无人船在行驶时，遇到障碍物需要自动避障，避障采用的是超声波测距避障。常

When the unmanned boat is running, it needs to avoid obstacles automatically when encountering obstacles. The obstacle avoidance adopts ultrasonic ranging to avoid obstacles. The common ultrasonic module is the HC-SR04 model, but it is not waterproof. After encountering water, the module immediately becomes unstable, the data is seriously abnormal, and even the module is directly damaged. Therefore, in the actual design, the waterproof ultrasonic module XKC-007Y developed by a company in Shenzhen was selected. The probe integrates the transmitting module and the receiving module. The induction angle of HC-SR04 is not greater than 15 degrees, while the induction angle of XKC-007Y is up to 50 degrees. XKC-007Y is mainly composed of three parts: waterproof probe, extension cable and control board.

无人船在行驶时，遇到障碍物需要自动避障，避障采用的是超声波测距避障。常见的超声波模块是HC-SR04型号的，但是不防水，遇到水后，模块马上出现工作不稳定，数据严重异常，甚至模块直接坏掉。故在实际设计中选择了深圳某家公司研发的防水型超声波模块XKC-007Y，探头集成了发射模块和接收模块于一体。HC-SR04感应角度不大于15度，而XKC-007Y感应角度高达50度，XKC-007Y主要有防水探头、延长线、控制板三部分组成。

When the unmanned ship is running, it needs to avoid obstacles automatically when encountering obstacles. Ultrasonic distance measurement is used to avoid obstacles. The common ultrasonic module is hc-sr04 model, but it is not waterproof. After encountering water, the module immediately appears unstable operation, data is seriously abnormal, and even the module directly breaks down. Therefore, the waterproof ultrasonic module xkc-007y developed by a company in Shenzhen is selected in the actual design, and the probe integrates the transmitting module and the receiving module. Hc-sr04 sensing angle is not more than 15 degrees, while xkc-007y sensing angle is as high as 50 degrees. Xkc-007y mainly consists of waterproof probe, extension wire and control board.<br>