CN113071613A

CN113071613A - Unmanned pleasure boat convenient to carry

Info

Publication number: CN113071613A
Application number: CN202010004021.6A
Authority: CN
Inventors: 不公告发明人
Original assignee: Wujiang Qingdao High Tech Co ltd
Current assignee: Wujiang Qingdao High Tech Co ltd
Priority date: 2020-01-03
Filing date: 2020-01-03
Publication date: 2021-07-06

Abstract

The invention discloses an unmanned pleasure boat convenient to carry, which comprises a boat body, a control system, a communication system, a navigation device, an obstacle avoidance system, a power system and a cabin door system, wherein the boat body is provided with a plurality of cabin doors; the cabin door system comprises a cabin door plate, a cabin door motor and a hydraulic cylinder; the cabin door plate is provided with a guardrail, and the guardrail is provided with a rotatable railing; the cabin door motor and the hydraulic cylinder provide power for the rotation of the cabin door plate; the guardrail is provided with a counting sensor and a camera; the cabin door system is arranged on two sides of the ship body and provides symmetrical passages for passengers to go on and off the ship. The invention adopts an automatic cabin door system to solve the problem of channel selection when passengers get on and off an unmanned pleasure boat, is suitable for different wharfs, and provides communication, navigation, obstacle avoidance and automatic shore access functions for the unmanned pleasure boat by a control system monitoring communication system, a navigation system, an obstacle avoidance system, a power system and a cabin door system, thereby realizing the automatic unfolding and closing of the cabin door system, automatically restricting the number of passengers getting on the boat through a counter, and realizing friendly docking of the wharfs by means of a camera.

Description

Unmanned pleasure boat convenient to carry

Technical Field

The invention relates to a water area robot system, in particular to an unmanned pleasure boat convenient to carry.

Background

The unmanned ship is a full-automatic water surface robot which can navigate on water surface according to a preset task without remote control by means of precise satellite positioning and self sensing, and English is abbreviated as USV. Many enterprises at home and abroad greatly invest in the development of unmanned ships, the advantages of low cost, no personnel accompanying the ships and low risk of the unmanned ships are fully exerted, and the value of the water area robot is reflected to the maximum extent.

The pleasure boats are distributed in scenic spots of rivers, lakes and gulfs and serve as transportation tools for tourists to enjoy water landscape, the tour routes are fixed, and the requirements on stability and safety of the boat body are high. Unmanned pleasure boats have become more and more popular as research hotspots in recent years, but the unmanned pleasure boats still need manual participation in the aspects of passenger statistics, safety protection for getting on and off the boat and shore connection of the pleasure boats, are not sufficient in intelligence level, are not beneficial to popularization of the unmanned pleasure boats, and limit the development of the unmanned pleasure boats to various sizes and specifications. How to keep unmanned pleasure boat simple structure intelligence safety simultaneously, the reinforcing unmanned pleasure boat is to passenger's guide ability, and the ability of loading and unloading becomes difficult point now.

In view of the above, it is an urgent problem in the art to overcome the above-mentioned drawbacks of the prior art.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: the unmanned pleasure boat convenient to carry solves the automation problem of the pleasure boat, and solves the problems of statistics, safety and automatic connection of passengers to and from the pleasure boat through a cabin door system.

The invention achieves the above purpose by the following technical scheme: an unmanned pleasure boat convenient to carry comprises a boat body, a control system, a communication system, a navigation device, an obstacle avoidance system and a power system.

Preferably, the lower end of the ship body has the same head-tail structure, the middle end of the ship body is provided with passenger cabins with the same head-tail structure, the symmetrical structure is beneficial to the unmanned pleasure boat to dock at any side, and the unmanned pleasure boat can maximally accommodate tourists; the passenger cabin is provided with a seat and a control platform, the seat is convenient for tourists to take and rest, the control platform is convenient for the tourists to interact with the unmanned pleasure boat, and information can be interacted with the monitoring center through the control platform; the ship body is provided with a ship top for shielding wind and rain and mounting equipment; and an anti-collision fender is arranged at the convex position of the side surface of the ship body.

Preferably, at least one pair of cabin door systems is arranged on two sides of the ship body, and each cabin door system comprises a cabin door plate, a cabin door motor and a hydraulic cylinder; rigid guardrails are arranged on the left side and the right side of the cabin door plate; the cabin door motor is fixedly arranged in a cabin at the lower end of the ship body, is connected with the upper end of the guardrail through a hydraulic cylinder and provides power for the rotation of the cabin door plate;

when the cabin door plate is horizontally unfolded outwards, the cabin door plate can be hung on a wharf to be used as a bridge for getting on and off a ship; when the cabin door plate is closed upwards, the bottom of the cabin door plate is parallel to the ship body and becomes a part of the side surface of the ship body; the control system is used as a control center of the unmanned pleasure boat, is arranged in the control cabin, is connected with the communication system, the navigation device, the obstacle avoidance system, the power system and the cabin door system through data lines, and monitors all the equipment and subsystems; the power system comprises a storage battery, and the storage battery provides electric energy for the electric equipment on the unmanned pleasure boat.

Hanging pins are arranged on two sides of the bottom end of the cabin door plate, mounting grooves corresponding to the width and the height of the cabin door plate are formed in the side face of the ship body, and hanging holes corresponding to the hanging pins are formed in the bottoms of the mounting grooves; the cabin door plate is rotatably arranged on the ship body through a hanging pin.

The front end of the guardrail is provided with a connecting hole, one end of the hydraulic cylinder is provided with a pushing pin, one end of the hydraulic cylinder is rotatably arranged on the cabin door motor, and the other end of the hydraulic cylinder is rotatably connected into the connecting hole arranged at the front end of the guardrail through the pushing pin; the cabin door motor drives the hydraulic cylinder to change the stroke, when the hydraulic cylinder reaches the maximum stroke, the hydraulic cylinder pushes the guardrail to unfold the cabin door plate to the horizontal state, and when the hydraulic cylinder reaches the minimum stroke, the hydraulic cylinder retracts the guardrail to pull the cabin door plate to be parallel to the side face of the ship body.

Preferably, a counting sensor is arranged on the inner side of the upper end of the guardrail and connected with the control system, and sends a signal for passengers to get on or off the ship to the control system, when the entrance door system defined by the control system passes through one passenger, the total number of passengers is increased by one, and when the exit door system defined by the control system passes through one passenger, the total number of passengers is decreased by one.

Preferably, the rear end sets up the camera on the guardrail, the camera links to each other with control system, sends the passenger who shoots and/or pier image to control system in real time, and wherein the camera possesses big visual angle, can send control system with the face photograph when the visitor went on the boat to forward monitoring center through communication system, thereby check count sensor's statistical data.

Preferably, the carrying hook is arranged on the outer side of the bottom end of the cabin door plate, when the unmanned pleasure boat approaches the wharf to unfold the cabin door system, the carrying hook can be hooked on the wharf, and when the wharf is provided with a hook groove or a hook line corresponding to the carrying hook, the hooking effect of the carrying hook is better; the camera automatically transmits an image of the cabin door system hung on the wharf to the control system, the control system compares the real-time image with the stored image, the output of the power system is adjusted, and the auxiliary cabin door system is accurately hung in a special hook groove or on a hook line of the wharf.

Preferably, the guardrail further comprises a rail and a support rod, the length of the guardrail plus the length of the rail is equal to the total length of the cabin door plate, the tail end of the guardrail is basically flush with the rear end of the cabin door plate when the guardrail is horizontal, and the tail end of the guardrail is close to the upper end face of the cabin door plate when the guardrail is vertical; the railing is provided with connecting lugs, and the hydraulic cylinder is provided with the same connecting lugs; the supporting rod is an arc-shaped rod or a long rod, and connecting holes matched with the connecting lugs are formed in the two ends of the supporting rod; one end of the handrail is rotatably connected to the upper end of the guardrail; one end of the supporting rod is rotatably connected with the connecting lug on the railing, and the other end of the supporting rod is rotatably connected with the connecting lug of the hydraulic cylinder; the hatch door motor drives the hydraulic cylinder to change the stroke, the support rod pushes the handrail to a horizontal state when the hydraulic cylinder reaches the maximum stroke, and the support rod pulls the handrail to a vertical downward state when the hydraulic cylinder reaches the minimum stroke.

Preferably, the communication system comprises one or more of a digital radio station, a broadband radio station and a very high frequency communication station, wherein the digital radio station is provided with a digital antenna in a matching way, and the broadband radio station is provided with a broadband antenna in a matching way; the processors of the digital radio station and the broadband radio station are arranged in a cabin at the lower end of a ship body, and the digital antenna and the broadband antenna are arranged on the top of the ship; the very high frequency communication station is mounted on the console.

Preferably, the navigation system includes: one or more of an inertial navigation system and a Beidou radio station, wherein the inertial navigation system is matched with the inertial navigation main antenna and the inertial navigation auxiliary antenna, the Beidou radio station is matched with the radio station antenna, and the inertial navigation main antenna, the inertial navigation auxiliary antenna and the radio station antenna are all arranged on the ship top; the inertial navigation system and the processor of the Beidou radio station are arranged in a cabin at the lower end of the ship body, the inertial navigation main antenna and the inertial navigation auxiliary antenna are connected with the processor of the inertial navigation system through a lead, and the radio station antenna is connected with the processor of the Beidou radio station through a lead; the Beidou radio station has short message communication capacity; the navigation system acquires the positioning information of the unmanned pleasure boat and sends the positioning information to the monitoring center through the communication system.

Preferably, the obstacle avoidance system comprises a millimeter wave radar and a laser radar; the millimeter wave radar is arranged on the top of the ship; the two laser radars are symmetrically arranged on the bow guardrails and the stern guardrails; the millimeter wave radar provides long-distance large-range scanning information for the control system, the laser radar provides short-distance small-range scanning information for the control system, and the laser radar auxiliary control system accurately controls the unmanned pleasure boat to enter the berthable water channel and stop at a specified position.

Preferably, the power system comprises a plurality of sets of electric propellers arranged at the bottom of the ship, each set of electric propeller comprises a steering gear, a hanging shaft, a power motor and a propeller, and the steering gear is arranged in a cabin at the lower end of the ship body and provides rotary power; the hanging shaft is arranged on a central axis of the bottom of the ship in a penetrating way through a bearing, one end of the hanging shaft is connected with an output shaft of the steering gear through a transmission gear, and the other end of the hanging shaft is fixedly connected to the top of the power motor and is used for hanging the power motor and guiding the rotating torque of the steering gear; the propeller is fixed on an output shaft of the power motor.

Preferably, the console is provided with an alarm button, an emergency stop button, an industrial personal computer, a display screen, a sound pickup and a loudspeaker, and provides an interaction platform for operation, voice and images for passengers; the industrial personal computer is internally provided with a storage disk for storing tour guide information, and the control system monitors the working condition of the industrial personal computer.

Preferably, the control panel of the cabin door motor is connected with the control system through a signal line and responds to a controller instruction; or the control panel of the cabin door driving motor is provided with a communication device which is wirelessly connected with a remote controller corresponding to the unmanned pleasure boat and responds to the instruction of the remote controller.

Compared with the prior art, the invention has the following advantages.

1. The automatic cabin door systems are arranged on the two sides of the ship body, so that the unmanned pleasure boat can conveniently carry out multiple channel selections when being carried automatically, passengers can be shunted when getting on and off the boat, and the passengers can get on the boat from one side and get off the boat from the other side; or the front end and the rear end are provided with the cabin door systems, so that passengers can get on the ship from one end and get off the ship from the other end.

2. The counting sensor is arranged on the cabin door system, so that the counting of passengers is realized, and the controller and the loudspeaker system are matched to prompt whether the passengers are full or prompt the passengers who are not in the ship to get off the ship in time.

3. The camera is arranged on the cabin door system, so that passenger images are uploaded on one hand, and the auxiliary cabin door system is accurately hung in a special hook groove or hook line of a wharf on the other hand.

4. The multi-door system can be arranged in a way that the unmanned pleasure boat can adapt to wharfs of different forms, such as a unilateral wharf or a bilateral wharf.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Fig. 1 is a perspective view of an unmanned pleasure boat in an operating state in an embodiment of the invention.

Fig. 2 is a connection diagram of a part of the apparatus components of the control system in the embodiment of the present invention.

Fig. 3 is a perspective view of the hull of the embodiment of the invention when in an isolated state.

Fig. 4 is a perspective view of the electric paddle when in an isolated state in the embodiment of the present invention.

Figure 5 is a perspective view of the door system in an embodiment of the present invention in isolation in a closed position.

Figure 6 is a perspective view of the door system in an embodiment of the present invention in isolation in a deployed state.

Fig. 7 is a perspective view of the console in an isolated state according to the embodiment of the present invention.

Fig. 8 is a sectional perspective view of the bow of a ship in a closed state of a front side door system/an opened state of a rear side door system according to an embodiment of the present invention.

Fig. 9 is a sectional perspective view of a stern of a ship in a closed state of a front side door system/an opened state of a rear side door system in an embodiment of the present invention.

Figure 10 is a top view of a closed state front side door system/an open state back side door system in an embodiment of the present invention.

Figure 11 is a perspective view of the door system in a fully deployed position in accordance with an embodiment of the present invention.

Figure 12 is a perspective view of the door system in a fully closed position according to an embodiment of the present invention.

Figure 13 is a perspective view of the door system of the present invention in its fully deployed position, in use, attached to a dock.

In the figure: 1, a ship body; 2-a control system; 3-a communication system; 4-a navigation system; 5, obstacle avoidance system; 6-a power system; 7-a hatch door system; 8-a console; 9-fender; 101-passenger cabin; 102-a ship top; 103-a seat; 104-a mounting groove; 105-hanging holes; 301-digital station; 302-broadband station; 303-a very high frequency communication station; 304-a digital antenna; 305-a broadband antenna; 401-inertial navigation system; 402-a Beidou radio station; 403-inertial navigation main antenna; 404-inertial navigation auxiliary antenna; 405-a radio antenna; 501-millimeter wave radar; 502-laser radar; 601-electric paddle; 602-a diverter; 603-hanging a scroll; 604-a power motor; 605-propeller; 606-bearings; 607-transmission gear; 608-a battery; 701-cabin door panel; 702-a door motor; 703-hydraulic cylinder; 704-a guardrail; 705-hanging pin; 706-counting sensors; 707-a camera; 708-a railing; 709-support rods; 710-mounting hooks; 711-push pin; 801-alarm button; 802-scram button; 803-an industrial personal computer; 804-display screen; 805-sound pickup; 806-horn.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, the terms "inner", "outer", "longitudinal", "lateral", "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are for convenience only to describe the present invention without requiring the present invention to be necessarily constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The invention will be described in detail below with reference to the figures and examples.

Example 1: as shown in fig. 1-9, an unmanned pleasure boat convenient for carrying comprises a boat body 1, a control system 2, a communication system 3, a navigation device, an obstacle avoidance system 5 and a power system 6; the control system 22 is a control box which is formed by taking a SIM32F serial CPU processor as a core.

In the embodiment, the lower end and the tail end of the ship body 1 have the same structure, the middle end is provided with the passenger carrying cabins 101 with the same structure, and the symmetrical structure is beneficial to the unmanned pleasure boat to dock at any side and can maximally accommodate the tourists; the passenger cabin 101 is provided with five rows of seats 103 and a console 8, the seats 103 are convenient for tourists to take and rest, the console 8 is convenient for the tourists to interact with the unmanned pleasure boat, and information can be interacted with the monitoring center through the console 8; the ship body 1 is provided with a ship top 102 for shielding wind and rain and mounting equipment; and an anti-collision fender 9 is arranged at the convex position of the side surface of the ship body 1.

In this embodiment, a pair of hatch systems 7 are respectively disposed at the front end and the rear end of each of the two sides of the hull 1, and each hatch system 7 includes a hatch plate 701, a hatch motor 702 and a hydraulic cylinder 703, wherein the hatch plate 701 has a length of 75cm, a width of 75cm and a thickness of 7 cm; rigid guardrails 704 are arranged on the left side and the right side of the cabin door plate 701, the length of each guardrail is 20cm, the width of each guardrail is 6cm, the height of each guardrail is 75cm, and the guardrails 704 can be used as handrails of passengers and can also be used as acting points for the hydraulic cylinders 703 to push the cabin door plate 701; the cabin door motor 702 is fixedly arranged in a cabin at the lower end of the ship body 1, is connected with the upper end of the guardrail 704 through a hydraulic cylinder 703, and provides power for the rotation of the cabin door plate 701.

When the door plate 701 is horizontally unfolded outwards, the door plate 701 can be hung on a wharf to be used as a bridge for getting on and off a ship; when the cabin door plate 701 is closed upwards, the bottom of the cabin door plate 701 is parallel to the ship body 1, and the whole cabin door plate 701 becomes a part of the side surface of the ship body 1; the control system 2 is used as a control center of the unmanned pleasure boat and is arranged in a control cabin, is connected with the communication system 3, the navigation device, the obstacle avoidance system 5, the power system 6 and the cabin door system 7 through data lines, and monitors all equipment and subsystems; the power system 6 comprises a storage battery 608, the storage battery 608 provides electric energy for the electrical equipment on the unmanned pleasure boat, wherein the type of the storage battery 608 is as follows: 6-CQ-195a/12V195 AH.

Hanging pins 705 are arranged on two sides of the bottom end of the cabin door plate 701, the diameter of each hanging pin is 5cm, the length of each hanging pin is 5cm, a mounting groove 104 corresponding to the width and the height of the cabin door plate 701 is formed in the side surface of the ship body 1, and a hanging hole 105 corresponding to the hanging pin 705 is formed in the bottom of the mounting groove 104; the deck plate 701 is rotatably mounted on the hull 1 by means of a hanger pin 705.

A connecting hole is formed in the front end of the guardrail 704, a pushing pin 711 is arranged at one end of the hydraulic cylinder 703, one end of the hydraulic cylinder 703 is rotatably installed on the cabin door motor 702, and the other end of the hydraulic cylinder 703 is rotatably connected to the connecting hole formed in the front end of the guardrail 704 through the pushing pin 711; the hatch motor 702 drives the hydraulic cylinder 703 to change the stroke, when the hydraulic cylinder 703 reaches the maximum stroke, the hydraulic cylinder 703 pushes the guardrail 704 to unfold the hatch plate 701 to the horizontal state, and when the hydraulic cylinder 703 reaches the minimum stroke, the hydraulic cylinder 703 retracts the guardrail 704 to pull the hatch plate 701 to be parallel to the side of the hull 1.

In this embodiment, a TELESKY infrared correlation counting sensor 706 is disposed on the inner side of the upper end of the guardrail 704, a data processor of the counting sensor 706 is connected to the control system 2, and transmits a signal for passengers to get on or off the ship to the control system 2, when the entrance door system 7 defined by the control system 2 passes through a passenger, the total number of passengers is increased by one, and when the exit door system 7 defined by the control system 2 passes through a passenger, the total number of passengers is decreased by one.

In this embodiment, the rear end of the guardrail 704 is provided with a C2-Mini Pro small wireless fisheye camera 707, the camera 707 is connected with the control system 2, and transmits the shot passenger and dock images to the control system 2 in real time, wherein the camera 707 has a large viewing angle of 360 degrees, and can transmit the frontal face picture of the tourist on the boat to the control system 2 and transmit the frontal face picture to the monitoring center through the communication system 3, so that the monitoring center checks the statistical data of the counting sensor 706.

In this embodiment, the carrying hook 710 is arranged on the outer side of the bottom end of the cabin door plate 701, the length is 75cm, the width is 3cm, and the thickness is 3cm, when the unmanned pleasure boat approaches the dock and expands the cabin door system 7, the carrying hook 710 can be hooked on the dock, and when the dock is provided with a hook groove or a hook line corresponding to the carrying hook 710, the hooking effect of the carrying hook 710 is better; the camera 707 transmits the image of the hatch door system 7 automatically hung on the wharf to the control system 2, the control system 2 compares the real-time image with the stored image, the output of the power system 6 is adjusted, and the auxiliary hatch door system 7 is accurately hung in a special hook groove or on a hook line of the wharf.

In this embodiment, the guardrail 704 further comprises a rail 708 and a support rod 709, wherein the rail 708 is 68cm long, 3cm wide and 3cm thick, the end of the guardrail 704 is substantially flush with the rear end of the door panel 701 when the guardrail 704 is horizontal, and the end of the guardrail 704 is close to the upper end face of the door panel 701 when the guardrail 704 is vertical; the railing 708 is provided with connecting lugs, and the hydraulic cylinder 703 is provided with the same connecting lugs; the support rod 709 is an arc-shaped rod with the radius of 40cm and the chord length of 25cm, and connecting holes matched with the connecting lugs are formed in two ends of the support rod; one end of the railing 708 is rotatably connected to the upper end of the guardrail 704; one end of the support rod 709 is rotatably connected to the connecting lug on the railing 708, and the other end of the support rod 709 is rotatably connected to the connecting lug of the hydraulic cylinder 703; the hatch motor 702 drives the hydraulic cylinder 703 to change the stroke, and when the hydraulic cylinder 703 reaches the maximum stroke, the support rod 709 pushes the railing 708 to the horizontal state, and when the hydraulic cylinder 703 reaches the minimum stroke, the support rod 709 pulls the railing 708 to the vertical downward state.

In this embodiment, the communication system includes a digital radio station 301, a broadband radio station 302, and a very high frequency communication station 303, where the digital radio station 301 is provided with a digital antenna 304 in a matching manner, and the broadband radio station 302 is provided with a broadband antenna 305 in a matching manner; the processors of the digital radio 301 and the broadband radio 302 are arranged in the cabin at the lower end of the ship body 1, and the digital antenna 304 and the broadband antenna 305 are arranged on the ship top 102; the vhf communication station 303 is mounted on the console 8.

In this embodiment, the navigation system 4 includes: the inertial navigation system 401 and the Beidou radio station 402 are arranged, wherein the inertial navigation system 401 is provided with an inertial navigation main antenna 403 and an inertial navigation auxiliary antenna 404 in a matching manner, the Beidou radio station 402 is provided with a radio antenna 405 in a matching manner, and the inertial navigation main antenna 403, the inertial navigation auxiliary antenna 404 and the radio antenna 405 are all arranged on the ship top 102; processors of the inertial navigation system 401 and the Beidou radio station 402 are arranged in a cabin at the lower end of the ship body 1, an inertial navigation main antenna 403 and an inertial navigation auxiliary antenna 404 are connected with the processor of the inertial navigation system 401 through a conducting wire, and a radio antenna 405 is connected with the processor of the Beidou radio station 402 through a conducting wire; the Beidou radio station 402 has short message communication capability; the navigation system 4 acquires the positioning information of the unmanned pleasure boat and sends the positioning information to the monitoring center through the communication system 3.

In this embodiment, the obstacle avoidance system 5 includes a 77G millimeter wave radar 501 and a Leddar64 line laser radar 502; the millimeter wave radar 501 is arranged on the ship top 102; two laser radars 502 are arranged and symmetrically arranged on the bow guardrail 704 and the stern guardrail 704; millimeter wave radar 501 provides long-distance large-range scanning information for control system 2, laser radar 502 provides short-distance small-range scanning information for control system 2, and laser radar 502 assists control system 2 in accurately controlling unmanned pleasure boat to enter berthable water channel and stop at the designated position.

In this embodiment, the power system 6 includes two sets of electric paddles 601 installed at the bottom of the ship, the electric paddles include a steering gear 602, a hanging shaft 603, a power motor 604 and a propeller 605, and the steering gear 602 is disposed in the cabin at the lower end of the ship body 1 to provide rotation power; the hanging shaft 603 is arranged on a bottom center axis of the ship in a penetrating way through a bearing 606, one end of the hanging shaft is connected with an output shaft of the steering gear 602 through a transmission gear 607, and the other end of the hanging shaft is fixedly connected to the top of the power motor 604, hangs the power motor 604 and guides the rotating moment of the steering gear 602; the propeller 605 is fixed to an output shaft of the power motor 604.

In this embodiment, the console 8 is provided with an alarm button 801, an emergency stop button 802, an industrial personal computer 803, a display screen 804, a sound pickup 805 and a loudspeaker 806, so as to provide an interactive platform for operation, voice and image for passengers; the industrial personal computer 803 is internally provided with a storage disk for storing tour guide information, and the control system 2 monitors the working condition of the industrial personal computer 803.

In this embodiment, the control panel of the hatch motor 702 is connected to the control system 2 via a signal line, and responds to a controller command; or a communication device is arranged on a control panel of the cabin door driving motor 702 and is in wireless connection with a remote controller corresponding to the unmanned pleasure boat to respond to the instruction of the remote controller.

Example 2: as shown in fig. 10-13, the operation steps of the whole process from boarding to disembarking of the unmanned cruise ship are as follows.

Firstly, a control system 2 sets two side cabin door plates 701 at the rear end of a ship body 1 as inlets, and the control system 2 drives a cabin door motor 702 to act to unfold the cabin door plates 701 to be in a horizontal state.

And step two, when passengers get on the ship, shooting facial images of the passengers, sensing the boarding condition of the passengers through a counting sensor 706, sending a pulse signal to the control system 2 every time a passenger enters, adding one to the control system 2, wherein the facial images are transmitted to the monitoring center through the communication system 3.

And step three, when the control system 2 judges that the total number of passengers getting on the ship is the same as the number of the seats 103 or the control system 2 receives a ship opening instruction, the control system 2 drives the cabin door motor 702 to act, and the cabin door plate 701 is retracted to a closed state.

And fourthly, the control system 2 automatically navigates according to the air route, and drives the power system 6 to act by combining the information of the communication system 3, the navigation system 4 and the obstacle avoidance system 5, and the working state of each power paddle is adjusted in real time, so that the unmanned pleasure boat is ensured to stably complete navigation, and the unmanned pleasure boat is driven to a specified place.

And step five, in the navigation process, the control system 2 automatically starts the state of the industrial personal computer 803 according to the position information of the navigation system 4, so that the display screen 804 displays matched pictures or videos, and the loudspeaker 806 plays matched scenery spot contents.

Step six, the sound pickup 805 collects voice information of passengers on the pleasure boat, the very high frequency communication station 303 provides a high-quality conversation channel for the passengers, and when the unmanned pleasure boat has an emergency, the passengers reach the control station 8 and press the alarm button 801 to alarm the monitoring center or press the emergency stop button 802 to stop the unmanned pleasure boat.

And seventhly, when the unmanned pleasure boat finishes a navigation task, the control system 2 drives the unmanned pleasure boat to enter a boat mooring point, and the front side and the rear side are defined as outlets.

Step eight, when the ship body 1 is close to the wharf hook groove, the camera 707 shoots an image of the wharf hook groove in real time and transmits the image to the control system 2, the control system 2 compares the real-time image with a stored image, and the output of the power system 6 is adjusted to control the distance between the ship body 1 and the hook groove; meanwhile, the control system 2 drives the hatch motor 702 to act, so that the hatch plate 701 is unfolded to be in a horizontal state, and after all the carrying hooks 710 are embedded into the hook grooves, a parking completion instruction is sent to the control system 2.

Step nine, the control system 2 closes the power system 6 according to the instruction of finishing parking, the voice loudspeaker 806 informs passengers to take the ship from the exit, the counting sensor 706 senses the condition that the passengers take the ship, every time one passenger is out, a pulse signal is sent to the control system 2, and the number of the control system 2 is reduced by one.

Step ten, after the passengers finish taking off the ship, the control system 2 drives the cabin door motor 702 to act, and the cabin door plate 701 is retracted to a closed state, or directly enters the next round of circulation.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. An unmanned pleasure boat convenient to carry comprises a boat body (1), a control system (2), a communication system (3), a navigation device, an obstacle avoidance system (5) and a power system (6); the ship is characterized in that at least one pair of cabin door systems (7) is arranged on two sides of the ship body (1), and each cabin door system (7) comprises a cabin door plate (701), a cabin door motor (702) and a hydraulic cylinder (703); rigid guardrails (704) are arranged on the left side and the right side of the cabin door plate (701); the cabin door motor (702) is fixedly arranged in a cabin at the lower end of the ship body (1), is connected with the upper end of the guardrail (704) through a hydraulic cylinder (703), and provides power for the rotation of the cabin door plate (701); when the cabin door plate (701) is horizontally expanded outwards, the cabin door plate (701) can be used as a bridge for getting on and off a ship; when the cabin door plate (701) is closed upwards, the bottom of the cabin door plate is parallel to the ship body (1); the control system (2) is used as a control center of the unmanned pleasure boat and is arranged in the control cabin, is connected with the communication system (3), the navigation device, the obstacle avoidance system (5), the power system (6) and the cabin door system (7) through data lines, and monitors all equipment and subsystems; the power system (6) comprises a storage battery (608), and the storage battery (608) provides electric energy for electric equipment on the unmanned pleasure boat.

2. The unmanned yacht convenient to carry as claimed in claim 1, wherein hanging pins (705) are arranged on two sides of the bottom end of the deck plate (701), a mounting groove (104) corresponding to the width and height of the deck plate (701) is formed on the side surface of the ship body (1), and a hanging hole (105) corresponding to the hanging pin (705) is formed at the bottom of the mounting groove (104); the cabin door plate (701) is rotatably arranged on the ship body (1) through a hanging pin (705).

3. The unmanned yacht convenient to carry in of claim 2, wherein the guardrail (704) is provided with a connecting hole at the front end, one end of the hydraulic cylinder (703) is provided with a pushing pin (711), one end of the hydraulic cylinder (703) is rotatably arranged on the cabin door motor (702), and the other end of the hydraulic cylinder (703) is rotatably connected to the guardrail (704) through the pushing pin (711) in the connecting hole at the front end; the cabin door motor (702) drives the hydraulic cylinder (703) to change the stroke, when the hydraulic cylinder (703) reaches the maximum stroke, the hydraulic cylinder (703) pushes the guardrail (704) to unfold the cabin door plate (701) to the horizontal state, and when the hydraulic cylinder (703) reaches the minimum stroke, the hydraulic cylinder (703) retracts the guardrail (704) to pull the cabin door plate (701) to be parallel to the side face of the ship body (1).

4. An unmanned pleasure boat for carrying conveniently as claimed in claim 3, wherein a counting sensor (706) is arranged at the inner side of the upper end of the guardrail (704), the counting sensor (706) is connected with the control system (2) and transmits the signal of passengers getting on or off the boat to the control system (2).

5. The unmanned yacht convenient to carry in of claim 4, wherein a camera (707) is arranged at the upper rear end of the guardrail (704), the camera (707) is connected with the control system (2), and the shot passenger and/or wharf images are transmitted to the control system (2) in real time.

6. The unmanned yacht convenient to carry in of claim 5, wherein the outer side of the bottom end of the cabin door plate (701) is provided with a carrying hook (710) for hooking on the wharf.

7. The unmanned pleasure boat of claim 6, wherein the railing (704) further comprises a railing (708) and a support bar (709); the railing (708) and the hydraulic cylinder (703) are provided with the same connecting lugs, the supporting rod (709) is an arc-shaped rod or a long rod, and two ends of the supporting rod are provided with connecting holes matched with the connecting lugs; one end of the railing (708) is rotatably connected to the upper end of the guardrail (704); one end of the supporting rod (709) is rotatably connected with a connecting lug on the railing (708), and the other end of the supporting rod is rotatably connected with a connecting lug of the hydraulic cylinder (703); the cabin door motor (702) drives the hydraulic cylinder (703) to change the stroke, the supporting rod (709) pushes the railing (708) to a horizontal state when the hydraulic cylinder (703) reaches the maximum stroke, and the supporting rod (709) pulls the railing (708) to a vertical downward state when the hydraulic cylinder (703) reaches the minimum stroke.

8. The unmanned pleasure boat convenient to carry in accordance with claim 7, wherein the lower end of the boat body (1) is of the same head-to-tail structure, the middle end is provided with a passenger cabin (101) of the same head-to-tail structure, and the passenger cabin (101) is provided with a seat (103) and a console (8); the ship body (1) is provided with a ship top (102) for shielding wind and rain and mounting equipment; and an anti-collision fender (9) is arranged at the convex position of the side surface of the ship body (1).

9. Unmanned pleasure boat for embarkation according to claim 8, characterized in that the communication system comprises one or more of a digital station (301), a broadband station (302) and a very high frequency communication station (303), wherein the digital station (301) is provided with a digital antenna (304) and the broadband station (302) is provided with a broadband antenna (305); the processors of the digital radio station (301) and the broadband radio station (302) are arranged in a cabin at the lower end of the ship body (1), and the digital antenna (304) and the broadband antenna (305) are arranged on the top (102) of the ship; the very high frequency communication station (303) is arranged on the console (8); the navigation system (4) comprises: one or more of an inertial navigation system (401) and a Beidou radio station (402), wherein the inertial navigation system (401) is provided with an inertial navigation main antenna (403) and an inertial navigation auxiliary antenna (404) in a matched manner, the Beidou radio station (402) is provided with a radio antenna (405) in a matched manner, and the inertial navigation main antenna (403), the inertial navigation auxiliary antenna (404) and the radio antenna (405) are all installed on a ship top (102); the processor of the inertial navigation system (401) and the processor of the Beidou radio station (402) are arranged in a cabin at the lower end of the ship body (1), the inertial navigation main antenna (403) and the inertial navigation auxiliary antenna (404) are connected with the processor of the inertial navigation system (401) through a conducting wire, and the radio antenna (405) is connected with the processor of the Beidou radio station (402) through a conducting wire; the Beidou radio station (402) has short message communication capability; the navigation system (4) acquires positioning information of the unmanned pleasure boat and sends the positioning information to the monitoring center through the communication system (3); the obstacle avoidance system (5) comprises: a millimeter wave radar (501) and a laser radar (502); the millimeter wave radar (501) is arranged on the ship top (102); the laser radar (502) is arranged on the bow and stern end surfaces of the ship body (1); accurately controlling an unmanned pleasure boat to enter a berthable water channel through the laser radar (502) and stop at a specified position; the power system (6) comprises a plurality of sets of electric paddles (601) arranged at the bottom of the ship, each electric paddle comprises a steering gear (602), a hanging shaft (603), a power motor (604) and a propeller (605), and the steering gears (602) are arranged in cabins at the lower end of the ship body (1) and provide rotating power; the hanging shaft (603) is arranged on a bottom center axis of the ship in a penetrating way through a bearing (606), one end of the hanging shaft is connected with an output shaft of the steering gear (602) through a transmission gear (607), and the other end of the hanging shaft is fixedly connected to the top of the power motor (604) and is used for hanging the power motor (604) and guiding the rotating torque of the steering gear (602); the propeller (605) is fixed on an output shaft of the power motor (604); the console (8) is provided with an alarm button (801), an emergency stop button (802), an industrial personal computer (803), a display screen (804), a sound pick-up (805) and a loudspeaker (806), and provides an interaction platform for operation, voice and images for passengers; the industrial personal computer (803) is internally provided with a storage disk for storing tour guide information, and the control system (2) monitors the working condition of the industrial personal computer (803).

10. The unmanned pleasure boat for carrying as claimed in any one of claims 1 to 9, wherein a control panel of the hatch motor (702) is connected to the control system (2) through a signal line, and responds to a controller command; or a communication device is arranged on a control panel of the cabin door driving motor (702) and is in wireless connection with a remote controller corresponding to the unmanned pleasure boat to respond to the command of the remote controller.