanging shaft 302. When the hanging shaft 302 rotates, the power motor 303 is turned; then the power motor 303 is started, and the power motor 303 drives the propeller 304 to work, generating a thrust force, thereby realizing the control and adjustment of the rudder angle of the unmanned ship.

[0064] Furthermore, the control module 1 is provided with a data interface for connecting to a controller or an obstacle avoidance system in the unmanned vessel, so as to directly read the steering command generated by the obstacle avoidance system.

[0065] 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 modular steering system for an unmanned ship, the unmanned ship comprising a control cabin, a cockpit and a power cabin, characterized in that: The steering system comprises a control module (1), a steering module (2), a steering module (3) and a control module (4); The control module (1) is installed in the control cabin of the unmanned ship and is connected to the steering module (2), the steering module (3) and the control module (4) via data cables; The steering module (2) is installed on an operating table in the cockpit and can provide a human-machine operating interface; The steering module (3) is installed on the bottom surface of the power cabin and can provide steering power for the unmanned ship; The control module (4) is installed on a monitoring console in the cockpit, displays information of the steering system, and can provide a human-machine operation interface; The control module (1), the steering module (2), the steering module (3) and the control module (4) are all provided with power supply interfaces, which can be directly connected to and utilize the existing power supply system in the unmanned ship; The control module (1) serves as a control center of the steering system and can receive action instructions from the control module (4) or the steering module (2), and forward the instructions to the steering module (3) after processing, thereby realizing the automatic steering function of the unmanned ship; the control module (1) can drive the steering module (2) to move according to the real-time steering state of the steering module (3), thereby mechanically displaying the steering state through the steering module (2); the control module (1) can drive the control module (4) to move according to the real-time steering state of the steering module (3), thereby digitally displaying the steering state through the control module (4); The steering module (2) comprises a disk body (201), a disk frame (202), a control board (203), a communication board (204), a transmission shaft (205), a measuring shaft (206), an in-disk motor (207), and a disk-moving gear; The control panel (203) is installed inside the disk body (201), and the communication panel (204) is embedded in the control panel (203), wherein the control panel (203) serves as a control center of the steering system, connecting and monitoring electronic equipment in the steering system, and the communication panel (204) provides a communication channel for the control panel (203) to interact with the control module (1); The transmission shaft (205) is rotatably disposed in the disk body (201) and extends through the top of the disk body (201), providing an external physical port for fixing the disk rack (202); The measuring shaft (206) is rotatably arranged inside the disk body (201), and a rotation monitoring device is arranged on the measuring shaft (206) so as to transmit a rotation monitoring value to the control panel (203); The in-disk motor (207) is fixed to the bottom of the disk body (201), and the output shaft of the in-disk motor (207) is connected to the bottom of the transmission shaft (205), so as to drive the transmission shaft (205) to rotate; The disk-moving gear comprises a main disk gear (221) and a slave disk gear (222), wherein the main disk gear (221) is fixed on the transmission shaft (205), and the slave disk gear (222) is fixed on the measuring shaft (206), and the main disk gear (221) and the slave disk gear (222) are meshed with each other to realize the linkage of the measuring shaft (206) and the transmission shaft (205), so that the rotation state of the transmission shaft (205) is fed back to the control board (203) through the measuring shaft (206); The disk body (201) comprises a bottom box (211), a partition (212) and a top cover (213); the partition (212) is arranged in the middle of the bottom box (211) and is provided with a through hole for limiting the lateral movement of the transmission shaft (205) and the measuring shaft (206); the top cover (213) covers the bottom box (211) and is provided with a through hole for limiting the lateral movement of the transmission shaft (205); the diameter of the partition (212) is larger than the diameter of the disk body (201), and a threaded hole is provided at an extended portion thereof to facilitate fixing the disk body (201) on an operating table in a cockpit; The transmission shaft (205) is provided with bearings at the locations where it contacts the through holes of the partition (212) and the top cover (213), so that friction between the transmission shaft (205) and the partition (212) and the top cover (213) can be reduced during rotation; the measuring shaft (206) is rotatably positioned longitudinally on the partition (212) via the bearings; the measuring shaft (206) is provided with bearings at the locations where it contacts the through holes of the partition (212), so that friction between the measuring shaft (206) and the partition (212) can be reduced during rotation; The steering module (2) further comprises a limit probe (219), a limit boss (214) and a limit sensor (215); the limit probe (219) is fixedly connected to the top of the measuring shaft (206); the limit boss (214) is hoisted on the lower end surface of the top cover (213) and serves as a rotation boundary of the limit probe (219), and its installation position corresponds to the rotation path of the limit probe (219); the limit sensor (215) is connected to the control panel (203), is arranged on both sides of the limit boss (214), and can detect the extrusion signal of the limit probe (219).

2. The steering system according to claim 1, characterized in that: A magnet module (220) is fixedly arranged at the bottom of the measuring shaft (206), and a magnetic induction module (216) is arranged at a corresponding position on the control board (203); the magnetic induction module (216) monitors the state of the magnet module (220) and transmits the state to the control board (203).

3. The steering system according to claim 2, characterized in that: The steering module (2) further comprises a friction disc (209) and a cover plate (210); a square through hole is arranged in the middle of the friction disc (209); a square interface is arranged at a corresponding position of the transmission shaft (205); the friction disc (209) can be sleeved on a corresponding position of the transmission shaft (205) and rotated in conjunction with the transmission shaft, and the lower end surface of the friction disc (209) is fitted to the upper end surface of the top cover (213); a circular through hole is arranged in the middle of the cover plate (210); a circular interface is arranged at a corresponding position of the transmission shaft (205); the cover plate (210) can be sleeved on a corresponding position of the transmission shaft (205) without friction, and can be detachably fixed on the top cover (213) and cover the entire friction disc (209).

4. The steering system according to claim 3, characterized in that: The friction disc (209) is made of rubber or plastic.

5. The steering system according to any one of claims 2 to 4, characterized in that: The steering module (3) comprises a steering motor (301), a hanging shaft (302), a power motor (303), a propeller (304) and a rudder blade (308); the steering motor (301) is vertically fixedly installed on the deck of the power cabin; a driving gear (305) is arranged on the output shaft of the steering motor (301); a bearing is arranged in the middle of the hanging shaft (302); the hanging shaft (302) is penetrated by the bearing as a dividing line and is vertically installed on the central axis of the bottom of the power cabin; a driven gear (305) is arranged on the upper end of the hanging shaft (302); The driving gear (305) and the driven gear (306) are meshed with each other to realize the rotation linkage between the steering motor (301) and the hanging shaft (302); the lower end of the hanging shaft (302) is fixedly connected to the top of the power motor (303) by bolts, hanging the power motor (303) and transmitting the rotation torque of the steering motor (301); the propeller (304) is fixed to the output shaft of the power motor (303) by bolts; and the rudder blade (308) is hoisted below the power motor (303).

6. The steering system according to claim 5, characterized in that: The control module (4) further comprises a liquid crystal touch display (401) and / or a mobile phone terminal (402); the liquid crystal touch display (401) is connected to the control module (1) via a wired interface, provides a human-machine touch control interface, and provides a data display interface; the mobile phone terminal (402) provides a remote operation interface.

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