High-balance unmanned ship with automatic obstacle avoidance function

Abstract

The invention discloses a high-balance unmanned ship with an automatic obstacle avoidance function, and belongs to the field of unmanned ships. Comprising an unmanned ship body, a balance wing plate and an obstacle avoidance control device, the at least two sets of balance wing plates are arranged on the two sides of the unmanned ship body respectively. The balance wing plate is used for increasing the balance of the unmanned ship body; the obstacle avoidance control device is used for controlling the unmanned ship body to avoid obstacles when encountering the obstacles. The unmanned ship has the beneficial effects that by arranging the balance wing plates, when the unmanned ship body tilts to cause rollover, the balance wing plates can increase balance, or the balance wing plates make contact with the water surface to increase buoyancy of one side, so that rollover of the unmanned ship body is prevented.

Description

Technical Field

[0001] The present application relates to the field of unmanned ships, and in particular to a highly balanced unmanned ship with an automatic obstacle avoidance function. Background Art

[0002] An unmanned boat is an unmanned vehicle that travels in the water. The direction of the unmanned boat in the water is often controlled by remote signal control, but the movement of the unmanned boat is also only controlled by remote signals. During the remote control process, when encountering obstacles that are not discovered in time, emergency remote control of the unmanned boat hull to avoid the obstacles will cause the unmanned boat hull to easily capsize. Summary of the invention

[0003] The content of this application is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this application is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0004] In order to solve the technical problems mentioned in the above background technology part, some embodiments of the present application provide a highly balanced unmanned boat with an automatic obstacle avoidance function, including: an unmanned boat hull, a balance wing plate and an obstacle avoidance control device; the balance wing plates are arranged in at least two groups, and are respectively arranged on both sides of the unmanned boat hull; the balance wing plates are used to increase the balance of the unmanned boat hull; the obstacle avoidance control device is used to control the unmanned boat hull to avoid obstacles when encountering obstacles.

[0005] Furthermore, the obstacle avoidance control device includes: multiple visual detection components, a driving component and an obstacle avoidance driving component; the multiple visual detection components are arranged on the sides of the unmanned boat hull; the driving component is used to move the unmanned boat hull along a preset trajectory in the water; the obstacle avoidance driving component is used to move the unmanned boat hull perpendicular to the preset trajectory and avoid the obstacle when the visual detection component detects an obstacle.

[0006] Furthermore, the travel drive component and the obstacle avoidance drive component are both propellers.

[0007] Furthermore, a transparent protective cover is arranged outside the visual detection component; and an oleophobic layer is formed on the outer wall surface of the transparent protective cover.

[0008] Furthermore, a cleaning piece is arranged above the protective cover, and the cleaning piece is used to clean the adhesion on the outer wall of the transparent protective cover.

[0009] Furthermore, a connecting plate extending to the outside of the unmanned ship hull is formed on the unmanned ship hull; and the visual detection component is arranged on the connecting plate.

[0010] Furthermore, the connecting plate is rotatably connected to the unmanned boat hull, and a limiting member for fixing the connecting plate is provided between the connecting plate and the unmanned boat hull.

[0011] Furthermore, the connecting plate can at least rotate to a first position and a second position relative to the unmanned ship hull; when the connecting plate is in the first position, the connecting plate is located outside the unmanned ship hull; when the connecting plate is in the second position, the connecting plate is located inside the unmanned ship hull.

[0012] Furthermore, the limiting member is at least used to fix the connecting plate to the unmanned boat hull when the connecting plate moves to the first position or the second position.

[0013] Furthermore, a spirit level and a pump body component are arranged on the unmanned boat hull; a water tank is fixedly arranged on the balance wing plate; the spirit level is used to obtain a first tilt state, a second tilt state and a balance state of the unmanned boat hull; when the unmanned boat hull is in the first tilt state or the second tilt state, the pump body component is used to add water in the water tank on one of the balance wing plates to water in the water tank on another balance wing plate, so that the balance wing plate of the unmanned boat hull is restored to a balance state under the action of the gravity of the water tank.

[0014] The beneficial effect of the present application is that when the hull of the unmanned boat tilts and capsizes, the balancing wing can increase the balance of the balancing wing, or the balancing wing contacts the water surface to increase the buoyancy on one side, thereby preventing the hull of the unmanned boat from capsizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The illustrative embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application.

[0016] In addition, throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the components and elements are not necessarily drawn to scale.

[0017] In the attached picture:

[0018] Figure 1 is an overall schematic diagram according to an embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of a part of the embodiment, mainly showing the Figure 1 structure;

[0020] Figure 3It is a structural schematic diagram of a part of the embodiment, mainly showing the structure of the protective cover and the cleaning member;

[0021] Figure 4 It is a structural schematic diagram of a part of the embodiment, mainly showing the structure of the fan and the installation box;

[0022] Figure 5 It is a structural schematic diagram of a part of the embodiment, mainly showing the position structure of the visual detection part.

[0023] Reference numerals:

[0024] 1. Visual detection parts; 2. Driving parts; 3. Obstacle avoidance driving parts; 4. Protective cover; 5. Cleaning parts; 51. Installation box; 52. Fan; 6. Connecting plate; 7. Unmanned boat hull; 8. Water tank; 81. Pump body components; 9. Balance wing plate. DETAILED DESCRIPTION

[0025] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0026] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0027] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0028] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0029] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0030] Reference Figure 1-5 ,

[0031] A highly balanced unmanned boat with an automatic obstacle avoidance function comprises: an unmanned boat hull 7, a balance wing plate 9 and an obstacle avoidance control device; the balance wing plates 9 are provided in at least two groups and are respectively provided on both sides of the unmanned boat hull 7; the balance wing plates 9 are used to increase the balance of the unmanned boat hull 7; the obstacle avoidance control device is used to control the unmanned boat hull 7 to avoid obstacles when encountering obstacles.

[0032] The obstacle avoidance control device includes: a plurality of visual detection components 1, a travel drive component 2 and an obstacle avoidance drive component 3. The travel drive component 2 and the obstacle avoidance drive component 3 are both propellers. The propeller rotates in the water, pushing the unmanned boat hull 7 to move in the water. The travel drive component 2 is used to move the unmanned boat hull 7 along a preset trajectory in the water; the obstacle avoidance drive component 3 is used to move the unmanned boat hull 7 perpendicular to the preset trajectory and avoid the obstacle when the visual detection component 1 detects an obstacle. In other schemes, the obstacle avoidance drive component 3 can also be used to drive the unmanned boat hull 7 to move in a direction different from the preset moving trajectory to avoid obstacles.

[0033] Among them, multiple visual detection components 1 are arranged on the sides of the unmanned boat hull 7. In this embodiment, the visual detection component 1 adopts a camera, and multiple visual detection components 1 are arranged, so that obstacles can be detected at multiple angles, and obstacles can be detected better. When the visual detection component 1 detects an obstacle, the obstacle avoidance driving component 3 is started to move the unmanned boat hull 7, and the unmanned boat deviates from the preset moving trajectory, and then avoids the obstacle, and then the unmanned boat hull 7 returns to the preset moving trajectory for movement.

[0034] Specifically, a transparent protective cover 4 is disposed outside the visual detection member 1; an oleophobic layer is formed on the outer wall of the transparent protective cover 4. The oleophobic layer is mainly made of nano-silicon dioxide. The protective cover 4 is used to protect the visual detection member 1 and prevent water from entering the visual detection member 1. The oleophobic layer is used to make water quickly slide off after splashing on the protective cover 4 to avoid water adhesion, thereby making the visual detection member 1 have a better detection effect.

[0035] Specifically, a cleaning member 5 is provided above the protective cover 4, and the cleaning member 5 is used to clean the adhered matter on the outer wall of the transparent protective cover 4. The cleaning member 5 is used to increase the speed at which water slides off the protective cover 4, and to clean up the dirt adhered to the protective cover 4 in time.

[0036] Specifically, the cleaning member 5 includes a mounting box 51 and a fan 52. The fan 52 is disposed in the mounting box 51, and an air outlet is formed on the mounting box 51, and the air outlet covers the protective cover 4, so that the protective cover 4 is cleaned by wind force.

[0037] Specifically, a connecting plate 6 extending to the outside of the unmanned ship hull 7 is formed on the unmanned ship hull 7; the visual detection component 1 is arranged on the connecting plate 6. The connecting plate 6 is rotatably connected to the unmanned ship hull 7, and a limiting member for fixing the connecting plate 6 is arranged between the connecting plate 6 and the unmanned ship hull 7. The limiting member adopts a rod body, and a plurality of limiting holes are provided on the connecting plate 6 and the unmanned ship hull 7. When the connecting plate 6 rotates relative to the unmanned ship hull 7, when the limiting holes on the connecting plate 6 and the limiting holes on the unmanned ship hull 7 are opposite, the limiting member is inserted into them to achieve the fixation of the two.

[0038] To be precise, the connecting plate 6 can at least rotate to a first position and a second position relative to the unmanned ship hull 7. When the connecting plate 6 is in the first position, the connecting plate 6 is located outside the unmanned ship hull 7. When the connecting plate 6 is in the second position, the connecting plate 6 is located inside the unmanned ship hull 7. When in use, the visual detection component 1 can be located in the first position, and when not in use, the visual detection component 1 can be located in the second position. Among them, the limiting member is at least used to fix the connecting plate 6 to the unmanned ship hull 7 when the connecting plate 6 moves to the first position or the second position.

[0039] The unmanned boat hull 7 is provided with a level and a pump body component 81; the balance wing 9 is fixedly provided with a water tank 8; the level adopts the existing technology. The level is used to obtain the first tilt state, the second tilt state and the balance state of the unmanned boat hull 7; when the unmanned boat hull 7 moves along the preset track, the first tilt state of the unmanned boat hull 7 is that the unmanned boat hull 7 tilts to the left, the second tilt state is that it tilts to the right, and the balance state is balanced.

[0040] When the unmanned boat hull 7 is in the first tilted state or the second tilted state, the pump body component 81 is used to add the water in the water tank 8 on one of the balancing wing plates 9 to the water in the water tank 8 on the other balancing wing plate 9, so that the balancing wing plates 9 of the unmanned boat hull 7 are restored to a balanced state under the action of the gravity of the water tank 8. To be precise, the pump body component 81 is a water pump and a pipeline, and the water pump is connected to the water tank 8 through the pipeline. When tilting to the left, the water in the left water tank 8 is added to the right water tank 8, so as to restore the balance by using the weight difference between the two sides.

[0041] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

Claims

1. A highly balanced unmanned boat with automatic obstacle avoidance function, characterized in that: include: Unmanned boat hull, balance wing and obstacle avoidance control device; The balancing wing plates are provided in at least two groups and are respectively provided on both sides of the hull of the unmanned boat; The balance wing is used to increase the balance of the unmanned ship hull; The obstacle avoidance control device is used to control the hull of the unmanned ship to avoid the obstacle when encountering an obstacle.

2. The high-balance unmanned boat with automatic obstacle avoidance function according to claim 1, characterized in that: The obstacle avoidance control device comprises: a plurality of visual detection components, a travel drive component and an obstacle avoidance drive component; A plurality of visual detection components are disposed on the sides of the unmanned boat hull; The driving member is used to move the unmanned boat hull along a preset track in the water; The obstacle avoidance driving component is used to make the unmanned boat body move perpendicular to the preset trajectory and avoid the obstacle when the visual detection component detects an obstacle.

3. The high-balance unmanned boat with automatic obstacle avoidance function according to claim 2, characterized in that: The travel drive component and the obstacle avoidance drive component are both propellers.

4. The high-balance unmanned boat with automatic obstacle avoidance function according to claim 2, characterized in that: A transparent protective cover is arranged outside the visual detection component; An oleophobic layer is formed on the outer wall surface of the transparent protective cover.

5. The high-balance unmanned boat with automatic obstacle avoidance function according to claim 4, characterized in that: A cleaning piece is arranged above the protective cover, and the cleaning piece is used to clean the adhered matter on the outer wall of the transparent protective cover.

6. The high-balance unmanned boat with automatic obstacle avoidance function according to claim 5, characterized in that: A connecting plate extending to the outside of the unmanned ship hull is formed on the unmanned ship hull; the visual detection component is arranged on the connecting plate.

7. The high-balance unmanned boat with automatic obstacle avoidance function according to claim 6, characterized in that: The connecting plate is rotatably connected to the unmanned boat hull, and a limiting member for fixing the connecting plate is arranged between the connecting plate and the unmanned boat hull.

8. The high-balance unmanned boat with automatic obstacle avoidance function according to claim 7, characterized in that: The connecting plate can at least rotate to a first position and a second position relative to the unmanned ship hull; When the connecting plate is located at the first position, the connecting plate is located outside the hull of the unmanned ship; When the connecting plate is located at the second position, the connecting plate is located inside the hull of the unmanned boat.

9. The high-balance unmanned boat with automatic obstacle avoidance function according to claim 8, characterized in that: The limiting member is at least used to fix the connecting plate to the unmanned boat hull when the connecting plate moves to the first position or the second position.

10. The high-balance unmanned boat with automatic obstacle avoidance function according to claim 1, characterized in that: A level gauge and a pump body component are arranged on the hull of the unmanned boat; a water storage tank is fixedly arranged on the balance wing plate; The level meter is used to obtain a first tilt state, a second tilt state and a balance state of the unmanned ship hull; When the unmanned boat hull is in a first tilted state or a second tilted state, the pump body component is used to add water in a water tank on one of the balancing wing plates to water in a water tank on another balancing wing plate, so that the balancing wing plate of the unmanned boat hull can be restored to a balanced state under the action of the gravity of the water tank.

Images