CN109131772B

CN109131772B - Unmanned ship detection mechanism

Info

Publication number: CN109131772B
Application number: CN201810801502.2A
Authority: CN
Inventors: 不公告发明人
Original assignee: PowerVision Robot Inc
Current assignee: Zhendi Technology Co., Ltd
Priority date: 2018-07-20
Filing date: 2018-07-20
Publication date: 2021-04-27
Anticipated expiration: 2038-07-20
Also published as: CN109131772A

Abstract

The embodiment of the invention provides an unmanned ship detection mechanism, which comprises: the device comprises a first fixed rod, a driving motor, a first gear, a second fixed rod and a detection device, wherein the detection device comprises a detection main body and a wireless communication module electrically connected with the detection main body; one end of the first fixing rod is fixed on the unmanned ship, and the other end of the first fixing rod is fixed with the driving motor; the driving motor is electrically connected with the controller, and an output shaft of the driving motor fixes one end of the second fixing rod through the first gear so as to control the second fixing rod to rotate; the other end of the second fixing rod is fixed with the detection device, and the detection device is connected with the unmanned ship main controller through the wireless communication module.

Description

Unmanned ship detection mechanism

Technical Field

The invention relates to the technical field of unmanned ships, in particular to an unmanned ship detection mechanism.

Background

When the unmanned ship navigates on the water surface, obstacles such as submerged reefs and aquatic weeds are generally required to be detected, so that the unmanned ship can safely navigate by bypassing the obstacles. Obstacle avoidance devices in the traditional sense are generally realized through ultrasound and infrared, but the technologies cannot detect obstacles such as submerged reefs and aquatic weeds in many times, so that the unmanned ship is damaged by striking reefs or the motor winds the aquatic weeds.

Therefore, it is necessary to provide a technique capable of detecting the above-described obstacle.

Disclosure of Invention

In view of this, an embodiment of the present invention provides an unmanned ship detection mechanism, which is used for detecting obstacles such as reef, aquatic plants, and the like, and ensuring safe navigation of the unmanned ship.

The embodiment of the invention provides an unmanned ship detection mechanism, which comprises: the device comprises a first fixing rod, a driving motor, a first gear, a second fixing rod and a detection device, wherein the detection device comprises a detection main body;

one end of the first fixing rod is fixed on the unmanned ship, and the other end of the first fixing rod is fixed with the driving motor; the driving motor is electrically connected with the unmanned ship main controller, and an output shaft of the driving motor fixes one end of the second fixing rod through the first gear so as to control the second fixing rod to rotate; and the other end of the second fixing rod is fixed with the detection device.

Optionally, the detection main body is a sonar.

Optionally, the output shaft of driving motor include can with the coaxial dwang of transporting of output shaft, the dwang passes the centre bore of first gear will the one end of second dead lever is fixed.

Optionally, the driving motor further comprises a second gear having the same center as the output shaft, the teeth of the second gear are located on the inner circumference of the second gear, and the first gear is located in the second gear and is meshed with the second gear; wherein the first gear rotates along an inner circumference of the second gear when the output shaft of the driving motor rotates.

Optionally, the detection mechanism is disposed at a bottom or a side of the unmanned ship.

Optionally, the first fixing rod is provided with a channel for arranging a lead, and the unmanned ship main controller is electrically connected with the driving motor through the lead.

Optionally, the detection device further includes a wireless communication module electrically connected to the detection main body, and the detection device is in communication connection with the unmanned ship main controller through the wireless communication module.

Compared with the prior art, when the unmanned ship carries out underwater topography detection and fish condition detection, the main controller of the unmanned ship can send a first detection instruction to control the driving motor to rotate to drive the fixed rod to enable the sonar detection surface to be aligned to a corresponding position, and at the moment, the included angle theta between the central line of the second fixed rod and the central line of the first fixed rod is smaller than 90 degrees.

When unmanned ship carried out autonomic travel, control driving motor rotated, unmanned ship owner controller can send the second and survey the instruction, made the sonar survey face up, surveyed obstacles such as submerged reef or pasture and water of unmanned ship traffic direction, and theta is greater than 90 this moment.

Therefore, by using the method provided by the embodiment of the invention, underwater obstacles such as submerged reefs, aquatic weeds and the like can be detected, and water obstacles can also be detected.

When an obstacle is detected in the driving direction of the unmanned ship, the unmanned ship main controller sends an adjusting instruction to adjust the direction of the bow of the unmanned ship, the unmanned ship main controller repeatedly judges whether a detection main body receives a sonar signal or not, and if the sonar signal is received, the adjusting instruction is sent to adjust the direction of the bow of the unmanned ship until the sonar signal is not received. Therefore, the embodiment of the invention can enable the unmanned ship to avoid the detected obstacles when the unmanned ship runs.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a detection mechanism of an unmanned aerial vehicle according to some embodiments of the present invention;

fig. 2 is a schematic structural diagram of a detection mechanism of an unmanned aerial vehicle according to some other embodiments of the present invention;

FIG. 3 is a schematic diagram of a gear drive configuration according to certain embodiments of the present invention;

FIG. 4 is a schematic diagram of a gear drive provided in accordance with certain other embodiments of the present invention;

FIG. 5 is a schematic view of an initial state configuration of a gear drive according to certain embodiments of the present invention;

fig. 6 is a flow chart of a method for detecting a drone according to some embodiments of the invention;

fig. 7 is a flowchart of a method for detecting a drone according to some other embodiments of the present invention.

Fig. 8 is a flowchart of a method for detecting a drone according to some other embodiments of the present invention.

1-Main controller

2-first fixing rod

3-drive motor

4-second fixing rod

5-detection device

6-second gear

7-first gear

8-rotating rod

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used to describe … … in embodiments of the present invention, these … … should not be limited to these terms. These terms are used only to distinguish … …. For example, the first … … can also be referred to as the second … … and similarly the second … … can also be referred to as the first … … without departing from the scope of embodiments of the present invention.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.

Example 1

Referring to fig. 1 and 2, an embodiment of the invention provides an unmanned ship detection mechanism, and an unmanned ship includes the unmanned ship detection mechanism and a main controller 1. This unmanned ship detection mechanism includes: the device comprises a first fixing rod 2, a driving motor 3, a first gear, a second fixing rod 4 and a detection device 5.

One end of a first fixing rod 2 is fixed on the unmanned ship, and the other end of the first fixing rod is fixed with a driving motor 3; the driving motor 3 is electrically connected with the main controller 1, and an output shaft of the driving motor 3 fixes one end of the second fixing rod 4 through the first gear 6, thereby controlling the second fixing rod 4 to rotate. In the embodiment, the first fixing lever 4 is provided with a passage in which a wire is arranged, and the main controller 1 is electrically connected with the driving motor 3 through a wire, thereby transmitting an electric signal for controlling the driving motor 3 through a wire. Specifically, the driving motor 3 may be a stepping motor, a servo motor or other motor unit capable of driving the output shaft to rotate. In the embodiment of the present invention, the first fixing rod 2 may be fixedly connected with the unmanned ship in a permanent or detachable manner.

The other end of the second fixing rod 4 is fixed with a detection device 5, and the detection device 5 comprises a detection body. In an embodiment, the detection body may be a sonar or other detector suitable for use underwater. The detector 5 is communicably connected to the main controller 1 so that the main controller 1 can transmit a sonar on/off signal to control the detector main body of the on/off detector 5. In an embodiment, the detecting device 5 may further include a wireless communication module electrically connected to the detecting body, so that the detecting device 5 is connected to the main controller 1 through the wireless communication module, and the main controller 1 may transmit a sonar on/off signal to control the detecting body of the on/off detecting device. Specifically, the wireless communication module may be a WIFI communication module, a bluetooth communication module, or a Zigbee communication module, it should be understood that the wireless communication module only needs to be capable of realizing communication connection between the detection device 5 and the main controller 1, and the embodiment of the present invention does not limit a specific communication protocol. In other embodiments, the detection device 5 may be electrically connected to the main controller 1, for example, through a wire similar to that used for the driving motor 3 described above.

Specifically, referring to fig. 3 and 4, the output shaft of the driving motor 3 includes a rotating rod 8 capable of coaxially transferring with the output shaft, the rotating rod 8 passes through the central hole of the first gear to fix one end of the second fixing rod 4, the driving motor 3 further includes a second gear 6 having the same center as the output shaft, the teeth of the second gear 6 are located on the inner circumference of the second gear 6, and the first gear 7 is located in the second gear 6 and is engaged with the second gear; wherein the first gear 7 rotates along the inner circumference of the second gear 6 when the output shaft of the driving motor 3 rotates. As can be seen from fig. 1 to 4, when the first gear 7 rotates, the angle θ between the center line of the second fixing lever 4 and the center line of the first fixing lever 2 can be changed.

When unmanned ship carries out submarine topography detection, fish condition and surveys, main control unit 1 can send first detection instruction, and control driving motor 3 rotates and drives dead lever 4 and make sonar detection face aim at corresponding position, as shown in fig. 3, 4 central lines of second dead lever and 2 central lines of first dead lever contained angle theta are less than 90 this moment. In an embodiment, an initial state of an included angle θ between a central line of the second fixing rod 4 and a central line of the first fixing rod 2 may be as shown in fig. 5, where θ is 0 °, and the first detection command includes a first rotation direction and a first rotation angle to control the output shaft of the driving motor to rotate by the first rotation angle along the first rotation direction. The first rotation direction is counterclockwise, and the first rotation angle is 0 ° to 90 °, for example, 10 °, 20 °, 30 °, 45 °, 50 °, 60 °, 70 °, 80 °, 90 °. Through first detection instruction, main controller 1 can control driving motor 3's output shaft counter-clockwise rotation first turned angle (for example rotate 60 °), the state after the rotation is shown in fig. 3, then can make sonar detection face aim at the bottom, carry out underwater condition detection such as submarine topography detection, fish feelings, submerged reef, pasture and water. In this case, main controller 1 can also handle the sonar signal that receives, convert it into sonar image to transmit sonar image to the display interface, so, the user just can watch the scene under water through the display interface.

When unmanned ship carried out autonomic travel, main control unit 1 can send the second and survey the instruction and control driving motor 3 and rotate, makes sonar survey the face towards the place ahead or top, surveys obstacles such as submerged reef or pasture and water of unmanned ship traffic direction, as shown in fig. 4, and 4 central lines of second dead lever and 2 central lines of first dead lever contained angle theta are greater than 90 this moment. In an embodiment, an initial state of an included angle θ between a central line of the second fixing rod 4 and a central line of the first fixing rod 2 may be as shown in fig. 5, where θ is 0 °, and the second detection command includes a second rotation direction and a second rotation angle to control the output shaft of the driving motor 3 to rotate by the second rotation angle along the second rotation direction. The second rotation direction is clockwise, the second rotation angle is 0 ° to 90 °, and optionally, may be 10 °, 20 °, 30 °, 45 °, 50 °, 60 °, 70 °, 80 °, and 90 °. Through the second detection instruction, main controller 1 can control the output shaft of driving motor 3 to rotate clockwise the second turned angle (for example, rotate 60 °), and the state after the rotation is as shown in fig. 4, then can make sonar detection face up, carry out the detection of aquatic obstacle. In an embodiment, the detection mechanism may be provided at the bottom of the unmanned ship in order to facilitate detection of underwater conditions. Accordingly, in other implementations, the detection mechanism may be provided on the hull or side of the unmanned ship in order to facilitate detection of the marine condition.

Example 2

In another embodiment, shown in fig. 6, there is provided a method for detecting an unmanned ship, where the unmanned ship includes a main controller, a first fixing rod, a second fixing rod, a driving motor connected to the first fixing rod and the second fixing rod, and a detecting device. The unmanned ship detection method comprises the following steps:

step S601: a probing instruction is received.

The detection instruction can be sent by the active control of a user, or can be sent by the unmanned ship. Specifically, the main controller of the unmanned ship sends a sonar opening/closing signal to control the opening/closing of the detection body of the detection device.

In an embodiment, the unmanned ship can receive an on/off instruction of the wireless control device to control the unmanned ship main controller to send a sonar on/off signal. Specifically, when the unmanned ship receives an opening instruction, the unmanned ship main controller sends a sonar opening signal; when the unmanned ship receives the closing instruction, the unmanned ship main controller sends a sonar closing signal.

In one case, main control unit sends sonar opening signal, and the detection main part of detection device is opened in control to the realization is to the detection of aquatic or the underwater condition. In another case, the unmanned ship main controller sends a sonar closing signal to control the closing of the detection body of the detection device to close the detection of the underwater or underwater situation.

Step S602: and controlling the driving motor to rotate according to the detection instruction, so as to drive the second fixing rod to rotate.

In an embodiment, the detection command includes a rotation direction and a rotation angle to control the output shaft of the driving motor to rotate the second fixing rod along the rotation direction by the rotation angle. And the rotating direction and the rotating angle are determined according to the detection command.

Specifically, when the detection instruction is environmental detection, for example, submarine topography detection, fish condition are surveyed, main control unit control driving motor rotates in order to drive the dead lever and make sonar detection face aim at corresponding position, as shown in fig. 3. At the moment, the detection command comprises a first rotating direction and a first rotating angle so as to control the output shaft of the driving motor to rotate the first rotating angle along the first rotating direction. The first rotation direction is a counterclockwise direction, and the first rotation angle is 0 ° to 90 °, for example, may be 10 °, 20 °, 30 °, 45 °, 50 °, 60 °, 70 °, 80 °, 90 °. When the detection instruction is for obstacle detection, the main controller can control the driving motor to rotate, so that the sonar detection surface faces the front or the upper part, and obstacles such as submerged reefs or aquatic weeds in the traveling direction of the unmanned ship are detected, as shown in fig. 4. The detection instruction may include a second rotation direction and a second rotation angle to control the output shaft of the driving motor to rotate by the second rotation angle along the second rotation direction. The second rotation direction is clockwise, the second rotation angle is 0 ° to 90 °, and optionally, may be 10 °, 20 °, 30 °, 45 °, 50 °, 60 °, 70 °, 80 °, and 90 °.

In an embodiment, the step of controlling the rotation of the driving motor according to the detection instruction and further driving the second fixing rod to rotate further includes: judging an included angle between the first fixed rod and the second fixed rod; when the clamping corners of the first fixing rod and the second fixing rod are at the preset threshold value, the output shaft of the driving motor is controlled to stop rotating. The predetermined threshold is determined according to the type of the probing instruction.

Specifically, when the detection instruction is environment detection, the preset threshold value of the included angle theta between the central line of the second fixed rod and the central line of the first fixed rod is smaller than 90 degrees, so that the sonar detection surface can be maintained at a position capable of detecting underwater scenes under a ship, such as underwater topography, landscape or creatures. When the detection instruction is for detecting the obstacle, the preset threshold value of the included angle theta between the central line of the second fixed rod and the central line of the first fixed rod is larger than 90 degrees, so that the sonar detection surface faces the front or the direction of the travelling route to detect the obstacle in the water.

Step S603: sonar signals are received by the probe body.

Step S604: judging the type of a detected object corresponding to the sonar signal according to the detection instruction and the sonar signal;

step S605: and controlling the unmanned ship to execute corresponding operation according to the type of the detected object.

Specifically, in step S604 and step S605, when the detection command is the obstacle detection, it is determined whether or not the type of the object to be detected corresponding to the sonar signal is an obstacle. And when the type of the detected object is an obstacle, sending an adjusting instruction to adjust the moving track of the unmanned ship. Wherein the adjustment instruction includes direction and angle of adjustment, and the step of adjusting unmanned ship's movement track still includes: and adjusting the unmanned ship to the adjustment angle along the adjustment direction. The method comprises the steps of adjusting along the direction of an unmanned ship bow, adjusting along the direction of a ship stern and adjusting along the direction of a ship body. And further, the navigation track of the unmanned ship is changed to avoid the obstacle.

Further, when detecting that there is the barrier in the unmanned ship direction of travel, main control unit repeatedly carries out the judgement and surveys the main part and whether receive the sonar signal, if receive the sonar signal, sends the adjustment instruction, adjusts the step of unmanned ship's direction of travel, until not receiving the sonar signal. Therefore, the embodiment of the invention can enable the unmanned ship to avoid the detected obstacles when the unmanned ship runs.

When the detection instruction is environment detection, the type of the detected object corresponding to the sonar signal is judged to be a terrain or a fish school. When the detection instruction is environment detection, the main controller processes the received sonar signals and converts the sonar signals into sonar images, and the sonar images are transmitted to the display interface. The display interface can be a remote device which is in communication connection with the unmanned ship in a wireless or wired mode, and can also be arranged on the unmanned ship.

Therefore, by using the method provided by the embodiment of the invention, underwater obstacles such as submerged reefs, aquatic weeds and the like can be detected, and water obstacles can also be detected. When an obstacle is detected in the driving direction of the unmanned ship, the unmanned ship main controller sends an adjusting instruction to adjust the moving track of the unmanned ship, the unmanned ship main controller repeatedly judges whether a detection main body receives a sonar signal, and if the sonar signal is received, the adjusting instruction is sent to adjust the moving track of the unmanned ship until the sonar signal is not received. Therefore, the embodiment of the invention can enable the unmanned ship to avoid the detected obstacles when the unmanned ship runs.

Example 3

Based on the same inventive concept, please refer to fig. 7, an embodiment of the present invention provides a detection method for an unmanned ship, wherein the unmanned ship comprises a detection mechanism arranged on a main body of the unmanned ship, and the detection mechanism is shown in the previous embodiment. The unmanned ship also comprises a main controller which is mainly used for controlling the navigation and operation of the unmanned ship.

The unmanned ship detection method provided by the embodiment of the invention mainly comprises the following steps.

Step 701, when the main controller sends a first detection instruction, controlling an output shaft of the driving motor to rotate so as to drive the second fixing rod to rotate, and when an included angle between the first fixing rod and the second fixing rod is smaller than 90 degrees, controlling the output shaft of the driving motor to stop rotating; and/or when the unmanned ship main controller sends a second detection instruction, the output shaft of the driving motor is controlled to rotate, so that the second fixing rod is driven to rotate, and when the included angle between the first fixing rod and the second fixing rod is larger than or equal to 90 degrees, the output shaft of the driving motor is controlled to stop rotating.

In an embodiment, the unmanned ship may receive a control instruction of the wireless control device to control the unmanned ship to trigger the detection instruction. Specifically, the control instruction may include a detection identifier: when the detection mark is 0, indicating that the underwater condition is detected, triggering the main controller of the unmanned ship to send a first detection instruction; when the detection mark is 1, the water situation is detected, and the unmanned ship main controller is triggered to send a second detection instruction.

In an embodiment, the first detection command includes a first rotation direction and a first rotation angle to control the output shaft of the driving motor to rotate by the first rotation angle in the first rotation direction. The first rotation direction is counterclockwise, and the first rotation angle is 0 ° to 90 °, for example, 10 °, 20 °, 30 °, 45 °, 50 °, 60 °, 70 °, 80 °, 90 °. Through first detection instruction, unmanned ship main control ware can control driving motor's output shaft anticlockwise and rotate first turned angle (for example rotate 60 °), state after the rotation can be as shown in fig. 3, then can make sonar detection face aim at the bottom, carry out underwater condition detection such as submarine topography detection, fish feelings, reef, pasture and water.

The second detection instruction comprises a second rotating direction and a second rotating angle so as to control the output shaft of the driving motor to rotate the second rotating angle along the second rotating direction. The second rotation direction is clockwise, the second rotation angle is 0 ° to 90 °, and optionally, may be 10 °, 20 °, 30 °, 45 °, 50 °, 60 °, 70 °, 80 °, and 90 °. Through the second detection instruction, unmanned ship owner controller can control driving motor's output shaft clockwise rotation second turned angle (for example rotate 60 °), and the state after the rotation is as shown in fig. 4, then can make sonar detection face place ahead or top, carry out the detection of barrier on water.

And step 702, judging whether the detection main body receives a sonar signal or not by the unmanned ship main controller, and if so, judging that the unmanned ship has an obstacle in the driving direction.

The embodiment of the invention can determine whether the unmanned ship has an obstacle in the driving direction by judging whether the sonar signal is received or not. In the embodiment, when a sonar signal is received, it is considered that the unmanned ship has an obstacle in the traveling direction.

In the implementation, step 702 is specifically divided into the following two cases:

the included angle between the first fixing rod and the second fixing rod is less than 90 degrees

When the included angle between the first fixing rod and the second fixing rod is smaller than 90 degrees, judging whether the main controller of the unmanned ship judges that the detection main body receives a sonar signal or not, and if the sonar signal is received, judging that an obstacle exists at the bottom of the unmanned ship in the driving direction;

(II) the included angle between the first fixing rod and the second fixing rod is greater than or equal to 90 degrees

When the contained angle of first dead lever, second dead lever is greater than or equal to 90 degrees, main control unit judges whether the main part of surveying receives the sonar signal, if receive the sonar signal, then judges that unmanned ship direction of travel's waterborne has the barrier.

The present embodiment further provides an unmanned ship detection method, which is substantially the same as the embodiment shown in fig. 7, except that the unmanned ship detection method adjusts the driving direction of the unmanned ship after determining that the driving direction of the unmanned ship has an obstacle. Referring to fig. 8, the unmanned ship detection method further includes: and 803, the main controller sends an adjusting instruction to adjust the advancing direction of the unmanned ship, and repeatedly executes the steps of judging whether the detection main body receives a sonar signal, and if so, sending the adjusting instruction to adjust the advancing direction of the unmanned ship until the sonar signal is not received.

In an embodiment, the adjustment instruction includes an adjustment direction and an adjustment angle, and step 803 adjusts the traveling direction of the unmanned ship, specifically: and adjusting the adjusting angle of the bow direction of the unmanned ship along the adjusting direction. Of course the adjustment angle can also be adjusted transversely of the stern or hull.

Therefore, by using the method provided by the embodiment of the invention, underwater obstacles such as submerged reefs, aquatic weeds and the like can be detected, and water obstacles can also be detected. When an obstacle is detected in the driving direction of the unmanned ship, the unmanned ship main controller sends an adjusting instruction to adjust the direction of the bow of the unmanned ship, the unmanned ship main controller repeatedly judges whether a detection main body receives a sonar signal or not, and if the sonar signal is received, the adjusting instruction is sent to adjust the direction of the bow of the unmanned ship until the sonar signal is not received. Therefore, the embodiment of the invention can enable the unmanned ship to avoid the detected obstacles when the unmanned ship runs.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An unmanned ship detection mechanism, comprising: the device comprises a first fixing rod, a driving motor, a first gear, a second fixing rod and a detection device, wherein the detection device comprises a detection main body;

one end of the first fixing rod is fixed on the unmanned ship, and the other end of the first fixing rod is fixed with the driving motor; the driving motor is electrically connected with the unmanned ship main controller, and an output shaft of the driving motor fixes one end of the second fixing rod through the first gear so as to control the second fixing rod to rotate; the other end of the second fixing rod is fixed with the detection device;

the output shaft of the driving motor comprises a rotating rod which can rotate coaxially with the rotating shaft of the driving motor, and the rotating rod penetrates through the central hole of the first gear to fix one end of the second fixing rod;

the driving motor further comprises a second gear having the same circle center as the rotating shaft of the driving motor, the teeth of the second gear are positioned on the inner circumference of the second gear, and the first gear is positioned in the second gear and is meshed with the second gear; when the output shaft of the driving motor rotates, the first gear rotates along the inner circumference of the second gear, and when the first gear rotates, the included angle between the center line of the second fixing rod and the center line of the first fixing rod is changed;

when the unmanned ship main controller sends a first detection instruction, the output shaft of the driving motor is controlled to rotate so as to drive the second fixing rod to rotate, and when the included angle between the first fixing rod and the second fixing rod is smaller than 90 degrees, the output shaft of the driving motor is controlled to stop rotating; moreover, through a first detection instruction, the main controller can control the output shaft of the driving motor to rotate by the first rotation angle in the anticlockwise direction, so that the sonar detection surface is aligned to the water bottom to detect the underwater condition;

when the unmanned ship main controller sends a second detection instruction, the output shaft of the driving motor is controlled to rotate so as to drive the second fixing rod to rotate, and when the included angle between the first fixing rod and the second fixing rod is larger than or equal to 90 degrees, the output shaft of the driving motor is controlled to stop rotating; and, through the second detection instruction, main control unit control driving motor's output shaft rotates clockwise the second turned angle, makes sonar detection face the place ahead, carries out the detection of aquatic barrier.

2. The unmanned ship detection mechanism of claim 1, wherein the detection body is a sonar.

3. The unmanned marine vehicle detection mechanism of claim 1, wherein said detection mechanism is provided at a bottom or side of said unmanned marine vehicle.

4. The unmanned ship detection mechanism of claim 1, wherein the first fixing rod is provided with a passage for arranging a wire, and the unmanned ship main controller is electrically connected with the driving motor through the wire.

5. The unmanned marine probe mechanism of claim 1, wherein the probe further comprises a wireless communication module electrically connected to the probe body, the probe being communicatively connected to the unmanned marine host controller via the wireless communication module.