An autonomous obstacle avoidance control device for unmanned boat

Abstract

The present invention relates to the field of unmanned ships, and in particular to an autonomous obstacle avoidance control device for unmanned ships. The technical problem to be solved by the present invention is to provide an autonomous obstacle avoidance control device for unmanned ships, which can allow the unmanned ship to perform emergency deceleration to avoid obstacles when the signal is weak, and can also allow the unmanned ship to maintain balance when turning, so that the unmanned ship can travel stably. An autonomous obstacle avoidance control device for unmanned ships includes a hull, a bracket, an internal support, a mounting seat, etc.; the bracket is fixedly connected to the top of the hull, the internal support is fixedly connected to the lower side of the top of the hull, the internal support is located in the hull, the mounting seat is fixedly connected to the upper side of the bottom of the hull, and the mounting seat is located in the hull. The present invention increases the water resistance by rotating two flip speed brakes 90 degrees to open, quickly reducing the travel speed of the hull, so that the hull can decelerate urgently when encountering an obstacle at a close distance, and has enough time to deflect to the left or right to avoid the obstacle.

Description

Technical Field

[0001] The present invention relates to the field of unmanned ships, and in particular to an autonomous obstacle avoidance control device for unmanned ships. Background Art

[0002] An unmanned ship is a fully automatic surface robot that can navigate on the water according to preset tasks without remote control, relying on precise satellite positioning and its own sensors. The unmanned ship consists of a platform system and a mission payload system. The two systems are integrated through a universal interface and can achieve high-precision positioning, autonomous navigation and autonomous operation over a large range through GPS or Beidou systems. Nowadays, many countries have begun to develop unmanned ships. The existing unmanned ships in my country are mostly used for surveying and mapping, hydrology and water quality monitoring. In the future, they will be widely used in environmental monitoring, scientific research and exploration, underwater surveying and mapping, search and rescue, security patrols and even military fields.

[0003] The existing unmanned boats can autonomously avoid obstacles when encountering them. However, when encountering obstacles, if the satellite signal is weak, the unmanned boat will not be able to transmit the information of the obstacle in time, which will cause the unmanned boat to fail to slow down in time to avoid obstacles and cause collisions. At the same time, the unmanned boat will not be able to maintain balance when deflecting during autonomous obstacle avoidance, which may cause the hull to shake, which is not conducive to the autonomous operation of the unmanned boat. Therefore, we urgently need an unmanned boat autonomous obstacle avoidance control device that can allow the unmanned boat to perform emergency deceleration to avoid obstacles when the signal is weak, and can also allow the unmanned boat to maintain balance when turning, so that the unmanned boat can travel stably. Summary of the invention

[0004] In order to overcome the shortcomings that the unmanned ship cannot decelerate urgently to avoid obstacles when the satellite signal is weak, and the unmanned ship will not be able to maintain balance when it deflects during autonomous obstacle avoidance, the technical problem to be solved by the present invention is to provide an unmanned ship autonomous obstacle avoidance control device that can enable the unmanned ship to decelerate urgently to avoid obstacles when the signal is weak, and can also enable the unmanned ship to maintain balance when turning, so that the unmanned ship can travel stably.

[0005] The technical solution of the present invention is: an autonomous obstacle avoidance control device for an unmanned boat, comprising a hull, a bracket, an internal support, a mounting seat, a visual detection and recognition mechanism and a steering control mechanism, the bracket being fixedly connected to the top of the hull, the internal support being fixedly connected to the lower side of the top of the hull, the internal support being located in the hull, the mounting seat being fixedly connected to the upper side of the bottom of the hull, the mounting seat being located in the hull, the visual detection and recognition mechanism being arranged on the hull and connected to the bracket, and the steering control mechanism being arranged on the mounting seat.

[0006] In one embodiment, the visual detection and identification mechanism includes a visual sensing camera, a wireless antenna, a control module, a servo motor, a power shaft and fan blades, the visual sensing camera is fixedly connected to the middle part of the upper side surface of the bracket, four wireless antennas are fixedly connected to the middle part of the upper side surface of the bracket, the control module is fixedly connected to the upper side surface of the bottom of the internal support, the visual sensing camera and the control module are connected through a circuit, the servo motor is fixedly connected to the lower part of the mounting base, the servo motor and the control module are connected through a circuit, the power shaft is fixedly connected to the output shaft of the servo motor, the power shaft passes through the hull, and the fan blades are fixedly connected to the end of the power shaft away from the servo motor.

[0007] In one embodiment, the steering control mechanism includes an electric push rod, a power push rod, a fixed straight groove plate, a movable rotating rod and a steering adjustment plate, the electric push rod is fixedly connected to the upper part of the mounting seat, the electric push rod is connected to the control module through a circuit, the power push rod is fixedly connected to the telescopic shaft of the electric push rod, the fixed straight groove plate is fixedly connected to the end of the power push rod away from the electric push rod, the movable rotating rod is rotatably connected to the hull, the upper end of the movable rotating rod is located in the hull, and the upper end of the movable rotating rod is slidably connected to the fixed straight groove plate, the steering adjustment plate is fixedly connected to the lower part of the movable rotating rod, and the steering adjustment plate is located at the same level as the fan blades.

[0008] In one of the embodiments, a travel stabilization mechanism is also included, which is arranged on the hull and connected to the power shaft. The travel stabilization mechanism includes a lifting card rod, a fixed push rod, a fixed octagonal slot frame, a tension spring and a sliding arc slot rod. The lifting card rod is slidably connected in the hull, and the lifting card rod moves upward to contact the movable rotating rod. Three fixed push rods are fixedly connected to the lower part of the lifting card rod. The fixed octagonal slot frame is fixedly connected to the side of the power shaft close to the servo motor. The fixed octagonal slot frame is located in the hull, and a plurality of sliding arc slot rods are slidably connected to the fixed octagonal slot frame. A tension spring is connected between the fixed octagonal slot frame and the sliding arc slot rod, and one of the sliding arc slot rods is in contact with the fixed push rod.

[0009] In one of the embodiments, an emergency deceleration mechanism is also included, which is arranged on the power push rod and connected to the hull. The emergency deceleration mechanism includes a fixed push seat, a sliding groove rod, a fixed transverse rod, a short rack rod, a long rack rod, a rotating shaft, a rotating gear, a fixed frame, a flip rod, a circular tube, a flip speed reducer and a detection radar. The fixed push seat is fixedly connected to the side of the power push rod close to the electric push rod, the sliding groove rod is slidably connected to the hull, the lower end of the sliding groove rod will contact the fixed push seat, the fixed transverse rod is fixedly connected to the top of the sliding groove rod, the sliding groove rod and the fixed transverse rod are vertically arranged, short rack rods are fixedly connected to both sides of the fixed transverse rod, and the two short rack rods are symmetrically arranged. Long rack rods are fixedly connected to both ends of the fixed transverse rod, and the two long rack rods are symmetrically arranged. Two rotating shafts are rotatably connected to the hull, and the rotating shaft passes through the hull. The two rotating shafts are symmetrically arranged. The rotating gear is fixedly connected to the upper part of the rotating shaft, and the rotating gear is meshed with the short rack rod and the long rack rod. Fixed frames are fixedly connected to the two sides of the hull, and the two fixed frames are symmetrically arranged. The flip rod is rotatably connected to the fixed frame, and a circular tube is rotatably connected between the lower end of the rotating shaft and the upper end of the flip rod. The flip speed brake is fixedly connected to the flip rod, and the flip speed brake will contact the fixed frame when it rotates. The detection radar is fixedly connected to the bow end of the hull, and the detection radar is connected to the control module through a circuit.

[0010] In one of the embodiments, it further includes a movable balancing plate and a torsion spring. The movable balancing plate is rotatably connected to the upper part of the flip speed reduction plate. A torsion spring is connected between the flip speed reduction plate and the movable balancing plate.

[0011] In one of the embodiments, it further includes an air inlet duct and an air outlet duct, wherein the air inlet duct and the air outlet duct are connected to the top of the hull, and the air inlet duct and the air outlet duct are symmetrically arranged.

[0012] Beneficial effects of the present invention:

[0013] 1. The present invention limits the movable rotating rod by moving the lifting clamp rod upward, and then limits the steering adjustment plate, so that the steering adjustment plate will not swing under the resistance of water, so that the hull can move forward stably.

[0014] 2. The present invention increases the water resistance by opening the two flip speed brakes by 90 degrees, and quickly reduces the speed of the ship, so that the ship can decelerate urgently when encountering an obstacle at a close distance, and has enough time to turn left or right to avoid the obstacle.

[0015] 3. The present invention keeps the hull balanced by swinging the movable balance plates on both sides, so that the hull will not tilt significantly when deflected and can travel stably.

[0016] 4. The present invention allows air to flow into the hull through the air inlet duct to cool the control module, so that the control module maintains normal operation. The air in the hull is discharged through the air outlet duct and takes away part of the heat. At the same time, the slope of the air inlet duct prevents the splashes generated when the hull is traveling from flowing into the hull. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the first three-dimensional structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the second three-dimensional structure of the present invention.

[0019] Figure 3 It is a schematic diagram of a first partial cross-sectional three-dimensional structure of the present invention.

[0020] Figure 4 It is a schematic diagram of a second partial cross-sectional three-dimensional structure of the present invention.

[0021] Figure 5 It is a schematic diagram of a third partial cross-sectional three-dimensional structure of the present invention.

[0022] Figure 6 It is a schematic diagram of a fourth partial cross-sectional three-dimensional structure of the present invention.

[0023] Figure 7 It is a schematic diagram of the local three-dimensional structure of the present invention.

[0024] Figure 8 It is a schematic diagram of the enlarged three-dimensional structure of A of the present invention.

[0025] The markings in the figure are: 1_hull, 2_bracket, 3_internal support, 4_mounting seat, 5_visual detection and recognition mechanism, 51_visual sensor camera, 52_wireless antenna, 53_control module, 54_servo motor, 55_power shaft, 56_fan blades, 6_steering control mechanism, 61_electric push rod, 62_power push rod, 63_fixed slot plate, 64_movable rotating rod, 65_steering adjustment plate, 7_driving stability mechanism, 71_lifting card rod, 72_fixed push rod, 73 _Fixed octagonal slot frame, 74_tension spring, 75_sliding arc slot rod, 8_emergency deceleration mechanism, 81_fixed push seat, 82_sliding slot rod, 83_fixed transverse rod, 84_short rack rod, 85_long rack rod, 86_rotating shaft, 87_rotating gear, 88_fixed frame, 89_flip rod, 891_reciprocating tube, 810_flip deceleration plate, 811_detection radar, 91_movable balance plate, 92_torsion spring, 101_air inlet duct, 102_air outlet duct. DETAILED DESCRIPTION

[0026] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, and bonding in the prior art, which will not be described in detail here.

[0027] Example 1

[0028] An autonomous obstacle avoidance control device for an unmanned ship, such as Figure 1-Figure 5 As shown, it includes a hull 1, a bracket 2, an internal support 3, a mounting seat 4, a visual detection and recognition mechanism 5 and a steering control mechanism 6, the bracket 2 is connected to the top of the hull 1 by bolts, the internal support 3 is connected to the lower side of the top of the hull 1 by bolts, the internal support 3 is located in the hull 1, the mounting seat 4 is connected to the upper side of the bottom of the hull 1 by bolts, the mounting seat 4 is located in the hull 1, the visual detection and recognition mechanism 5 is arranged on the hull 1 and connected to the bracket 2, the visual detection and recognition mechanism 5 is used to detect whether there is an obstacle in front, the steering control mechanism 6 is arranged on the mounting seat 4, and the steering control mechanism 6 is used to deflect and avoid the obstacle when there is an obstacle in front of the hull 1.

[0029] The visual detection and identification mechanism 5 includes a visual sensor camera 51, a wireless antenna 52, a control module 53, a servo motor 54, a power shaft 55 and a fan blade 56. The visual sensor camera 51 is connected to the middle of the upper side of the bracket 2 by bolts. The visual sensor camera 51 is used to detect whether there is an obstacle in front of the hull 1. Four wireless antennas 52 are fixedly connected to the middle of the upper side of the bracket 2. The wireless antenna 52 is used to receive signals and transmit information. The control module 53 is connected to the upper side of the bottom of the internal support 3 by bolts. The visual sensor camera 5 1 is connected to the control module 53 through a circuit, and the control module 53 can receive information transmitted by the wireless antenna 52. The servo motor 54 is connected to the lower part of the mounting seat 4 through bolts. The servo motor 54 is connected to the control module 53 through a circuit, and the control module 53 can control the servo motor 54. The power shaft 55 is arranged on the output shaft of the servo motor 54, and the power shaft 55 is arranged horizontally. The power shaft 55 passes through the hull 1, and the fan blade 56 is arranged at one end of the power shaft 55 away from the servo motor 54. The rotation of the fan blade 56 will drive the hull 1 to travel.

[0030] The steering control mechanism 6 includes an electric push rod 61, a power push rod 62, a fixed slotted plate 63, a movable rotating rod 64 and a steering adjustment plate 65. The electric push rod 61 is connected to the upper part of the mounting seat 4 by bolts. The electric push rod 61 is connected to the control module 53 by a circuit. The control module 53 can control the electric push rod 61. The power push rod 62 is arranged on the telescopic shaft of the electric push rod 61. The power push rod 62 is arranged horizontally. The fixed slotted plate 63 is arranged at the end of the power push rod 62 away from the electric push rod 61. The movable rotating rod 64 is rotatably connected to the hull 1. The movable rotating rod 64 is arranged vertically. The upper end of the movable rotating rod 64 is located in the hull 1, and the upper end of the movable rotating rod 64 is slidably connected to the fixed slotted plate 63. The steering adjustment plate 65 is welded to the lower part of the movable rotating rod 64. The steering adjustment plate 65 is used to adjust the driving direction of the hull 1. The steering adjustment plate 65 and the fan blade 56 are located at the same level.

[0031] In actual operation, when the unmanned boat starts to travel, the staff starts the servo motor 54 and the electric push rod 61, and then controls the output shaft speed of the servo motor 54 and the telescopic length of the telescopic shaft of the electric push rod 61 through the control module 53. The high-speed rotation of the output shaft of the servo motor 54 drives the power shaft 55 to rotate at a high speed, and the high-speed rotation of the power shaft 55 drives the fan blades 56 to rotate at a high speed. The high-speed rotation of the fan blades 56 drives the hull 1 to move forward. The movement of the hull 1 drives the bracket 2, the internal support 3 and the mounting seat 4 to move. The movement of the bracket 2 drives the visual sensor camera 51 to move. The movement of the visual sensor camera 51 identifies obstacles in front of the hull 1, and the movement of the internal support 3 The control module 53 will be driven to move, and the movement of the mounting seat 4 will drive the servo motor 54 and the electric push rod 61 to move. If the visual sensor camera 51 recognizes that there is an obstacle in front of the hull 1, the visual sensor camera 51 will transmit the recognized information to the control module 53 through the wireless antenna 52. The control module 53 will reduce the output shaft speed of the servo motor 54, thereby reducing the speed of the fan blades 56, thereby reducing the travel speed of the hull 1. At the same time, the control module 53 will control the telescopic shaft of the electric push rod 61. If the telescopic shaft of the electric push rod 61 is extended, it will drive the power push rod 62 to move away from the mounting seat 4. The movement of the power push rod 62 will drive the fixed slot plate 63 to move, and the fixed The movement of the slotted plate 63 will push the movable rotating rod 64 to rotate counterclockwise by a certain angle. The movable rotating rod 64 rotating counterclockwise by a certain angle will drive the steering adjustment plate 65 to rotate counterclockwise by a certain angle. The steering adjustment plate 65 rotating counterclockwise by a certain angle will deflect the hull 1 to the left, thereby making the hull 1 move to the left to avoid obstacles. If the telescopic shaft of the electric push rod 61 contracts, it will drive the power push rod 62 to move in the direction close to the mounting seat 4. The movement of the power push rod 62 will drive the fixed slotted plate 63 to move. The movement of the fixed slotted plate 63 will pull the movable rotating rod 64 to rotate clockwise by a certain angle. The movable rotating rod 64 rotating clockwise by a certain angle will drive the steering adjustment plate 65 to rotate clockwise by a certain angle , the steering adjustment plate 65 rotates clockwise by a certain angle to deflect the hull 1 to the right, thereby making the hull 1 avoid the obstacle to the right. After avoiding the obstacle, the control module 53 controls the telescopic shaft of the electric push rod 61 to reset. The resetting of the telescopic shaft of the electric push rod 61 will drive the power push rod 62 to reset. The resetting of the power push rod 62 will drive the fixed slotted plate 63 to reset. The resetting of the fixed slotted plate 63 will drive the movable rotating rod 64 to reset. The resetting of the movable rotating rod 64 will drive the steering adjustment plate 65 to reset. The resetting of the steering adjustment plate 65 will deflect the hull 1 in the opposite direction. Further, the control module 53 controls the output shaft of the servo motor 54 to resume high-speed rotation, thereby making the hull 1 move forward normally.

[0032] Example 2

[0033] On the basis of Example 1, Figure 5-Figure 7As shown, it also includes a driving stabilization mechanism 7, which is arranged on the hull 1 and connected to the power shaft 55. The driving stabilization mechanism 7 is used to limit the steering adjustment plate 65 so that the steering adjustment plate 65 will not swing under the resistance of water, so that the hull 1 can move forward stably. The driving stabilization mechanism 7 includes a lifting card rod 71, a fixed push rod 72, a fixed octagonal slot frame 73, a tension spring 74 and a sliding arc slot rod 75. The lifting card rod 71 is slidably connected in the hull 1. When the lifting card rod 71 moves upward, it will contact the movable rotating rod 64. When the lifting card rod 71 moves upward, it will contact the movable rotating rod 64. It has a limiting effect on the movable rotating rod 64. Three fixed push rods 72 are welded to the lower part of the lifting and lowering rod 71. The fixed octagonal slot frame 73 is arranged on the side of the power shaft 55 close to the servo motor 54. The fixed octagonal slot frame 73 is located in the hull 1. A plurality of sliding arc slot rods 75 are slidably connected to the fixed octagonal slot frame 73. The sliding arc slot rods 75 will move in the direction away from the power shaft 55 under the action of centrifugal force. A tension spring 74 is connected between the fixed octagonal slot frame 73 and the sliding arc slot rod 75 through a hook, and one of the sliding arc slot rods 75 is in contact with the fixed push rod 72.

[0034] The high-speed rotation of the power shaft 55 will drive the fixed octagonal slot frame 73 to rotate at a high speed. The high-speed rotation of the fixed octagonal slot frame 73 will drive the tension spring 74 and the sliding arc slot rod 75 to rotate at a high speed. At the same time, the sliding arc slot rod 75 will move away from the power shaft 55 under the action of centrifugal force. The tension spring 74 is stretched, and the rotation of the sliding arc slot rod 75 will continuously squeeze the fixed push rod 72 to move upward. The upward movement of the fixed push rod 72 will drive the lifting card rod 71 to move upward. The lifting card rod 71 moves upward and contacts with the movable rotating rod 64. The lifting card rod 71 continues to move upward to contact the movable rotating rod 64. The rod 64 is limited, and then the steering adjustment plate 65 is limited, so that the steering adjustment plate 65 will not swing under the resistance of water, so that the hull 1 can move forward stably. When the speed of the power shaft 55 decreases, due to the weakening of the centrifugal force, the reset of the tension spring 74 will drive the sliding arc groove rod 75 to reset, and the sliding arc groove rod 75 will no longer squeeze the fixed push rod 72 when it is reset. The reset of the lifting and lowering rod 71 under the action of gravity will drive the fixed push rod 72 to reset. The reset of the lifting and lowering rod 71 will no longer contact the movable rotating rod 64. At this time, the lifting and lowering rod 71 no longer limits the movable rotating rod 64.

[0035] Example 3

[0036] On the basis of Example 2, Figure 1-Figure 8As shown, it also includes an emergency deceleration mechanism 8, which is arranged on the power push rod 62 and connected to the hull 1. The emergency deceleration mechanism 8 is used to increase the water resistance and quickly reduce the speed of the hull, so that the hull can be decelerated urgently when encountering an obstacle at a close distance, and there is enough time to deflect to the left or right to avoid the obstacle. The emergency deceleration mechanism 8 includes a fixed push seat 81, a sliding groove rod 82, a fixed transverse rod 83, a short rack rod 84, a long rack rod 85, a rotating shaft 86, a rotating gear 87, a fixed frame 88, a flip rod 89, a circular tube 891, a flip deceleration plate 810 and a detection radar 811. The fixed push seat 81 is arranged at the power push rod 62 close to the electric push rod 61. On one side, the sliding groove rod 82 is slidably connected to the hull 1, the lower end of the sliding groove rod 82 will contact the fixed push seat 81, and the movement of the fixed push seat 81 will push the sliding groove rod 82 to move, the fixed transverse rod 83 is welded to the top of the sliding groove rod 82, the fixed transverse rod 83 is horizontally arranged, the sliding groove rod 82 and the fixed transverse rod 83 are vertically arranged, short rack rods 84 are welded on both sides of the fixed transverse rod 83, the short rack rods 84 are horizontally arranged, and the two short rack rods 84 are symmetrically arranged, and long rack rods 85 are welded at both ends of the fixed transverse rod 83, the long rack rods 85 are horizontally arranged, and the two long rack rods 85 are symmetrically arranged, and the hull 1 is rotatably connected. There are two rotating shafts 86, which pass through the hull 1. The rotating shaft 86 is horizontally arranged, and the two rotating shafts 86 are symmetrically arranged. The rotating gear 87 is arranged on the upper part of the rotating shaft 86, and the rotating gear 87 is meshed with the short rack rod 84 and the long rack rod 85. When the hull 1 deflects to the left, the short rack rod 84 moves to disengage from the rotating gear 87, and the long rack rod 85 moves to drive the rotating gear 87 meshed therewith to rotate. When the hull 1 deflects to the right, the long rack rod 85 moves to disengage from the rotating gear 87, and the short rack rod 84 moves to drive the rotating gear 87 meshed therewith to rotate. Fixed frames 88 are connected to both sides of the hull 1 by bolts, and the two fixed frames 88 are symmetrically arranged. The flip rod 89 is rotatably connected to the fixed frame 88, and the flip rod 89 is obliquely arranged. A circular tube 891 is rotatably connected between the lower end of the rotating shaft 86 and the upper end of the flip rod 89. The flip speed reducer 810 is fixedly connected to the flip rod 89. The opening of the flip speed reducer 810 will increase the water resistance. The rotation of the flip speed reducer 810 will contact the fixed frame 88, and the fixed frame 88 has a limiting effect on the flip speed reducer 810. The detection radar 811 is fixedly connected to the bow end of the hull 1. The detection radar 811 is used for close-range obstacle detection. The detection radar 811 is connected to the control module 53 through a circuit, and the control module 53 can control the detection radar 811.

[0037] At first, when the hull 1 moves forward, it will also drive the detection radar 811 to move. If the signal of the wireless antenna 52 is weak, the information of the obstacle cannot be transmitted to the control module 53 in time. When the detection radar 811 is close to the obstacle, the detection radar 811 will detect the obstacle and transmit the information of the obstacle to the control module 53. The control module 53 will then control the servo motor 54 and the electric push rod 61. If the telescopic shaft of the electric push rod 61 is extended, it will drive the power push rod 62 to move away from the mounting seat 4, which will drive the fixed push seat 81 to move. The fixed push seat 81 moves and contacts with the sliding slot rod 82. The fixed push seat 81 continues to move and pushes the sliding slot rod 82 to move away from the mounting seat 4. The sliding slot rod 8 2 movement will drive the fixed transverse rod 83 to move, the movement of the fixed transverse rod 83 will drive the short rack rod 84 and the long rack rod 85 to move, the movement of the short rack rod 84 will disengage from the rotating gear 87, the movement of the long rack rod 85 will drive the rotating gear 87 meshed therewith to rotate, the rotation of the rotating gear 87 will drive the rotating shaft 86 to rotate, the rotation of the rotating shaft 86 will drive the flip rod 89 to rotate through the round tube 891, the two flip rods 89 rotate in opposite directions to rotate the two flip speed reducers 810 90 degrees, the flip speed reducer 810 rotates 90 degrees and contacts with the fixing frame 88, the fixing frame 88 will limit the flip speed reducer 810, so that the flip speed reducer 810 will not rotate due to the resistance of the water, and the two flip speed reducers 810 will rotate 90 degrees. The opening of the speed brake 810 will increase the water resistance and quickly reduce the speed of the hull 1, so that the hull 1 can decelerate urgently when encountering an obstacle at a close distance, and has enough time to deflect to the left to avoid the obstacle. After avoiding the obstacle, the reset of the power push rod 62 will drive the fixed push seat 81 to reset, and the reset of the fixed push seat 81 will drive the sliding groove rod 82 to move in the direction close to the mounting seat 4. Then the control module 53 controls the telescopic shaft of the electric push rod 61 to retract, and the contraction of the telescopic shaft of the electric push rod 61 will drive the power push rod 62 to continue to move in the direction close to the mounting seat 4. The continued movement of the power push rod 62 will drive the sliding groove rod 82 to reset, and the control module 53 controls the telescopic shaft of the electric push rod 61 to extend, and the electric push rod 61 The extension of the telescopic shaft will drive the power push rod 62 to reset, and the reset of the power push rod 62 will disengage from the sliding groove rod 82. The reset of the sliding groove rod 82 will drive the fixed transverse rod 83 to reset, and the reset of the fixed transverse rod 83 will drive the short rack rod 84 and the long rack rod 85 to reset. The reset of the long rack rod 85 will drive the rotating gear 87 meshing therewith to rotate in the opposite direction, and the reset of the short rack rod 84 will re-engage with the rotating gear 87. The reverse rotation of the rotating gear 87 will drive the rotating shaft 86 to rotate in the opposite direction, and the reverse rotation of the rotating shaft 86 will drive the flip rod 89 to rotate in the opposite direction through the circular tube 891. The reverse rotation of the two flip rods 89 will close the two flip speed reducers 810 by 90 degrees, reducing the water resistance. At this time, the hull 1 can accelerate.

[0038] If the telescopic shaft of the electric push rod 61 contracts, it will drive the power push rod 62 to move in the direction close to the mounting seat 4, which will drive the fixed push seat 81 to move. The fixed push seat 81 moves and contacts with the sliding groove rod 82. The fixed push seat 81 continues to move and pushes the sliding groove rod 82 to move in the direction close to the mounting seat 4. The movement of the sliding groove rod 82 will drive the fixed transverse rod 83 to move. The movement of the fixed transverse rod 83 will drive the short rack rod 84 and the long rack rod 85 to move. The movement of the long rack rod 85 will disengage from the rotating gear 87. The movement of the short rack rod 84 will drive the rotating gear 87 engaged therewith to rotate. The rotation of the rotating gear 87 will drive the rotating shaft 86 The rotation of the rotating shaft 86 will drive the flip rod 89 to rotate through the circular tube 891. The two flip rods 89 rotate in opposite directions to rotate the two flip speed brakes 810 90 degrees. The flip speed brake 810 rotates 90 degrees and contacts the fixing frame 88. The fixing frame 88 limits the flip speed brake 810 so that the flip speed brake 810 will not rotate due to the resistance of the water. The opening of the two flip speed brakes 810 will increase the resistance of the water and quickly reduce the speed of the hull 1. As a result, the hull 1 can decelerate urgently when encountering an obstacle at a close distance, and has enough time to deflect to the right to avoid the obstacle. After avoiding the obstacle, , the reset of the power push rod 62 will drive the fixed push seat 81 to reset, and the reset of the fixed push seat 81 will drive the sliding groove rod 82 to move away from the mounting seat 4, then the control module 53 controls the telescopic shaft of the electric push rod 61 to extend, and the extension of the telescopic shaft of the electric push rod 61 will drive the power push rod 62 to continue to move away from the mounting seat 4, and the continued movement of the power push rod 62 will drive the sliding groove rod 82 to reset, and the control module 53 controls the telescopic shaft of the electric push rod 61 to retract, and the contraction of the telescopic shaft of the electric push rod 61 will drive the power push rod 62 to reset, and the reset of the power push rod 62 will disengage from the sliding groove rod 82, and the reset of the sliding groove rod 82 will The fixed transverse rod 83 is driven to reset, and the reset of the fixed transverse rod 83 will drive the short rack rod 84 and the long rack rod 85 to reset. The reset of the short rack rod 84 will drive the rotating gear 87 meshing with it to rotate in the opposite direction. The reset of the long rack rod 85 will re-engage with the rotating gear 87. The reverse rotation of the rotating gear 87 will drive the rotating shaft 86 to rotate in the opposite direction. The reverse rotation of the rotating shaft 86 will drive the flip rod 89 to rotate in the opposite direction through the circular tube 891. The reverse rotation of the two flip rods 89 will close the two flip speed reducers 810. The rotation of the flip speed reducer 810 will disengage from the fixed frame 88. At this time, the water resistance is reduced, and the hull 1 can accelerate.

[0039] Example 4

[0040] On the basis of Example 3, Figure 8As shown, it also includes a movable balance plate 91 and a torsion spring 92. The movable balance plate 91 is rotatably connected to the upper part of the flip speed reducer 810. The swing of the movable balance plates 91 on both sides can keep the hull 1 balanced. The torsion spring 92 is connected between the flip speed reducer 810 and the movable balance plate 91 through a hook.

[0041] The rotation of the flip speed reducer 810 will drive the movable balance plate 91 and the torsion spring 92 to rotate, the water resistance will cause the movable balance plate 91 to swing, and the torsion spring 92 will be twisted. The swing of the movable balance plates 91 on both sides will keep the hull 1 balanced, so that the hull 1 will not tilt significantly when deflected, and can travel stably. The reset of the flip speed reducer 810 will drive the movable balance plate 91 and the torsion spring 92 to reset.

[0042] Example 5

[0043] On the basis of Example 4, Figure 1 As shown, it also includes an air inlet duct 101 and an air outlet duct 102, which are connected to the top of the hull 1. Air flows into the hull 1 through the air inlet duct 101 and is then discharged through the air outlet duct 102. The air inlet duct 101 and the air outlet duct 102 are symmetrically arranged.

[0044] When the hull 1 is moving, air will flow into the hull 1 through the air inlet duct 101 to cool down the control module 53 so that the control module 53 can maintain normal operation. The air in the hull 1 will be discharged through the air outlet duct 102 and take away some heat. At the same time, the slope of the air inlet duct 101 prevents the splashing water from flowing into the hull 1 when the hull 1 is moving.

[0045] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An autonomous obstacle avoidance control device for an unmanned ship, characterized in that: The invention comprises a hull (1), a bracket (2), an internal support (3), a mounting seat (4), a visual detection and identification mechanism (5) and a steering control mechanism (6), wherein the bracket (2) is fixedly connected to the top of the hull (1), the internal support (3) is fixedly connected to the lower side of the top of the hull (1), the internal support (3) is located inside the hull (1), the mounting seat (4) is fixedly connected to the upper side of the bottom of the hull (1), the mounting seat (4) is located inside the hull (1), the visual detection and identification mechanism (5) is arranged on the hull (1) and connected to the bracket (2), and the steering control mechanism (6) is arranged on the mounting seat (4); The visual detection and identification mechanism (5) comprises a visual sensing camera (51), a wireless antenna (52), a control module (53), a servo motor (54), a power shaft (55) and a fan blade (56); the visual sensing camera (51) is fixedly connected to the middle part of the upper side surface of the bracket (2); four wireless antennas (52) are fixedly connected to the middle part of the upper side surface of the bracket (2); the control module (53) is fixedly connected to the upper side surface of the bottom of the internal support (3); the visual sensing camera (51) and the control module (53) are connected via a circuit; the servo motor (54) is fixedly connected to the lower part of the mounting seat (4); the servo motor (54) and the control module (53) are connected via a circuit; the power shaft (55) is fixedly connected to the servo motor (54) and the fan blade (56); The servo motor (54) is mounted on an output shaft of the servo motor (54), the power shaft (55) passes through the hull (1), and the fan blade (56) is fixedly connected to an end of the power shaft (55) away from the servo motor (54); the control module (53) can receive information transmitted by the wireless antenna (52), the servo motor (54) is connected to the lower part of the mounting seat (4) by bolts, the control module (53) can control the servo motor (54), the power shaft (55) is arranged on the output shaft of the servo motor (54), the power shaft (55) is arranged horizontally, the power shaft (55) passes through the hull (1), and the fan blade (56) is arranged at an end of the power shaft (55) away from the servo motor (54), and the rotation of the fan blade (56) drives the hull (1) to travel; The steering control mechanism (6) comprises an electric push rod (61), a power push rod (62), a fixed slotted plate (63), a movable rotating rod (64) and a steering adjustment plate (65); the electric push rod (61) is fixedly connected to the upper part of the mounting seat (4); the electric push rod (61) is connected to the control module (53) via a circuit; the power push rod (62) is fixedly connected to the telescopic shaft of the electric push rod (61); the fixed slotted plate (63) is fixedly connected to one end of the power push rod (62) away from the electric push rod (61); the movable rotating rod (64) is rotatably connected to the hull (1); the upper end of the movable rotating rod (64) is located in the hull (1); and the upper end of the movable rotating rod (64) is slidably connected to the fixed slotted plate (63); the steering adjustment plate (65) is fixedly connected to the lower part of the movable rotating rod (64); and the steering adjustment plate (65) and the fan blade (56) are located at the same level; The autonomous obstacle avoidance control device for an unmanned boat further comprises a driving stabilization mechanism (7), wherein the driving stabilization mechanism (7) is arranged on the boat body (1) and connected to the power shaft (55), wherein the driving stabilization mechanism (7) comprises a lifting and lowering rod (71), a fixed push rod (72), a fixed octagonal slot frame (73), a tension spring (74) and a sliding arc slot rod (75), wherein the lifting and lowering rod (71) is slidably connected to the boat body (1), wherein the lifting and lowering rod (71) moves upward to contact with the movable rotating rod (64), and wherein the lifting and lowering rod (71) moves upward to contact with the movable rotating rod (64). Three fixed push rods (72) are fixedly connected to the lower part of the rod (71); the fixed octagonal slot frame (73) is fixedly connected to a side of the power shaft (55) close to the servo motor (54); the fixed octagonal slot frame (73) is located in the hull (1); a plurality of sliding arc-shaped slot rods (75) are slidably connected to the fixed octagonal slot frame (73); a tension spring (74) is connected between the fixed octagonal slot frame (73) and the sliding arc-shaped slot rods (75); one of the sliding arc-shaped slot rods (75) is in contact with the fixed push rod (72); The unmanned boat autonomous obstacle avoidance control device further comprises an emergency deceleration mechanism (8), the emergency deceleration mechanism (8) being arranged on the power push rod (62) and connected to the hull (1), the emergency deceleration mechanism (8) comprising a fixed push seat (81), a sliding groove rod (82), a fixed transverse rod (83), a short rack rod (84), a long rack rod (85), a rotating shaft (86), a rotating gear (87), a fixed frame (88), a flip rod (89), a round tube (891), a flip deceleration plate (810) and a detection radar (81 1), the fixed push seat (81) is fixedly connected to a side of the power push rod (62) close to the electric push rod (61), the sliding groove rod (82) is slidably connected to the hull (1), the lower end of the sliding groove rod (82) contacts the fixed push seat (81), the fixed transverse rod (83) is fixedly connected to the top of the sliding groove rod (82), the sliding groove rod (82) and the fixed transverse rod (83) are vertically arranged, and short rack rods (84) are fixedly connected to both sides of the fixed transverse rod (83), and the two short rack rods (84) are symmetrical. The fixed transverse rod (83) is fixedly connected to long rack rods (85) at both ends, and the two long rack rods (85) are symmetrically arranged. The hull (1) is rotatably connected to two rotating shafts (86), and the rotating shafts (86) pass through the hull (1). The two rotating shafts (86) are symmetrically arranged. The rotating gear (87) is fixedly connected to the upper part of the rotating shaft (86), and the rotating gear (87) is meshed with the short rack rod (84) and the long rack rod (85). The hull (1) is fixedly connected to fixed frames (88) on both sides. The two fixing frames (88) are symmetrically arranged, the flip rod (89) is rotatably connected to the fixing frame (88), a circular tube (891) is rotatably connected between the lower end of the rotating shaft (86) and the upper end of the flip rod (89), the flip speed reducer (810) is fixedly connected to the flip rod (89), and the flip speed reducer (810) will contact the fixing frame (88) when it rotates, the detection radar (811) is fixedly connected to the front end of the hull (1), and the detection radar (811) is connected to the control module (53) through a circuit; The unmanned boat autonomous obstacle avoidance control device further comprises a movable balance plate (91) and a torsion spring (92); the movable balance plate (91) is rotatably connected to the upper part of the flip speed reduction plate (810); and a torsion spring (92) is connected between the flip speed reduction plate (810) and the movable balance plate (91).

2. The autonomous obstacle avoidance control device for an unmanned boat according to claim 1, characterized in that: It also comprises an air inlet duct (101) and an air outlet duct (102), wherein the air inlet duct (101) and the air outlet duct (102) are connected to the top of the hull (1), and the air inlet duct (101) and the air outlet duct (102) are symmetrically arranged.

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