Unmanned boat with adjustable balance wings and escape method

Abstract

The present invention relates to the field of unmanned boat escape, and provides an unmanned boat with adjustable balance wings and an escape method, comprising: a hull, an escape device, a battery box, a main control box and a propulsion device; the battery box and the main control box are arranged on the upper surface of the hull in sequence from the front end to the rear end; a groove is arranged between the battery box and the main control box, and the escape device is arranged in the groove; the propulsion device is arranged at the rear end of the hull, and the propulsion device includes: a propulsion motor and a steering gear. The present invention can realize the autonomous escape of the unmanned boat without the aid of other high-power motors or complex transmission devices, and has the advantages of simple transmission mechanism and practical and efficient escape method.

Description

Technical Field

[0001] The present invention relates to the field of unmanned boat escape, and in particular to an unmanned boat with adjustable balance wings and an escape method. Background Art

[0002] With the development of automation and intelligent technology, the wave of unmanned technology has swept the world. Unmanned driving technology has become a research hotspot in the world today and has attracted widespread attention from companies and researchers in various countries. As the basic carrier of river, lake and sea transportation, river and lake health monitoring, underwater mapping, salvage, rescue, and water environment monitoring, ships play an indispensable and important role. In recent years, researchers from various countries have conducted research on unmanned ship driving technology and have made many achievements, but it is still difficult to solve problems such as roadblock identification in complex environments. During the autonomous navigation of unmanned ships, when roadblock identification errors occur, the unmanned ship may run aground. Based on the design characteristics of the propeller, the forward power is much greater than the backward power. Once the unmanned ship runs aground, it will be difficult to return, which seriously restricts the application of technologies such as intelligent river and lake health monitoring, hydrological monitoring, and underwater mapping automation. The unmanned ship stranding escape technology has become a key technical bottleneck in the application of unmanned ships. At present, the unmanned ship stranding escape technology all adopts a crawling structure, which is rescued by manually remotely controlling an external drive motor or a complex self-power transmission mechanism, which makes it difficult to achieve the goal of autonomous escape, and thus makes it impossible to achieve the goal of autonomous navigation of unmanned ships.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an unmanned boat with adjustable balance wings, comprising: a hull, an escape device, a battery box, a main control box and a propulsion device;

[0005] The battery box and the main control box are arranged on the upper surface of the hull in sequence from the front end to the rear end; a groove is arranged between the battery box and the main control box, and the escape device is arranged in the groove;

[0006] The propulsion device is arranged at the rear end of the hull, and the propulsion device includes: a propulsion motor and a steering gear.

[0007] Preferably, the escape device comprises: an electric push rod, a telescopic rod, a rocker arm, a first connecting rod, a second connecting rod, a first square steel sleeve rod, a second square steel sleeve rod, a first fixed support, a second fixed support, a first balance wing, a second balance wing, a fixed main rod and a fixed cross;

[0008] The fixed spool is a hollow cavity with openings at the upper and lower ends and the left and right ends, and is fixedly arranged in the groove of the hull; the fixed main rod passes through the left and right ends of the fixed spool, and the fixed main rod is parallel to the hull; the electric push rod passes through the upper and lower ends of the fixed spool, and is vertically fixed on the hull;

[0009] The telescopic rod is vertically telescopically arranged at the upper end of the electric push rod, the rocker arm is fixedly arranged above the telescopic rod, one end and the other end of the rocker arm can rotate around a first rotation point, and the first rotation point is located in the middle of the rocker arm; the upper end of the first connecting rod is fixedly connected to one end of the rocker arm; the upper end of the second connecting rod is fixedly connected to the other end of the rocker arm;

[0010] One end of the first square steel sleeve rod is rotatably connected to the lower end of the first connecting rod, and the connection point is the second rotation point; the lower part of the other end of the first square steel sleeve rod is rotatably connected to the upper surface of the fixed main rod, and the connection point is the fourth rotation point;

[0011] One end of the second square steel sleeve rod is rotatably connected to the lower end of the second connecting rod, and the connection point is the third rotation point; the lower part of the other end of the second square steel sleeve rod is rotatably connected to the upper surface of the fixed main rod, and the connection point is the fifth rotation point;

[0012] The other end of the first square steel sleeve rod is provided with an opening, one end of the first fixed support is inserted into the interior of the first square steel sleeve rod from the opening at the other end of the first square steel sleeve rod, and the first balance wing is fixedly connected to the other end of the first fixed support;

[0013] The other end of the second square steel sleeve rod is provided with an opening, one end of the second fixed support is inserted into the interior of the second square steel sleeve rod from the opening at the other end of the second square steel sleeve rod, and the second balance wing is fixedly connected to the other end of the second fixed support.

[0014] Preferably, it also includes a first fixed screw, a second fixed screw, a first movable pull pin and a second movable pull pin;

[0015] The first fixing screw and the second fixing screw are used to fix the escape device to the groove of the hull;

[0016] The first movable pull pin is used to fix one end of the first fixed support inside the first square steel sleeve rod, and the second movable pull pin is used to fix one end of the second fixed support inside the second square steel sleeve rod.

[0017] A method for escaping an unmanned boat with an adjustable balance wing is implemented based on the unmanned boat with an adjustable balance wing as described above, comprising:

[0018] S1: The unmanned ship is in normal state and sails autonomously according to the preset route;

[0019] S2: The unmanned ship performs a grounding detection every preset time t1. If it is determined that the unmanned ship is grounded, the process proceeds to step S3, otherwise it returns to step S1;

[0020] S3: The unmanned ship performs autonomous adjustment of the balance wing and enters an escape mode;

[0021] S4: the unmanned ship executes the escape command and moves away from the stranded area by rotating and retreating;

[0022] S5: the unmanned ship performs an escape detection every preset time t2, and if it is determined that the unmanned ship is out of trouble, the process proceeds to step S6, otherwise it returns to step S4;

[0023] S6: The unmanned boat is adjusted to the preset route, a reset command is executed, the unmanned boat is adjusted to the normal state, and the process returns to step S1.

[0024] Preferably, step S1 specifically comprises:

[0025] S11: Conduct local route planning, including: specifying route range, specifying route spacing and specifying the shortest route;

[0026] S12: Generate a target route and sequential target points according to the local route planning sequence;

[0027] S13: The unmanned ship performs autonomous navigation according to the target route and the sequential target points.

[0028] Preferably, step S2 specifically comprises:

[0029] S21: the unmanned ship collects data once every preset time t1, including: GNSS horizontal speed, unmanned ship speed u and water flow speed v;

[0030] S22: If the GNSS horizontal speed is less than |uv-0.5| for three consecutive times, it is determined that the unmanned ship is stranded, otherwise it is determined that the unmanned ship is not stranded.

[0031] Preferably, step S3 specifically comprises:

[0032] S31: Start the escape device, and use the internal motor of the electric push rod to slowly move the top of the telescopic rod upward to the highest point;

[0033] S32: The telescopic rod drives the rocker arm to move upward slowly, and one end and the other end of the rocker arm both rotate upward around the first rotation point, one end of the rocker arm drives the first connecting rod to rotate upward clockwise around the first rotation point, and the lower end of the first connecting rod drives the first square steel sleeve rod to rotate upward counterclockwise around the fourth rotation point; the other end of the rocker arm drives the second connecting rod to rotate upward counterclockwise around the first rotation point, and the lower end of the second connecting rod drives the second square steel sleeve rod to rotate upward clockwise around the fifth rotation point;

[0034] S33: Under the action of the fixed support, the first balance wing and the second balance wing will move downward from the initial height. When the rocker arm rises to the highest point, the first balance wing and the second balance wing drop to the lowest point.

[0035] Preferably, step S4 is specifically:

[0036] S41: After the unmanned boat enters the escape mode, the steering gear is controlled to deflect to the left or right to a preset angle;

[0037] S42: Reverse the propulsion motor to make the unmanned boat rotate backward.

[0038] Preferably, in step S5, the escape detection is specifically:

[0039] S51: Obtain the heading and coordinates of the unmanned ship when it is stranded, as well as the heading and coordinates when it rotates backward;

[0040] S52: If the angle difference between the heading when rotating backward and the heading when running aground is greater than 90 degrees, and the distance between the coordinates when rotating backward and the coordinates when running aground is greater than a preset value, it is determined that the unmanned ship is out of trouble; otherwise, it is determined that the unmanned ship is not out of trouble.

[0041] Preferably, step S6 specifically comprises:

[0042] S61: rotating the propulsion motor forward to stop the unmanned boat from rotating, adjusting the unmanned boat to the heading of the preset route by controlling the steering gear, and then stopping the propulsion motor;

[0043] S62: After the unmanned boat stops moving, a reset command is executed to slowly move the top of the telescopic rod downward to the lowest point;

[0044] S63: The first balance wing and the second balance wing will start to move upward, and eventually the first balance wing and the second balance wing will move to an initial height;

[0045] S64: Start the propulsion motor and continue autonomous navigation according to the preset route.

[0046] The present invention has the following beneficial effects:

[0047] By increasing the buoyancy of the balance wings on both sides to lift the main hull, the friction between the main hull and the ground is reduced or completely eliminated. This method changes the traditional unmanned ship crawling mechanism escape method, and transforms the traditional unmanned ship crawling mechanism escape method that relies on external motors or complex power transmission devices to a new unmanned ship escape method that relies on its own power to escape. Compared with the traditional unmanned ship crawling mechanism escape method, the solution of the present invention can achieve autonomous escape of the unmanned ship without the aid of other high-power motors or complex transmission devices, and has the advantages of a simple transmission mechanism and a practical and efficient escape method. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a structural diagram of the unmanned boat of the present invention;

[0049] Figure 2 It is a rear view of the unmanned boat of the present invention;

[0050] Figure 3 It is a structural diagram of the unmanned boat escape device of the present invention;

[0051] Figure 4 is the route vector diagram;

[0052] Figure 5 A relationship diagram between the unmanned ship's positioning point, distance, route, and target point;

[0053] Figure 6 A schematic diagram of the unmanned boat escape device of the present invention entering an escape state;

[0054] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0056] Reference Figure 1-2 , the present invention provides an unmanned boat with adjustable balance wings, comprising: a hull 1, an escape device 2, a battery box 3, a main control box 4 and a propulsion device;

[0057] The left and right sides of the unmanned ship are symmetrical;

[0058] The battery box 3 and the main control box 4 are arranged on the upper surface of the hull 1 in sequence from the front end to the rear end; a groove is arranged between the battery box 3 and the main control box 4, and the escape device 2 is arranged in the groove;

[0059] The propulsion device is arranged at the rear end of the hull 1 , and the propulsion device includes: a propulsion motor 5 and a steering gear 6 .

[0060] Specifically, the battery box 3 is used to provide power for the entire unmanned boat, and the battery box 3 is electrically connected to the escape device 2, the main control box 4 and the propulsion device;

[0061] The main control box 4 is used to control the entire unmanned boat. The main control box 4 can input a preset route through the program input interface. The antenna set on the upper surface of the main control box 4 and the built-in GPS can be used to locate the position coordinates and various navigation data of the unmanned boat in real time. The speed of the propulsion motor 5 and the direction of the steering gear 6 are adjusted in real time according to the preset route, so that the unmanned boat can navigate autonomously according to the preset route.

[0062] The propulsion device is used to provide the unmanned boat with the kinetic energy required for movement. The propulsion device is arranged below the rear end of the unmanned boat and is protected by a protective net to prevent the propulsion device from being entangled by kelp or marine debris; the steering gear 6 is connected to the lower surface of the rear end of the hull 1 by a vertical rod, and the propulsion motor 5 is arranged between the hull 1 and the steering gear 6.

[0063] refer to Figure 3 In this embodiment, the escape device 2 includes: an electric push rod 2-1, a telescopic rod 2-2, a rocker arm 2-3, a first connecting rod 2-4, a second connecting rod 2-5, a first square steel sleeve rod 2-6, a second square steel sleeve rod 2-7, a first fixed support 2-8, a second fixed support 2-9, a first balance wing 2-10, a second balance wing 2-11, a fixed main rod 2-12 and a fixed cross 2-13;

[0064] The fixed spool 2-13 is a hollow cavity with openings at the upper and lower ends and the left and right ends, and is fixedly arranged in the groove of the hull 1; the fixed main rod 2-12 passes through the left and right ends of the fixed spool 2-13, and the fixed main rod 2-12 is parallel to the hull 1; the electric push rod 2-1 passes through the upper and lower ends of the fixed spool 2-13 and is vertically fixed on the hull 1;

[0065] The telescopic rod 2-2 is vertically telescopically arranged at the upper end of the electric push rod 2-1, and the rocker arm 2-3 is fixedly arranged above the telescopic rod 2-2. One end and the other end of the rocker arm 2-3 can rotate around a first rotation point 2-18, and the first rotation point 2-18 is located in the middle of the rocker arm 2-3; the upper end of the first connecting rod 2-4 is fixedly connected to one end of the rocker arm 2-3; the upper end of the second connecting rod 2-5 is fixedly connected to the other end of the rocker arm 2-3;

[0066] One end of the first square steel sleeve rod 2-6 is rotatably connected to the lower end of the first connecting rod 2-4, and the connection point is the second rotation point 2-19; ​​the lower part of the other end of the first square steel sleeve rod 2-6 is rotatably connected to the upper surface of the fixed main rod 2-12, and the connection point is the fourth rotation point 2-21;

[0067] One end of the second square steel sleeve rod 2-7 is rotatably connected to the lower end of the second connecting rod 2-5, and the connection point is the third rotation point 2-20; the lower part of the other end of the second square steel sleeve rod 2-7 is rotatably connected to the upper surface of the fixed main rod 2-12, and the connection point is the fifth rotation point 2-22;

[0068] The other end of the first square steel sleeve rod 2-6 is provided with an opening, one end of the first fixed support 2-8 is inserted into the interior of the first square steel sleeve rod 2-6 from the opening at the other end of the first square steel sleeve rod 2-6, and the first balance wing 2-10 is fixedly connected to the other end of the first fixed support 2-8;

[0069] The other end of the second square steel sleeve rod 2-7 is provided with an opening, one end of the second fixed support 2-9 is inserted into the interior of the second square steel sleeve rod 2-7 from the opening at the other end of the second square steel sleeve rod 2-7, and the second balance wing 2-11 is fixedly connected to the other end of the second fixed support 2-9.

[0070] Specifically, the first rotation connection point, the second rotation connection point, the second rotation point 2-19, the third rotation point 2-20, the fourth rotation point 2-21 and the fifth rotation point 2-22 are connected by a movable connection shaft;

[0071] The first balance wing 2-10 and the second balance wing 2-11 are both parallel to the hull 1, and the first balance wing 2-10 and the second balance wing 2-11 are both made of lightweight materials. The downward movement of the balance wing will increase the buoyancy of the entire unmanned boat, thereby lifting the unmanned boat.

[0072] In this embodiment, it also includes a first fixed screw 2-14, a second fixed screw 2-15, a first movable pull pin 2-16 and a second movable pull pin 2-17;

[0073] The first fixing screw 2-14 and the second fixing screw 2-15 are used to fix the escape device 2 at the groove of the hull 1;

[0074] The first movable pull pin 2-16 is used to fix one end of the first fixed support 2-8 inside the first square steel sleeve rod 2-6, and the second movable pull pin 2-17 is used to fix one end of the second fixed support 2-9 inside the second square steel sleeve rod 2-7.

[0075] The present invention provides a method for escaping a distressed unmanned ship with an adjustable balance wing, which is implemented based on the above-mentioned unmanned ship with an adjustable balance wing and includes:

[0076] S1: The unmanned ship is in normal state and sails autonomously according to the preset route;

[0077] S2: The unmanned ship performs a grounding detection every preset time t1. If it is determined that the unmanned ship is grounded, the process proceeds to step S3, otherwise it returns to step S1;

[0078] S3: The unmanned ship performs autonomous adjustment of the balance wing and enters an escape mode;

[0079] S4: the unmanned ship executes the escape command and moves away from the stranded area by rotating and retreating;

[0080] S5: the unmanned ship performs an escape detection every preset time t2, and if it is determined that the unmanned ship is out of trouble, the process proceeds to step S6, otherwise it returns to step S4;

[0081] S6: The unmanned boat is adjusted to the preset route, a reset command is executed, the unmanned boat is adjusted to the normal state, and the process returns to step S1.

[0082] In this embodiment, step S1 is specifically as follows:

[0083] S11: Conduct local route planning, including: specifying route range, specifying route spacing and specifying the shortest route;

[0084] S12: Generate a target route and sequential target points according to the local route planning sequence;

[0085] S13: The unmanned ship performs autonomous navigation according to the target route and the sequential target points.

[0086] Specifically, in the process of realizing autonomous navigation, the unmanned ship will inevitably deviate from the current direction and the target direction due to the influence of factors such as wind and waves and water flow speed. At this time, it is necessary to adjust the steering gear 6 angle to make the unmanned ship move in the target direction. At present, when the water flow speed is constant, the manual steering process towards the target is almost always based on the rich experience of the helmsman to make the current direction of the bow direction form a certain angle with the water flow. At this time, the vector speed synthesized by the ship speed and the water flow speed moves in the target direction to achieve the navigation goal. In the automatic driving of unmanned ships, due to the uncertain water flow speed and direction, coupled with the influence of factors such as wind speed and uneven resistance in the water, it is difficult to find the most suitable current direction, and navigation can only rely on the target direction. If the steering gear 6 angle is too large, the unmanned ship will be constantly in an adjustment state, and even cause severe turbulence. If the steering gear 6 angle is too small, the unmanned ship will deviate from the route for a long time. Based on this, it is of great significance to seek the relationship between the heading deviation, the distance deviation and the steering gear 6 angle.

[0087] The autonomous navigation of unmanned ships can be divided into fixed-point navigation and fixed-line navigation. The navigation of unmanned ships along the route is called fixed-line navigation, and the navigation from one end point of an adjacent route to the other end point of another route is called fixed-point navigation.

[0088] S131: Fixed-point navigation

[0089] Fixed-point navigation should first calculate the target heading and the current heading of the unmanned ship respectively, then calculate the difference between the target heading and the current heading of the unmanned ship, and then seek the relationship between the steering gear 6 angle and the heading difference to achieve the goal of fixed-point navigation.

[0090] ① Target heading calculation

[0091] The target heading is the azimuth from the current position to the target point, and the calculation method is as shown in Formula 1.

[0092]

[0093] In the formula, x t ,y t is the coordinate of the target point, x c ,y c The coordinates of the current ship.

[0094] ② Calculation of the current heading of the unmanned ship

[0095] The current heading of the unmanned ship is the direction value after the electronic compass compensation. At this time, the corresponding current heading value α can be calculated according to formula 2.

[0096] ③ Heading deviation calculation

[0097]

[0098] ④Servo 6 angle

[0099] The size of the steering angle of the servo 6 has a great relationship with the stability of the unmanned ship. When the current heading of the unmanned ship is deviating from the target heading, if the steering angle of the servo 6 is too large, even if the current heading is consistent with the target heading, due to the inertia of the unmanned ship, it will still maintain a certain turning posture, which will cause the current heading of the unmanned ship to deviate negatively from the target heading.

[0100] After testing, when the maximum turning angle of the steering gear 6 is 45° and the speed of the unmanned boat is 2m / s, the maximum turning radius of the unmanned boat is 2.5 meters. At this time, one circle is 360°, and the time for one circle is calculated as shown in Formula 3.

[0101]

[0102] Substituting the above data, we can calculate T = 7.85s.

[0103] Since the time for the unmanned ship to adjust the servo 6 is 0.2 seconds each time, the servo 6 driving PWM signal has a period of 20 milliseconds, and the servo 6 action time is generally in the millisecond level, the time from the command to the execution of the servo 6 can be ignored. When the servo 6 turns at 45°, the actual direction of the current heading changes to 9.17° within 0.2 seconds. Without considering the adjustment of the inertia of the unmanned ship, the current heading can change to 45.74° within 1 second. Ignoring the influence of other factors, we conclude that when the servo 6 turns at 45°, the current heading can change by 45.74° within 1 second.

[0104] When the heading deviation is 180°, the unmanned ship needs to turn around, and the steering angle of the unmanned ship's servo 6 should be the maximum, that is, 45°. When the heading deviation is 0, the steering angle of the servo 6 should be 0, as shown in Table 1. Based on the heading deviation between the two, as long as the steering angle of the servo 6 is in the correct direction, it can be slowly adjusted over time to make the current heading consistent with the target heading.

[0105] Table 1 Relationship between heading deviation and steering gear 6 turning angle

[0106]

[0107]

[0108] Assuming that the steering gear 6 angle β of the unmanned ship is in direct proportion to the heading deviation, then as shown in Formula 4, β is the steering gear 6 angle, is the heading deviation. In order to make the turning angle k value of the unmanned ship consistent with other turning angle k values ​​when the heading deviation is 180° and 0°, the k value can be set to 0.25. When the heading deviation is 45°, if the steering gear 6 turns to 11.25°, it only takes about 5 seconds to adjust to the correct position.

[0109] After testing, it was found that the unmanned boat can maintain good stability during fixed-point navigation, can move in a straight line along the target direction in still water, and can always sail in the target direction in flowing water.

[0110] S132: Route Navigation

[0111] ① Calculation method of the topological relationship between the current position of the unmanned ship and the route

[0112] The topological relationship between the current position of the unmanned ship and the route includes the distance from the current position to the route, and the relationship between the current heading and the route direction. The mathematical meaning of the route is the starting point P O and the end point P E The vector formed is Figure 4 As shown, the current point P L With P O , P E A triangle is formed, and the three vectors of the triangle are: According to the directed edge vector, the calculation formula for the area S of a triangle is as shown in Equation 5.

[0113]

[0114] It can be calculated that when the current point is on the left side of the course direction, the area calculated by this method is negative, and when it is on the right side, this value is positive. The distance from the point to the course is calculated according to Equation 6.

[0115]

[0116] Where:

[0117]

[0118] As shown above, while calculating the distance from a point to a straight line, the topological relationship between the point and the course can be obtained.

[0119] ② Determine the target course of the current position of the unmanned ship

[0120] When the ship moves along the course, its target direction is determined according to its current position and the distance to the course. As Figure 5 shown in the figure, P in the figure is the unmanned ship, straight line a is the designed course, the arrow is the designed direction, straight line b is the range line, and the unmanned ship must operate between a and b. L is the range width, d is the distance from the current position of the unmanned ship to the course. It can be known that the target point of P is P O , and the rest of the target points are respectively the intersections of this target course and the course.

[0121] The design principle of the target course is: when the distance from the ship to the course is very close, its target course is close to the course and moves towards the course; when the ship exceeds the navigation range, its target direction is perpendicular to the course direction and moves towards the course.

[0122] ③ Calculate the coordinates where the designed course angle intersects the course, and convert the route navigation into fixed-point navigation.

[0123] Set the azimuth angle of course a as Φ. When |d| > L, the current course of the unmanned ship should be perpendicular to the course direction, and the angle with the course direction is 90 degrees, that is, Φ + 90. When d = 0, the current course of the unmanned ship should be the same as the course direction, that is, Φ. Thus, it can be known that when |d| < L, the angle between the current course of the unmanned ship and the course direction can be set as Φ + d / L * 90. According to the above analysis, the corresponding target point of the unmanned ship can be solved, and the route navigation is converted into fixed-point navigation.

[0124] In this embodiment, step S2 is specifically:

[0125] S21: The unmanned ship performs data acquisition every preset time t1, including: GNSS horizontal speed, the speed u of the unmanned ship, and the water flow speed v;

[0126] Specifically, the preset time t1 can be set according to the actual situation. The data collection also includes: three-dimensional electronic compass angle information, water depth information, rangefinder information, humidity sensing information and temperature sensing information; the unmanned ship speed u is divided into the following types: ① cruising speed during normal navigation; ② speed when far away from obstacles; ③ waiting speed when close to obstacles; ④ turning speed when close to obstacles and it is confirmed that it cannot be avoided;

[0127] S22: If the GNSS horizontal speed is less than |uv-0.5| for three consecutive times, it is determined that the unmanned ship is stranded, otherwise it is determined that the unmanned ship is not stranded;

[0128] The 0.5 in |uv-0.5| is the speed error. When the unmanned ship is judged to be stranded, the current heading and current coordinates of the unmanned ship will be stored.

[0129] In this embodiment, the escape device entering the escape mode is as follows: Figure 6 As shown, step S3 is specifically as follows:

[0130] S31: Start the escape device 2, and use the internal motor of the electric push rod 2-1 to slowly move the top of the telescopic rod 2-2 upward to the highest point;

[0131] S32: The telescopic rod 2-2 drives the rocking arm 2-3 to move slowly upward, and one end and the other end of the rocking arm 2-3 both rotate upward around the first rotation point 2-18, and one end of the rocking arm 2-3 drives the first connecting rod 2-4 to rotate clockwise upward around the first rotation point 2-18, and the lower end of the first connecting rod 2-4 drives the first square steel sleeve rod 2-6 to rotate counterclockwise upward around the fourth rotation point 2-21; the other end of the rocking arm 2-3 drives the second connecting rod 2-5 to rotate counterclockwise upward around the first rotation point 2-18, and the lower end of the second connecting rod 2-5 drives the second square steel sleeve rod 2-7 to rotate clockwise upward around the fifth rotation point 2-22;

[0132] S33: Under the action of the fixed support, the first balance wing 2-10 and the second balance wing 2-11 will move downward from the initial height. When the rocker arm 2-3 rises to the highest point, the first balance wing 2-10 and the second balance wing 2-11 drop to the lowest point, which is less than the immersion depth of the bottom of the ship.

[0133] Specifically, since the first balance wing 2-10 and the second balance wing 2-11 are made of light materials, the downward movement of the first balance wing 2-10 and the second balance wing 2-11 will increase the buoyancy. At this time, the balance wings on both sides will lift the hull 1 to reduce the friction between the ground or obstacles and the hull 1;

[0134] The unmanned boat includes the first balance wing 2-10 and the second balance wing 2-11, with a net weight of 20kg. The normal draft of the unmanned boat is 14cm. When the unmanned boat is stranded, the bottom of the unmanned boat usually touches the ground. At this time, the draft of the unmanned boat is slightly less than 14cm. According to experience, the draft of the front end of the unmanned boat is generally less than the draft of the rear end. The diameter r of the first balance wing 2-10 and the second balance wing 2-11 are both 15cm, and the length L is both 60cm; the maximum buoyancy generated by the rotation of the first balance wing 2-10 and the second balance wing 2-11 to vertical is 2×π×r2×L×1, that is, 21.205kg, which can fully support the entire hull 1 of the unmanned boat.

[0135] For the convenience of calculation, it is assumed that the cross-sectional area of ​​the unmanned boat immersed in the water is equal, and the cross-sectional area of ​​the unmanned boat is the total weight / draft depth, that is: 20000.0 / 14≈1428 square centimeters. When the balance wing sinks 7.5cm, the depth of the unmanned boat body immersed in the water is 20-10.6×1000.0 / 1428=6.58cm, which is much less than the normal draft depth of the unmanned boat. At this time, the unmanned boat is enough to get rid of the stranded state.

[0136] In this embodiment, step S4 is specifically as follows:

[0137] S41: After the unmanned boat enters the escape mode, the steering gear 6 is controlled to deflect to the left or right to a preset angle;

[0138] S42: Reverse the propulsion motor 5 to make the unmanned boat rotate and move backward.

[0139] Specifically, when the unmanned boat enters the escape mode, the unmanned boat is still heading towards the shore. If it sails directly to the next target point, the unmanned boat will issue instructions such as turning, but the bow will still move towards the shore and will run aground again. Therefore, in order to completely escape, the unmanned boat issues relevant instructions, at this time controlling the steering gear 6 to deflect to the left or right by a certain angle, and reverse the propulsion motor 5, the unmanned boat will gradually rotate and exit. In order to ensure that the unmanned boat escapes smoothly and prevents it from running aground again, the rotation speed of the unmanned boat's propulsion motor 5 should not be too fast, and only 60% of the normal autonomous navigation speed is required.

[0140] In this embodiment, in step S5, the escape detection is specifically:

[0141] S51: Obtain the heading and coordinates of the unmanned ship when it is stranded, as well as the heading and coordinates when it rotates backward;

[0142] S52: If the angle difference between the heading when rotating backward and the heading when running aground is greater than 90 degrees, and the distance between the coordinates when rotating backward and the coordinates when running aground is greater than a preset value, it is determined that the unmanned ship is out of trouble; otherwise, it is determined that the unmanned ship is not out of trouble.

[0143] Specifically, a timer is set to detect the angle difference between the heading when rotating backward and the heading when stranded every preset time t2, and t2 is preferably set to 2-3 seconds. When the angle difference is greater than 90 degrees, and the current coordinates and the stored preset coordinates are greater than the preset value, it is determined that the unmanned ship has completely escaped, and the process goes to step S6;

[0144] Otherwise, it is determined that the unmanned boat has not escaped, and the process returns to step S4; if the unmanned boat has not escaped after 5 minutes, the speed of the propulsion motor 5 can be increased to 80% of the preset cruising speed for autonomous navigation; if the unmanned boat has not escaped after 10 minutes, the motor speed can be increased to the preset cruising speed for autonomous navigation.

[0145] In this embodiment, step S6 is specifically as follows:

[0146] S61: rotating the propulsion motor 5 forward to stop the unmanned boat from rotating, adjusting the unmanned boat to the heading of the preset route by controlling the steering gear 6, and then stopping the propulsion motor 5;

[0147] S62: After the unmanned boat stops moving, a reset command is executed to slowly move the top of the telescopic rod 2-2 downward to the lowest point;

[0148] S63: The first balance wing 2-10 and the second balance wing 2-11 will start to move upward, and eventually the first balance wing 2-10 and the second balance wing 2-11 will move to the initial height;

[0149] Specifically,

[0150] S64: Start the propulsion motor 5, continue autonomous navigation according to the preset route, and the unmanned ship will sail to a sequential target point of the next target route in the preset route that is closest to the current unmanned ship.

[0151] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0152] The serial numbers of the embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. In a unit claim that lists several means, several of these means may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order and these words may be interpreted as identifiers.

[0153] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An unmanned boat with adjustable stabilizing wings, characterized in that: include: A hull (1), an escape device (2), a battery box (3), a main control box (4) and a propulsion device; The battery box (3) and the main control box (4) are arranged on the upper surface of the hull (1) in sequence from the front end to the rear end; a groove is arranged between the battery box (3) and the main control box (4), and the escape device (2) is arranged in the groove; The propulsion device is arranged at the rear end of the hull (1), and comprises: a propulsion motor (5) and a steering gear (6); The escape device (2) comprises: an electric push rod (2-1), a telescopic rod (2-2), a rocker arm (2-3), a first connecting rod (2-4), a second connecting rod (2-5), a first square steel sleeve rod (2-6), a second square steel sleeve rod (2-7), a first fixed support (2-8), a second fixed support (2-9), a first balance wing (2-10), a second balance wing (2-11), a fixed main rod (2-12) and a fixed cross-piece (2-13); The fixed spool (2-13) is a hollow cavity with upper and lower ends and left and right ends opened, and is fixedly arranged in a groove of the hull (1); the fixed main rod (2-12) passes through the left and right ends of the fixed spool (2-13), and the fixed main rod (2-12) is parallel to the hull (1); the electric push rod (2-1) passes through the upper and lower ends of the fixed spool (2-13) and is vertically fixed on the hull (1); The telescopic rod (2-2) is vertically telescopically arranged at the upper end of the electric push rod (2-1); the rocker arm (2-3) is fixedly arranged above the telescopic rod (2-2); one end and the other end of the rocker arm (2-3) can rotate around a first rotation point (2-18); the first rotation point (2-18) is located in the middle of the rocker arm (2-3); the upper end of the first connecting rod (2-4) is fixedly connected to one end of the rocker arm (2-3); the upper end of the second connecting rod (2-5) is fixedly connected to the other end of the rocker arm (2-3); One end of the first square steel sleeve rod (2-6) is rotatably connected to the lower end of the first connecting rod (2-4), and the connection point is a second rotation point (2-19); the lower part of the other end of the first square steel sleeve rod (2-6) is rotatably connected to the upper surface of the fixed main rod (2-12), and the connection point is a fourth rotation point (2-21); One end of the second square steel sleeve rod (2-7) is rotatably connected to the lower end of the second connecting rod (2-5), and the connection point is the third rotation point (2-20); the lower part of the other end of the second square steel sleeve rod (2-7) is rotatably connected to the upper surface of the fixed main rod (2-12), and the connection point is the fifth rotation point (2-22); The other end of the first square steel sleeve rod (2-6) is provided with an opening, one end of the first fixed support (2-8) is inserted into the interior of the first square steel sleeve rod (2-6) through the opening of the other end of the first square steel sleeve rod (2-6), and the first balance wing (2-10) is fixedly connected to the other end of the first fixed support (2-8); The other end of the second square steel sleeve rod (2-7) is provided with an opening, one end of the second fixed support (2-9) is inserted into the interior of the second square steel sleeve rod (2-7) from the opening at the other end of the second square steel sleeve rod (2-7), and the second balance wing (2-11) is fixedly connected to the other end of the second fixed support (2-9).

2. The unmanned boat with adjustable stabilizing wing according to claim 1, characterized in that: It also includes a first fixed screw rod (2-14), a second fixed screw rod (2-15), a first movable pull pin (2-16) and a second movable pull pin (2-17); The first fixing screw (2-14) and the second fixing screw (2-15) are used to fix the escape device (2) in the groove of the hull (1); The first movable pull pin (2-16) is used to fix one end of the first fixed support (2-8) inside the first square steel sleeve rod (2-6), and the second movable pull pin (2-17) is used to fix one end of the second fixed support (2-9) inside the second square steel sleeve rod (2-7).

3. A method for escaping an unmanned boat with an adjustable balance wing, based on the unmanned boat with an adjustable balance wing as claimed in any one of claims 1 to 2, characterized in that: include: S1: The unmanned ship is in normal state and sails autonomously according to the preset route; S2: The unmanned ship performs a grounding detection every preset time t1. If it is determined that the unmanned ship is grounded, the process proceeds to step S3, otherwise it returns to step S1; S3: The unmanned ship performs autonomous adjustment of the balance wing and enters an escape mode; S4: the unmanned ship executes the escape command and moves away from the stranded area by rotating and retreating; S5: the unmanned ship performs an escape detection every preset time t2, and if it is determined that the unmanned ship is out of trouble, the process proceeds to step S6, otherwise it returns to step S4; S6: The unmanned boat is adjusted to the preset route, a reset command is executed, the unmanned boat is adjusted to the normal state, and the process returns to step S1.

4. The method for escaping distress of an unmanned boat with adjustable balance wings according to claim 3, characterized in that: Step S1 is specifically as follows: S11: Conduct local route planning, including: specifying route range, specifying route spacing and specifying the shortest route; S12: Generate a target route and sequential target points according to the local route planning sequence; S13: The unmanned ship performs autonomous navigation according to the target route and the sequential target points.

5. The method for escaping an unmanned boat with an adjustable balance wing according to claim 3, characterized in that: Step S2 is specifically as follows: S21: the unmanned ship collects data once every preset time t1, including: GNSS horizontal speed, unmanned ship speed u and water flow speed v; S22: If the GNSS horizontal speed is less than |uv-0.5| for three consecutive times, it is determined that the unmanned ship is stranded, otherwise it is determined that the unmanned ship is not stranded.

6. The method for escaping distress of an unmanned boat with adjustable balancing wings according to claim 3, characterized in that: Step S3 is specifically as follows: S31: starting the escape device (2), and using the internal motor of the electric push rod (2-1) to slowly move the top of the telescopic rod (2-2) upward to the highest point; S32: The telescopic rod (2-2) drives the rocker arm (2-3) to move slowly upward, and one end and the other end of the rocker arm (2-3) both rotate upward around the first rotation point (2-18), and one end of the rocker arm (2-3) drives the first connecting rod (2-4) to rotate clockwise upward around the first rotation point (2-18), and the lower end of the first connecting rod (2-4) drives the first square steel sleeve rod (2-6) to rotate counterclockwise upward around the fourth rotation point (2-21); the other end of the rocker arm (2-3) drives the second connecting rod (2-5) to rotate counterclockwise upward around the first rotation point (2-18), and the lower end of the second connecting rod (2-5) drives the second square steel sleeve rod (2-7) to rotate clockwise upward around the fifth rotation point (2-22); S33: Under the action of the fixed support, the first balance wing (2-10) and the second balance wing (2-11) will move downward from an initial height, and when the rocker arm (2-3) rises to the highest point, the first balance wing (2-10) and the second balance wing (2-11) will descend to the lowest point.

7. The method for escaping an unmanned boat with an adjustable balance wing according to claim 3, characterized in that: Step S4 is specifically as follows: S41: After the unmanned boat enters the escape mode, the steering engine (6) is controlled to deflect to the left or right to a preset angle; S42: Reverse the propulsion motor (5) to make the unmanned boat rotate backward.

8. The method for escaping distress of an unmanned boat with adjustable balancing wings according to claim 3, characterized in that: In step S5, the escape detection is specifically as follows: S51: Obtain the heading and coordinates of the unmanned ship when it is stranded, as well as the heading and coordinates when it rotates backward; S52: If the angle difference between the heading when rotating backward and the heading when running aground is greater than 90 degrees, and the distance between the coordinates when rotating backward and the coordinates when running aground is greater than a preset value, it is determined that the unmanned ship is out of trouble; otherwise, it is determined that the unmanned ship is not out of trouble.

9. The method for escaping distress of an unmanned boat with adjustable balancing wings according to claim 3, characterized in that: Step S6 is specifically as follows: S61: rotating the propulsion motor (5) forward to stop the rotation of the unmanned boat, adjusting the unmanned boat to the heading of the preset route by controlling the steering gear (6), and then stopping the propulsion motor (5); S62: After the unmanned boat stops moving, a reset command is executed to slowly move the top of the telescopic rod (2-2) downward to the lowest point; S63: The first balance wing (2-10) and the second balance wing (2-11) will start to move upward, and eventually the first balance wing (2-10) and the second balance wing (2-11) will move to the initial height; S64: Starting the propulsion motor (5) and continuing autonomous navigation according to the preset route.

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