An unmanned ship

Abstract

The present invention discloses an unmanned boat, comprising a solar panel device, buoys are arranged in parallel on both sides of the bottom of the solar panel device, the buoys are connected to the solar panel device through a supporting arm, a power cabin, an electromechanical cabin, a ballast water tank and an equipment cabin are arranged in the buoy, the power cabin is arranged at the end of the buoy, a power device for controlling the movement of the unmanned boat is arranged in the power cabin, a first battery pack and a motor are arranged in the electromechanical cabin, a water inlet and outlet device for controlling the sinking and floating of the unmanned boat is arranged in the ballast water tank, and a second battery pack is arranged in the equipment cabin; it also includes a detection module, a monitoring module, an inertial navigation system, a communication module, an antenna servo system and a central processing module, and the power device, the water inlet and outlet device, the detection module, the monitoring module, the inertial navigation system, the communication module and the antenna servo system are electrically connected to the central processing module respectively. The present invention can sink and float in water, can prevent tipping in wind and waves, accurately obtain or transmit signals, and enable the unmanned boat to achieve accurate and safe unmanned driving.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ships, and in particular to an unmanned ship. Background Art

[0002] Unmanned ships are another major research field in the field of unmanned technology after drones and unmanned vehicles. Unmanned ships are a new product that integrates modern unmanned technology with multi-field technology, and have obvious advantages over traditional ships. Existing unmanned ships have the following disadvantages: ① They can only sail on the water through fixed buoyancy and cannot realize the automatic lifting function on the water. ② The hull and the cabin are an integral structure, which can easily cause the center of gravity to be unstable and lose balance and tip over in wind and waves. Moreover, the amount of water discharged by its overall structure is relatively small, resulting in insufficient buoyancy received by the ship. It is easy to fail to discharge the water in the cabin in time when losing balance, causing the unmanned ship to sink. ③ Because the unmanned ship has received interference from other signals when transmitting or receiving signals while sailing at sea, the navigation information obtained is intermittent and the information is unstable, which is prone to errors, and thus the unmanned ship cannot guarantee accurate and safe driving, resulting in safety accidents. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an unmanned boat that can sink and float in water, prevent capsizing in wind and waves, and can restore itself to a normal driving state, and can accurately obtain or transmit signals, so that the unmanned boat can achieve accurate and safe unmanned driving.

[0004] The present invention discloses an unmanned boat, comprising a solar panel device, buoys are respectively arranged in parallel on both sides of the bottom of the solar panel device, the buoys are connected to the solar panel device through supporting arms, a power cabin, an electromechanical cabin, a ballast water tank and an equipment cabin are arranged in the buoys, the power cabin, the electromechanical cabin, the ballast water tank and the equipment cabin are respectively separated by partitions to form independent spaces, the power cabin is arranged at the end of the buoy, a power device for controlling the movement of the unmanned boat is arranged in the power cabin, a first battery pack and a motor are arranged in the electromechanical cabin, a water inlet and outlet device for controlling the sinking and floating of the unmanned boat is arranged in the ballast water tank, and a second battery pack is arranged in the equipment cabin;

[0005] It also includes a detection module, a monitoring module, an inertial navigation system, a communication module, an antenna servo system and a central processing module. The power unit, water intake and discharge device, detection module, monitoring module, inertial navigation system, communication module and antenna servo system are electrically connected to the central processing module respectively.

[0006] The present invention provides an unmanned boat, wherein the solar panel device comprises a base plate, a support plate, a frame and a solar panel, the support plate is installed on the base plate, the frame covers the four sides of the support plate and the base plate, a cavity structure is formed between the support plate and the base plate, a support plate fixedly connected to the support plate and the base plate respectively is provided in the cavity, the height of the support plate gradually decreases from the center of the cavity to both ends, and the solar panels are arranged in a matrix on the support plate.

[0007] The present invention provides an unmanned boat, which also includes a first power management module and a second power management module, the first battery pack and the motor are electrically connected to the first power management module respectively, the second battery pack is electrically connected to the second power management module, and the first power management module and the second power management module are electrically connected to solar panels respectively.

[0008] The present invention provides an unmanned boat, wherein the power device comprises a propeller and a horizontal pusher for driving the propeller to rotate, and the horizontal pusher is electrically connected to a motor.

[0009] The present invention provides an unmanned boat, wherein the water intake and discharge device comprises a first drain port, a first drain pump, a first exhaust port, a second drain port, a second drain pump, a second exhaust port, a first water inlet, a second water inlet and a water inlet pump, wherein the first drain port, the first exhaust port, the second drain port, the second exhaust port and the first water inlet are respectively arranged on a buoy, the first drain pump, the second drain pump and the water inlet pump are placed in the ballast water tank, the first drain port is connected to the first drain pump through a drain pipe, the second drain port is connected to the second drain pump through a drain pipe, exhaust pipes are arranged at the air outlets of the first exhaust port and the second exhaust port, the drain pipe and the exhaust pipe respectively pass through supporting arms and extend to the bottom of the bottom plate, the first water inlet is connected to the water outlet of the water inlet pump through the water inlet pipe, and the second water inlet is connected to the water inlet of the water inlet pump.

[0010] The present invention provides an unmanned boat, wherein a wiring groove is provided in the support arm, and the exhaust pipe and the drain pipe are respectively placed in the wiring groove.

[0011] The invention discloses an unmanned boat, wherein a waterproof plug connected to the water outlet of a drainage pipe is provided at the bottom of the bottom plate.

[0012] The present invention provides an unmanned boat, wherein the central processing module comprises a flight control system and a control signal converter, the flight control system comprises a flight controller and an autopilot, the flight controller is electrically connected to the autopilot, the flight controller and the autopilot are electrically connected to the control signal converter respectively, the power device and the water intake and discharge device are electrically connected to the control signal converter respectively, the detection module and the monitoring module are electrically connected to the flight controller respectively, the inertial navigation system is electrically connected to the flight controller, and the communication module is further connected to an external terminal.

[0013] The invention discloses an unmanned boat, wherein the antenna servo system is arranged at the center of a solar panel device, and the antenna servo system comprises a mounting platform, on which a positioning receiving antenna, a weather station and a GPS positioning system are arranged.

[0014] The present invention provides an unmanned boat, wherein the overall structure of the support arm is narrow at the top and wide at the bottom, and the weight of the solar panel device is lighter than that of the buoy.

[0015] Compared with the prior art, the advantages and beneficial effects of the present invention are as follows: ① The unmanned boat of the present invention injects or discharges an appropriate amount of water into the ballast water tank through the water inlet and outlet device, adjusts the buoyancy of the float on the water, realizes the sinking and floating adjustment, and realizes the lifting and lowering of the unmanned boat on the water. ② The overall structure of the arm of the present invention is narrow at the top and wide at the bottom, and the weight of the solar panel device is lighter than the weight of the float, so that the unmanned boat can cooperate with the water inlet and outlet device when encountering wind and waves to ensure the balance of the entire float, and can quickly flip and return to the normal navigation state, which has the function of preventing tipping and self-recovery. ③ The inertial navigation system of the present invention can ensure that the measured navigation data is accurate and continuous. Since the inertial navigation system is directly electrically connected to the autopilot, the measured data is directly transmitted to the autopilot, thereby ensuring the safe navigation of the unmanned boat. The present invention provides the navigation position of the unmanned boat through the antenna servo module, monitors the attitude information of the unmanned boat in real time through the monitoring module, realizes the travel control of the unmanned boat through the power module, and combines the inertial navigation system with the autopilot to enable the unmanned boat to achieve accurate and safe unmanned driving. ④ The present invention uses solar panels to convert light energy into electrical energy to power the power management module, making full use of natural energy. The battery pack is used to store the electrical energy obtained by the power management module or release the electrical energy to the power management module. When there is sufficient sunshine during the day, the excess electricity can be stored and the electricity can be released on cloudy days or at night to ensure the normal supply of electricity for the unmanned ship, thereby ensuring the normal operation and navigation of the unmanned ship.

[0016] The unmanned boat of the present invention is further described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of an unmanned ship of the present invention;

[0018] Figure 2 A side view of a solar panel device in an unmanned boat according to the present invention;

[0019] Figure 3 A top view of a solar panel device in an unmanned boat according to the present invention;

[0020] Figure 4 It is a schematic diagram of the structure of a support plate in a solar panel device;

[0021] Figure 5 This is a schematic diagram of the structure of a buoy in an unmanned ship of the present invention;

[0022] Figure 6 This is a schematic diagram of a control module in an unmanned ship of the present invention;

[0023] Among them: 1. Solar panel device; 2. Support arm; 3. Float; 4. Propeller; 5. Horizontal pusher; 6. Antenna servo system; 7. First drain port; 8. First exhaust port; 9. Water pump replacement port; 10. Second water inlet; 11. Second exhaust port; 12. Second drain port; 13. Filter screen; 14. Second drain pump; 15. First water inlet; 16. Water inlet pump; 17. Drainage plate; 18. First drain pump; 19. Partition;

[0024] 101, bottom plate; 102, support plate; 103, frame; 104, solar panel; 105, support plate;

[0025] 301, power compartment; 302, electromechanical compartment; 303, ballast water tank; 304, equipment compartment;

[0026] 601. Installation platform; 602. Receiving antenna; 603. Weather station; 604. GPS positioning system. DETAILED DESCRIPTION

[0027] like Figure 1-Figure 4 As shown, an unmanned boat of the present invention comprises a solar panel device 1, buoys 3 are arranged in parallel on both sides of the bottom of the solar panel device 1, and the buoys 3 are connected to the solar panel device 1 through the support arm 2. The solar panel device 1 comprises a bottom plate 101, a support plate 102, a frame 103 and a solar panel 104. The support plate 102 is installed on the bottom plate 101, and the frame 103 is wrapped around the support plate 102 and the bottom plate 101. The frame 103 is made of epoxy resin fiberglass cloth. The setting of the frame 103 prevents the unmanned boat from encountering obstacles when sailing on the sea, so as to protect the edge of the solar panel device 1 from collision and ensure the stability of the overall structure of the solar panel device 1. On the other hand, it ensures the sealing of the installation structure between the bottom plate 101 and the support plate 102 to prevent seawater from penetrating into the cavity. A cavity structure is formed between the support plate 102 and the bottom plate 101, and the cavity is filled with foam rubber, which has the effect of reducing the weight of the overall solar panel device 1. A support plate 105 is provided in the cavity, which is fixedly connected to the support plate 102 and the bottom plate 101, respectively, so as to stabilize the installation structure between the bottom plate 101 and the support plate 102. The height of the support plate 105 gradually decreases from the center of the cavity to both ends, so that the support plate 102 as a whole is a structure that bulges upward, and the solar panels 104 are arranged in a matrix on the support plate 102, which increases the contact area between the solar panels 104 and the sunlight.

[0028] The pontoon 3 is provided with a power compartment 301, an electromechanical compartment 302, a ballast water tank 303 and an equipment compartment 304. The power compartment 301, the electromechanical compartment 302, the ballast water tank 303 and the equipment compartment 304 are separated by partitions 19 to form independent spaces. The power compartment 301 is arranged at the end of the pontoon 3. The power compartment 301 is provided with a power device for controlling the movement of the unmanned boat. The ballast water tank 303 is provided with a water inlet and outlet device for controlling the sinking and floating of the unmanned boat. The electromechanical compartment 302 is provided with a first battery pack and a motor. The equipment compartment 304 is provided with a second battery pack. Both the first battery pack and the second battery pack are batteries. The first battery pack and the second battery pack also include a first power management module and a second power management module. The first battery pack and the motor are electrically connected to the first power management module respectively, and the second The battery pack is electrically connected to the second power management module, and the first power management module and the second power management module are electrically connected to the solar panel 104 respectively. The solar panel 104 converts light energy into electrical energy to power the power management module. The battery pack is used to store the electrical energy obtained by the power management module or release the electrical energy to the power management module. Among them, the first power management module is used to power various equipment in the unmanned boat, and the second power management module is used to power the power unit and the water intake and discharge device. By using the battery pack to charge and discharge the power management module, the excess electricity can be stored when there is sufficient sunshine during the day, and the electricity can be released on cloudy days or at night, thereby ensuring the normal supply of electricity for the unmanned boat, thereby ensuring the normal operation and navigation of the unmanned boat.

[0029] The power device includes a propeller 4 and a horizontal pusher 5 for driving the propeller 4 to rotate. The horizontal pusher 5 is electrically connected to the motor and is used to control the unmanned boat to achieve straight-line, turning and other navigation states. The water inlet and outlet device controls the water inlet and outlet volume in the ballast tank of the unmanned boat to achieve sinking, floating, flipping and other navigation states. Figure 5As shown, the water inlet and outlet device includes a first drain port 7, a first drain pump 18, a first exhaust port 8, a second drain port 12, a second drain pump 14, a second exhaust port 11, a first water inlet 15, a second water inlet 10 and a water inlet pump 16. The first drain port 7, the first exhaust port 8, the second drain port 12, the second exhaust port 11 and the first water inlet 15 are respectively arranged on the buoy 3, the first drain pump 18, the second drain pump 14 and the water inlet pump 16 are placed in the ballast water tank 303, and the buoy 3 is provided with a water pump replacement port 9 corresponding to the positions of the first drain pump 18, the second drain pump 14 and the water inlet pump 16, so as to facilitate the replacement of the water pump. The first drain outlet 7 is connected to the first drain pump 18 through a drain pipe, the second drain outlet 12 is connected to the second drain pump 14 through a drain pipe, exhaust pipes are provided at the air outlets of the first exhaust outlet 8 and the second exhaust outlet 11, the drain pipe and the exhaust pipe respectively pass through the support arm 2 and extend to the bottom of the base plate 101, a wiring groove is provided in the support arm 2, the exhaust pipe and the drain pipe are respectively placed in the wiring groove, a waterproof plug connected to the water outlet of the drain pipe is provided at the bottom of the base plate 101, the first water inlet 15 is connected to the water outlet of the water inlet pump 16 through the water inlet pipe, and the second water inlet 10 is connected to the water inlet of the water inlet pump 16.

[0030] Furthermore, to ensure the balance on both sides of the buoy 3 during water inlet and outlet, the first drain outlet 7 and the second drain outlet 12 are respectively located on both sides of the second water inlet 10, the first exhaust outlet 8 is located on one side of the first drain outlet 7, and the second exhaust outlet 11 is located on one side of the second drain outlet 12.

[0031] The unmanned boat injects or discharges an appropriate amount of water into the ballast water tank 303 through the water intake and discharge device, adjusts the buoyancy of the float 3 on the water, and realizes sinking and floating adjustment to realize the rise and fall of the unmanned boat on the water. In addition, the overall structure of the support arm 2 is narrow at the top and wide at the bottom. The weight of the solar panel device 1 is lighter than that of the float 3, so that the unmanned boat can cooperate with the water intake and discharge device when encountering wind and waves to ensure the balance of the entire float 3, and can quickly flip over and return to a normal sailing state, which has the function of preventing tipping and self-recovery.

[0032] Specifically, the unmanned boat sinks and floats during normal navigation. When the unmanned boat floats, the first drain outlet 7 and the second drain outlet 12 respectively realize the drainage function through the first drain pump 18 and the second drain pump 14, and the air enters the water storage tank through the first exhaust port 8 and the second exhaust port 11, so as to realize the floating of the unmanned boat; when the unmanned boat sinks, the water inlet transports water to the ballast water tank 303 through the water inlet pump 16, and the air in the ballast water tank 303 is discharged through the first exhaust port 8 and the second exhaust port 11, so as to realize the sinking of the unmanned boat.

[0033] Specifically, when the unmanned boat encounters wind and waves and capsizes, due to the overall weight of the unmanned boat being heavy at the bottom and light at the top, it can quickly flip over in a short time, so that one of the pontoons 3 is placed in the water, and the pontoon 3 injects an appropriate amount of water into the ballast water tank 303 under the action of the water inlet and outlet system, causing the unmanned boat to descend as a whole until the other pontoon 3 is also placed in the water. At this time, one of the pontoons 3 stops injecting water into the ballast water tank 303, and the other pontoon 3 injects an appropriate amount of water into the ballast water tank 303 under the action of the water inlet and outlet device until the buoyancy of the two pontoons 3 on the water is the same. Finally, the two pontoons 3 simultaneously discharge the water in the ballast water tank 303 through their respective water inlet and outlet devices, causing the unmanned boat to rise on the water, thereby restoring the normal navigation state of the unmanned boat. Among them, when the unmanned boat floats up, the first drain outlet 7 and the second drain outlet 12 respectively realize the drainage function through the first drain pump 18 and the second drain pump 14, and the air enters the ballast water tank 303 through the first exhaust port 8 and the second exhaust port 11, so as to realize the floating of the unmanned boat; when the unmanned boat sinks, the water inlet transports water to the ballast water tank 303 through the water inlet pump 16, and discharges the air in the ballast water tank 303 through the first exhaust port 8 and the second exhaust port 11, so as to realize the sinking of the unmanned boat.

[0034] A filter net 13 is provided at the bottom of the ballast water tank 303, and the first drainage pump 18, the second drainage pump 14 and the water inlet pump 16 are respectively placed on the filter net 13. Since the working environment of the unmanned ship generally contains plankton, floating garbage and other debris, these debris will cause resistance when the drainage system is working. By providing a filter net 13 at the water inlet, the filter net 13 can block the debris from the water inlet, and an obstacle removal system is provided at the water inlet and the drainage outlet, which can timely clear the obstacles around the water inlet and the drainage outlet, and then timely clear the obstacles around the water inlet, so as to ensure the smooth operation of the drainage system. The filter net 13 is provided with a plurality of drainage plates 17 placed vertically therewith, which have the function of drainage and ensure the drainage efficiency.

[0035] like Figure 6 As shown, it also includes a detection module, a monitoring module, an inertial navigation system, a communication module, an antenna servo system 6 and a central processing module. The power unit, the water intake and discharge device, the detection module, the monitoring module, the inertial navigation system, the communication module and the antenna servo system 6 are electrically connected to the central processing module respectively.

[0036] The communication module is further connected to an external terminal, wherein the external terminal is a user terminal and / or a PC monitoring platform, and the central processing module transmits the signal to the external terminal through the communication module.

[0037] The antenna servo system 6 is arranged at the center of the solar panel device 1, and the antenna servo system 6 includes a mounting platform 601, on which a positioning receiving antenna 602, a weather station 603 and a GPS positioning system 604 are arranged. The positioning receiving antenna 602 is one of the following antennas: a Beidou positioning antenna, a global positioning system GPS antenna. Preferably, an interference suppression filter and a sine filter are arranged in the positioning receiving antenna 602 to ensure accurate transmission of the signal.

[0038] Among them, the central processing module includes a flight control system and a control signal converter. The flight control system includes a flight controller and an autopilot. The flight controller is electrically connected to the autopilot. The flight controller and the autopilot are electrically connected to the control signal converter respectively. The flight controller is the central controller of the unmanned ship. It controls and coordinates the work of each module according to the control instructions of the external terminal or the operating status of the hull; the autopilot is used to receive action instructions from the flight controller, so that the unmanned ship can achieve unmanned navigation according to a certain attitude, heading, altitude, etc.

[0039] The control signal converter is used to convert the signal received from the flight controller to control the unmanned ship to achieve corresponding navigation actions and / or transmit corresponding information to and from an external terminal.

[0040] The power device and the water inlet and outlet device are electrically connected to the control signal converter respectively.

[0041] The inertial navigation system is electrically connected to the autopilot.

[0042] The detection module is electrically connected to the flight controller, and the detection module is used to detect underwater environmental information. Furthermore, the detection module includes an image capture module and / or a sonar module. The image capture module includes a camera and a lighting lamp. The camera is arranged at the front end of the unmanned boat, and the lighting lamp is arranged around the camera. The camera adopts an anti-collision camera and / or an infrared camera. By adopting the image capture module to capture underwater scenes, the image capture module transmits the collected image information to the flight controller, and converts the signal through the control signal converter and transmits it to the external terminal. The sonar module uses underwater sound waves to detect, locate and communicate with underwater targets, and transmits the corresponding signal to the flight controller, and converts the signal through the control signal converter and transmits it to the external terminal.

[0043] The monitoring module is electrically connected to the flight controller. The monitoring module includes CTD, a current meter, a depth sounder, a Doppler profiler, a radioactivity detector, and a sea temperature sensor. The autopilot is electrically connected to the control signal converter. The unmanned ship realizes real-time monitoring of the navigation status through the monitoring module, thereby transmitting the signal to the flight controller, and transmitting the signal to the autopilot through the control signal converter. The autopilot enables the unmanned ship to navigate in a certain attitude, heading, altitude, etc.

[0044] The inertial navigation system includes an inertial measurement device electrically connected to the flight controller. The inertial measurement device includes an accelerometer and a gyroscope. The inertial navigation system measures the acceleration of the unmanned ship through the accelerometer and the angular velocity of the unmanned ship through the gyroscope, and transmits the signal to the autopilot through the central processing module to realize autonomous navigation of the unmanned ship. The inertial navigation system can ensure that the measured navigation data is accurate and continuous. Since the inertial navigation system is directly electrically connected to the autopilot, the measured data is directly transmitted to the autopilot, thereby ensuring the safe navigation of the unmanned ship.

[0045] Furthermore, the present invention provides the navigation position of the unmanned ship through the antenna servo module, monitors the posture information of the unmanned ship in real time through the monitoring module, realizes the travel control of the unmanned ship through the power device and the water intake and discharge device, and combines the inertial navigation system and the autopilot to enable the unmanned ship to achieve accurate and safe unmanned driving.

[0046] Furthermore, the inertial navigation system is prone to navigation errors when controlling the unmanned ship to navigate along the navigation route. The accumulated errors of the inertial navigation system are corrected through the antenna servo module to ensure the accuracy of data transmitted by the inertial navigation system to the autopilot, thereby achieving precise automatic driving of the unmanned ship.

[0047] The embodiments described above are merely descriptions of preferred implementation modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An unmanned ship, characterized in that: It comprises a solar panel device, buoys are respectively arranged in parallel on both sides of the bottom of the solar panel device, the buoys are connected to the solar panel device through arms, a power cabin, an electromechanical cabin, a ballast water tank and an equipment cabin are arranged in the buoys, the power cabin, the electromechanical cabin, the ballast water tank and the equipment cabin are respectively separated by partitions to form independent spaces, the power cabin is arranged at the end of the buoy, a power device for controlling the movement of the unmanned boat is arranged in the power cabin, a first battery pack and a motor are arranged in the electromechanical cabin, a water inlet and outlet device for controlling the sinking and floating of the unmanned boat is arranged in the ballast water tank, and a second battery pack is arranged in the equipment cabin; It also includes a detection module, a monitoring module, an inertial navigation system, a communication module, an antenna servo system and a central processing module, wherein the power device, the water inlet and outlet device, the detection module, the monitoring module, the inertial navigation system, the communication module and the antenna servo system are electrically connected to the central processing module respectively; The solar panel device comprises a base plate, a support plate, a frame and a solar panel, wherein the support plate is mounted on the base plate, the frame covers the four sides of the support plate and the base plate, a sealed cavity structure is formed between the support plate and the base plate, a support plate is provided in the cavity which is fixedly connected to the support plate and the base plate respectively, the height of the support plate gradually decreases from the center of the cavity to both ends, so that the support plate as a whole is an upwardly protruding structure and the height of the support plate gradually decreases from the center to both ends; the overall structure of the support arm is narrow at the top and wide at the bottom, the weight of the solar panel device is lighter than that of the buoy, so that the unmanned boat can cooperate with the water inlet and outlet device when encountering wind and waves to balance the buoy, and when the unmanned boat is overturned by wind and waves, it can be flipped over and restored; the solar panels are arranged in a matrix on the support plate; The water inlet and outlet device comprises a first drain port, a first drain pump, a first exhaust port, a second drain port, a second drain pump, a second exhaust port, a first water inlet, a second water inlet and a water inlet pump, wherein the first drain port, the first exhaust port, the second drain port, the second exhaust port and the first water inlet are respectively arranged on the buoy, the first drain pump, the second drain pump and the water inlet pump are placed in the ballast water tank, the first drain port is connected to the first drain pump through a drain pipe, the second drain port is connected to the second drain pump through a drain pipe, the first exhaust port is connected to the first exhaust port and the second exhaust port is connected to the first exhaust port. An exhaust pipe is provided at the air outlet of the second exhaust port, the drain pipe and the exhaust pipe respectively pass through the support arm and extend to the bottom of the bottom plate, the first water inlet is connected to the water outlet of the water inlet pump through the water inlet pipe, and the second water inlet is connected to the water inlet of the water inlet pump; the first water inlet is located at the bottom of the buoy, and the second water inlet corresponds to the top of the buoy; a filter net is provided at the bottom of the ballast water tank, and the first drain pump, the second drain pump and the water inlet pump are respectively placed on the filter net to block debris from the water inlet; an obstacle removal system is provided at the water inlet to clear obstacles around the water inlet; The power device includes a propeller and a horizontal pusher for driving the propeller to rotate; the horizontal pusher is electrically connected to the motor and is used to control the unmanned boat to achieve straight-line and turning navigation states.

2. The unmanned ship according to claim 1, characterized in that: It also includes a first power management module and a second power management module, the first battery pack and the motor are electrically connected to the first power management module respectively, the second battery pack is electrically connected to the second power management module, and the first power management module and the second power management module are electrically connected to the solar panel respectively.

3. The unmanned ship according to claim 1, characterized in that: A wiring groove is arranged in the support arm, and the exhaust pipe and the drain pipe are respectively placed in the wiring groove.

4. The unmanned ship according to claim 1, characterized in that: A waterproof plug connected to the water outlet of the drain pipe is provided at the bottom of the bottom plate.

5. The unmanned ship according to claim 1, characterized in that: The central processing module includes a flight control system and a control signal converter, the flight control system includes a flight controller and an autopilot, the flight controller is electrically connected to the autopilot, the flight controller and the autopilot are electrically connected to the control signal converter respectively, the power unit and the water intake and discharge device are electrically connected to the control signal converter respectively, the detection module and the monitoring module are electrically connected to the flight controller respectively, the inertial navigation system is electrically connected to the flight controller, and the communication module is further connected to an external terminal.

6. The unmanned ship according to claim 1, characterized in that: The antenna servo system is arranged at the center of the solar panel device, and the antenna servo system comprises a mounting platform, on which a positioning receiving antenna, a weather station and a GPS positioning system are arranged.

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