An automatic pilot vehicle for a tidal flat fishery

Abstract

The utility model provides a kind of automatic pilot car of tidal flat fishery, including the bottom plate being located at the top of track assembly, and sensor assembly is fixed in the top of bottom plate by mounting seat, the mounting seat is screwed in the top of bottom plate, universal joint is screwed in the top of mounting seat, sensor assembly is located in the top of universal joint, the utility model is cooperated by universal joint and servo motor, so that sensor assembly keeps stable in bumpy environment, realizes accurate monitoring and obstacle avoidance, reaches the effect of improving tidal flat fishery operation efficiency and reducing artificial labor intensity.

Description

Technical Field

[0001] This utility model relates to the field of tidal flat fishery technology, specifically to an automatic navigation vehicle for tidal flat fishery. Background Technology

[0002] With the acceleration of urbanization and the deepening of population aging in my country, the number of people employed in the tidal flat aquaculture sector has been decreasing year by year, and the industry is facing a serious labor shortage. At the same time, consumer demand for seafood continues to grow, and the contradiction between the shortage of employees and the growth of market demand is becoming increasingly prominent. It is urgent to improve the tidal flat aquaculture operation mode through technological means.

[0003] Currently, the industry has begun to use manually operated aquaculture or harvesting equipment, which has improved the backward and labor-intensive nature of traditional tidal flat aquaculture and harvesting methods to some extent. However, existing manually operated equipment still has obvious defects: on the one hand, when manually controlling the equipment's movement path, it is easy to miss work areas or repeat work, making it difficult to improve operational efficiency; on the other hand, the ground in tidal flat areas is soft and muddy, and the moving parts of existing equipment are prone to getting stuck in the mud, resulting in poor stability and further affecting the continuity of operations; in addition, the monitoring components on the equipment (such as ranging and camera components) are prone to instability due to equipment shaking, resulting in inaccurate monitoring data, and the monitoring range is limited with blind spots, failing to fully cover the work area; these problems together restrict the efficient development of tidal flat aquaculture operations. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model proposes an automatic navigation vehicle for tidal flat fisheries, which can guide the operation vehicle, thereby reducing the intensity of manual labor, improving work efficiency, and avoiding problems such as missed work areas and shaking of monitoring components.

[0005] The technical solution of this utility model is implemented as follows: An automated navigation vehicle for tidal flat fisheries includes a base plate located on top of a track assembly, and a sensor assembly fixed to the top of the base plate via a mounting bracket. The mounting bracket is screwed to the top of the base plate, and a universal joint is screwed to the top of the mounting bracket. The sensor assembly is located on the top of the universal joint.

[0006] In one possible implementation, the sensor assembly includes a laser ranging radar; it also includes a panoramic camera mounted on top of the laser ranging radar.

[0007] In one possible implementation, the universal joint includes a lower universal joint fork and an upper universal joint fork, and also includes a cross shaft for connecting the lower universal joint fork and the upper universal joint fork.

[0008] In one possible implementation, the cross shaft includes a central portion, from which four journals extend outward, forming two pairs of journal groups, namely a first journal group and a second journal group, wherein the axis of the first journal group is perpendicular to the axis of the second journal group and intersects at the center point of the cross shaft.

[0009] In one possible implementation, the lower universal joint fork is provided with a pair of coaxial first bearing housing holes, and the upper universal joint fork is provided with a pair of coaxial second bearing housing holes.

[0010] In one possible implementation, the universal joint further includes four sets of bearings, wherein two sets of bearings are disposed in the first bearing seat holes of the lower universal joint fork and rotatably support the first journal assembly of the cross shaft therein; the remaining two sets of bearings are disposed in the second bearing seat holes of the upper universal joint fork and rotatably support the second journal assembly of the cross shaft therein.

[0011] In one possible implementation, the top of the base plate is also provided with two motor mounting brackets spaced 90 degrees apart. Each motor mounting bracket is provided with a servo motor, namely a first servo motor and a second servo motor. The first servo motor and the second servo motor are respectively connected to the first journal group and the second journal group of the cross shaft body through pins.

[0012] In one possible implementation, the mounting base is in the shape of a hollow boss, and a rotary motor is provided inside the hollow cavity of the mounting base.

[0013] In one possible implementation, the top of the mounting base is provided with a rotating disk that rotates with it, the motor is mounted on the top of the rotating disk at a 90-degree angle, and a counterweight block that cooperates with the servo motor is provided on the top of the rotating disk.

[0014] In one possible implementation, the rotary motor is coupled to the rotating disk pin via a coupling, and the counterweights are two pieces spaced 90 degrees apart.

[0015] Compared with the prior art, the beneficial effects of this utility model are: by increasing the contact area with the mudflats through the track assembly, the pressure is reduced and the navigator vehicle is prevented from getting stuck in the mud; by adjusting the attitude of the sensor components in real time through the universal joint and servo motor, the laser ranging radar and panoramic camera remain stable in the bumpy environment, thus achieving accurate ranging and panoramic monitoring. The rotating motor drives the rotating disk to rotate, enabling the sensor components to achieve 360-degree blind-spot-free monitoring. The control module and navigation module enable automatic navigation and collaborative operation, avoiding omissions and repetitive work in the work area. This allows the navigator to operate stably in the tidal flat environment, achieving efficient and automated operation, thereby reducing the intensity of manual labor and improving work efficiency. Attached Figure Description

[0016] Figure 1 This is an isometric view of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This utility model Figure 1 AA diagram; Figure 4 This is an exploded view of the universal joint of this utility model; Figure 5 This is an isometric view of the second embodiment of the present invention.

[0017] Attached diagram labels: 1. Track assembly; 2. Base plate; 3. Mounting base; 4. Motor mounting bracket; 5. First servo motor; 6. Universal joint; 601. Lower universal joint fork; 602. Cross shaft; 603. Upper universal joint fork; 604. Bearing; 7. Laser ranging radar; 8. Panoramic camera; 9. Second servo motor; 10. Rotary motor; 11. Turning plate; 12. Counterweight. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] See Figures 1 to 4 This utility model provides an automatic navigation vehicle for tidal flat fisheries, including a base plate 2 located at the top of the track assembly 1, and a sensor assembly fixed to the top of the base plate 2 by a mounting seat 3. The mounting seat 3 is screwed to the top of the base plate 2, and a universal joint 6 is screwed to the top of the mounting seat 3. The sensor assembly is located at the top of the universal joint 6.

[0020] The sensor assembly includes a laser rangefinder 7; it also includes a panoramic camera 8 mounted on top of the laser rangefinder 7.

[0021] Universal joint 6 includes a lower universal joint fork 601 and an upper universal joint fork 603, and also includes a cross shaft 602 for connecting the lower universal joint fork 601 and the upper universal joint fork 603.

[0022] The cross shaft 602 includes a central part, and four journals extend outward from the central part. These four journals form two pairs of journal groups, namely the first journal group and the second journal group. The axis of the first journal group is perpendicular to the axis of the second journal group and intersects at the center point of the cross shaft.

[0023] The lower universal joint fork 601 is provided with a pair of coaxial first bearing housing holes, and the upper universal joint fork 603 is provided with a pair of coaxial second bearing housing holes.

[0024] The universal joint 6 also includes four sets of bearings 604. Two sets of bearings 604 are located in the first bearing seat hole of the lower universal joint fork 601 and rotatably support the first journal assembly of the cross shaft 602 therein. The remaining two sets of bearings 604 are located in the second bearing seat hole of the upper universal joint fork 603 and rotatably support the second journal assembly of the cross shaft 602 therein.

[0025] The top of the base plate 2 is also provided with two motor mounting brackets 4, which are 90 degrees apart. Each motor mounting bracket 4 is provided with a servo motor, namely a first servo motor 5 and a second servo motor 9. The first servo motor 5 and the second servo motor 9 are connected to the first journal group and the second journal group of the cross shaft body 602 respectively through pins.

[0026] In this embodiment, the track assembly 1 is further equipped with a control module, a navigation module, and a power unit. The power unit and the navigation module are respectively connected to the control module. The control module of the navigator can send instructions to the work vehicle and receive status information sent by the work vehicle, guiding the work vehicle to perform operations, thereby reducing the intensity of manual labor and improving work efficiency. The control module can also control the travel path of the work vehicle within the work area, avoiding omissions in the work area and repetitive work. The control module controls the operation of the power unit to realize the movement control of the navigator and ensure that the work vehicle stays within the perception range of the navigator. The navigation module is used to obtain the location information of the navigator, so that it can perform precise navigation according to the preset route or work requirements, ensuring efficient navigation of the navigator. Moreover, when the navigator and the work vehicle work together to complete tasks such as breeding, harvesting, and transportation, obtaining the location information of the navigator is beneficial for sharing location information between the navigator and the work vehicle. The navigator and the work vehicle can better coordinate their actions, improving work efficiency and safety.

[0027] Specifically, the navigation module includes a satellite locator and an inertial sensor. Both are used for the positioning of the lead vehicle, improving the accuracy of the calculated coordinates and ensuring precise positioning. This avoids the poor positioning accuracy issues common in tidal flats. Furthermore, the inertial sensor can provide auxiliary positioning when the satellite locator signal is weak, preventing positioning failure. Preferably, the bottom of the navigation module is equipped with a shock-absorbing protective pad (not shown in the figure). This pad reduces vibrations generated during the movement of the lead vehicle, ensuring the accuracy of the positioning information acquired by the navigation module.

[0028] The track assembly 1 serves as the walking component of the pilot vehicle, increasing the contact area with the tidal flat and reducing the pressure on the soft ground, thus preventing the pilot vehicle from getting stuck in the mud during movement. The top of the track assembly 1 is equipped with a base plate 2, which is made of high-strength metal material and has good load-bearing performance. As the basic load-bearing structure of the entire pilot vehicle, it is used to install subsequent mounting seats 3, motor mounting brackets 4, and other components, ensuring that each component will not be displaced due to vibration or force during the movement of the pilot vehicle.

[0029] Mounting base 3 is screwed onto the top of base plate 2. The screw connection not only facilitates the disassembly and subsequent maintenance of mounting base 3, but also ensures the stability of the connection between mounting base 3 and base plate 2 through the preload of the threads, preventing loosening during movement on the mudflats. Mounting base 3 is a hollow boss-shaped structure, which saves material costs while ensuring the structural strength of mounting base 3. Universal joint 6 is screwed onto the top of mounting base 3. The screw connection also facilitates the installation and replacement of universal joint 6, ensuring a reliable connection between universal joint 6 and mounting base 3, and providing a foundation for the stable support of the sensor assembly.

[0030] Universal joint 6 includes a lower universal joint fork 601, an upper universal joint fork 603, a cross shaft 602, and four sets of bearings 604. The lower universal joint fork 601 is screwed to the top of the mounting base 3, and the top of the upper universal joint fork 603 is used to install the sensor assembly. The cross shaft 602 is used to connect the lower universal joint fork 601 and the upper universal joint fork 603, enabling multi-angle rotation between them. The cross shaft 602 includes a central part, from which four journals extend outward. These four journals are evenly distributed and form two pairs of journal groups, namely the first journal group and the second journal group. The axis of the first journal group is perpendicular to the axis of the second journal group, and the two axes intersect at the center point of the cross shaft 602. This axial layout allows the cross shaft 602 to rotate around the two perpendicular axes, thereby enabling the upper universal joint fork 603 to achieve multi-dimensional angle adjustment relative to the lower universal joint fork 601, ensuring the stability of the sensor assembly when the navigator shakes during movement.

[0031] The lower universal joint fork 601 has a pair of coaxial first bearing housing holes, the axis of which is adapted to the axis of the first journal assembly of the cross shaft 602; the upper universal joint fork 603 has a pair of coaxial second bearing housing holes, the axis of which is adapted to the axis of the second journal assembly of the cross shaft 602; four sets of bearings 604 are respectively installed in the above-mentioned bearing housing holes, of which two sets of bearings 604 are installed in the first bearing housing holes of the lower universal joint fork 601, rotatably supporting the first journal assembly of the cross shaft 602 in the first bearing housing holes, and the remaining two sets of bearings 604 are installed in the second bearing housing holes of the upper universal joint fork 603, rotatably supporting the second journal assembly of the cross shaft 602 in the second bearing housing holes. The bearing 604 effectively reduces the frictional resistance between the journal of the cross shaft 602 and the bearing housing hole during rotation, ensuring smooth rotation, reducing wear on the journal and bearing housing hole, extending the service life of the universal joint 6, and ensuring stable and reliable angle adjustment of the sensor assembly.

[0032] The sensor assembly includes a laser ranging radar 7 and a panoramic camera 8. The laser ranging radar 7 is mounted on the top of the universal joint fork 603 on the universal joint 6. It is used to measure the distance between the navigator vehicle and surrounding obstacles (such as reefs, fishing nets, and other operating equipment in the mudflats) in real time, providing data support for the obstacle avoidance function of the navigator vehicle and avoiding collisions during operation. The panoramic camera 8 is mounted on the top of the laser ranging radar 7. It adopts a wide-angle lens design and can acquire 360-degree images of the mudflat environment around the navigator vehicle. Operators can view these images through a remote terminal to understand the situation of the mudflat operation area in real time, providing visual basis for the navigator vehicle's path planning and operation decisions.

[0033] The first servo motor 5 and the second servo motor 9 are respectively connected to the first journal group and the second journal group of the cross shaft body 602 via pins. Specifically, the output shaft of the first servo motor 5 is fixedly connected to one journal in the first journal group of the cross shaft body 602 via a pin, and the output shaft of the second servo motor 9 is fixedly connected to one journal in the second journal group of the cross shaft body 602 via a pin.

[0034] When the first servo motor 5 operates, its output shaft drives the first journal assembly of the cross shaft 602 to rotate around its own axis. Since the first journal assembly is supported in the first bearing seat hole of the lower universal joint fork 601 by the bearing 604, the rotation drives the entire cross shaft 602 to rotate around the axis of the first journal assembly, thereby driving the upper universal joint fork 603 and the sensor assembly at the top to rotate around this axis, realizing the angle adjustment of the sensor assembly in this direction. Similarly, when the second servo motor 9 operates, it drives the second journal assembly of the cross shaft 602 to rotate around its own axis, thereby driving the sensor assembly to rotate around the axis of the second journal assembly. Through the coordinated control of the first servo motor 5 and the second servo motor 9, the angle adjustment of the sensor assembly in two vertical directions can be realized, compensating for the deflection angle of the sensor assembly during shaking, so that the sensor assembly remains stable relative to the ground.

[0035] In actual tidal flat fishery operations, the workflow of the automatic navigation vehicle is as follows: First, the operator starts the navigation vehicle through the remote control terminal, and the track assembly 1 starts to operate, driving the navigation vehicle to move in the tidal flat area according to the preset operation path or real-time control instructions; at the same time, the first servo motor 5, the second servo motor 9 and the sensor components (laser ranging radar 7, panoramic camera 8) are initialized synchronously, the sensor components enter the monitoring state, and the servo motors are in the adjustment state.

[0036] During the navigation vehicle's operation, if it encounters uneven tidal flats that cause it to tilt, the first servo motor 5 and the second servo motor 9 receive attitude detection signals in real time (which can be obtained through the tilt sensor built into the navigation vehicle). Based on the signals, they drive the corresponding journal group of the cross shaft 602 to rotate: if the navigation vehicle tilts along the axis of the first journal group, the first servo motor 5 drives the first journal group of the cross shaft 602 to rotate, causing the sensor assembly to adjust in the opposite direction to counteract the tilt effect; if it tilts along the axis of the second journal group, the second servo motor 9 performs a similar adjustment action, ultimately ensuring that the sensor assembly always remains horizontal or at a preset monitoring angle.

[0037] During this process, the laser ranging radar 7 continuously detects the distance between the navigator and surrounding obstacles (such as reefs, fishing fences, and other operating equipment). If the distance is less than the safety threshold, it immediately sends an obstacle avoidance reminder to the remote terminal. The panoramic camera 8 simultaneously collects panoramic images of the tidal flat operation area and transmits them to the terminal in real time for the operator to view, assisting in judging the operating environment. After completing the designated tidal flat operation task (such as area patrol and equipment transportation guidance), the operator sends a stop command through the terminal. The track assembly 1 stops operating, the sensor components stop monitoring, the first servo motor 5 and the second servo motor 9 reset, and the navigator completes the operation process.

[0038] Implementation 2 In some embodiments, such as Figure 5 As shown, the mounting base 3 is a hollow boss shape, and a rotary motor 10 is provided in the hollow cavity of the mounting base 3.

[0039] The top of the mounting base 3 is provided with a rotating disk 11 that rotates with it. The motor mounting bracket 4 is located on the top of the rotating disk 11 and is 90 degrees apart. The top of the rotating disk 11 is provided with a counterweight block 12 that cooperates with the servo motor.

[0040] The rotary motor 10 is connected to the rotating disk 11 via a coupling and a pin. There are two counterweights 12, which are spaced 90 degrees apart.

[0041] In this embodiment, the top of the mounting base 3 is also provided with a rotating disk 11 that rotates with it. The rotating disk 11 adopts a circular structure. The contact surface between the bottom of the rotating disk 11 and the top of the mounting base 3 is precision machined to ensure smooth rotation between the two. At the same time, the sealing performance is enhanced by the sealing ring and other structures to prevent mud and seawater in the tidal flat from entering the interior of the mounting base 3 and affecting the normal operation of the internal rotating motor 10.

[0042] Two motor mounting brackets 4 are provided at the top of the rotating disk 11. The two motor mounting brackets 4 are distributed at 90 degrees apart. This layout is compatible with the vertical distribution of the two pairs of journal groups of the cross shaft 602, which facilitates the subsequent connection of the servo motor to the cross shaft 602. Each motor mounting bracket 4 is equipped with a servo motor at its top, namely the first servo motor 5 and the second servo motor 9. The motor mounting bracket 4 is fixed to the top of the rotating disk 11 by welding or screwing, and has sufficient structural strength to withstand the vibration and torque generated when the servo motor is working.

[0043] The top of the rotating disk 11 is also equipped with a counterweight 12 that works with the servo motor. The counterweight 12 is made of high-density metal material and has a large weight, which can effectively balance the weight distribution of the components at the top of the rotating disk 11. There are two counterweights 12, and the two counterweights 12 are distributed at the top of the rotating disk 11 at a 90-degree interval. Together with the two motor mounting brackets 4 and the servo motor, which are set at a 90-degree interval, they form a symmetrical weight distribution structure. This ensures that the weight is evenly distributed in all directions at the top of the rotating disk 11, and that the rotating disk 11 remains horizontal and stable during rotation, avoiding tilting and vibration. This provides a guarantee for the stable operation of the sensor components and the normal operation of the rotating motor 10.

[0044] The hollow cavity of the mounting base 3 houses the rotary motor 10. The rotary motor 10 is designed to be waterproof and dustproof, making it suitable for the humid and muddy environment of the tidal flats and preventing the internal components of the motor from getting damp or damaged by mud and sand. The output shaft of the rotary motor 10 is connected to the rotating disk 11 via a coupling. The coupling can compensate for the installation error between the output shaft of the rotary motor 10 and the rotating disk 11, ensuring the stability of power transmission and reducing the impact of vibration on the connection structure.

[0045] When the rotary motor 10 is working, its output shaft drives the rotating disk 11 to rotate around the axis of the mounting base 3 through the coupling. Since the motor mounting bracket 4, the first servo motor 5, the second servo motor 9, the universal joint 6 and the sensor assembly are all mounted on the rotating disk 11, the rotation of the rotating disk 11 will drive these components to rotate together, thereby realizing 360-degree rotation monitoring of the sensor assembly, completely eliminating monitoring blind spots, and ensuring full coverage of the tidal flat operation area.

[0046] In this embodiment, the overall workflow of the automatic navigation vehicle for tidal flat fisheries is as follows: First, the operator starts the navigation vehicle through the remote control terminal, the track assembly 1 operates, and the navigation vehicle moves along the tidal flat operation path; at the same time, the rotary motor 10, the first servo motor 5, the second servo motor 9 and the sensor components complete the initialization, the rotary motor 10 enters the standby state, and the sensor components start the monitoring function.

[0047] During the journey, if the navigator tilts due to the undulations of the mudflats, the first servo motor 5 and the second servo motor 9 drive the first journal group and the second journal group of the cross shaft 602 to rotate according to the signal fed back by the tilt sensor, thereby adjusting the attitude of the sensor assembly in real time to ensure that it always remains horizontal or at a preset angle.

[0048] Meanwhile, operators can send rotation commands to the rotary motor 10 via the terminal according to monitoring needs. The rotary motor 10 drives the rotating disk 11 to rotate around the axis of the mounting base 3 through the coupling. The rotating disk 11 then drives the motor mounting frame 4, servo motor, universal joint 6 and sensor components to rotate synchronously, realizing 360-degree all-round monitoring of the sensor components. The laser ranging radar 7 continuously scans the distance of surrounding obstacles, and the panoramic camera 8 continuously collects images of the mudflats in all directions. The data from both are transmitted synchronously to the terminal. If the laser ranging radar 7 detects a nearby obstacle in a certain direction, the terminal immediately triggers an obstacle avoidance reminder. Operators can adjust the driving direction of the navigator vehicle in combination with the panoramic images. After completing the mudflat operation (such as large-scale environmental inspection, multi-area equipment guidance), the operator sends a stop command. The track assembly 1 stops, the rotary motor 10 drives the rotating disk 11 to reset, the first servo motor 5 and the second servo motor 9 drive the sensor components to reset their attitude, the sensor components stop monitoring, and the navigator vehicle ends the current work process.

[0049] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

[0050] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. An automated guided vehicle for tidal flat fisheries, comprising a base plate disposed on top of a track assembly, and a sensor assembly fixed to the top of the base plate via mounting brackets, characterized in that: The mounting base is screwed to the top of the base plate, and a universal joint is screwed to the top of the mounting base. The sensor assembly is located on the top of the universal joint.

2. The automatic navigation vehicle for tidal flat fisheries according to claim 1, characterized in that, The sensor assembly includes a laser ranging radar; it also includes a panoramic camera mounted on top of the laser ranging radar.

3. The automatic navigation vehicle for tidal flat fisheries according to claim 2, characterized in that, The universal joint includes a lower universal joint fork and an upper universal joint fork, and also includes a cross shaft for connecting the lower universal joint fork and the upper universal joint fork.

4. The automatic navigation vehicle for tidal flat fisheries according to claim 3, characterized in that, The cross shaft includes a central part, and four journals extend outward from the central part. These four journals form two pairs of journal groups, namely the first journal group and the second journal group. The axis of the first journal group is perpendicular to the axis of the second journal group and intersects at the center point of the cross shaft.

5. The automatic navigation vehicle for tidal flat fisheries according to claim 4, characterized in that, The lower universal joint fork is provided with a pair of coaxial first bearing seat holes, and the upper universal joint fork is provided with a pair of coaxial second bearing seat holes.

6. The automatic navigation vehicle for tidal flat fisheries according to claim 5, characterized in that, The universal joint also includes four sets of bearings, of which two sets of bearings are located in the first bearing seat hole of the lower universal joint fork and rotatably support the first journal group of the cross shaft body therein; the remaining two sets of bearings are located in the second bearing seat hole of the upper universal joint fork and rotatably support the second journal group of the cross shaft body therein.

7. The automatic navigation vehicle for tidal flat fisheries according to claim 6, characterized in that, The top of the base plate is also provided with two motor mounting brackets spaced 90 degrees apart. Each motor mounting bracket is equipped with a servo motor, namely a first servo motor and a second servo motor. The first servo motor and the second servo motor are connected to the first journal group and the second journal group of the cross shaft body respectively through pins.

8. The automatic navigation vehicle for tidal flat fisheries according to claim 7, characterized in that, The mounting base is in the shape of a hollow boss, and a rotary motor is installed inside the hollow cavity of the mounting base.

9. The automatic navigation vehicle for tidal flat fisheries according to claim 8, characterized in that, The mounting base has a rotating disk at its top that rotates with it. The motor is mounted on the top of the rotating disk at a 90-degree angle. A counterweight block that cooperates with the servo motor is located at the top of the rotating disk.

10. The automatic navigation vehicle for tidal flat fisheries according to claim 9, characterized in that, The rotary motor is connected to the rotating disk pin via a coupling, and there are two counterweights spaced 90 degrees apart.

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