Steamboat type unmanned ship

Abstract

The invention relates to the technical field of assault boats, and discloses an assault boat type unmanned ship. Comprising a boat body, a lifting seat is fixedly connected to the side surface of the boat body, an electric steering module, an automatic accelerator power module and an automatic gear engaging module are integrally arranged on the lifting seat, and a control system module and a matched remote control module are further arranged on the boat body. Automatic steering, automatic accelerator and automatic gear engaging are achieved, accurate adjustment of accelerator opening and closing and gearbox gears is achieved through an electric executing mechanism, remote control or system linkage is supported, manual operation is thoroughly replaced, the response speed and accuracy are improved, and the operation safety is improved. Safety, precision, automation and maintainability of assault boat operation are achieved, and task efficiency and adaptability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inflatable boats, in particular to a kind of inflatable boat type unmanned ship. BACKGROUND

[0002] Inflatable boat is a kind of small ship with high mobility, widely used in water rescue, flood rescue, water patrol, outdoor operation and other scenes, its manufacturing material is mainly glass steel, inflatable rubber dinghy or hypalon, these materials give inflatable boat the core characteristics of light, corrosion resistance, impact resistance, which can adapt to complex and changeable water environment; The existing inflatable boat is still generally used in the traditional manual operation mode when actually put into use, and the three core operations of direction control, throttle adjustment and gear shifting need to be completed by the operator manually, which not only leads to unsmooth operation action connection, direction deviation, speed fluctuation and other problems, but also disperses the observation attention of the operator to the scene environment, delays the rescue or operation opportunity. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides an inflatable boat type unmanned ship, which is remotely controlled by the operator on the shore or the mother ship in a safe position, to avoid going to the dangerous environment and improve the operation safety, while realizing precise heading, speed and advance and retreat control, improving the execution efficiency, through the ship-borne camera and the image transmission module, the operator can observe the surrounding picture of the inflatable boat in real time, forming an observation, decision-making and control closed loop, to ensure intuitive and effective control, like being on the scene, automatic steering, automatic throttle and automatic gear shifting realize precise adjustment of throttle opening and closing and gearbox gear position through electric actuator, support remote control or system linkage, completely replace manual operation, improve response speed and accuracy, realize the safety, precision, automation and maintainability of inflatable boat operation, improve task efficiency and adaptability and other advantages.

[0004] To solve the above technical problems, the present application provides the following technical scheme: a ship body, the side surface of the ship body is fixedly connected with a lifting seat, the lifting seat is integrally provided with an electric steering module, an automatic throttle power module and an automatic gear shifting module, and a control system module and a matched remote control module are further arranged on the ship body; The electric steering module comprises a rudder fixed on the upper surface of the lifting seat, a first bevel gear rod fixedly connected to the output end of the rudder, a second bevel gear rod meshingly connected to the bottom end of the first bevel gear rod, and a blade fixedly connected to the right end of the second bevel gear rod, a bearing seat is fixedly connected to the upper surface of the ship body, a first electric push rod is movably connected to the inside of the bearing seat through a bearing, and the output end of the first electric push rod is movably connected to the side surface of the rudder through a bearing, to realize electric automatic steering and have detachable capability; The automatic throttle power module includes a throttle connecting seat disposed on the front surface of the support seat, a throttle handle disposed on the side surface of the throttle connecting seat, a micro motor fixedly connected to the upper surface of the throttle connecting seat, a turntable fixedly connected to the output end of the micro motor, a rotating rod fixedly connected to the side surface of the turntable, a first movable plate sleeved on the outer surface of the rotating rod, a second movable plate movably connected to the lower surface of the first movable plate via a bearing, a connecting plate movably connected to the front surface of the second movable plate via a bearing, and a collar fixedly connected to the upper surface of the connecting plate, and the collar sleeved and connected to the outer surface of the throttle handle to realize the automatic refueling mode; The automatic gear shifting module includes a mounting base fixed to the side surface of the support seat, a gear position seat fixedly connected to the upper surface of the mounting base, an adjusting seat slidably connected to the upper surface of the gear position seat, a second electric push rod fixedly connected to the side surface of the mounting base, and the output end of the second electric push rod fixedly connected to the side surface of the adjusting seat, and has three functions: forward, neutral, and reverse.

[0005] Preferably, the control system module includes a support rod fixed to the upper surface of the hull, and a signal box is fixedly connected to the top of the support rod. The signal box contains a camera and a long-distance receiving module.

[0006] Preferably, the remote control device is an industrial remote controller loaded with an industrial wireless signal output module, which is matched with the signal of the remote receiving module to realize the remote braking signal transmission of the ship and the observation of the surrounding conditions.

[0007] Preferably, the connection between the first electric push rod and the bearing housing and the rudder adopts a detachable bearing structure. The detachable bearing structure includes a bearing body and a matching quick-release buckle, so as to realize the quick disassembly and installation of the first electric push rod.

[0008] Preferably, the connection between the second electric push rod and the adjusting seat adopts a rigid fixing structure. The rigid fixing structure includes a connecting ear plate welded to the side surface of the adjusting seat. The output end of the second electric push rod is fixedly connected to the connecting ear plate by bolts to ensure accurate transmission of the gear shifting action.

[0009] Preferably, the signal box is a waterproof control box, and a rubber sealing gasket is provided between the box body and the box cover of the waterproof control box.

[0010] Preferably, the hull also includes a lithium battery, which is fixed in a reserved mounting cavity inside the hull and electrically connected to a first electric push rod, a micro motor, a second electric push rod, a long-distance receiving module, and a camera, respectively, to provide power to each power module.

[0011] Preferably, the control system module further includes an image transmission module, which is integrated inside the signal box and connected to the camera signal to transmit the image information captured by the camera to the display end of the remote control device.

[0012] Preferably, the long-distance control range of the industrial remote controller is not less than 5.3km, and the industrial wireless signal output module adopts a wireless communication module with anti-interference capability.

[0013] Preferably, the micro motor is a servo motor, which is connected to a long-distance receiving module to receive control signals and adjust the output speed to precisely control the throttle opening.

[0014] Compared with the prior art, the present invention provides an assault boat-type unmanned surface vessel, which has the following beneficial effects: This invention allows operators to remotely control inflatable boats from safe locations such as shore or mother ships, avoiding direct contact with dangerous environments and improving operational safety. It also enables precise heading, speed, and forward / backward control, improving efficiency. Through onboard cameras and image transmission modules, operators can observe the surrounding environment in real time, forming a closed loop of observation, decision-making, and control, ensuring intuitive and effective operation, as if on-site. Automatic steering, automatic throttle, and automatic gear shifting are achieved through electric actuators, enabling precise adjustment of throttle opening and closing and gearbox positions. Supporting remote control or system linkage, it completely replaces manual operation, improving response speed and accuracy. This achieves safer, more precise, automated, and maintainable inflatable boat operations, enhancing mission efficiency and adaptability. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a top view of the structure of the present invention; Figure 3 for Figure 2 Schematic diagram of the structure at point A in the middle; Figure 4 This is a schematic diagram of the collar structure of the present invention; Figure 5 This is a schematic diagram of the first bevel gear rod structure of the present invention; The components are as follows: 1. Hull; 2. Signal box; 3. Camera; 4. Support rod; 5. Throttle connector; 6. Second bevel gear rod; 7. Blade; 8. First bevel gear rod; 9. Lifting seat; 10. Rudder; 11. Bearing seat; 12. First electric push rod; 13. Micro motor; 14. Turntable; 15. Collar; 16. Throttle handle; 17. Rotating rod; 18. Adjusting seat; 19. Gear seat; 20. Second electric push rod; 21. Mounting seat; 22. First movable plate; 23. Second movable plate; 24. Connecting plate. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Please see Figures 1-5 An inflatable unmanned surface vessel (USV) includes a hull 1. A support base 9 is fixedly connected to the side surface of the hull 1. The support base 9 integrates an electric steering module, an automatic throttle power module, and an automatic gear shifting module. The hull 1 also includes a control system module and a matching long-range control module. A signal box 2 is a waterproof control box, with a rubber sealing gasket between the box body and the cover. The control system module includes a support rod 4 fixed to the upper surface of the hull 1. The top of the support rod 4 is fixedly connected to the signal box 2. The signal box 2 contains a camera 3 and a long-range receiving module. The long-range control device is an industrial remote controller loaded with an industrial wireless signal output module, which communicates with the signal from the long-range receiving module. Matching enables long-distance braking signal transmission and surrounding condition observation of hull 1. The control system module also includes an image transmission module, which is integrated inside the signal box 2 and connected to the camera 3. It is used to transmit the image information collected by the camera 3 to the display end of the remote control device. The long-distance control distance of the industrial remote controller is not less than 5.3km. The industrial wireless signal output module adopts a wireless communication module with anti-interference capability. Hull 1 also includes a lithium battery, which is fixed in the reserved installation cavity inside hull 1 and electrically connected to the first electric push rod 12, micro motor 13, second electric push rod 20, long-distance receiving module, and camera 3 respectively, providing power to each power module.

[0018] Operators on shore, on the mother ship, or in other safe locations operate an industrial remote control. The movements of the joystick and buttons are converted into digital commands, which are transmitted via an industrial wireless signal output module in the form of high-intensity, interference-resistant radio waves. The long-range receiving module in the shipboard signal box 2 receives the radio signals from the remote control and decodes them into specific control commands. These control commands are sent to the electric steering module, the automatic throttle power module, and the automatic gear shifting module, respectively. The modules drive their respective electric actuators to precisely change the rudder angle, engine throttle opening and closing, and gearbox gear positions, thereby achieving precise control of the assault boat's course, speed, and forward and backward movement. While executing commands, the shipboard camera 3 continuously captures images of the front and surrounding area. The image transmission module encrypts this real-time video signal and sends it back to the operator's remote control display terminal via a dedicated wireless channel. The operator sees the real-time navigation image of the assault boat on the display terminal, makes the next control decision based on mission requirements and the on-site environment, and issues new control commands. This forms a real-time closed loop of observation, decision-making, and control, making remote control as intuitive and effective as being on-site.

[0019] The electric steering module includes a rudder 10 fixed to the upper surface of the support seat 9. A first bevel gear rod 8 is fixedly connected to the output end of the rudder 10. A second bevel gear rod 6 is meshed with the bottom end of the first bevel gear rod 8. A blade 7 is fixedly connected to the right end of the second bevel gear rod 6. A bearing seat 11 is fixedly connected to the upper surface of the hull 1. A first electric push rod 12 is movably connected to the inside of the bearing seat 11 through a bearing. The output end of the first electric push rod 12 is movably connected to the side surface of the rudder 10 through a bearing, realizing electric automatic steering and having detachable capability. The connection between the first electric push rod 12 and the bearing seat 11 and the rudder 10 adopts a detachable bearing structure. The detachable bearing structure includes a bearing body and a matching quick-release buckle, realizing the quick disassembly and installation of the first electric push rod 12.

[0020] After the control system issues a steering command, the first electric push rod 12 is activated. The motor of the electric push rod drives its internal screw or nut mechanism, converting the rotational motion into linear extension and retraction motion of the push rod body. The end of the first electric push rod 12 is connected to the side of the rudder 10 via a detachable bearing. When the rod body extends or retracts, it applies a thrust or pull force perpendicular to the axis of the rudder 10. This thrust or pull force acts on the side connection point of the rudder 10, converting it into a couple, driving the rudder 10 to rotate around its fixed axis. The lower part of the rudder 10 is fixedly connected to the first bevel gear rod 8. The rotation of the rudder 10 will drive the gear shaft to rotate synchronously. The bevel gear at the end of the first bevel gear rod 8 and the bevel teeth on the second bevel gear rod 6... The meshing of the bevel gears changes the rotational plane of the rudder 10 by 90 degrees and transmits it to the second bevel gear rod 6. The blade 7 is fixedly installed at the right end of the second bevel gear rod 6. The rotation of the second bevel gear rod 6 directly drives the blade 7 to deflect, changing the direction of water flow or air flow, thereby providing steering force for the hull 1 and achieving steering. One end of the first electric push rod 12 is connected to the bearing seat 11 through a bearing, and the other end is connected to the rudder 10 through a bearing. Both bearings adopt a detachable bearing structure. When it is necessary to disassemble the electric push rod for replacement or maintenance, simply loosen the quick-release buckle or connector to remove the push rod from the transmission chain. There is no need to disassemble the complex mechanical structure or the rudder 10 assembly, which realizes quick disassembly and installation.

[0021] The automatic throttle power module includes a throttle connector 5 located on the front surface of the support seat 9. A throttle handle 16 is located on the side surface of the throttle connector 5. A micro motor 13 is fixedly connected to the upper surface of the throttle connector 5. A turntable 14 is fixedly connected to the output end of the micro motor 13. A rotating rod 17 is fixedly connected to the side surface of the turntable 14. A first movable plate 22 is sleeved on the outer surface of the rotating rod 17. A second movable plate 23 is movably connected to the lower surface of the first movable plate 22 via a bearing. A connecting plate 24 is movably connected to the front surface of the second movable plate 23 via a bearing. A collar 15 is fixedly connected to the upper surface of the connecting plate 24, and the collar 15 is sleeved and connected to the outer surface of the throttle handle 16 to realize the automatic throttle mode. The micro motor 13 is a servo motor. The servo motor is connected to a long-distance receiving module and adjusts the output speed by receiving control signals, thereby precisely controlling the throttle opening.

[0022] When the throttle needs to be adjusted, the control terminal sends a command signal, which is wirelessly transmitted to the servo motor through a long-distance receiving module. After receiving the signal, the servo motor inside it starts to rotate precisely according to the command. The output terminal of the servo motor drives the turntable 14 to rotate synchronously. The rotating rod 17, which is fixed on the side surface of the turntable 14, follows the turntable 14 to make a circular motion. The rotating rod 17 is hinged through the first movable plate 22, the second movable plate 23 and the connecting plate 24, converting the rotational motion of the motor into the linear reciprocating motion of the front end of the connecting plate 24. A collar 15 is fixed on the connecting plate 24. The collar 15 is directly fitted onto the original throttle handle 16. When the connecting plate 24 makes a linear reciprocating motion, it will push or pull the throttle handle 16, causing it to rotate around the axis, thereby precisely controlling the opening and closing degree of the throttle and realizing automatic and precise control of the throttle.

[0023] The automatic gear shifting module includes a mounting base 21 fixed to the side surface of the support seat 9. A gear position seat 19 is fixedly connected to the upper surface of the mounting base 21. An adjusting seat 18 is slidably connected to the upper surface of the gear position seat 19. A second electric push rod 20 is fixedly connected to the side surface of the mounting base 21, and the output end of the second electric push rod 20 is fixedly connected to the side surface of the adjusting seat 18. It has three functions: forward, neutral, and reverse. The connection between the second electric push rod 20 and the adjusting seat 18 adopts a rigid fixing structure. The rigid fixing structure includes a connecting ear plate welded to the side surface of the adjusting seat 18. The output end of the second electric push rod 20 is fixedly connected to the connecting ear plate by bolts to ensure accurate transmission of gear shifting action.

[0024] The second electric push rod 20 is the core drive source. It receives electrical signals from the external control system and converts electrical energy into precise linear reciprocating motion. The control system sends action commands to the second electric push rod 20 according to the requirements. The second electric push rod 20 starts, and its output shaft extends or retracts precisely by a set stroke. The output shaft of the push rod is rigidly connected to directly push or pull the adjusting seat 18, so that it slides on the track of the gear seat 19 to the physical position of the corresponding target gear. The adjusting seat 18 is pushed to one end of the track for forward, the adjusting seat 18 is pushed to the middle position of the track for neutral, and the adjusting seat 18 is pushed to the other end of the track for reverse. After the push rod reaches the predetermined position, it self-locks. Using its own holding force, the adjusting seat 18 is firmly held in the target gear position through the rigid structure, completing the gear shifting operation. This completely replaces manual operation and can realize remote control or linkage with other systems, thus realizing the transformation from manual to automatic gear shifting function.

[0025] During use, the operator must be positioned in a safe location on shore or on the mother ship, checking that the industrial remote control has sufficient power, that the buttons or joysticks are not stuck, and that the screen on the remote control is lit normally. Ensure that the shipboard signal box 2, electric steering module, automatic throttle power module, automatic gear shifting module, camera 3, and image transmission module are securely installed without looseness or damage. Then, sequentially turn on the main power supply of the shipboard control system and the remote control power supply, confirming a stable wireless signal connection and clear real-time video transmission to the display. Observe the real-time video on the remote control display to confirm the environment ahead and around the assault boat and plan the navigation route. Moving the joystick to the left sends a left turn command, and moving it to the right sends a right turn command. These commands are transmitted via an industrial-grade wireless signal output module using interference-resistant radio waves. The shipborne receiver module decodes the signals and drives the first electric push rod 12, which in turn drives the rudder 10 and blades 7 through a transmission mechanism, achieving steering. The operator can fine-tune the joystick angle based on real-time feedback from the video feed to precisely control the steering amplitude and avoid over-steering. Commands can also be sent via the corresponding button on the remote control or the continuously adjustable joystick, depending on navigation requirements. These commands are wirelessly transmitted to the shipborne servo motor, which drives the transmission mechanism. Rotate the throttle handle 16 around the axis, push the joystick forward or press the acceleration button to increase the throttle and speed, pull the joystick backward or press the deceleration button to decrease the throttle and speed. During operation, observe the video screen and speed-related feedback, gradually adjust to the target speed, avoid sudden acceleration or deceleration, and confirm that the assault boat is in a safe navigation state. Issue a gear shift command through the gear control button on the remote control, press the forward button, push the lever to slide the adjustment seat 18 to one end of the track to complete the forward gear lock, press the neutral button, return the adjustment seat 18 to the middle position of the track, and press the reverse button. After the adjustment seat 18 slides to the other end of the track and the reverse gear is locked, the remote control display can provide feedback on the gear status after the gear shift is completed. After confirming that the gear shift is successful, the throttle operation can be performed to avoid damage to the equipment caused by shifting gears. The operator can observe the navigation status in real time through the display, make decisions based on task requirements and the on-site environment, issue control commands, and receive feedback on the effect through the video screen after the equipment executes the commands. The operator can then make fine adjustments to ensure precise and controllable navigation. If it is necessary to change the navigation direction, speed, or gear, the above corresponding operation steps should be repeated to make adjustments gradually and avoid performing multiple large-scale operations at the same time.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A combat boat type unmanned ship comprising a hull (1), characterized in that: The side surface of the ship body (1) is fixedly connected with a lifting seat (9), the lifting seat (9) is integrally provided with an electric steering module, an automatic throttle power module and an automatic gear shifting module, and the ship body (1) is further provided with a control system module and a matched long-distance control module. The electric steering module comprises a rudder (10) fixed on the upper surface of the lifting seat (9), a first bevel gear rod (8) fixedly connected at the output end of the rudder (10), a second bevel gear rod (6) meshingly connected at the bottom end of the first bevel gear rod (8), and a blade (7) fixedly connected at the right end of the second bevel gear rod (6). The upper surface of the ship body (1) is fixedly connected with a bearing seat (11), the inside of the bearing seat (11) is movably connected with a first electric push rod (12) through a bearing, and the output end of the first electric push rod (12) is movably connected with the side surface of the rudder (10) through a bearing, so as to realize electric automatic steering and have detachable capability. The automatic throttle power module comprises a throttle connecting seat (5) arranged on the front surface of the lifting seat (9), a throttle handle (16) arranged on the side surface of the throttle connecting seat (5), a micro motor (13) fixedly connected on the upper surface of the throttle connecting seat (5), a rotating disc (14) fixedly connected at the output end of the micro motor (13), a rotating rod (17) fixedly connected on the side surface of the rotating disc (14), a first movable plate (22) sleeved on the outer surface of the rotating rod (17), a second movable plate (23) movably connected with the lower surface of the first movable plate (22) through a bearing, a connecting plate (24) movably connected with the front surface of the second movable plate (23) through a bearing, a sleeve ring (15) fixedly connected on the upper surface of the connecting plate (24), and the sleeve ring (15) is sleevedly connected with the outer surface of the throttle handle (16), so as to realize automatic oiling mode. The automatic gear shifting module comprises a mounting seat (21) fixed on the side surface of the lifting seat (9), a gear seat (19) fixedly connected on the upper surface of the mounting seat (21), and an adjusting seat (18) slidably connected on the upper surface of the gear seat (19). The side surface of the mounting seat (21) is fixedly connected with a second electric push rod (20), and the output end of the second electric push rod (20) is fixedly connected with the side surface of the adjusting seat (18), so as to have three functions of forward movement, neutral gear and backward movement.

2. The assault boat type unmanned ship according to claim 1, characterized in that: The control system module comprises a supporting rod (4) fixed on the upper surface of the ship body (1), and a signal box (2) fixedly connected at the top end of the supporting rod (4). The inside of the signal box (2) is provided with a camera (3) and a long-distance receiving module.

3. The assault boat unmanned ship according to claim 1, characterized in that: The long-distance control device is an industrial remote controller loaded with an industrial wireless signal output module, which is matched with the long-distance receiving module signal, so as to realize long-distance braking signal transmission of the ship body (1) and observation of surrounding conditions.

4. The assault boat unmanned ship according to claim 1, characterized in that: The connection between the first electric push rod (12), the bearing seat (11) and the rudder (10) adopts a detachable bearing structure, which comprises a bearing body and a matched quick-release buckle, so as to realize quick disassembly and installation of the first electric push rod (12).

5. The assault boat unmanned ship according to claim 1, wherein: The second electric push rod (20) is connected with the adjusting seat (18) by a rigid fixing structure, which includes a connecting lug plate welded to the side surface of the adjusting seat (18), and the output end of the second electric push rod (20) is fixedly connected with the connecting lug plate by bolts, so that the precise transmission of the gear hanging action is ensured.

6. The assault boat unmanned ship according to claim 1, wherein: The signal box (2) is a waterproof control box, and a rubber sealing gasket is arranged between the box body and the box cover of the waterproof control box.

7. The assault boat unmanned ship according to claim 1, wherein: The ship body (1) further comprises a lithium battery fixed in a reserved mounting cavity in the interior of the ship body (1) and electrically connected with the first electric push rod (12), the micro motor (13), the second electric push rod (20), the remote receiving module and the camera (3) respectively to provide power for each power consumption module.

8. The assault boat unmanned ship according to claim 1, wherein: The control system module further comprises a picture transmission module integrated in the interior of the signal box (2) and signal-connected with the camera (3) for transmitting the image information collected by the camera to the display end of the remote control device.

9. The assault boat unmanned ship according to claim 3, characterized in that: The remote control distance of the industrial remote controller is not less than 5.3 km, the industrial wireless signal output module adopts a wireless communication module and has anti-interference capability.

10. The assault boat unmanned ship according to claim 1, wherein: The micro motor (13) is a servo steering engine, and the servo steering engine is signal-connected with the remote receiving module to adjust the output rotating speed by receiving the control signal and then precisely control the throttle opening degree.

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