Semi-submersible type unmanned mine clearance vehicle

Abstract

The invention belongs to the technical field of overall design of unmanned vehicles, and discloses a semi-submersible type unmanned mine sweeping vehicle. Comprising a bow section, a cylinder section and a stern section which are connected in sequence to form a pressure-resistant internal sealing cavity; a warhead is carried in the bow section, magnetic source equipment, a generator, a barrel balance weight and a sailing control system are carried in the barrel section, sound source equipment is carried in the stern section, a propeller is carried outside the stern section, and sailing steering of the propeller is achieved through differential speed. The system has the characteristics of integration of semi-submersible sailing, mine sweeping, mine extinguishing and obstacle breaking, unmanned and cable-free sailing, stable and controllable track, low sailing resistance, low production and manufacturing cost, high system reliability and the like, ship acoustic and magnetic information is actively simulated based on the magnetic source equipment and the sound source equipment, and the vehicle is positioned in real time based on the inertial navigation equipment and the Beidou antenna; passive mine sweeping, active mine extinguishing and obstacle breaking and track control of a preset route are achieved, and combat missions such as mine sweeping, mine extinguishing and obstacle clearing of the preset route and shielding of amphibious landing troops can be rapidly and efficiently executed.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a semi-submersible unmanned minesweeping aerial vehicle. Background Art

[0002] In modern navies of developed countries, unmanned aerial vehicles are often used to replace divers to perform anti-mine and other combat missions. In order to achieve rapid anti-mine combat missions, minesweeping vehicles should have the following characteristics: semi-submersible navigation, integrated minesweeping, mine removal and obstacle removal, unmanned and cable-free navigation, stable and controllable track, low navigation resistance, low production and manufacturing cost, and high system reliability.

[0003] From the perspective of anti-mine technology, different triggering methods are required for different types of mines. Traditional minesweeping vehicles carry few minesweeping equipment and have a single anti-mine capability. A single vehicle only has a passive minesweeping trigger function or an active blasting trigger function. When facing complex minefields, multiple minesweeping vehicles with different functions are required, and the cost of minesweeping is high.

[0004] On the other hand, from the perspective of the control method and use mode of minesweeping vehicles, traditional minesweeping vehicles use umbilical cables or stern towing cables for communication and power supply. Due to the length of the umbilical cable or towing cable, the minesweeping vehicle cannot completely separate from the mother ship when performing minesweeping operations. Therefore, its navigation speed is low, and its operating range and efficiency are relatively limited. It is not suitable as a vehicle for minesweeping tasks such as clearing obstacles in the channel and covering landing on the island. In addition, when multiple vehicles sail along the same track, the umbilical cables are prone to entanglement with each other or with seabed reefs, which makes it difficult to meet the reliability requirements of multi-vessel cluster operations and is not suitable for large-scale, high-efficiency anti-mine combat missions. Therefore, it is necessary to design an unmanned minesweeping vehicle that can sail semi-submersibly, integrate minesweeping, mine removal and obstacle removal, sail unmanned and without cables, have a stable and controllable track, low navigation resistance, low production and manufacturing cost, and high system reliability. Summary of the invention

[0005] In view of the above problems existing in the existing minesweeping vehicles, the present invention aims to provide a semi-submersible unmanned minesweeping vehicle which can realize minesweeping and obstacle removal missions in the marine environment.

[0006] The object of the present invention is achieved through the following technical solutions: A semi-submersible unmanned minesweeping vehicle comprises a bow section, a barrel section and a stern section connected in sequence;

[0007] The bow section includes a bow head and a plurality of warheads; the warheads are multiple and are accommodated in the bow head against the wall;

[0008] The cylinder section includes a pressure-resistant cylinder, a cylinder cover, an air intake pipe, an exhaust pipe, a magnetic source device, a generator, a cylinder counterweight, and a navigation control system; the two ends of the cylinder cover are sealed and plugged into the pressure-resistant cylinder, and the pressure-resistant cylinder is respectively connected to the bow section and the stern section; the air intake pipe is sealed and plugged into the pressure-resistant cylinder near the bow section; the exhaust pipe is sealed and plugged into the pressure-resistant cylinder near the stern section; the magnetic source device is placed at the bottom of the pressure-resistant cylinder; there are multiple generators, which are placed in the middle of the pressure-resistant cylinder together with the navigation control system; the navigation control system controls the magnetic source device; there are multiple cylinder counterweights, which are placed close to the wall at the bottom of the inner side of the pressure-resistant cylinder, and the amount used is calculated according to the constant weight test;

[0009] The stern section includes a stern head, a sound source device, and a propeller; a plurality of propellers for adjusting the speed and attitude of the vessel are evenly arranged along the axial direction on the outer surface of the stern head; each propeller is connected to the navigation control system through a watertight cable and a watertight connector; the sound source device is placed inside the stern head;

[0010] The center of gravity of the semi-submersible unmanned minesweeping vehicle is located vertically directly below the center of buoyancy;

[0011] When a semi-submersible unmanned minesweeping vehicle is sailing on the surface or in water, the navigation control computer and inertial navigation equipment of the navigation control system calculate the position of the semi-submersible unmanned minesweeping vehicle in real time, and the navigation control computer issues instructions to control the speed and direction of each propeller respectively, thereby making the semi-submersible unmanned minesweeping vehicle turn on the surface or float in the water.

[0012] Furthermore, the navigation control system includes a navigation control computer, an inertial navigation device, an uninterruptible power supply, and a Beidou antenna. The navigation control computer is respectively connected to the inertial navigation device, the uninterruptible power supply, and the Beidou antenna, and the uninterruptible power supply supplies power to the navigation control computer.

[0013] Furthermore, the bow section and the stern section are made of carbon steel material with high magnetic permeability, and the barrel section is made of stainless steel material with low magnetism or no magnetism.

[0014] Furthermore, the bow head is mainly composed of a bow head shell, a bow head flange, and a bow head lifting lug; the stern head is mainly composed of a stern head shell, a stern head flange, a stern head lifting lug, a sound source bracket, and a thruster support.

[0015] Furthermore, the bow head shell is a spherical structure, and the streamline enclosure is a curved streamline structure.

[0016] Furthermore, a bow cylinder flange is welded on the bow side of the pressure-resistant cylinder; a bow head flange is welded on the bow head; and the pressure-resistant cylinder is coaxially plugged with the bow head seal through the bow cylinder flange, the bow head flange and the sealing fastener.

[0017] Furthermore, a stern cylinder body flange is welded on the stern side of the pressure-resistant cylinder body; a stern head flange is welded on the stern head; and the pressure-resistant cylinder body is coaxially plugged with the stern head seal through the stern cylinder body flange, the stern head flange and a sealing fastener.

[0018] Furthermore, a streamlined shell is welded to the top of the pressure-resistant cylinder, and an upper cover flange is welded to the top section of the streamlined shell; the pressure-resistant cylinder is sealed and plugged with the cylinder upper cover through the upper cover flange and sealing fasteners.

[0019] Furthermore, the cylinder section includes a pressure-resistant cylinder, a cylinder upper cover, an air intake pipe, an exhaust pipe, a magnetic source device, a generator, a cylinder counterweight, and a navigation control system; the pressure-resistant cylinder is welded by a reel, a rib, a bow cylinder flange, a stern cylinder flange, a streamline casing, an upper cover flange, a magnetic source bracket, a platform bracket, an air intake pipe flange, and an exhaust pipe flange; the cylinder upper cover is sealed and plugged with the upper cover flange of the pressure-resistant cylinder; the air intake pipe is sealed and plugged with the air intake pipe flange of the pressure-resistant cylinder; the exhaust pipe is sealed and plugged with the exhaust pipe flange of the pressure-resistant cylinder; the stern section includes a stern head, a sound source device, and a thruster, and the stern head is welded by a stern head shell, a stern head flange, a stern head lifting ear, a sound source bracket, and a thruster support.

[0020] A bow cylinder flange is welded on the bow side of the pressure-resistant cylinder, a bow head flange is welded on the bow head, and the pressure-resistant cylinder is coaxially plugged with the bow head seal through the bow cylinder flange, the bow head flange and a sealing fastener.

[0021] The stern side of the pressure-resistant cylinder is welded with a stern cylinder body flange, the stern head is welded with a stern head flange, and the pressure-resistant cylinder is coaxially plugged with the stern head seal through the stern cylinder body flange, the stern head flange and a sealing fastener.

[0022] After the bow head, the pressure-resistant cylinder, the cylinder upper cover and the stern head are sealed and plugged together, a dry normal pressure environment is formed inside.

[0023] The bow head flange, drum, ribs, bow barrel flange, stern barrel flange, air inlet pipe flange, exhaust pipe flange, stern head shell, stern head flange, sound source bracket, and thruster support are all rotating body structures; the air inlet pipe and exhaust pipe are all profile structures; the bow head lifting ear, magnetic source bracket, platform bracket, and stern head lifting ear are all plate welding structures.

[0024] The generator, navigation control system, thruster, watertight cable, watertight connector, and sealing fasteners are all commercially available shelf products that are easy to purchase, reliable in quality, and low in price.

[0025] The beneficial effects of the present invention are:

[0026] 1. The present invention is equipped with large-scale magnetic source equipment and sound source equipment, which can actively release alternating electromagnetic waves and synthetic sound waves of different intensities and frequency bands into the seawater around the hull, simulate the magnetic and acoustic signals of real ships, and actively trigger the mines that may exist in the minesweeping sea area, and has excellent acoustic and magnetic integrated minesweeping capabilities.

[0027] 2. The watertight pressure-resistant cabin structure formed by the bow section, the barrel section and the stern section of the present invention can generate a large positive buoyancy, the buoyancy value is slightly greater than the weight of the vehicle, and the center of gravity of the entire vehicle is located vertically directly below the center of buoyancy. The center of gravity and the center of buoyancy are both located in the direction of the axis of left-right symmetry of the vehicle, so that the vehicle can navigate in the water in a semi-submerged form, greatly reducing the exposed volume ratio of the part above the water surface.

[0028] 3. The warhead, magnetic source equipment, generator, cylinder counterweight, navigation control computer, inertial navigation equipment, uninterruptible power supply and other equipment of the present invention are housed in a pressure cabin structure formed by the bow section, cylinder section and stern section. The cabin is a dry watertight environment at normal pressure, which avoids equipment damage due to water ingress during use of the aircraft.

[0029] 4. The present invention carries multiple warheads inside, and can flexibly adjust the TNT equivalent by increasing or decreasing the number of warheads before the aircraft is launched according to mission requirements. It can also be remotely detonated after the aircraft is launched to destroy mines or obstacles detected on the scheduled route, and has excellent mine-clearing and obstacle-clearing capabilities.

[0030] 5. The present invention communicates and interacts through the Beidou antenna and uses a boat-mounted generator to generate electricity. The aircraft does not need to use an umbilical cable to communicate and power the shore / mother ship, thereby avoiding the possibility of the umbilical cable being entangled with the seabed reefs and eliminating the constraints of the umbilical cable on the aircraft's navigation freedom, providing a basis for the aircraft's cluster formation operations.

[0031] 6. The present invention uses inertial navigation equipment and Beidou antennas to carry out real-time positioning and monitoring of the aircraft, and can timely and independently control the steering and rotation speed of each propeller to ensure that the aircraft will not deviate from the predetermined route, and has the advantages of a stable and controllable track.

[0032] 7. The bow head shell of the present invention is a spherical structure, the streamlined shell is a curved surface structure, the drum, the cylinder flange, the head flange, etc. are rotating body structures, the overall shape of the vehicle is streamlined, and the resistance is low during navigation.

[0033] 8. The magnetic low-carbon steel and low-magnetic stainless steel used in the main structure of the present invention are both plates and profiles, which are commonly used materials in the machinery industry, have low prices, and have excellent weldability and machinability.

[0034] 9. The main structure of the present invention adopts rolling, stamping, welding, processing and other manufacturing technologies. The production process is mature, there is no manufacturing difficulty, and the manufacturing cost and manufacturing cost are low.

[0035] 10. The navigation control system, watertight cables, watertight connectors, sealing fasteners and other electronic equipment of the present invention are all commercially available shelf products that are easy to purchase, reliable in quality and low in price. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0037] Figure 2 It is a front view of the structure of the present invention;

[0038] Figure 3 It is a rear view of the structure of the present invention;

[0039] Figure 4 It is a schematic diagram of the internal structure of the present invention;

[0040] Figure 5 It is a top view of the internal structure of the present invention;

[0041] Among them: 1 is the bow section, 2 is the barrel section, 3 is the stern section, 4 is the bow head, 401 is the bow head shell, 402 is the bow head flange, 403 is the bow head lifting lug, 5 is the warhead, 6 is the pressure barrel, 601 is the drum, 602 is the rib, 603 is the bow barrel flange, 604 is the stern barrel flange, 605 is the streamline shell, 606 is the upper cover flange, 607 is the magnetic source bracket, 608 is the platform bracket, 609 is the intake pipe flange, 610 is the exhaust pipe flange , 7 is the cylinder cover, 8 is the air inlet pipe, 9 is the exhaust pipe, 10 is the magnetic source equipment, 11 is the generator, 12 is the cylinder counterweight, 13 is the navigation control computer, 14 is the inertial navigation equipment, 15 is the uninterruptible power supply, 16 is the Beidou antenna, 17 is the stern head, 1701 is the stern head shell, 1702 is the stern head flange, 1703 is the stern head lifting ear, 1704 is the sound source bracket, 1705 is the thruster bracket, 18 is the sound source equipment, and 19 is the thruster. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] like Figures 1 to 5 As shown, the present invention provides a semi-submersible unmanned minesweeping vehicle, comprising a bow section 1, a barrel section 2, and a stern section 3 connected in sequence. The bow section 1, the barrel section 2, and the stern section 3 are coaxially sealed and plugged together to form a pressure-resistant cabin type structure, and the interior is a dry normal pressure environment.

[0044] The bow section 1 of the present embodiment includes a bow head 4 and a warhead 5, wherein the bow head 4 is welded by a bow head shell 401, a bow head flange 402, and a bow head lifting lug 403. There are multiple warheads 5 in the present embodiment, and their outer surfaces are conformal to the inner surface of the bow head shell 401. The warheads 5 can be placed inside the bow head 4 against the wall using ordinary civilian glue. The number of warheads 5 is determined by the user after calculation based on the TNT equivalent required for the combat mission.

[0045] The cylinder section 2 of this embodiment includes a pressure-resistant cylinder 6, a cylinder upper cover 7, an air intake pipe 8, an exhaust pipe 9, a magnetic source device 10, a generator 11, a cylinder counterweight 12, and a navigation control system, wherein the pressure-resistant cylinder 6 is welded by a reel 601, a rib 602, a bow cylinder flange 603, a stern cylinder flange 604, a streamline enclosure 605, an upper cover flange 606, a magnetic source bracket 607, a platform bracket 608, an air intake pipe flange 609, and an exhaust pipe flange 610. The space inside the pressure-resistant cylinder 6 is relatively large, and the magnetic source device 10 of this embodiment is arranged on the magnetic source bracket 607 at the bottom of the pressure-resistant cylinder 6. There are multiple generators 11 of this embodiment, which are arranged together with the navigation control system of this embodiment on the platform bracket 608 in the middle of the pressure-resistant cylinder 6. The magnetic source bracket 607 and the platform bracket 608 have rich installation interfaces, which can realize the modular replacement of the magnetic source device 10, the generator 11, and the navigation control system. The top of the pressure-resistant cylinder 6 of this embodiment is welded with a streamline enclosure 605, and the top section of the streamline enclosure 605 is welded with an upper cover flange 606. The pressure-resistant cylinder 6 is sealed and plugged with the cylinder upper cover 7 through the upper cover flange 606 and the sealing fasteners. The air intake pipe 8 of this embodiment is coaxially sealed and plugged with the air intake pipe flange 609 of the pressure-resistant cylinder 6, which is used to introduce fresh air on the water surface into the interior of the aircraft, providing a steady supply of oxygen for the continuous operation of the generator 11. The exhaust pipe 9 is sealed and plugged with the exhaust pipe flange 610 of the pressure-resistant cylinder 6, which is used to discharge the exhaust gas generated by the generator 11 when it is running from the aircraft in a timely manner, so as to avoid the failure of the seal and water leakage of the aircraft due to excessive internal exhaust gas pressure.

[0046] The navigation control system of this embodiment includes: a navigation control computer 13, an inertial navigation device 14, an uninterruptible power supply 15, and a Beidou antenna 16, wherein the uninterruptible power supply 15 supplies power to the navigation control computer 13, and the navigation control computer 13 is respectively connected to the inertial navigation device 14 and the Beidou antenna 16 to calculate in real time the direction of the aircraft obtained by the inertial navigation device 14 and the position of the aircraft received by the Beidou antenna 16, so as to judge in real time whether the aircraft deviates from the predetermined route.

[0047] In this embodiment, there are multiple cylinder counterweights 12, all of which have the same unit weight and are placed close to the wall at the bottom of the inner side of the pressure-resistant cylinder 6. By adjusting the number and placement of the cylinders 12, the gravity and center of gravity of the entire craft are indirectly changed, so that the gravity of the entire craft is slightly smaller than the buoyancy, and the center of gravity is located directly below the center of buoyancy in the vertical direction. The accurate amount of the cylinder counterweights 12 and their placement close to the wall are calculated based on a constant weight test.

[0048] The stern section 3 of this embodiment includes a stern head 17, a sound source device 18, and a propeller 19, wherein the stern head 17 is welded by a stern head shell 1701, a stern head flange 1702, a stern head lifting lug 1703, a sound source bracket 1704, and a propeller support 1705. The space inside the stern head 17 is relatively large, and the sound source device 18 is placed inside the stern head 17 through the sound source bracket 1704. The sound source bracket 1704 has a rich installation interface, and other sound source devices 18 can be modularly replaced. A plurality of propellers 19 are arranged on the outer surface of the stern head 17 to adjust the speed, heading, attitude and other movements of the aircraft. The propellers 19 are evenly distributed along the axial direction of the stern section 3, and the number of propellers 19 on the port side and the starboard side of the aircraft is the same to avoid different thrusts on the port side and the starboard side of the aircraft. Each propeller 19 is connected to the navigation control computer 13 through a watertight cable and a watertight connector, which can meet the needs of the aircraft to navigate in seawater for a long time.

[0049] The bow head shell 401 of this embodiment is a spherical structure, the streamlined enclosure 605 is a curved structure, and the overall shape of the vehicle is a streamlined rotating body. The water and air resistance during navigation is low and the navigation speed is fast.

[0050] The bow section 1 and the stern section 3 of this embodiment are made of carbon steel material with high magnetic permeability, and the barrel section 2 is made of low-magnetic or non-magnetic stainless steel material. Carbon steel material and stainless steel material have high strength and rigidity, and have good processing performance and weldability.

[0051] In this embodiment, the bow head flange 402, the drum 601, the ribs 602, the bow barrel flange 603, the stern barrel flange 604, the air inlet pipe flange 609, the exhaust pipe flange 610, the stern head shell 1701, the stern head flange 1702, the sound source bracket 1704, and the thruster support 1705 are all rotating body structures; the air inlet pipe 8 and the exhaust pipe 9 are both profile structures; the bow head lifting ear 403, the magnetic source bracket 607, the platform bracket 608, and the stern head lifting ear 1703 are all plate welding structures. The above structure is simple in form and only requires rolling or welding of the plate, which is very easy to produce.

[0052] The generator 11, navigation control system, thruster 19, watertight cables, watertight connectors, and sealing fasteners of this embodiment are all commercially available shelf products that are easy to purchase, reliable in quality, and low in price. The product sources are extensive and completely domestically produced, and the product quality and supply quantity are stable and controllable.

[0053] The working principle of the present invention is:

[0054] First, the vehicle can be transported to the pre-minesweeping area in a variety of ways. The minesweeping vehicle can be towed by a civilian ship (such as a trawler) with a cable tied to the stern. When the vehicle is towed, it is in the stern track of the fishing boat and is in a semi-submerged state, with good camouflage. The minesweeping vehicle can be transported on the deck or dock of a landing ship and released into the water using a crane or track tooling, with a large storage and transportation capacity. The minesweeping vehicle can be anchored in advance under the water surface of the minesweeping area through an underwater prefabricated weapon platform, and the vehicle can be released to the surface of the minesweeping area by unlocking the anchoring device, with a fast release speed.

[0055] When the minesweeping vessel is transported to the minesweeping area, the shore-based / mother ship transmits the signal command and navigation route of the minesweeping start to the minesweeping vessel through the signal base station or satellite. The navigation control computer 13 of the navigation control system immediately starts the generator 11 after receiving the signal command through the Beidou antenna 16. The generator 11 supplies power to the navigation control system, the magnetic source device 10, the sound source device 18, and the propeller 19 to provide basic power guarantee for the aircraft. At the same time, the navigation control computer 13 starts the propeller 19 to push the aircraft to automatically navigate along the predetermined route, and starts to solve the aircraft position obtained by the inertial navigation device 14 and the Beidou antenna 16 in real time, and monitors whether the aircraft deviates from the predetermined route in real time.

[0056] The stern section 3 of the aircraft has multiple evenly distributed propellers 19, and the speed and direction of each propeller 19 are independently controlled by the navigation control computer 13. On the one hand, it can provide sufficient power for the aircraft, so that the aircraft can complete minesweeping along the predetermined route with higher efficiency. On the other hand, in the actual minesweeping sea area, uncontrollable factors such as sea wind, waves, undercurrents, and ocean currents that affect the orientation of the aircraft will inevitably appear. When the navigation control computer 13 detects that the real-time position of the aircraft deviates from the predetermined route, it automatically and independently controls each propeller 19 to change from uniform rotation to different differential rotation, so as to timely adjust the track and heading of the aircraft back to the predetermined route.

[0057] After the propeller 19 is started, the magnetic source device 10 and the sound source device 18 are also started and operated at the same time, actively releasing alternating electromagnetic waves and synthetic sound waves of different intensities and frequency bands into the sea water around the hull, actively triggering possible mines in the minesweeping area, completing the rapid minesweeping combat mission, and protecting subsequent amphibious landing forces from mine attacks.

[0058] In addition, the aircraft can also perform the task of blasting and clearing mines and obstacles on the route according to mission requirements. When there are detected mines or obstacles such as reefs, floating docks, small sunken ships, etc. that affect the passability of the ship in the scheduled route of the aircraft and the subsequent combat ship units, the shore-based / mother ship remotely controls the aircraft to sail to the vicinity of the mine or obstacle through the signal base station or satellite, and remotely detonates the warhead 5 in the bow section 1, and uses the shock wave generated by the explosion of the warhead 5 to break the mine or obstacle in the route. At the same time, the aircraft itself disintegrates and sinks to the bottom of the sea due to the explosion, and will not become a new route obstacle.

[0059] The present invention realizes the design of semi-submersible navigation and self-correction of course and track of the aircraft through the overall sealed pressure-resistant shell structure, the internal magnetic source, sound source, and warhead equipment, and the external evenly distributed multiple propellers, and has the integrated ability of mine sweeping, mine removal and obstacle removal. The overall composition of the aircraft is simple and the reliability is high. In addition, the use of low-cost steel also greatly reduces the production and manufacturing cost of the aircraft, making it suitable for large-scale use.

[0060] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A semi-submersible unmanned minesweeping vehicle, characterized in that: The semi-submersible unmanned minesweeping vehicle comprises a bow section (1), a barrel section (2) and a stern section (3) which are connected in sequence; The bow section (1) comprises a bow head (4) and a plurality of warheads (5); the warheads (5) are multiple and are accommodated in the bow head (4) against the wall; The cylinder section (2) comprises a pressure-resistant cylinder (6), a cylinder upper cover (7), an air intake pipe (8), an exhaust pipe (9), a magnetic source device (10), a generator (11), a cylinder counterweight (12), and a navigation control system; the pressure-resistant cylinder (6) is respectively sealed and plugged at both ends of the cylinder upper cover (7), and the pressure-resistant cylinder (6) is respectively connected to the bow section (1) and the stern section (3); the air intake pipe (8) is sealed and plugged on the pressure-resistant cylinder (6) near the bow section (1). ); an exhaust pipe (9) is sealed and plugged onto the pressure-resistant cylinder (6) near the stern section (3); the magnetic source device (10) is arranged at the bottom of the pressure-resistant cylinder (6); there are multiple generators (11), which are arranged in the middle of the pressure-resistant cylinder (6) together with the navigation control system; the navigation control system controls the magnetic source device (10); there are multiple cylinder counterweights (12), which are placed close to the wall at the bottom of the inner side of the pressure-resistant cylinder (6), and the amount of the counterweights is calculated according to a constant weight test; The stern section (3) comprises a stern head (17), a sound source device (18), and a propeller (19); a plurality of propellers (19) for adjusting the speed and attitude of the vessel are evenly arranged along the axial direction on the outer surface of the stern head (17); each propeller (19) is connected to the navigation control system via a watertight cable and a watertight connector; the sound source device (18) is arranged inside the stern head (17); The center of gravity of the semi-submersible unmanned minesweeping vehicle is located vertically directly below the center of buoyancy; When the semi-submersible unmanned minesweeping vehicle is navigating on the water surface or in the water, the navigation control computer (13) and the inertial navigation device (14) of the navigation control system calculate the position of the semi-submersible unmanned minesweeping vehicle in real time, and the navigation control computer (13) issues instructions to control the rotation speed and direction of each propeller (19) respectively, thereby making the semi-submersible unmanned minesweeping vehicle turn on the water surface or float in the water.

2. The semi-submersible unmanned minesweeping vehicle according to claim 1, characterized in that: The navigation control system comprises a navigation control computer (13), an inertial navigation device (14), an uninterruptible power supply (15), and a Beidou antenna (16); the navigation control computer (13) is connected to the inertial navigation device (14), the uninterruptible power supply (15), and the Beidou antenna (16) respectively; and the uninterruptible power supply (15) supplies power to the navigation control computer (13).

3. The semi-submersible unmanned minesweeping vehicle according to claim 1 or 2, characterized in that: The bow section (1) and the stern section (3) are made of carbon steel material with high magnetic conductivity, and the barrel section (2) is made of stainless steel material with low magnetic properties or no magnetic properties.

4. The semi-submersible unmanned minesweeping vehicle according to claim 3, characterized in that: The bow head (4) is mainly composed of a bow head shell (401), a bow head flange (402), and a bow head lifting lug (403); the stern head (17) is mainly composed of a stern head shell (1701), a stern head flange (1702), a stern head lifting lug (1703), a sound source bracket (1704), and a thruster support (1705).

5. The semi-submersible unmanned minesweeping vehicle according to claim 4, characterized in that: The bow head shell (401) is a spherical structure, and the streamline enclosure (605) is a curved streamline structure.

6. The semi-submersible unmanned minesweeping vehicle according to claim 3, characterized in that: The bow side of the pressure-resistant cylinder (6) is welded with a bow cylinder body flange (603); the bow head (4) is welded with a bow head flange (401); the pressure-resistant cylinder (6) is sealed and coaxially plugged with the bow head (4) through the bow cylinder body flange (603), the bow head flange (401) and the sealing fastener.

7. The semi-submersible unmanned minesweeping vehicle according to claim 3, characterized in that: The stern side of the pressure-resistant cylinder (6) is welded with a stern cylinder body flange (604); the stern head (17) is welded with a stern head flange (1702); the pressure-resistant cylinder (6) is sealed and coaxially plugged with the stern head (17) through the stern cylinder body flange (604), the stern head flange (1702) and a sealing fastener.

8. The semi-submersible unmanned minesweeping vehicle according to claim 3, characterized in that: A streamlined shell (605) is welded to the top of the pressure-resistant cylinder (6), and an upper cover flange (606) is welded to the top section of the streamlined shell (605); the pressure-resistant cylinder (6) is sealed and plugged with the cylinder upper cover (7) via the upper cover flange (606) and sealing fasteners.

Images