Intelligent unmanned ship with autonomous obstacle avoidance function

Abstract

The utility model belongs to the field of unmanned ships, and discloses an intelligent unmanned ship with an automatic obstacle avoidance function, which comprises a ship body, a power module, a sensor data acquisition module, a communication module and a control module are arranged on the ship body, and the control module is arranged in an inner cabin of the ship body. The power module, the sensor data acquisition module and the communication module are respectively connected with the control module; the power module comprises electric propellers and a battery, the electric propellers are installed at the rear end of the bottom of the ship body, and the battery is installed in an inner cabin of the ship body. According to the scheme, the advanced visual sensor, the laser obstacle avoidance radar and other navigation technologies are utilized, and the intelligent unmanned ship can sense the surrounding environment in real time, automatically recognize and avoid obstacles and guarantee navigation safety. The autonomous navigation and path planning capability is especially suitable for complex or rare water areas.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vessels, and more specifically, to intelligent unmanned vessels with autonomous obstacle avoidance capabilities. Background Technology

[0002] With the continuous development of technology, unmanned surface vessel (USV) technology has been widely applied in various fields such as marine monitoring, water mapping, and resource exploration. USVs can perform various tasks in complex aquatic environments and have advantages such as high efficiency, flexibility, and low cost.

[0003] However, traditional unmanned surface vessels (USVs) often face many challenges during navigation. For example, they cannot react to obstacles in a timely and accurate manner when they encounter them, which can easily lead to collisions, affect the smooth progress of missions, or even damage equipment. At the same time, they also have certain limitations in underwater terrain detection and data collection, making it difficult to meet the needs of high-precision mapping and exploration. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing an intelligent unmanned vessel with autonomous obstacle avoidance capabilities.

[0005] To solve the above problems, the present invention adopts the following technical solution:

[0006] An intelligent unmanned vessel with autonomous obstacle avoidance capability includes a hull, on which a power module, a sensor data acquisition module, a communication module and a control module are installed. The control module is located in the inner cabin of the hull, and the power module, sensor data acquisition module and communication module are respectively connected to the control module.

[0007] The power module includes an electric thruster and a battery. The electric thruster is installed at the bottom rear end of the hull, and the battery is installed inside the hull.

[0008] The sensor data acquisition module includes a visual sensor, a laser obstacle avoidance radar, and a single-beam depth sounder. A mounting base is fixedly installed on the top of the hull, and the visual sensor and the laser obstacle avoidance radar are respectively mounted on the mounting base. The single-beam depth sounder is installed on the bottom of the hull.

[0009] The communication module is installed on the top of the hull and is used for data transmission and remote control between the unmanned vessel and the remote control center.

[0010] As a further description of the above technical solution: the communication module includes a GNSS aviation antenna, a 4G antenna, an RC antenna, a Radio data transmission antenna, and an RTK antenna. The GNSS aviation antenna is installed on the top of the hull near the bow, and the 4G antenna, RC antenna, Radio data transmission antenna, and RTK antenna are installed on the top of the hull near the stern.

[0011] As a further description of the above technical solution: the electric propulsion is a dual-pump jet ducted propulsion, and the electric propulsion is connected to the hull in a semi-embedded manner.

[0012] As a further description of the above technical solution: a protective net is installed at the bottom of the hull and around the electric propulsion unit, and the protective net is a blade-type mesh structure.

[0013] As a further description of the above technical solution: the visual sensor includes a three-body camera and a hemispherical camera.

[0014] As a further description of the above technical solution: the number of batteries is two, and the battery capacity is 22000mAh.

[0015] Compared with the prior art, the advantages of the present invention are:

[0016] I. This solution utilizes advanced visual sensors, laser obstacle avoidance radar, and other navigation technologies, enabling intelligent unmanned surface vessels to perceive their surroundings in real time, automatically identify and avoid obstacles, and ensure navigational safety. This autonomous navigation and path planning capability is particularly suitable for complex or sparsely populated waters.

[0017] Second, by integrating a single-beam echo sounder and other high-precision sensors, this solution enables unmanned vessels to conduct precise underwater topographic surveys and environmental data collection, which is of great value for scientific research, resource development, and environmental protection.

[0018] Third, this solution utilizes a highly efficient communication module, enabling the unmanned surface vessel to exchange data with a remote control center in real time, supporting remote monitoring and control. This not only enhances operational flexibility but also significantly reduces the need for human resources. Attached Figure Description

[0019] Figure 1 This is one of the structural schematic diagrams of this utility model;

[0020] Figure 2 This is the second structural schematic diagram of the present invention;

[0021] Figure 3 This is an exploded view of the present invention;

[0022] Figure 4This is a system diagram of the present invention.

[0023] Description of the numbers in the figure:

[0024] 1. Hull; 2. Electric propulsion; 3. Battery; 4. Visual sensor; 41. Triplane camera; 42. Dome camera; 5. Laser obstacle avoidance radar; 6. Single-beam depth sounder; 7. Mounting base; 8. GNSS aviation antenna; 9. 4G antenna; 10. RC antenna; 11. Radio data transmission antenna; 12. RTK antenna; 13. Protective netting. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0026] Please see Figure 1-4 The intelligent unmanned surface vessel (USV) with autonomous obstacle avoidance capabilities includes a hull (1) made of high-molecular-weight polyester carbon fiber. Polyester carbon fiber is a high-performance, high-strength, lightweight material that ensures hull strength while reducing weight. Based on a modern and highly flexible design concept, the USV adopts a modular design to improve its maintainability, scalability, and adaptability. The hull (1) mainly houses a power module, a sensor data acquisition module, a communication module, and a control module. The control module is located within the hull's internal compartment, and the power module, sensor data acquisition module, and communication module are connected to the control module.

[0027] The power module includes an electric thruster 2 and a battery 3. The electric thruster 2 is installed at the rear bottom of the hull 1, while the battery 3 is installed inside the hull 1. The electric thruster 2 is a dual-pump jet ducted thruster, semi-embedded to the hull 1. Its ducted structure encloses the propeller, protecting the blades from weed entanglement while improving propulsion efficiency and optimizing water flow guidance. Two batteries 3 are used, each with a capacity of 22000mAh. The use of the dual-pump jet ducted thruster and high-capacity batteries provides strong power support and long-duration endurance. The powerful pump-jet system generates high-speed water flow, providing ample power for the unmanned surface vessel, enabling rapid and flexible steering and precise navigation.

[0028] A protective net 13 is installed at the bottom of the hull 1, surrounding the electric propeller 2. The protective net 13 has a blade-type mesh structure, which facilitates water flow and reduces resistance. It is used to cover the propeller and prevent it from being affected by aquatic plants and fishing nets, effectively reducing the chance of it getting entangled in aquatic plants by 60%. The protective net 13 is made of corrosion-resistant material, which ensures its durability in the underwater environment.

[0029] The sensor data acquisition module includes a visual sensor 4, a laser obstacle avoidance radar 5, and a single-beam depth sounder 6. A mounting base 7 is fixedly installed on the top of the hull 1, with the visual sensor 4 and laser obstacle avoidance radar 5 respectively mounted on the mounting base 7. The single-beam depth sounder 6 is installed on the bottom of the hull 1. The visual sensor 4 includes a tripod camera 41 and a hemispherical camera 42, used for surface monitoring, target tracking, and image recognition, capable of 360° panoramic video. The laser obstacle avoidance radar 5 enables autonomous collision avoidance, with an obstacle avoidance range of 14°×112°, a vehicle range of 0.1m to 12m, and an accuracy of ±5cm (0.1m to 5m) and ±1% (5m to 12m), suitable for complex aquatic environments, effectively improving the environmental adaptability of the unmanned surface vessel (USV). The single-beam depth sounder 6 can operate in complex near-shore shallow waters such as aquaculture areas, shoals, and port areas. The USV can enter these areas to acquire high-precision water depth and topographic data, providing data support for marine ecological protection and restoration, marine ranching construction, and marine disaster prevention.

[0030] The communication module is installed on the top of hull 1 and includes a GNSS aerial antenna 8, a 4G antenna 9, an RC antenna 10, a radio data transmission antenna 11, and an RTK antenna 12. The GNSS aerial antenna 8 is installed on the top of hull 1 near the bow, while the 4G antenna 9, RC antenna 10, radio data transmission antenna 11, and RTK antenna 12 are installed on the top of hull 1 near the stern. The communication module employs a redundant design to improve the reliability and fault tolerance of communication and positioning. For communication, data transmission and remote control between the unmanned surface vessel (USV) and the remote control center are achieved through 4G network protocols, RC antennas, and data transmission antennas. For positioning, based on the RTK real-time precise positioning antenna and the centimeter-level precision real-time dynamic positioning aerial antenna GNSS, the USV can achieve precise positioning and orientation within ≤10cm, providing support for the USV to accurately complete operational tasks in various complex scenarios.

[0031] Furthermore, the control module employs a modular design with different control functions and a dual-drive independent control scheme, separating remote control and computer control. This allows the remote controller to independently control the unmanned vessel. The control module enables autonomous navigation and mission execution, reducing the need for manual operation and improving operational efficiency and safety.

[0032] The above description is merely a preferred embodiment of this utility model; however, the protection scope of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in this utility model, based on the technical solution and its improved concept, should be included within the protection scope of this utility model.

Claims

1. An intelligent unmanned vessel with autonomous obstacle avoidance function, comprising a hull (1), characterized in that: The hull (1) is equipped with a power module, a sensor data acquisition module, a communication module and a control module. The control module is located in the inner cabin of the hull (1). The power module, the sensor data acquisition module and the communication module are respectively connected to the control module. The power module includes an electric thruster (2) and a battery (3). The electric thruster (2) is installed at the bottom rear end of the hull (1), and the battery (3) is installed in the inner cabin of the hull (1). The sensor data acquisition module includes a visual sensor (4), a laser obstacle avoidance radar (5) and a single-beam depth sounder (6). A mounting base (7) is fixedly installed on the top of the hull (1). The visual sensor (4) and the laser obstacle avoidance radar (5) are respectively installed on the mounting base (7), and the single-beam depth sounder (6) is installed on the bottom of the hull (1). The communication module is installed on the top of the hull (1) and is used for data transmission and remote control between the unmanned vessel and the remote control center.

2. The intelligent unmanned vessel with autonomous obstacle avoidance function according to claim 1, characterized in that: The communication module includes a GNSS aerial antenna (8), a 4G antenna (9), an RC antenna (10), a Radio data transmission antenna (11), and an RTK antenna (12). The GNSS aerial antenna (8) is installed on the top of the hull (1) near the bow, and the 4G antenna (9), RC antenna (10), Radio data transmission antenna (11), and RTK antenna (12) are installed on the top of the hull (1) near the stern.

3. The intelligent unmanned vessel with autonomous obstacle avoidance function according to claim 1, characterized in that: The electric propulsion unit (2) is a dual-pump jet ducted propulsion unit, and the electric propulsion unit (2) is connected to the hull (1) in a semi-embedded manner.

4. The intelligent unmanned vessel with autonomous obstacle avoidance function according to claim 3, characterized in that: A protective net (13) is installed at the bottom of the hull (1) and around the electric propulsion unit (2). The protective net (13) is a blade-type mesh structure.

5. The intelligent unmanned vessel with autonomous obstacle avoidance function according to claim 1, characterized in that: The visual sensor (4) includes a three-body camera (41) and a hemispherical camera (42).

6. The intelligent unmanned vessel with autonomous obstacle avoidance function according to claim 1, characterized in that: The number of batteries (3) is two, and the capacity of the batteries (3) is 22000mAh.

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