CN113071614A - Unmanned pleasure boat carrying robot - Google Patents
Unmanned pleasure boat carrying robot Download PDFInfo
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- CN113071614A CN113071614A CN202010003828.8A CN202010003828A CN113071614A CN 113071614 A CN113071614 A CN 113071614A CN 202010003828 A CN202010003828 A CN 202010003828A CN 113071614 A CN113071614 A CN 113071614A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses an unmanned pleasure boat carrying a robot, which comprises a control cabin, a passenger cabin and a boat top, wherein the robot and tables and chairs are carried in the passenger cabin; the unmanned pleasure boat and the robot are respectively and independently provided with a control system, a communication system and a power system, a cabin-carrying deck is provided with a guide rail for guiding the robot to move, two sides of the guide rail are provided with power interfaces, the robot is connected to the guide rail through a base and can move along the guide rail, and the base of the robot is provided with an electric brush which is connected with the power interfaces to receive a power supply of the unmanned pleasure boat; the seats and the table are provided with buttons and/or operation screens, the unmanned pleasure boat processes operation instructions of the buttons and/or the operation screens, the robot is monitored and managed through the communication system, and the robot is driven to provide article supply and tour guide services for passengers. The robot is stably carried on the unmanned pleasure boat, a power interface is provided to ensure sustainable operation, and the system is simple but greatly improves the intelligent service level.
Description
Technical Field
The invention relates to a robot system, in particular to an unmanned pleasure boat carrying a robot.
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 become research focus more and more popular in recent years, and unmanned pleasure boats as the waters robot, have better advantage in the aspect of the autonomous navigation in waters and keeping away the barrier completely, but do not provide interactive guide and service function for the passenger, and especially waters stormy waves rock and influence greatly to small-size pleasure boats, are unfavorable for carrying on automation equipment, and whole intelligent degree remains to be improved.
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 carrying the robot integrates the robot and the unmanned pleasure boat, the problem that the unmanned pleasure boat cannot charge the robot and guarantee the stability of the robot is solved, and the intelligent level of the unmanned pleasure boat is improved through robot automation service.
The invention achieves the above purpose by the following technical scheme: the unmanned pleasure boat carrying the robot has a control cabin arranged at the lower end of a boat body, an open cabin arranged at the upper end of the control cabin, and a boat top arranged on the cabin and used for shielding wind and rain.
The robot is arranged in the passenger cabin, a control cabin of the unmanned pleasure boat is provided with a main control system, a main communication system and a main power supply system, a sub-control system, a sub-communication system and a sub-power supply system are arranged in the robot, and the main control system monitors the sub-control system through a communication channel established between the main communication system and the sub-communication system, so that the unmanned boat monitors the robot; the main power system and the sub power system are respectively provided with a charging system and a storage battery, the main power system provides power for the unmanned pleasure boat equipment, and the sub power system provides power for the robot equipment.
Preferably, a set of guide rails for guiding the robot to move is arranged in the passenger carrying cabin, and a plurality of robots can be arranged on the guide rails; and power supply wire grooves are formed in two sides of the guide rail, power supply connecting pieces which are mutually insulated are arranged on the front surfaces of the power supply wire grooves, the inner sides of the power supply connecting pieces are connected with a main power supply system through wires, and the outer sides of the power supply connecting pieces are connected with power supply interfaces of the sub power supply system in a sliding mode, so that a power supply channel for the sub power supply system by the main power supply system is established.
Preferably, the lower part of the robot is a base, a power cabin is arranged in the base, a power hole is formed in the center of the bottom end of the base, and ball grooves are formed in two sides of the bottom end of the base.
Preferably, the robot further comprises a sub-power system; the sub power system comprises a direct current motor, a rolling gear, a sliding ball, a guide wheel and a limit pin; the sub-control system is connected with the sub-power system and monitors the operation condition of the sub-power system.
Preferably, the direct current motor is installed inside the power cabin, and an output shaft of the direct current motor is provided with an output gear; the rolling gear is rotatably arranged in the power hole, one side of the rolling gear is matched and meshed with the output gear, and the other side of the rolling gear leaks outside the base; the sliding balls are embedded in the ball grooves in a matched manner and partially leak out of the base, and each ball groove is provided with at least one sliding ball; hoisting holes are formed in two sides of the middle end of the bottom of the base, the guide wheel can be rotatably hoisted in the hoisting holes, and the jacking height of the base is matched with the height of the guide rail by the guide wheel; a limit pin is arranged at the inner side of each guide wheel; the top end of the limiting pin is provided with an elastic brush piece as a power interface of the sub-power system, the inner side of the brush piece is connected with a charger in the sub-power system, the outer side of the brush piece is tightly attached to the power connection piece so as to realize the connection of the main power system and the sub-power system, and a storage battery in the main power system of the unmanned pleasure boat charges a storage battery in the sub-power system of the robot through the power connection piece and the brush piece; the top surface of the electric brush piece is a concave-convex surface with arc-shaped contacts at two ends, when the robot turns along the guide rail, the electric brush piece on the inner side of the bend is extruded and deformed by the power connection piece and simultaneously guides the guide wheel to turn, and the limiting pin supports against the electric brush piece to provide transverse supporting force for the robot so as to keep the robot to move only along the guide rail.
Preferably, the upper side surface of the power supply wire slot is tangent to the limit pin, the limit pin can be pressed to prevent the robot from jumping upwards or overturning transversely, and specifically, the limit pin is a bearing tangent to the upper side surface of the power supply wire slot.
Preferably, the top of the guide rail is tangent to the sliding ball, and the guide wheel and the sliding ball share the weight of the robot together; a gear track is buried in the top of the guide rail, the specific position of the gear track is consistent with the stroke track formed by the rolling gears when the robot base moves along the guide rail, and the gear track reversely acts on the rolling gears to generate forward thrust of the robot.
Preferably, the guide rail is an annular guide rail around the side of the ship, a table and a chair are arranged on an inner annular deck of the annular guide rail, and the robot moves around the table and the chair on the rail so as to provide the goods delivery service for passengers.
Preferably, the table and chair is provided with a button and/or an operation screen, the main control system is connected with the button and/or the operation screen, the operation condition of the button and/or the operation screen is monitored, when a passenger presses the button or controls the operation screen, the main control system identifies the requirement of the passenger to generate a main instruction, the main instruction is sent to the sub-communication system through the main communication system, the sub-communication system forwards the main instruction to the sub-control system, and the sub-control system analyzes the main instruction to form a sub-instruction, so that the robot is driven to complete service.
Preferably, the robot still includes adapter, loudspeaker, display screen, sub control system is connected with adapter, loudspeaker and display screen, monitors the operating condition of adapter, loudspeaker and display screen, and the robot is under sub control system's drive, through loudspeaker broadcast guide information to show guide image through the display screen, can also receive passenger voice command through the adapter, the cooperation loudspeaker accomplish real-time conversation.
Preferably, the robot further comprises a storage cabinet for placing articles, and when the robot moves to a specified position, namely a position closest to a passenger, the passenger can take the required articles from the storage cabinet by only turning around and stretching hands when sitting on the table and chair.
Preferably, the main communication system comprises a bluetooth device, and/or a ZigBee communication device, and/or an NFC communication device, and/or a digital station, and/or a broadside station; the sub communication system comprises Bluetooth equipment, and/or ZigBee communication equipment, and/or NFC communication equipment; the Bluetooth equipment, the ZigBee communication equipment and the communication equipment establish communication channels for communication between the unmanned pleasure boat and the robot; and the digital radio station and the broadband radio station establish a communication channel for the communication between the unmanned ship and the monitoring center.
Preferably, the unmanned pleasure boat further comprises an anti-collision fender, a main power system, a navigation system and an obstacle avoidance system, wherein the main control system is connected with the main power system, the navigation system and the obstacle avoidance system and monitors the operation conditions of the main power system, the navigation system and the obstacle avoidance system.
Preferably, the main power system comprises a plurality of sets of electric propellers arranged at the bottom of the ship, each electric propeller comprises a steering gear, a hanging shaft, a power motor and a propeller, and the steering gears are arranged in the control cabin and provide rotating power to realize steering of the unmanned pleasure-boat; 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 and provides water-skiing power for the unmanned pleasure boat.
Preferably, the navigation system includes: the inertial navigation system is matched with an inertial navigation main antenna and an inertial navigation auxiliary antenna, the Beidou radio station is matched with a radio antenna, and the inertial navigation main antenna, the inertial navigation auxiliary antenna and the radio antenna are all arranged on the ship top; the inertial navigation system and a processor of the Beidou radio station are arranged in the control cabin, 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 main 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; millimeter wave radar provides long distance scanning information on a large scale for main control system, laser radar provides short distance scanning information on a small scale for main control system, the supplementary main control system of laser radar accurate control unmanned pleasure boat gets into can berth the water course to stop at the assigned position.
Compared with the prior art, the invention has the following advantages.
1. Improve unmanned pleasure boat intelligence service level through carrying on the robot to through set up the button on table chair or control the screen, provide the interactive interface of controlling the robot for the passenger.
2. The robot is provided with a channel for movement of the robot through the guide rail and the gear track, and supporting force and transverse constraint force are provided for the robot through the matching of the guide rail and the limiting pin, so that the jumping and transverse falling amplitude of the robot are reduced, the robot and the unmanned pleasure boat are combined into a whole, and the stability of the whole structure is improved.
3. The weight of the robot is supported through the guide wheels and the sliding balls, and the friction force when the robot moves and turns is greatly reduced.
4. The main power system of the unmanned pleasure boat is connected with the sub power system of the robot through the guide rail system, so that the robot can obtain energy required by operation.
5. The guide rail can bear a plurality of robots, can adapt to unmanned pleasure boats of different sizes, and the guide rail can be put as required to large-scale unmanned pleasure boats to thereby set up many robots and satisfy the service demand of large tracts of land.
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 diagram of a working state when a robot is carried on an unmanned pleasure boat in an embodiment of the invention.
Fig. 2 is a perspective view of the unmanned pleasure boat with the ceiling removed when the robot is carried thereon according to the embodiment of the present invention.
FIG. 3 is a block diagram of the main control system and sub-control system according to an embodiment of the present invention.
Fig. 4 is a cut-away rear perspective view of the unmanned pleasure boat in the embodiment of the invention.
Fig. 5 is a partially enlarged perspective view of a portion a in fig. 4 according to an embodiment of the present invention.
Fig. 6 is a perspective view of the robot and the gear in orbital isolation in the embodiment of the invention.
Fig. 7 is a perspective view of a robot in isolation in an embodiment of the present invention.
FIG. 8 is a cut-away bottom perspective view of the base with the robot isolated in an embodiment of the present invention.
FIG. 9 is a top perspective view of a cutaway base with a robot isolated in an embodiment of the present invention.
FIG. 10 is a perspective view of a cross-sectional base with no equipment when the robot is isolated in an embodiment of the present invention.
Fig. 11 is a perspective view of the robot with the guide wheels isolated according to the embodiment of the present invention.
Fig. 12 is a perspective view of the robot with the dc motor, the rolling gear, and the output gear isolated according to the embodiment of the present invention.
In the figure: 1, a ship body; 2-a robot; 3-a guide rail; 4-table and chair; 10-a main control system; 11-a primary communication system; 12-a main power supply system; 13-the main power system; 14-a navigation system; 15-obstacle avoidance system; 16-a sub-control system; 17-a sub-communication system; 18-a sub-power supply system; 19-a sub-power system; 101-a control cabin; 102-an onboard passenger cabin; 103-the top of the ship; 104-fender; 201-a base; 202-a power cabin; 203-power hole; 204-ball groove; 205-a sound pick-up; 206-a horn; 207-display screen; 208-a locker; 209-hoisting holes; 301-power tab; 302-gear track; 303-power line slot; 401-a button; 402-an operation screen; 191-a direct current motor; 192-a rolling gear; 193-sliding balls; 194-a guide wheel; 195-a limit pin; 196-a brush sheet; 197-output gear.
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.
As shown in fig. 1-12, an unmanned pleasure boat for carrying a robot, wherein a control cabin 101 is arranged at the lower end of a boat body 1, an open passenger cabin 102 is arranged at the upper end of the control cabin 101, a roof 103 for shielding wind and rain is arranged above the passenger cabin 102, and equipment can be carried on the roof 103; an impact fender 104 is provided on the side surface of the hull 1 that protrudes most outward.
The robot 2 is arranged in the passenger cabin 102, the control cabin 101 of the unmanned pleasure boat is provided with a main control system 10, a main communication system 11 and a main power system 12, a sub-control system 16, a sub-communication system 17 and a sub-power system 18 are arranged inside the robot 2, and the main control system 10 monitors the sub-control system 16 through a communication channel established between the main communication system 11 and the sub-communication system 17, so that the unmanned boat monitors the robot 2; the main power system 12 and the sub power system 18 are both provided with a charging system and a storage battery, the storage battery of the main power system 12 provides power for unmanned cruise equipment, the storage battery of the sub power system 18 provides power for robot 2 equipment, and the main control system 10 and the sub control system 16 are control boxes which are formed by taking SIM32F series CPU processors as cores.
In this embodiment, the overall height of each robot 2 is 110cm, the lowermost end of each robot 2 is a base 201, a power cabin 202 is arranged in the base 201, two storage cabinets 208 are arranged on the upper portion of the base 201, a controller cabin of the robot 2 is arranged at the upper ends of the storage cabinets 208, a display screen 207 is arranged on the upper portion of the controller cabin, a sound pickup 205 is arranged at the front end of the controller cabin, and a loudspeaker 206 is arranged on each of the left side and the right side of the controller cabin.
In the embodiment, a set of guide rails 3 for guiding the robot 2 to move is arranged in the passenger cabin 102, the guide rails 3 form a closed rectangle with round corners around the inner side of a chord, the length of the long side is 715cm, the length of the short side is 315cm, the radius of each corner is 67.5cm, the surface width of each guide rail 3 is 15cm, the height of each track is 6cm, and two robots 2 are arranged on the guide rails 3; the middle ends of two sides of the guide rail 3 are symmetrically provided with the same power supply wire slots 303 with the width of 2cm and the depth of 7mm, the front surfaces of the power supply wire slots 303 are provided with power supply connection pieces 301 with the width of 2cm and the thickness of 2mm, the inner sides of the power supply connection pieces 301 are connected with a storage battery of the main power supply system 12 through wires, the outer sides of the power supply connection pieces 301 are connected with a power supply interface of the sub power supply system 18 in a sliding mode, and therefore a power supply channel of the main power supply system 12 for the sub power supply system.
In this embodiment, the lower part of the robot 2 is a base 201, a power cabin 202 is arranged in the base 201, a power hole 203 with a length of 5cm and a width of 3cm is arranged in the center of the bottom end of the base 201, ball grooves 204 with a length of 2cm and a section of 1cm are arranged on two sides of the bottom end of the base 201, and a string with a depth of 5mm is cut off from the bottom of the base 201.
In the present embodiment, the robot 2 includes a sub power system 19; the sub-power system 19 comprises a direct current motor 191, a rolling gear 192 with the diameter of 5cm and the length of 3cm, a sliding ball 193 with the diameter of 1cm, a guide wheel 194 with the diameter of 4cm and the width of 1.5cm and a limit pin 195; the sub-control system 16 is connected to the sub-power system 19 and monitors the operating conditions of the sub-power system 19.
In this embodiment, the dc motor 191 is installed inside the power compartment 202, and an output shaft thereof is configured with an output gear 197, the diameter of which is 5cm and the length of which is 1cm, and the teeth of the output gear 197 have the same specification as those of the teeth of the rolling gear 192; the rolling gear 192 is rotatably arranged in the power hole 203, one side of the rolling gear is meshed with the output gear 197 in a matching way, the other side of the rolling gear is leaked outside the base 201, and the exposed depth is 1 cm; the sliding balls 193 are embedded in the ball grooves 204 in a matched manner, the distance between the lowest point and the bottom plane of the base 201 is 5mm, and each ball groove 204 is provided with two tangential sliding balls 193; hoisting holes 209 with the diameter of 2.5cm are formed in two sides of the middle end of the bottom of the base 201, and the guide wheel 194 can be rotatably hoisted in the hoisting holes 209; a limit pin 195 is arranged at the inner side of each guide wheel 194; the top end of the limit pin 195 is provided with an elastic brush piece 196 which is used as a power interface of the sub-power supply system 18, the brush piece 196 is 3cm long, 1cm wide and 5mm thick, the top surface of the brush piece is cut into a concave-convex surface with arc-shaped contacts at two ends, the inner side of the brush piece 196 is connected with a charger in the sub-power supply system 18, and the outer side of the brush piece 196 is tightly attached to a power supply connecting piece 301 so as to realize the connection of the main power supply system 12 and the sub-power supply system 18, specifically, a storage battery in the main power supply system 12 of the unmanned pleasure boat is connected with the power supply connecting piece 301 through a conducting wire, the brush piece 196 is tightly attached to the power supply connecting piece 301, the brush piece 196 is connected with the charger in the sub-power supply system 18 of the robot 2 through a conducting wire, and the; when the robot 2 turns along the guide rail 3, when the brush sheet 196 on the inner side of the curve is pressed by the power connection sheet 301, the outer convex points on the two ends deform downwards to adapt to the arc surface of the power line groove 303, and meanwhile, the brush sheet 196 guides the guide wheel 194 to turn, and the limit pin 195 abuts against the brush sheet 196 to provide transverse supporting force for the robot 2 to keep the robot 2 moving along the guide rail 3 only.
In this embodiment, a bearing with a diameter of 2cm is concentrically arranged on the limit pin 195, the side surface of the power line groove 303 is tangent to the outer ring of the bearing, and the power line groove 303 presses the limit pin 195 to prevent the robot 2 from jumping upwards or overturning transversely.
In this embodiment, the top of the guide rail 3 is tangent to the sliding ball 193, the height of the guide wheel 194 for jacking up the base 201 is 6.5cm, which is equal to the sum of the height of the guide rail 3 and the height of the leakage part of the sliding ball 193, and when the robot 2 is horizontally parked on the guide rail 3, the guide wheel 194 and the sliding ball 193 bear the weight of the robot 2; the gear track 302 is buried at the top of the guide rail 3, the width is 4cm, the depth is 8mm, the specific position of the gear track 302 is consistent with the stroke track formed by the rolling gear 192 when the base 201 of the robot 2 moves along the guide rail 3, namely the middle area of the top surface of the guide rail 3, the meshing depth of the gear track 302 and the rolling gear 192 is 5mm, the rolling gear 192 presses the gear track 302 in a rolling mode, the gear track 302 pushes the rolling gear 192 reversely to enable the robot 2 and the guide wheel 194 of the robot 2 to rotate, and the sliding ball 193 rolls on the upper end face of the guide rail 3 to enable the robot 2 to advance along the gear track 302.
In this embodiment, a table and chair 4 is arranged on the inner ring deck of the guide rail 3, and the robot 2 moves on the rail around the table and chair 4 so as to provide an article delivery service for passengers, specifically, the table is provided with an oval table top in the middle, the two ends are arc-shaped sofas, the two sides are rectangular sofas, and a channel is arranged between the arc-shaped sofas and the rectangular sofas.
In this embodiment, twenty-four buttons 401 are uniformly arranged on the sofa, four operation panels 402 are arranged on the table, the main control system 10 is connected with the buttons 401 and/or the operation panels 402, the operation conditions of the buttons 401 and/or the operation panels 402 are monitored, when a passenger presses the buttons 401 or operates the operation panels 402, the main control system 10 recognizes the requirement of the passenger to generate a main command, the main command is sent to the sub-communication system 17 through the main communication system 11, the sub-communication system 17 forwards the main command to the sub-control system 16, and the sub-control system 16 analyzes the main command to form a sub-command, so as to drive the robot 2 to complete the service.
In this embodiment, the sub-control system 16 of the robot 2 is connected with the sound pickup 205, the loudspeaker 206 and the display screen 207, monitors the operation condition of the sound pickup 205, the loudspeaker 206 and the display screen 207, the sub-control system 16 stores the tour information, the sub-control system 16 can be driven by the unmanned cruise main control system 10, and then the loudspeaker 206 is activated to play the tour guide information corresponding to the place, and the display screen 207 can also be activated to display the tour guide image, the robot 2 can receive the voice information of the passenger through the sound pickup 205, the voice information is sent to the sub-control system 16 and converted into the voice command, the sub-control system 16 drives the robot 2 to complete the corresponding service requirement according to the voice command content, and the real-time conversation is completed by matching with the loudspeaker 206.
In this embodiment, articles such as food toys are placed in the storage cabinet 208 on the robot 2, when a passenger presses the button 401 or selects a desired article on the operation panel 402, the main control system 10 recognizes a passenger requirement, a motion instruction is issued to the robot 2 through the main communication system 11, the sub communication system 17 receives information from the main communication system 11 and forwards the information to the sub control system 16, the sub control system 16 drives the sub power system 19 to move the robot 2 to a specified position, namely, a position closest to the passenger, and the passenger can take the desired article from the storage cabinet 208 by sitting on the table and chair 4 and only turning his body and stretching his hand.
In this embodiment, the main communication system 11 includes a bluetooth device, a ZigBee communication device, an NFC communication device, a digital radio station, and a width radio station; the sub-communication system 17 comprises Bluetooth equipment, ZigBee communication equipment and NFC communication equipment; the Bluetooth equipment, the ZigBee communication equipment and the communication equipment establish a wireless communication channel between the unmanned pleasure boat and the robot 2; and the digital radio station and the broadband radio station establish a wireless communication channel for the unmanned ship and the monitoring center.
In this embodiment, the unmanned pleasure boat further includes a main power system 13, a navigation system 14, and an obstacle avoidance system 15, and the main control system 10 is connected to the main power system 13, the navigation system 14, and the obstacle avoidance system 15 and monitors operation conditions of the main power system 13, the navigation system 14, and the obstacle avoidance system 15.
In this embodiment, the main power system 13 includes a plurality of sets of electric paddles installed at the bottom of the ship, each set of electric paddle includes a steering gear, a hanging shaft, a power motor and a propeller, and the steering gear is disposed in the control cabin 101 to provide rotary power to realize steering of the unmanned pleasure boat; 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 and provides water-skiing power for the unmanned pleasure boat.
In this embodiment, the navigation system 14 includes: the navigation system is provided with an inertial navigation main antenna and an inertial navigation auxiliary antenna in a matched manner, the Beidou radio station is provided with a radio antenna in a matched manner, and the inertial navigation main antenna, the inertial navigation auxiliary antenna and the radio antenna are all arranged on the ship top 103; the inertial navigation system and a processor of the Beidou radio station are arranged in the control cabin 101, an inertial navigation main antenna and an inertial navigation auxiliary antenna are connected with the processor of the inertial navigation system through a lead, and a 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 14 acquires the positioning information of the unmanned cruise ship and sends the positioning information to the monitoring center through the main communication system 11.
In this embodiment, the obstacle avoidance system 15 includes a millimeter wave radar and a laser radar; the millimeter wave radar is arranged on the ship top 103; the two laser radars are symmetrically arranged on the bow guardrails and the stern guardrails; millimeter wave radar provides main control system 10 long distance scanning information on a large scale, laser radar provides short distance scanning information on a small scale for main control system 10, laser radar assists main control system 10 accurate control unmanned pleasure boat to get into can berth the water course to stop at the assigned position.
The steps of the robot 2 providing the passenger with the tour guide service or the article in response to the button 401 or the operation panel 402 are as follows.
The method comprises the following steps: the main control system 10 of the unmanned pleasure boat receives passenger operation instructions or monitoring center instructions through the main communication system 11, drives the main power system 13 to act, and cooperates with the navigation system 14 and the obstacle avoidance system 15 to autonomously/safely navigate along a designated route.
Step two: the passenger presses the button 401 to produce an instruction to fetch goods, or the passenger issues an instruction to require service through the operation panel 402.
Step three: the button 401 or the operation panel 402 transmits operation information to the main control system 10.
Step four: the main control system 10 parses the operation information of the button 401 or the operation panel 402 to generate a main command, and forwards the main command to the main communication system 11, such as a bluetooth communication device.
Step five: the main communication system 11 forwards the main command to the sub-communication system 17.
Step six: the sub communication system 17 receives the main command and forwards the main command to the sub control system 16.
Step seven: the sub-control system 16 analyzes the main command, generates a sub-command, and drives the sub-power system 19 to operate.
Step eight: the sub power system 19 drives the robot 2 to move to a designated place, and prompts passengers to pick up articles through the loudspeaker 206, or plays the tour guide information through the loudspeaker 206 and plays the tour guide images through the display screen 207.
Step nine: the passenger can listen or read the tour guide information by matching with turning to get articles, and the robot 2 finishes the service through the voice information of the passenger or setting time delay judgment.
The steps of the robot 2 providing the passenger with the tour guide service or the article by voice are as follows.
The method comprises the following steps: the main control system 10 of the unmanned pleasure boat receives passenger operation instructions or monitoring center instructions through the main communication system 11, drives the main power system 13 to act, and cooperates with the navigation system 14 and the obstacle avoidance system 15 to autonomously/safely navigate along a designated route.
Step two: the passenger speaks to the robot 2, and the robot 2 collects the passenger shouts through the microphone 205 and forwards to the sub-control system 16.
Step three: the sub-control system 16 parses the shout content to generate sub-instructions.
Step four: the sub-control system 16 drives the sub-power system 19 to operate according to the sub-command content.
Step five: the sub power system 19 drives the robot 2 to move to a designated place, and prompts passengers to pick up articles through the loudspeaker 206, or plays the tour guide information through the loudspeaker 206 and plays the tour guide images through the display screen 207.
Step six: the passenger can listen or read the tour guide information by matching with turning to get articles, and the robot 2 finishes the service through the voice information of the passenger or setting time delay judgment.
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 (10)
1. A ship body (1) of the unmanned pleasure boat carrying a robot comprises a control cabin (101) and a passenger cabin (102), and is characterized in that the control cabin (101) of the unmanned pleasure boat is provided with a main control system (10), a main communication system (11) and a main power supply system (12), the passenger cabin (102) is provided with the robot (2), a sub-control system (16), a sub-communication system (17) and a sub-power supply system (18) are arranged inside the robot (2), and the main control system (10) monitors the sub-control system (16) through a communication channel established between the main communication system (11) and the sub-communication system (17); the main power supply system (12) supplies power to unmanned pleasure boat equipment, and the sub power supply system (18) supplies power to robot (2) equipment; a guide rail (3) is arranged in the passenger cabin (102), and at least one robot (2) is arranged on the guide rail (3); the guide rail (3) is provided with a power supply connecting piece (301), the inner side of the power supply connecting piece (301) is connected with the main power supply system (12) through a conducting wire, and the outer side of the power supply connecting piece (301) is connected with a power supply interface of the sub-power supply system (18) in a sliding mode.
2. The unmanned pleasure boat according to claim 1, wherein a base (201) is arranged at the lower part of the robot (2), a power cabin (202) is arranged in the base (201), a power hole (203) is formed in the center of the bottom end of the base (201), and ball grooves (204) are formed in two sides of the bottom end of the base (201); the robot (2) further comprises a sub-power system (19); the sub-power system (19) comprises a direct current motor (191), a rolling gear (192), a sliding ball (193), a guide wheel (194) and a limit pin (195); the sub-control system (16) is connected with the sub-power system (19) and monitors the operation condition of the sub-power system (19); the direct current motor (191) is arranged in the power cabin (202), and an output shaft of the direct current motor is provided with an output gear (197); the rolling gear (192) is rotatably arranged in the power hole (203), one side of the rolling gear is matched and meshed with the output gear (197), and the other side of the rolling gear leaks outside the base (201); the sliding balls (193) are fittingly embedded in the ball grooves (204) and partially leak out of the base (201), and at least one sliding ball (193) is arranged in each ball groove (204); hoisting holes (209) are formed in two sides of the middle end of the bottom of the base (201), the guide wheels (194) are rotatably hoisted in the hoisting holes (209), and a limit pin (195) is arranged on the inner side of each guide wheel (194); an elastic electric brush piece (196) is arranged at the top end of the limiting pin (195) and serves as a power supply interface of the sub-power supply system (18), and the electric brush piece (196) is tightly attached to the power supply connecting piece (301) so as to realize the connection of the main power supply system (12) and the sub-power supply system (18).
3. Unmanned pleasure boat according to claim 2, characterized in that the top of the guide rail (3) is tangent to the sliding ball (193), the guide wheel (194) and sliding ball (193) sharing the weight of the robot (2); and a corresponding gear track (302) is arranged on the stroke track of the rolling gear (192) in a matching way.
4. The unmanned pleasure boat according to claim 3, wherein power supply wire grooves (303) are formed in two sides of the guide rail (3), the power supply connecting pieces (301) are attached to the front sides of the power supply wire grooves (303) and are insulated from each other, and the limiting pins (195) are vertically blocked by the upper side faces of the power supply wire grooves (303).
5. The unmanned pleasure boat according to any one of claims 4, wherein the limit pin (195) is a bearing tangent to the upper side of the power line trough (303), and the top surface of the electric brush piece (196) is a concave-convex surface with circular arc-shaped contacts at two ends.
6. An unmanned pleasure boat according to any one of claims 1 to 5, characterized in that the guide rail (3) is an annular guide rail (3) internally surrounding the boat side, a table and a chair (4) are arranged on an inner annular deck of the annular guide rail (3), a button (401) and/or an operation screen (402) are arranged on the table and the chair (4), the main control system (10) is connected with the button (401) and the operation screen (402), and the operation conditions of the button (401) and the operation screen (402) are monitored.
7. The unmanned pleasure boat of claim 6, wherein the robot (2) further comprises a sound pick-up (205), a loudspeaker (206) and a display screen (207), and the sub-control system (16) is connected with the sound pick-up (205), the loudspeaker (206) and the display screen (207) and monitors the operation conditions of the sound pick-up (205), the loudspeaker (206) and the display screen (207).
8. An unmanned pleasure boat according to claim 7, characterized in that the robot (2) further comprises a locker (208).
9. An unmanned pleasure boat according to claim 8, characterized in that the main communication system (11) comprises a bluetooth device, and/or a ZigBee communication device, and/or a NFC communication device, and/or a digital station, and/or a broadside station; the sub-communication system (17) comprises a Bluetooth device, and/or a ZigBee communication device, and/or an NFC communication device.
10. Unmanned pleasure boat according to claim 9, characterized in that it further comprises a top (103), a fender (104), a main power system (13), a navigation system (14) and an obstacle avoidance system (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010003828.8A CN113071614A (en) | 2020-01-03 | 2020-01-03 | Unmanned pleasure boat carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010003828.8A CN113071614A (en) | 2020-01-03 | 2020-01-03 | Unmanned pleasure boat carrying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113071614A true CN113071614A (en) | 2021-07-06 |
Family
ID=76608713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010003828.8A Withdrawn CN113071614A (en) | 2020-01-03 | 2020-01-03 | Unmanned pleasure boat carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113071614A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408105A (en) * | 2022-02-22 | 2022-04-29 | 苏州优世达智能科技有限公司 | Unmanned ship based on hydrogen fuel cell technology |
-
2020
- 2020-01-03 CN CN202010003828.8A patent/CN113071614A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408105A (en) * | 2022-02-22 | 2022-04-29 | 苏州优世达智能科技有限公司 | Unmanned ship based on hydrogen fuel cell technology |
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