Modular unmanned ship / unmanned vehicle system with intelligent auxiliary counterweight based on ROS

Abstract

A modular unmanned ship / unmanned vehicle system with intelligent auxiliary counterweight based on ROS includes a hull / vehicle body, in which a basic module and an extension module are installed. The basic module and the extension module both include a universal module, which includes an embedded ROS system, a battery, a wireless power conversion circuit, and a wireless charging coil interface. The basic module is provided with several wireless charging coil interfaces. The wireless charging coil interface of the extension module is docked with the wireless charging coil interface on the basic module to realize charging and communication with the basic module. The extension module is one or a combination of several of the following: a camera module, a 4G network module, a radar module, an inertial module, a vertical propulsion module, a horizontal propulsion module, a docking module, a water quality detection module, a water surface garbage cleaning module, a sonar imaging module, a search and rescue module, a magnetic sensor module, a high-speed computing module, an interference module, and a Mecanum wheel module. The hull is provided with an intelligent counterweight module for counterweighting or reducing weight to achieve balance.

Description

Technical Field

[0001] This invention belongs to the field of unmanned boat and unmanned vehicle technology, specifically relating to a modular unmanned boat / unmanned vehicle system based on ROS-based intelligent auxiliary counterweight. Background Art

[0002] The diverse mission requirements have increased the difficulty of large-scale manufacturing of unmanned ships / vehicles, making it harder to control costs. Moreover, current unmanned ships / vehicles also face another bottleneck: limited battery capacity. When the battery is insufficient, they need to be retrieved for charging, limiting their navigation range and hindering widespread adoption. Furthermore, when the modules of an unmanned ship are adjusted, rebalancing is required, increasing operational complexity. Summary of the Invention

[0003] To address the problems described in the background technology introduction above, the purpose of this invention is to provide a modular unmanned surface vessel / vehicle system based on ROS-based intelligent auxiliary counterweight. This system allows for the formation of different unmanned surface vessels / vehicles using different functional modules, expanding application scenarios, improving product utilization, facilitating system testing and debugging of corresponding modules, and enabling direct replacement of faulty modules without affecting the operation of other modules. This significantly reduces development and subsequent operation and maintenance costs, greatly improving portability. Wireless charging eliminates the need for retrieval and charging on shore, increasing the scope of sea and land operations and improving efficiency. The intelligent counterweight technology automatically recommends a counterweight scheme after module adjustments, greatly reducing the workload of re-counterweighting.

[0004] The technical solution adopted in the present invention is:

[0005] A modular unmanned surface vessel / vehicle system based on ROS-based intelligent auxiliary counterweight includes a hull / vehicle body. The hull / vehicle body houses a basic module and expansion modules. Both the basic and expansion modules include a general-purpose module, which includes an embedded ROS system, a battery, a wireless power conversion circuit, and a wireless charging coil interface. The basic module has several wireless charging coil interfaces. The wireless charging coil interfaces of the expansion modules interface with those of the basic modules to achieve charging and communication. The expansion modules are one or a combination of several of the following: camera module, 4G network module, radar module, inertial module, vertical propulsion module, horizontal propulsion module, docking module, water quality detection module, surface debris cleaning module, sonar imaging module, search and rescue module, magnetometer module, high-speed computing module, jamming module, and Mecanum wheel module. The hull is equipped with an intelligent counterweight module for achieving balance through weight reduction or counterweight adjustment.

[0006] Furthermore, the basic module also includes a voltage and current detection circuit that can detect the current of each output port and detect whether the current and voltage are normal in real time, and a GPS that can calculate its own location at all times.

[0007] Furthermore, the wireless charging coil interface of the basic module includes a wireless charging coil interface for charging itself and a wireless charging coil interface for discharging to charge other modules.

[0008] Furthermore, the bottom of the hull is equipped with two transparent, waterproof, plexiglass floating pods. Each pod is equipped with a horizontal thruster, whose movement is controlled by a horizontal propulsion module. The two horizontal thruster modules work together to easily enable the system to move forward, backward, and turn.

[0009] Furthermore, four vertical thrusters are arranged in an array at the bottom of the hull, and the vertical thrusters are controlled by vertical propulsion modules. The vertical propulsion array composed of four vertical propulsion modules can effectively control the system's attitude during diving and maintain the stability of the hull during hovering and camera operation.

[0010] Furthermore, the Mecanum wheel module also includes four Mecanum wheels mounted on the bottom of the vehicle body. These Mecanum wheels are controlled by Mecanum wheel motors, whose drive circuits are electrically connected to the general-purpose module of the Mecanum wheel module. The Mecanum wheel module controls the direction and speed of each individual wheel via motor control. The combined forces of these forces produce a resultant force vector in any desired direction, ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheels themselves, thus achieving omnidirectional mobility. Other standard and expansion modules are also used on land.

[0011] Furthermore, the embedded ROS system of the basic module serves as the decision-making layer. After communicating with the host computer server, it enables remote real-time monitoring of the unmanned boat / vehicle's status. It processes sensor data, uses SLAM to move from an unknown location in an unknown environment, performs self-localization based on position estimation and a map during movement, and builds an incremental map based on its self-localization to create a complete map of the external environment. It then performs corresponding motion control on the motors, completes the decision-making for the unmanned boat / vehicle's movement, and realizes task allocation, multi-body cooperation, and docking kinetic energy. During the journey, it avoids obstacles using obstacle avoidance algorithms and transmits key information to the host computer server.

[0012] Furthermore, the embedded ROS system of the general module is communicatively connected to the embedded ROS system of the basic module to process the corresponding sensor data and drive the corresponding motor to complete the corresponding action.

[0013] Furthermore, the specific steps of the intelligent counterweight module for intelligent counterweighting are as follows:

[0014] S1. Based on the number of modules to be inserted, select whether to process a single module insertion or multiple modules. If it is a single module insertion, proceed to step S2; if it is multiple module insertion, proceed to step S3.

[0015] S2. First, measure the weight of the module and determine if it is within the system's load-bearing range. If not, request a module of suitable weight. If the weight is suitable, iterate through all available module positions and calculate the changes in the ship's weight, center of gravity, center of buoyancy, and rigid body balance after inserting the module at that position. When iterates through the next available position, it calculates the changes in the ship's weight, center of gravity, center of buoyancy, and rigid body balance after inserting the module at that position. If the current available position has a more stable center of gravity, a more suitable center of buoyancy, and better rigid body balance than the previous available position, and requires less counterweight / weight reduction, then refresh the record for this position until all available positions have been traversed to find the optimal insertion position.

[0016] S3. Sequentially check the weight of each module. If any module does not meet the weight requirement, request a suitable replacement. Once all weights are within the load-bearing range, insert the first module into the first available position, and then insert the remaining modules into other available positions. After all modules are inserted, calculate the rigid body balance changes, center of gravity changes, center of buoyancy changes, and the positions and weights requiring counterweight / weight reduction. Then, insert the first module into the second available position, and then insert the remaining modules into available positions in turn. If the previous rigid body balance changes, center of gravity changes, and center of buoyancy changes were not as good as this time, the data will be refreshed and recorded. After the first module has placed all available positions and completed the calculations, refresh the data to find the best rigid body balance state, center of gravity position, and center of buoyancy position. Finally, output the rigid body balance state, center of gravity position, center of buoyancy position, and the positions and weights requiring counterweight / weight reduction.

[0017] Compared with the prior art, the significant advantages of this invention include:

[0018] 1. Different functional modules can form different unmanned boats / vehicles, expanding application scenarios, improving product utilization, facilitating system testing and debugging of corresponding modules, and allowing direct removal and replacement of individual modules without affecting the operation of other modules when a problem occurs. This can greatly save development costs and later operation and maintenance costs, and significantly improve portability.

[0019] 2. When switching between land and sea application scenarios, the reusability of each module is very high. Switching between unmanned boats and unmanned vehicles only requires replacing the wheel module, and other modules do not need to be replaced. This allows for rapid and efficient use in both land and sea applications.

[0020] 3. The system has a wider range of applications, including industry, healthcare, education, and the military. In industry and healthcare, it can transport products that are difficult to handle manually to the production line; in education, it can help learners broaden their thinking, learn modular concepts, and advance the field of unmanned vehicles / unmanned ships; in the military, this system can be used for enemy reconnaissance, jamming, and attacks.

[0021] 4. It can wirelessly charge with a pre-placed wireless power compartment in a designated area, eliminating the need to retrieve it ashore for charging. This expands the scope of sea and land operations, improves efficiency, and greatly enhances the convenience and quality of both water and land operations. Attached Figure Description

[0022] Figure 1 This is a top-view three-dimensional structural diagram of the unmanned vessel of the present invention.

[0023] Figure 2 This is a front-view stereoscopic structural diagram of the unmanned vessel of the present invention.

[0024] Figure 3 This is a side-view three-dimensional structural diagram of the unmanned vessel of the present invention.

[0025] Figure 4 This is a schematic diagram of the bottom structure of the unmanned vessel of the present invention.

[0026] Figure 5 This is a schematic diagram of the general module of the present invention.

[0027] Figure 6 This is a schematic diagram of the hardware framework of the unmanned vessel of the present invention.

[0028] Figure 7 This is a schematic diagram of the software framework of the unmanned vessel of the present invention.

[0029] Figure 8 This is a schematic diagram of the auxiliary counterweight process for the unmanned vessel of the present invention.

[0030] Figure 9 This is a top-view three-dimensional structural diagram of the unmanned vehicle of the present invention.

[0031] Figure 10 This is a front-view stereoscopic structural diagram of the unmanned vehicle of the present invention. Detailed Implementation

[0032] The present invention will be further described below with reference to specific embodiments, but the invention is not limited to these specific embodiments. Those skilled in the art should recognize that the present invention covers all alternatives, improvements, and equivalents that may be included within the scope of the claims.

[0033] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0034] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] Example 1

[0037] See Figure 1-8This embodiment provides an unmanned surface vessel system based on wireless charging and a robot operating system, including a hull 12. A basic module 1 and an expansion module are installed within the hull 12. Both the basic module 1 and the expansion module include a general-purpose module 2. The general-purpose module 2 includes an embedded ROS system 3, a battery, a wireless power conversion circuit 4, and a wireless charging coil interface 5. The basic module 1 is provided with several wireless charging coil interfaces 5. The wireless charging coil interfaces 5 of the expansion modules are connected to the wireless charging coil interfaces 5 on the basic module 1 to achieve charging and communication between the expansion modules and the basic module 1. The expansion modules are one or a combination of several of the following: a camera module 6, a 4G network module 7, a radar module 8, an inertial module 9, a vertical propulsion module 10, a horizontal propulsion module 11, a docking module, a water quality detection module, a surface debris cleaning module, a sonar imaging module, a search and rescue module, a magnetometer module, a high-speed computing module, and an interference module. The hull is equipped with an intelligent counterweight module for achieving balance through weight reduction or counterweight adjustment.

[0038] Specifically, the basic module 1 described in this embodiment includes a wireless charging coil interface 5, a wireless power conversion circuit 4 and a power conversion circuit, a voltage and current detection circuit, a GPS, an embedded ROS system 3, and a battery. The wireless charging coil interface 5 in the basic module 1 is divided into charging and discharging interfaces. The charging interface is responsible for charging the external wireless power compartment, while the other discharging interfaces are responsible for charging other modules. Therefore, the battery capacity of the basic module is sufficient. When the basic module needs to charge itself, the wireless power conversion circuit and the power conversion circuit are responsible for converting the AC power transmitted from the wireless power compartment charging interface into DC power through a full-bridge rectifier. The ripple generated after rectification is filtered out by a capacitor. This method improves the power conversion efficiency. Furthermore, the rectified DC voltage is converted into the DC voltage required by the sensors and embedded boards through corresponding circuits. Voltage: When charging other modules, the wireless power conversion circuit generates four PWM waves through the UCC3895 chip, which are driven by the bootstrap circuit of the IR2110 chip to form two complementary drive signals. These signals control the switching of the full-bridge inverter circuit's switching transistors, achieving ideal AC power. This AC power is then transmitted wirelessly to charge other modules, enabling one-to-many module charging. The voltage and current detection circuit detects the current at each output port, monitoring its normality in real time and saving the data on the host computer to identify when and under what circumstances a problem occurs. GPS continuously calculates its location for autonomous navigation. The embedded ROS system in the basic module communicates with other modules, processes data from each module, and issues corresponding commands.

[0039] The general module 2 described in this embodiment includes a wireless power conversion circuit 4, a wireless charging coil interface 5, and an embedded ROS system 3. For the general module 2, it only needs to receive electrical energy. Therefore, the wireless power conversion circuit here is only responsible for rectifying and regulating the AC power transmitted from the wireless interface of the basic module into DC power, and converting it into the corresponding required voltage. The embedded ROS system 3 processes the information of the devices in each module, thereby interacting with the basic module 1.

[0040] In this embodiment, the bottom of the hull 12 is equipped with two transparent acrylic waterproof floating cabins 13. Horizontal thrusters 14 are mounted on each acrylic waterproof floating cabin 13. The horizontal thrusters 14 are electrically connected to a horizontal propulsion module 11 via cables 16, and their movement is controlled by the horizontal propulsion module 11. The two horizontal propulsion modules 11 cooperate to easily achieve forward, backward, and turning movements. Each horizontal propulsion module 11 contains a motor and a general-purpose module. When the horizontal propulsion module 11 needs charging, power is supplied by connecting the wireless interface in the general-purpose module 2 to the discharge interface in the basic module 1. The number and arrangement of motors will vary depending on the actual scenario. For example, in an unmanned boat scenario, two brushless motors are used for navigation on a lake. The bottom of the hull 12 is arrayed with four vertical thrusters 15, which are controlled by a vertical propulsion module 10. The vertical propulsion array composed of the four vertical propulsion modules 10 effectively controls the system's attitude during descent and maintains the stability of the hull during hovering and camera operation. The vertical propulsion module 10 contains a motor drive circuit, a motor, and a general module 2. The embedded ROS system 3 controls the motor's rotation through the motor drive circuit. While ordinary unmanned surface vessels (USVs) operate on a plane, sometimes, considering underwater detection, motors can be added to four vertical propulsion modules to enable the USV to ascend and descend.

[0041] The inertial module 9 described in this embodiment includes a general module 2 and an inertial sensor. The inertial sensor detects and measures acceleration, tilt, impact, vibration, rotation, and multi-degree-of-freedom (DoF) motion, and can generate maps in real time. It is an important component for solving navigation, orientation, and motion vehicle control. Acquiring data from the inertial sensor is beneficial for system navigation.

[0042] The radar module 8 described in this embodiment includes a general module 2, a radar, and an embedded ROS system 3. The ROS system 3 processes radar data, identifies and outputs obstacle information, which can avoid the risk of collision with obstacles during the tracking process and is beneficial to the movement of unmanned boats / unmanned vehicles.

[0043] The 4G network module 7 described in this embodiment includes a 4G module, a wireless interface, a wireless power conversion circuit, and a power conversion circuit. Since the 4G module does not require embedded ROS system processing, a general-purpose module is not needed here. This module allows the entire system to be on a local area network and interconnected via Wi-Fi.

[0044] The camera module 6 described in this embodiment includes a camera and a general-purpose module 2. The standard camera module is only used for real-time shooting and does not require an embedded ROS system. If image processing is required, a machine vision module can be added, paired with an embedded ROS system with a powerful GPU, to implement machine vision algorithms.

[0045] The docking module described in this embodiment has a fixed mechanical fixing structure, a charging and discharging structure, and a charging and discharging conversion circuit. The mechanical fixing structure and the charging and discharging structure make it easier for the unmanned vessel to return to the designated dock, and the charging and discharging conversion circuit can better provide power to the unmanned vessel.

[0046] If there are other needs and tasks, simply add the corresponding modules to achieve the functions and greatly improve efficiency. For example, there are water quality detection modules, water surface garbage cleaning modules, sonar imaging modules, search and rescue modules, magnetic sensor modules, high-speed computing modules (for deep learning), interference modules, and so on.

[0047] The water quality detection module includes a general module, a motor-driven horizontal propulsion module, water quality sensors, and a mechanical execution module, among others. To perform tasks, multiple modules often need to work together, such as cooperating with the radar module for path planning and with the motor-driven horizontal propulsion module for better motion control. The corresponding modules are inserted into the pre-reserved space on the unmanned surface vessel (USV). When the USV reaches the area to be detected, the ROS system embedded in the general module transmits the data from the water quality sensors to the host computer for display and storage, thus realizing the water quality detection function.

[0048] The surface debris cleaning module includes a general module, a motor-driven horizontal propulsion module, a camera, and a mechanical execution module, among others. Similarly, to execute a task, multiple modules often need to work together: the radar module for path planning, the camera module for image recognition, and the motor-driven horizontal propulsion module for better motion control, etc. The corresponding modules are inserted into the pre-reserved space on the unmanned surface vessel (USV). The USV first plans its route across the entire lake, then reaches the area on the map where debris needs to be cleaned. The camera module performs image recognition to classify the debris, and the module interacts with the debris-grabbing module via Wi-Fi, enabling the debris-grabbing module to use its robotic arm to grab the debris and load it into the debris collection compartment.

[0049] The sonar imaging module includes a general-purpose module, a motor-driven horizontal propulsion module, sonar sensors, and mechanical actuators, among others. Similarly, to execute a mission, multiple modules often need to work together, such as cooperating with the radar module for path planning and with the motor-driven horizontal propulsion module for better motion control. When the unmanned surface vessel is navigating, it continuously generates images of the sea area using its sonar sensors, which are then transmitted to a host computer for display and storage via the embedded ROS system within the module.

[0050] The search and rescue module includes a general-purpose module, a motor-driven horizontal propulsion module, a camera, and a mechanical execution module, among others. Similarly, to execute a mission, multiple modules often need to work together: the radar module for path planning, the camera module for image recognition, and the motor-driven horizontal propulsion module for better motion control, etc. When the unmanned vessel / vehicle receives a regional search and rescue request, it will autonomously navigate to the corresponding area, identify the person in need of rescue using its camera, and then use its robotic arm to rescue them, completing the mission.

[0051] The magnetic sensor module includes a general-purpose module, a motor-driven horizontal propulsion module, a magnetic sensor, and a mechanical execution module, among others. Similarly, to perform a task, multiple modules often need to work together: a radar module for path planning, a camera module for image recognition, and a motor-driven horizontal propulsion module for better motion control, etc. When high grasping and rotational precision is required, installing a magnetic sensor module can effectively improve the robotic arm's grasping accuracy.

[0052] The high-speed computing module (used for deep learning) includes general-purpose modules, a motor-driven horizontal propulsion module, a camera, a battery, and a mechanical actuation module, among others. Similarly, to execute tasks, multiple modules often need to work together: a radar module for path planning, a camera module for image recognition, and a motor-driven horizontal propulsion module for better motion control, etc. Unmanned beds / vehicles can use cameras to capture high-speed objects and continuously learn through embedded ROS devices, generating sample sets.

[0053] The jamming module includes general-purpose modules, a motor-driven horizontal propulsion module, electromagnetic interference equipment, and mechanical execution modules, among others. Similarly, to execute a mission, multiple modules often need to work together: cooperating with the radar module for path planning, with the camera module for image recognition, and with the motor-driven horizontal propulsion module for better motion control, etc. When unmanned surface vessels / vehicles are performing military missions and need to interfere with other systems' signals, an embedded ROS system can be used to allow the electromagnetic interference equipment to emit jamming signals, thereby achieving the jamming objective.

[0054] The software system in this embodiment is mainly divided into a remote host computer server / APP, a basic module embedded ROS layer software, and a general module embedded ROS layer control software. The basic module's embedded ROS system is the decision-making layer. After communicating with the host computer server, it enables remote real-time monitoring of the unmanned surface vessel / vehicle. It processes sensor data, uses SLAM to move from an unknown location in an unknown environment, performs self-localization based on position estimation and a map during movement, and builds an incremental map based on its self-localization to create a complete map of the external environment. It then performs corresponding motion control on the motors, making decisions regarding the movement of the unmanned surface vessel / vehicle, achieving task allocation, multi-body cooperation, docking kinetic energy, and obstacle avoidance algorithms to avoid obstacles during movement. It also transmits key information to the host computer server. The general module's embedded ROS system communicates with the basic module's embedded ROS system and processes corresponding sensor data to drive the corresponding motors to complete corresponding actions.

[0055] Considering that the weight and center of gravity of the hull will change after the module is replaced, this embodiment will add weight to the hull based on the actual weight of the inserted module. Therefore, positions are reserved on each profile of the hull for placing or unloading heavy objects, thereby achieving rigid body balance. The specific steps of the intelligent counterweight module are as follows:

[0056] S1. Based on the number of modules to be inserted, select whether to process a single module insertion or multiple modules. If it is a single module insertion, proceed to step S2; if it is multiple module insertion, proceed to step S3.

[0057] S2. First, measure the weight of the module and determine if it is within the system's load-bearing range. If not, request a module of suitable weight. If the weight is suitable, iterate through all available module positions and calculate the changes in the ship's weight, center of gravity, center of buoyancy, and rigid body balance after inserting the module at that position. When iterates through the next available position, it calculates the changes in the ship's weight, center of gravity, center of buoyancy, and rigid body balance after inserting the module at that position. If the current available position has a more stable center of gravity, a more suitable center of buoyancy, and better rigid body balance than the previous available position, and requires less counterweight / weight reduction, then refresh the record for this position until all available positions have been traversed to find the optimal insertion position.

[0058] S3. Sequentially check the weight of each module. If any module does not meet the weight requirement, request a suitable replacement. Once all weights are within the load-bearing range, insert the first module into the first available position, and then insert the remaining modules into other available positions. After all modules are inserted, calculate the rigid body balance changes, center of gravity changes, center of buoyancy changes, and the positions and weights requiring counterweight / weight reduction. Then, insert the first module into the second available position, and then insert the remaining modules into available positions in turn. If the previous rigid body balance changes, center of gravity changes, and center of buoyancy changes were not as good as this time, the data will be refreshed and recorded. After the first module has placed all available positions and completed the calculations, refresh the data to find the best rigid body balance state, center of gravity position, and center of buoyancy position. Finally, output the rigid body balance state, center of gravity position, center of buoyancy position, and the positions and weights requiring counterweight / weight reduction.

[0059] Specific application examples are as follows:

[0060] Application Example 1: Requirements for Submersible Exploration Missions

[0061] (1) Place the motor vertical propulsion module and the camera module.

[0062] (2) Insert the corresponding modules into the space reserved by the unmanned vessel. After the unmanned vessel plans the entire unknown sea area, it finds the sea area to be explored. It ascends and descends through the motor vertical propulsion module. It observes the target detected during the descent through the camera module. When the target appears, the video is recognized and processed and transmitted to other embedded ROS systems via WIFI. It can also be transmitted to host computers and other server devices for storage and processing.

[0063] Application Example 2: Requirements for Lake Surface Garbage Cleanup

[0064] (1) Place the motor horizontal propulsion module, camera module, and simple robotic arm.

[0065] (2) Insert the corresponding modules into the space reserved by the unmanned vessel. After the unmanned vessel plans the entire unknown sea area, it arrives at the area on the map where the garbage needs to be cleaned. It performs image recognition through the camera module, classifies the garbage, interacts with the embedded ROS system through WIFI, grabs the garbage that needs to be cleaned through the robotic arm, and puts it into the garbage collection compartment.

[0066] Application Example 3: Requirements for Search and Rescue Missions

[0067] (1) Place the motor horizontal propulsion module, camera module, and simple robotic arm.

[0068] (2) Insert the corresponding modules into the space reserved by the unmanned vessel. After the unmanned vessel plans the entire unknown sea area, it then performs local planning motion control. It uses the camera module to perform image recognition and searches the sea area it passes through to find people alive. It uses WIFI and the embedded ROS system to exchange information and send the location of the sea area where the rescuers need to be rescued to the rescuers. At the same time, the robotic arm gives the rescued people wooden strips or life jackets so that they can wait for rescue.

[0069] Application Example 4: Requirements for Water Quality Testing

[0070] (1) Place the motor horizontal propulsion module and water quality detection sensor.

[0071] (2) Insert the corresponding modules into the space reserved by the unmanned vessel. After the unmanned vessel plans the entire unknown sea area, it reaches the area on the map where water quality testing is required, deploys the water quality testing sensor, and exchanges information with the embedded ROS system via WIFI. The data sent to the water quality testing sensor is stored in the database.

[0072] Application Example 5: Requirements for Interference Tasks

[0073] (1) Place the motor horizontal propulsion module and electromagnetic interference equipment.

[0074] (2) Insert the corresponding module into the space reserved by the unmanned ship, the unmanned ship moves to the designated location on the map, and then controls the electromagnetic interference device through the embedded ROS system. When performing military missions, it can interfere with other people's signals.

[0075] This invention allows for the formation of different unmanned surface vessels (USVs) through its various functional modules, expanding application scenarios, increasing product utilization, and facilitating system testing and debugging. When a single module malfunctions, it can be directly removed and replaced without affecting the operation of other modules, significantly reducing development and maintenance costs and greatly improving portability. The system's application scope is also broader, encompassing industries such as manufacturing, healthcare, education, and the military. In manufacturing and healthcare, it can transport products that are difficult to handle manually to production lines; in education, it can broaden learners' thinking, introduce modular concepts, and advance the field of unmanned vehicles / USVs; in the military, it can be used for enemy reconnaissance, jamming, and attacks. It can wirelessly charge pre-placed wireless power modules in designated areas, eliminating the need for retrieval and refueling, increasing the scope of land and sea operations, improving efficiency, and significantly enhancing the convenience and quality of both water and land operations.

[0076] Example 2

[0077] See Figure 9 , Figure 10The difference between this embodiment and Embodiment 1 is that this embodiment provides an unmanned vehicle system based on wireless charging and a robot operating system, replacing the two floating pods with four Mecanum wheels 20. The Mecanum wheels 20 are controlled by a Mecanum wheel module 17. The system includes a vehicle body 18, within which a basic module 1 and an expansion module are installed. Both the basic module 1 and the expansion module include a general module 2. The general module 2 includes an embedded ROS system 3, a battery, a wireless power conversion circuit 4, and a wireless charging coil interface 5. The basic module 1 has several wireless charging coil interfaces 5. The wireless charging coil interfaces 5 of the expansion modules interface with those of the basic module 1 to enable charging and communication between the expansion modules and the basic module 1. The expansion modules include a camera module 6, a 4G network module 7, a radar module 8, an inertial module 9, and a Mecanum wheel module 17.

[0078] The Mecanum wheel module 17 described in this embodiment includes four Mecanum wheels 20 disposed at the bottom of the vehicle body 18 and a universal module 2. A base plate 19 is disposed at the bottom of the vehicle body 18. The Mecanum wheels 20 are controlled by Mecanum wheel motors 21, and the motor drive circuit of the Mecanum wheel motors 21 is electrically connected to the universal module 2 of the Mecanum wheel module 17. The Mecanum wheel module 17 controls the direction and speed of each wheel of the Mecanum wheel 20 through the motors. The final synthesis of these forces generates a resultant force vector in any required direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheels themselves, thus achieving omnidirectional movement. Other standard modules and expansion modules are also used on land.

[0079] When switching between land and sea application scenarios, the reusability of each module is very high. Switching between unmanned ships and unmanned vehicles only requires replacing the wheel module, and other modules do not need to be replaced. This allows for rapid and efficient use in both land and sea environments.

[0080] The remaining structures and functions can be found in Example 1.

Claims

1. A modular unmanned boat / vehicle system based on ROS-based intelligent auxiliary counterweight, comprising a hull / vehicle body, wherein a basic module and an expansion module are installed within the hull / vehicle body. Both the basic module and the expansion module include a general module, wherein the general module includes an embedded ROS system, a battery, a wireless power conversion circuit, and a wireless charging coil interface. The basic module is provided with several wireless charging coil interfaces. The wireless charging coil interfaces of the expansion modules are connected to the wireless charging coil interfaces on the basic modules to achieve charging and communication with the basic modules. The expansion modules are one or a combination of several of the following: a camera module, a 4G network module, a radar module, an inertial module, a vertical propulsion module, a horizontal propulsion module, a docking module, a water quality detection module, a surface debris cleaning module, a sonar imaging module, a search and rescue module, a magnetometer module, a high-speed computing module, an interference module, and a Mecanum wheel module. The hull is provided with an intelligent counterweight module for achieving balance through counterweighting or weight reduction. The specific steps of intelligent weight adjustment by the intelligent weight module are as follows: S1. Based on the number of modules to be inserted, select whether to process a single module insertion or multiple modules. If it is a single module insertion, proceed to step S2; if it is multiple module insertion, proceed to step S3. S2. First, measure the weight of the module and determine if it is within the system's load-bearing range. If not, request a module of suitable weight. If the weight is suitable, iterate through all available module positions and calculate the changes in the ship's weight, center of gravity, center of buoyancy, and rigid body balance after inserting the module at that position. When iterates through the next available position, it calculates the changes in the ship's weight, center of gravity, center of buoyancy, and rigid body balance after inserting the module at that position. If the current available position has a more stable center of gravity, a more suitable center of buoyancy, and better rigid body balance than the previous available position, and requires less counterweight / weight reduction, then refresh the record for this position until all available positions have been traversed to find the optimal insertion position. S3. Sequentially check the weight of each module. If any module does not meet the weight requirement, request a suitable replacement. Once all weights are within the load-bearing range, insert the first module into the first available position, and then insert the remaining modules into other available positions. After all modules are inserted, calculate the rigid body balance changes, center of gravity changes, center of buoyancy changes, and the positions and weights requiring counterweight / weight reduction. Then, insert the first module into the second available position, and then insert the remaining modules into available positions in turn. If the previous rigid body balance changes, center of gravity changes, and center of buoyancy changes were not as good as this time, the data will be refreshed and recorded. After the first module has placed all available positions and completed the calculations, refresh the data to find the best rigid body balance state, center of gravity position, and center of buoyancy position. Finally, output the rigid body balance state, center of gravity position, center of buoyancy position, and the positions and weights requiring counterweight / weight reduction.

2. The modular unmanned boat / vehicle system based on ROS-assisted intelligent counterweight according to claim 1, characterized in that: The basic module also includes a voltage and current detection circuit that can detect the current of each output port and detect whether the current and voltage are normal in real time, and a GPS that can calculate its own location at all times.

3. The modular unmanned boat / vehicle system based on ROS-assisted intelligent counterweight according to claim 2, characterized in that: The wireless charging coil interface of the basic module includes a wireless charging coil interface for charging itself and a wireless charging coil interface for discharging to charge other modules.

4. The modular unmanned boat / vehicle system based on ROS-assisted intelligent counterweight according to claim 1, characterized in that: The bottom of the hull is equipped with two transparent acrylic waterproof floating pods, each equipped with a horizontal thruster controlled by a horizontal propulsion module.

5. The modular unmanned boat / vehicle system based on ROS-assisted intelligent counterweight according to claim 4, characterized in that: The bottom of the hull is equipped with four vertical thrusters arranged in an array, and the vertical thrusters are controlled by a vertical propulsion module.

6. The modular unmanned boat / vehicle system based on ROS-assisted intelligent counterweight according to claim 1, characterized in that: The Mecanum wheel module also includes four Mecanum wheels located at the bottom of the vehicle body. The Mecanum wheels are controlled by a Mecanum wheel motor, and the motor drive circuit of the Mecanum wheel motor is electrically connected to the general module of the Mecanum wheel module.

7. The modular unmanned boat / vehicle system based on ROS-assisted intelligent counterweight according to claim 1, characterized in that: The embedded ROS system of the basic module serves as the decision-making layer. After communicating with the host computer server, it enables remote real-time monitoring of the unmanned boat / vehicle. It processes sensor data, uses SLAM to move from an unknown location in an unknown environment, performs self-localization based on position estimation and a map during movement, and builds an incremental map based on its self-localization to create a complete map of the external environment. It performs corresponding motion control on the motors, completes the decision-making for the movement of the unmanned boat / vehicle, realizes task allocation, multi-body cooperation, and docking kinetic energy. During the journey, it avoids obstacles through obstacle avoidance algorithms and transmits key information to the host computer server.

8. The modular unmanned boat / vehicle system based on ROS-assisted intelligent counterweight according to claim 7, characterized in that: The embedded ROS system of the general module communicates with the embedded ROS system of the basic module to process the corresponding sensor data and drive the corresponding motor to complete the corresponding action.

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