Unmanned pleasure boat

Abstract

The utility model provides an unmanned pleasure boat which comprises a boat body. The pleasure boat further comprises a front rotating assembly arranged at the bow of the boat body, a set top box and a front propelling mechanism which are arranged at the two ends of the front rotating assembly respectively, a rear rotating assembly arranged at the stern of the boat body and a rear propelling mechanism arranged on the rear rotating assembly. A control unit and a remote control receiver are arranged in the set top box, the control unit is electrically connected with the remote control receiver, and the remote control receiver is used for being wirelessly connected with a mobile terminal; the control unit is electrically connected with motors of the front rotating assembly, the front propelling mechanism, the rear rotating assembly and the rear propelling mechanism. The pleasure boat does not need to be driven by tourists, free navigation of the pleasure boat can be remotely controlled through the mobile terminal, and hovering of the pleasure boat in water can be achieved through the front propelling mechanism and the rear propelling mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned driving, in particular to an unmanned cruise ship. Background Art

[0002] At present, cruise ships on the market are all driven by people, and passengers sit in them. The people are busy driving, and the drivers lack leisure and entertainment time. It will be a meaningful product to develop an unmanned cruise ship to free tourists' hands or save dedicated drivers. Unmanned driving can arouse tourists' interest, increase the fun of playing, and reduce operating costs. Its route can be planned independently, and there is no need for people to learn driving skills. The boat can sail in the water and can be suspended in a certain position, not affected by the water flow and wind direction. It can automatically return to the dock after the play, which has important practical significance and application value. Utility Model Content

[0003] The purpose of the utility model is to provide an unmanned cruise ship, so as to solve the above-mentioned problems existing in the prior art.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0005] The utility model provides an unmanned cruise ship, which includes a hull, and further includes: a front rotating assembly arranged at the bow of the hull, a set-top box and a front propulsion mechanism respectively arranged at both ends of the front rotating assembly, and a rear rotating assembly arranged at the stern of the hull and a rear propulsion mechanism arranged at the rear rotating assembly; the set-top box is built with a control unit and a remote control receiver, the control unit is electrically connected to the remote control receiver, and the remote control receiver is used to wirelessly connect to a ground control station or a mobile terminal; the control unit is electrically connected to the front rotating assembly, the front propulsion mechanism, the rear rotating assembly and each motor of the rear propulsion mechanism, respectively, to control the rotation of the front rotating assembly and the rear rotating assembly, and control the start and stop and rotation speed of the front propulsion mechanism and the rear propulsion mechanism.

[0006] Optionally, the bow of the cruise ship is provided with a through hole penetrating the hull; the front rotating assembly includes: a front bracket and a front servo; the front servo is provided with a through first mounting hole, the first mounting hole is provided with a first rotatable tube assembly, the front servo is detachably arranged on the upper surface of the bow, the first mounting hole corresponds to the through hole of the bow; the first rotatable tube assembly is detachably inserted with the front bracket; the set-top box and the front propulsion mechanism are respectively arranged at two ends of the front bracket, the set-top box is located above the hull, and the front propulsion mechanism is located below the hull; the control unit is electrically connected to the motor of the front servo to control the rotation of the first rotatable tube assembly.

[0007] Optionally, the front propulsion mechanism includes: a front thruster, a front solenoid valve and a front nozzle; the front thruster is arranged at one end of the front bracket below the hull; the injection port of the front thruster is connected to the front nozzle through the front solenoid valve; the control unit is electrically connected to the front thruster and the front solenoid valve, respectively, to control the start and stop and speed of the front thruster and to control the opening and closing of the front solenoid valve.

[0008] Optionally, the stern of the cruise ship is provided with a through hole penetrating the hull, and the rear rotating assembly includes: a rear mounting bracket and a rear steering gear; the rear steering gear is provided with a through second mounting hole, the second mounting hole is provided with a second rotatable tube assembly, the rear steering gear is detachably provided on the upper surface of the stern, and the second mounting hole corresponds to the stern through hole;

[0009] The second rotatable tube assembly is detachably inserted with the rear bracket; the rear propulsion mechanism is arranged on the rear bracket and located below the hull; the control unit is electrically connected to the motor of the rear servo to control the rotation of the second rotatable tube assembly.

[0010] Optionally, the rear propulsion mechanism includes: a rear thruster, a rear solenoid valve and a rear nozzle; the rear thruster is arranged at one end of the rear bracket below the hull; the jet port of the rear thruster is connected to the rear nozzle through the rear solenoid valve; the control unit is electrically connected to the rear thruster and the rear solenoid valve, respectively, to control the start and stop and the speed of the rear thruster and to control the opening and closing of the rear solenoid valve.

[0011] Optionally, when the front propulsion mechanism includes a front nozzle and the rear propulsion mechanism includes a rear nozzle, the front nozzle and the rear nozzle have the same structure, both including a water inlet pipe and two water outlet pipes, the water inlet pipe is connected to the injection port of the corresponding propeller, the two water outlet pipes are respectively connected to the water inlet pipe, and on an extension line, the water inlet pipe is respectively perpendicular to the two water outlet pipes; the ends of the two water outlet pipes are bent to the same side of the extension line of the two water outlet pipes, and are symmetrical along the axis of the water inlet pipe.

[0012] Optionally, when the front propulsion mechanism includes a front nozzle and the rear propulsion mechanism includes a rear nozzle; if the water spraying directions of the front nozzle and the rear nozzle are in the same direction, the cruise ship moves forward or backward; if the water spraying directions of the front nozzle and the rear nozzle are opposite, the cruise ship is in a hovering state.

[0013] Optionally, the control unit is a single-chip microcomputer, which is electrically connected to the remote control receiver and to the motors of the front rotating assembly, the rear rotating assembly, the front propulsion mechanism and the rear propulsion mechanism respectively; the remote control receiver is also used to wirelessly connect to a ground base station.

[0014] Optionally, the control unit includes: a positioning module, which is used to receive satellite positioning information; a single-chip microcomputer, which is electrically connected to the positioning module and the remote control receiver, and is electrically connected to the motors of the front rotating assembly, the rear rotating assembly, the front propulsion mechanism, and the rear propulsion mechanism, respectively.

[0015] Optionally, the single chip microcomputer pre-stores multiple routes and location information of waypoints on the corresponding routes.

[0016] Optionally, a cabin is provided in the cruise ship, a battery compartment is provided in the cabin, and the battery compartment contains built-in batteries to supply power to the control unit, the front rotating assembly, the front propulsion mechanism, the rear rotating assembly and the rear propulsion mechanism.

[0017] Optionally, the hull is in the shape of a bodhi leaf, and the bow of the cruise ship is provided with a petiole.

[0018] The beneficial effects of the utility model are:

[0019] The tourist boat of the utility model does not need to be driven by tourists, and a tourist boat control unit can be remotely controlled by a mobile terminal to enable the boat to sail in the water, wherein the control unit controls the rotation of the front rotating component and the rear rotating component, and the operation of the front propulsion mechanism and the rear propulsion mechanism, so that the boat can sail in the water and can also be suspended at a certain position without being affected by the water flow and wind direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of an unmanned cruise ship of the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the front propulsion mechanism of the unmanned cruise ship of the utility model;

[0022] Figure 3 The utility model is a schematic diagram of the rear propulsion mechanism structure of the unmanned cruise ship.

[0023] In the figure:

[0024] 1. Front nozzle; 2. Front solenoid valve; 3. Front thruster; 4. Front servo; 5. Set-top box; 6. Hull; 7. Battery compartment; 8. Rear thruster; 9. Rear nozzle; 10. Rear solenoid valve; 11. Rear servo. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation methods described here are only used to explain the utility model and are not used to limit the utility model.

[0026] like Figure 1 As shown, the utility model provides an unmanned cruise ship, which includes a hull, and the cruise ship also includes: a front rotating assembly (not marked in the figure) arranged at the bow of the hull, a set-top box 5 and a front propulsion mechanism (not marked in the figure) respectively arranged at both ends of the front rotating assembly, and a rear rotating assembly arranged at the stern of the hull and a rear propulsion mechanism arranged at the rear rotating assembly; the set-top box is built with a control unit and a remote control receiver (not shown in the figure), the control unit is electrically connected to the remote control receiver, and the remote control receiver is used to wirelessly connect to a ground control station or a mobile terminal; the control unit is electrically connected to each motor of the front rotating assembly, the front propulsion mechanism, the rear rotating assembly and the rear propulsion mechanism, respectively, to control the rotation of the front rotating assembly and the rear rotating assembly, and control the start and stop and rotation speed of the front propulsion mechanism and the rear propulsion mechanism.

[0027] The unmanned boat of the utility model has an appearance structure like a bodhi leaf, and the bow of the cruise ship is provided with a petiole. Both the front propulsion mechanism and the rear propulsion mechanism include a propeller. Two propellers are provided at the front and rear of the unmanned boat, and both are controlled by the control unit of the set-top box. The function of the front propeller at the bow is power output to control the forward steering of the hull. The rear propeller at the stern mainly controls the posture of the hull and the posture maintenance after the cruise ship stops the route. For example, when the propulsion directions of the front propulsion mechanism and the rear propulsion mechanism are opposite, the cruise ship can be placed in a hovering state. The hull is coated with anti-rust paint and has good corrosion resistance. During navigation, it ensures that the hull can withstand water erosion for a long time.

[0028] The route of the unmanned boat of the utility model can be planned autonomously, and personnel do not need to learn driving skills. The operation is simple. Relevant personnel can use a ground control station or a mobile terminal to remotely control the boat through a remote control receiver; or through a ground control station or a mobile terminal, a mobile terminal such as a mobile phone or a tablet APP can autonomously plan the route and automatically cruise to control the boat to sail in the water, and can be suspended at a certain position, and is not affected by the water flow and wind direction when hovering. It can automatically return to the dock after the play, which has important practical significance and application value. Specifically, if the cruise ship should be suspended at a certain position, it deviates from the hovering point by a certain distance (for example, 2 meters) due to the influence of wind or water flow, the control unit will calculate the cruise ship hovering deviation, and then automatically adjust the front rotating component, the front propulsion mechanism, the rear rotating component and the rear propulsion mechanism, so that the cruise ship will automatically return to the route and return to the corresponding hovering point. The control unit can pre-store multiple routes of a certain scenic spot, that is, tourists only need to select the navigation route through a mobile phone or a tablet APP, and the control unit can realize automatic navigation. The mobile terminal can also be a remote control, and the remote control is wirelessly connected to the remote control receiver to remotely control the boat's navigation, and the mobile phone and the remote control can be configured at the same time.

[0029] As a specific example of a control unit, the control unit includes: a positioning module, which is used to receive satellite positioning information; a single-chip microcomputer, which is electrically connected to the positioning module and the remote control receiver, and is electrically connected to the front rotating component, the rear rotating component, the front propulsion mechanism, and each motor of the rear propulsion mechanism.

[0030] The single chip microcomputer may pre-store a plurality of routes and position information of each point of the corresponding routes, so that the cruise ship can automatically navigate according to the selected route.

[0031] The positioning module of the utility model can be a GPS Beidou dual-mode positioning module, which is connected to the single-chip microcomputer through a corresponding interface; the GPS Beidou dual-mode positioning module receives satellite positioning information, and the single-chip microcomputer can store the route and the location information of each waypoint, and also control the front rotating component and the rear rotating component to drive the front propulsion mechanism and the rear propulsion mechanism to rotate respectively. When the cruise ship is sailing autonomously, the GPS can feedback real-time positioning information, and the single-chip microcomputer can detect the cruise ship's navigation deviation by comparing it with the pre-set route, and correct the route when the deviation exceeds the preset threshold.

[0032] After the ground control station or mobile terminal issues a remote control or automatic cruise switching command, the two modes of remote control and automatic navigation can be switched. The ground control station or mobile terminal receives the position of the cruise ship and obtains the position of the cruise ship in real time on the navigation map.

[0033] The remote control receiver is connected to the single-chip microcomputer through a corresponding interface as an input device. The remote control receiver is wirelessly connected to a ground control station or a mobile terminal. The communication method adopts two modes: 4G card or WiFi. The mobile terminal, such as a mobile phone or a tablet, can realize the switching between remote control and automatic cruise modes of the cruise ship after issuing a remote control or automatic cruise switching command through a mobile phone or tablet APP.

[0034] The cruise ship of the utility model is equipped with a satellite positioning system and a fully automatic intelligent control system. The control system has two driving modes. The first mode can pre-plan the route and the ship automatically follows the route. The second mode can switch to manual mode and the ship's route can be driven by a remote control. The unmanned ship can be equipped with different sensors to meet the needs of different environments and ensure the safety of passengers and the ship's navigation.

[0035] As another specific example of a control unit, the control unit is a single-chip microcomputer, which is electrically connected to the remote control receiver and to each motor of the front rotating assembly, the rear rotating assembly, the front propulsion mechanism and the rear propulsion mechanism respectively; the remote control receiver is also used to wirelessly connect to a ground base station.

[0036] The ground base station of the utility model is used to locate the position of the cruise ship. The ground base station can be a base station with high positioning accuracy such as an RTK base station; the ground control station or mobile terminal is used to remotely control the navigation of the cruise ship. Generally speaking, the accuracy of normal satellite positioning is not very high. In order to improve the accuracy, a ground base station can be used to locate the cruise ship. The base station is first located by satellite, and then the ship is located by the ground base station, so as to reduce the positioning error; after the ground control station or mobile terminal issues a remote control and automatic cruise switching command, the two modes of remote control and automatic navigation can be switched.

[0037] As an example of a cruise ship, the cruise ship is provided with a cabin (shown in the figure), and the cabin is provided with a battery compartment 7. The battery compartment 7 has built-in batteries to power the control unit, the front rotating assembly, the front propulsion mechanism, the rear rotating assembly and the rear propulsion mechanism.

[0038] The hull of the cruise ship of the utility model is provided with a battery compartment, and a compartment cover for opening and closing the battery compartment is provided. When viewed from the top, the battery compartment cover is seamlessly connected with the surrounding structure. The battery compartment cover is provided with a sealing structure to prevent water from entering the battery compartment. The battery compartment is provided with a drainage system, and if water enters, it can be discharged in time. The waterproof grade of the battery compartment is IP68. The maximum speed of the unmanned boat on the water surface is designed to be 5 knots, and the maximum range is 50km.

[0039] The bodhi leaf-shaped unmanned boat of the utility model has a light structure and a modular design. Propeller brackets are arranged at the front and rear of the hull to facilitate installation and disassembly. The specific structure of the brackets is as follows.

[0040] As a specific example of a cruise ship, the bow of the cruise ship is provided with a through hole penetrating the hull (not shown in the figure); the front rotating assembly includes: a front bracket (not shown in the figure) and a front servo 4; the front servo 4 is provided with a through first mounting hole (not shown in the figure), the first mounting hole is provided with a first rotatable tube assembly (not shown in the figure), the front servo 4 is detachably arranged on the upper surface of the bow, and the first mounting hole corresponds to the through hole of the bow; the first rotatable tube assembly is detachably inserted with the front bracket; the set-top box and the front propulsion mechanism are respectively arranged at two ends of the front bracket, the set-top box is located above the hull, and the front propulsion mechanism is located below the hull; the control unit is electrically connected to the motor of the front servo to control the rotation of the first rotatable tube assembly.

[0041] The base of the front servo described in the utility model can be detachably fixed to the hull, specifically fixed by bolts. The motor of the front servo is connected with a driving gear to drive the first rotatable tube assembly to rotate. The first rotatable assembly may include: a driven gear ring, a bearing and a mounting tube. The driving gear is meshed with the driven gear, the outer ring of the bearing is fixed to the first mounting hole, the driven gear ring is arranged on the rotatable inner ring of the bearing, and the mounting tube is inserted into the center opening of the driven gear ring. The front servo can adopt an existing servo, which is not limited here. There are many ways to detach the front bracket and the mounting tube, such as fixing with screws, and other structures of the prior art can also be adopted, which will not be repeated here.

[0042] As a specific example of the front propulsion mechanism, the front propulsion mechanism includes: a front propeller 3, a front solenoid valve 2 and a front nozzle 1; the front propeller 3 is arranged at one end of the front bracket located below the hull; the injection port of the front propeller 3 is connected to the front nozzle 1 through the front solenoid valve 2; the control unit is electrically connected to the motor of the front propeller 3 and the front solenoid valve 2, respectively, to control the start and stop and the speed of the front propeller and control the opening and closing of the front solenoid valve.

[0043] The front thruster of the utility model adopts a pump-jet thruster, the motor of the pump-jet thruster is electrically connected to the control unit, and the speed of the pump-jet thruster is controlled by the controller, so as to realize the control of the speed of the unmanned ship; a front solenoid valve 2 is arranged under the front thruster 3, and the front solenoid valve is connected to the front nozzle 1. The pump-jet thruster can generate thrust through two nozzles, and the front solenoid valve can control the water spray of the two nozzles. The direction of the entire front thruster is controlled by the front steering gear 4, so as to realize the forward movement and steering of the unmanned ship.

[0044] The working principle of the front propulsion mechanism is as follows: Figure 2 As shown, a front pump-jet propeller is fixed at the lower end of the front bracket, and the front bracket is rotated by the internal motor of the steering gear, so that the rotation of the front propeller 3 and the front nozzle 2 at the lower end of the front bracket can be controlled, thereby controlling the direction of the unmanned boat. A front solenoid valve 2 is installed at the outlet of the front propeller 3, and the solenoid valve can control the start and stop of the water jet of the pump-jet propeller, thereby controlling the operation and stop of the unmanned boat.

[0045] As a specific example of a rear rotating assembly, the stern of the cruise ship is provided with a through hole penetrating the hull, and the rear rotating assembly includes: a rear bracket (not shown in the figure) and a rear servo 11; the rear servo 11 is provided with a through second mounting hole (not shown in the figure), the second mounting hole is provided with a second rotatable tube assembly (not shown in the figure), the rear servo is detachably arranged on the upper surface of the stern, and the second mounting hole corresponds to the stern through hole; the second rotatable tube assembly is detachably inserted with the rear bracket; the rear propulsion mechanism is arranged on the rear bracket and is located below the hull; the control unit is electrically connected to the motor of the rear servo to control the rotation of the second rotatable tube assembly.

[0046] The base of the rear-mounted servo described in the utility model can be detachably fixed to the hull, specifically by bolts. The motor of the rear-mounted servo is connected to the driving gear to drive the second rotatable tube assembly to rotate. The second rotatable assembly may include: a driven gear ring, a bearing and a mounting tube. The driving gear is meshed with the driven gear, the outer ring of the bearing is fixed to the second mounting hole, the driven gear ring is arranged on the rotatable ring of the bearing, and the mounting tube is inserted into the center opening of the driven gear ring. The front-mounted servo can adopt an existing servo, which is not limited here. There are many ways to detach the front bracket and the mounting tube, such as screw fixation, and other structures of the prior art can be adopted, which will not be repeated here.

[0047] As a specific example of the rear propulsion mechanism, the rear propulsion mechanism includes: a rear thruster 8, a rear solenoid valve 10 and a rear nozzle 9; the rear thruster is arranged at one end of the rear bracket below the hull; the jet port of the rear thruster is connected to the rear nozzle through the rear solenoid valve; the control unit is electrically connected to the rear thruster and the rear solenoid valve respectively to control the start and stop and the speed of the rear thruster and control the opening and closing of the rear solenoid valve.

[0048] Similarly, a rear solenoid valve 10 is arranged under the rear pump-jet propeller 8, and the rear solenoid valve is connected to the tail nozzle 9. The rear pump-jet propeller can generate thrust through two nozzles, and the rotation direction of the rear propeller can be controlled by the steering gear, and the unmanned ship can be suspended in coordination with the front propeller.

[0049] As a specific example of the rear nozzle, the rear nozzle 9 has the same structure as the front nozzle 1. The front nozzle 1 and the rear nozzle 9 both include a water inlet pipe and two water outlet pipes. The water inlet pipe is connected to the injection port of the corresponding propeller, and the two water outlet pipes are respectively connected to the water inlet pipe and on an extension line. The water inlet pipe is perpendicular to the two water outlet pipes respectively; the ends of the two water outlet pipes are bent to the same side of the extension line of the two water outlet pipes and are symmetrical along the axis of the water inlet pipe.

[0050] The front nozzle of the utility model has two water outlet pipes, which can ensure the water spraying area and the stability of the cruise ship.

[0051] As a specific example of a cruise ship, when the front propulsion mechanism includes a front nozzle and the rear propulsion mechanism includes a rear nozzle; if the water spraying directions of the front nozzle and the rear nozzle are in the same direction, the cruise ship moves forward or backward; if the water spraying directions of the front nozzle and the rear nozzle are opposite, the cruise ship is in a hovering state.

[0052] The cruise ship of the utility model is equipped with front and rear thrusters, each of which is equipped with a steering gear. The navigation direction of the unmanned boat can be controlled by adjusting the direction of the thruster nozzle. The front and rear thrusters cooperate to achieve hovering. Under normal climatic conditions, it can hover in the water. The two pump thrusters can spray four water columns. The single-chip computer calculates the angle of the cruise ship's route, calculates the position deviation, and adjusts the cruise ship to return to the corresponding position of the route to balance the influence of wind and water flow.

[0053] The working principle of the rear propulsion mechanism package is as follows: Figure 3 As shown, the rear propeller 8 is fixed at the lower end of the rear bracket, and the rear bracket rotates through the internal motor of the steering gear, thereby driving the rotation of the rear propeller 8 and the rear nozzle 9, and cooperating with the front propeller to control the direction of the unmanned boat; the outlet of the rear propeller 8 is equipped with a rear electromagnetic valve 10, which can control the start and stop of the water jet of the pump-jet propeller, and cooperate with the front propeller to control the operation and stop of the unmanned boat. However, when the front propeller rotates 180 degrees, the front nozzle generates forward thrust, and the rear propeller generates backward thrust, so that the boat can achieve hovering.

[0054] By adopting the above technical solution disclosed in the utility model, the following beneficial effects are obtained:

[0055] The unmanned boat has a shape and structure like a bodhi leaf, close to nature; it does not need to be driven by tourists, the boat can be sailed by remote control, or it can independently plan the route and cruise automatically and return to the dock automatically; it can be suspended in the water and is not affected by currents and wind.

[0056] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. An unmanned cruise ship, comprising a hull, characterized in that: The cruise ship further comprises: a front rotating assembly arranged at the bow of the hull, a set-top box and a front propulsion mechanism respectively arranged at both ends of the front rotating assembly, and a rear rotating assembly arranged at the stern of the hull and a rear propulsion mechanism arranged at the rear rotating assembly; the set-top box is built with a control unit and a remote control receiver, the control unit is electrically connected to the remote control receiver, and the remote control receiver is used to wirelessly connect to a ground control station or a mobile terminal; The control unit is electrically connected to the motors of the front rotating assembly, the front propulsion mechanism, the rear rotating assembly and the rear propulsion mechanism respectively to control the rotation of the front rotating assembly and the rear rotating assembly, and control the start and stop and speed of the front propulsion mechanism and the rear propulsion mechanism.

2. The pleasure boat according to claim 1, characterized in that: The bow of the cruise ship is provided with a through hole penetrating the hull; The front rotating assembly comprises: a front pylon and a front servo; The front steering gear is provided with a through first mounting hole, the first mounting hole is provided with a first rotatable tube assembly, the front steering gear is detachably arranged on the upper surface of the bow, and the first mounting hole corresponds to the bow through hole; The first rotatable tube assembly is detachably inserted with the front bracket; the set-top box and the front propulsion mechanism are respectively arranged at two ends of the front bracket, the set-top box is located above the hull, and the front propulsion mechanism is located below the hull; The control unit is electrically connected to the motor of the front steering gear to control the rotation of the first rotatable tube assembly.

3. The pleasure boat according to claim 2, characterized in that: The front propulsion mechanism comprises: a front propeller, a front solenoid valve and a front nozzle; The front propeller is arranged at one end of the front pylon located below the hull; The injection port of the front thruster is connected to the front nozzle through the front solenoid valve; The control unit is electrically connected to the motor of the front propeller and the front solenoid valve respectively to control the start and stop and the rotation speed of the front propeller and control the opening and closing of the front solenoid valve.

4. The pleasure boat according to any one of claims 1 to 3, characterized in that: The stern of the cruise ship is provided with a through hole penetrating the hull, and the rear rotating assembly comprises: a rear pylon and a rear steering gear; The rear steering gear is provided with a through second mounting hole, the second mounting hole is provided with a second rotatable tube assembly, the rear steering gear is detachably arranged on the upper surface of the stern, and the second mounting hole corresponds to the stern through hole; The second rotatable tube assembly is detachably inserted with the rear mounting bracket; The rear propulsion mechanism is arranged on the rear pylon and is located below the hull; The control unit is electrically connected to the motor of the rear steering gear to control the rotation of the second rotatable tube assembly.

5. The pleasure boat according to claim 4, characterized in that: The rear propulsion mechanism comprises: a rear propeller, a rear solenoid valve and a rear nozzle; The rear propeller is arranged at one end of the rear pylon located below the hull; The jet port of the rear thruster is connected to the rear nozzle through the rear solenoid valve; The control unit is electrically connected to the rear thruster and the rear solenoid valve respectively to control the start and stop and the rotation speed of the rear thruster and control the opening and closing of the rear solenoid valve.

6. The pleasure boat according to claim 5, characterized in that: When the front propulsion mechanism includes a front nozzle, and the rear propulsion mechanism includes a rear nozzle, the front nozzle has the same structure as the rear nozzle, and both include a water inlet pipe and two water outlet pipes, the water inlet pipe is connected to the injection port of the corresponding propeller, and the two water outlet pipes are respectively connected to the water inlet pipe, and on an extended line, the water inlet pipe is respectively perpendicular to the two water outlet pipes; The two ends of the water outlet pipes are bent toward the same side of the extension lines of the two water outlet pipes and are symmetrical along the axis of the water inlet pipe.

7. The pleasure boat according to claim 6, characterized in that: When the front propulsion mechanism includes a front nozzle, and the rear propulsion mechanism includes a rear nozzle; If the front nozzle and the rear nozzle spray water in the same direction, the cruise ship moves forward or backward; If the water spraying directions of the front nozzle and the rear nozzle are opposite to each other, the pleasure boat is in a hovering state.

8. The pleasure boat according to any one of claims 1 to 3, characterized in that: The control unit is a single-chip microcomputer, which is electrically connected to the remote control receiver and to the motors of the front rotating assembly, the rear rotating assembly, the front propulsion mechanism and the rear propulsion mechanism respectively; the remote control receiver is also used to wirelessly connect to a ground base station.

9. The pleasure boat according to any one of claims 1 to 3, characterized in that: The control unit includes: a positioning module, the positioning module is used to receive satellite positioning information; A single chip microcomputer is electrically connected to the positioning module and the remote control receiver, and is electrically connected to the motors of the front rotating assembly, the rear rotating assembly, the front propulsion mechanism, and the rear propulsion mechanism.

10. The pleasure boat according to claim 8, characterized in that: The single chip microcomputer pre-stores multiple routes and location information of each waypoint of the corresponding routes.

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