An amphibious unmanned ship combining recovery function and underwater operation

Abstract

The application relates to the technical field of amphibious unmanned ships, and particularly discloses an amphibious unmanned ship combining a recovery function and underwater operation, which comprises a lower ship body, the inner side of the upper surface of the lower ship body is symmetrically provided with full binary tree fixing structures on the left and right, and the outer sides of the lower ship body are symmetrically provided with sealed cavities; the full binary tree fixing structure comprises at least two pairs of full binary tree claws, the full binary tree claw is in the shape of a 'convex' character, and the full binary tree claw is connected with the lower ship body through an extension rod. The upper ship body is provided with a floating and sinking system, and the lower ship body is provided with a sealed cavity, so that the upper ship body and the lower ship body are separated and work respectively, and the space occupation of the equipment is reduced; the position calibration of the ship in the recovery process is realized through the setting of a correction track and a first bar magnet, the combination of the upper ship body and the lower ship body is realized through the setting of a combination buckle, and the recovery efficiency is improved; the unmanned ship of different ship types can be clamped through the setting of the full binary tree fixing structure, and the problem of single recovery ship type is overcome.

Description

Technical Field

[0001] This invention relates to the technical field of amphibious unmanned vessels, specifically to an amphibious unmanned vessel that combines recovery functionality and underwater operation. Background Technology

[0002] In recent years, unmanned surface vessel (USV) technology has developed rapidly both domestically and internationally, showing broad application prospects in fields such as inland waterway environmental monitoring, hydrological surveys, and underwater topographic exploration. USVs possess advantages such as shallow draft, small size, and high maneuverability, enabling them to reach shallow waters and near-shore areas inaccessible to traditional manned vessels. However, in special environments such as swamps and mudflats with interwoven waterways, or the intertidal zone along the coast where water is present during high tide and absent during low tide, ordinary USVs struggle to deploy quickly or operate continuously, requiring amphibious capabilities to function effectively. Furthermore, USVs require regular maintenance, and transporting them for maintenance is time-consuming and labor-intensive.

[0003] Traditional unmanned surface vessel (USV) recovery methods mainly include slipway-based and sling-based methods. However, these two technologies require large mooring equipment or deployment / recovery devices that occupy a significant amount of shore space, severely impacting other activities along the waterfront. Furthermore, recovery efficiency is relatively slow, and they are often only suitable for USVs of a single shape. Because they are unmanned, there is also a risk of collision between the vessel and the platform.

[0004] Given the difficulties in recovering traditional unmanned surface vessels (USVs) and their poor amphibious performance, the industry has designed amphibious USVs to reduce recovery difficulties and improve amphibious capabilities. For example, a patent discloses a concealable tracked amphibious USV, comprising a hull, an internal main control unit, and other units that interact with the main control unit. These other units include track units and a level control unit for adjusting the vessel's draft. The bottom of the hull has an opening that, through a sliding connection, allows a movable sealing plate at the bottom of the hull to open or close, forming a sealed compartment. A propeller is also located at the stern of the hull. The concealable track design reduces water resistance while maintaining the USV's amphibious functionality, improving its maneuverability and mitigating potential impacts on dynamic performance. Another example is a patented amphibious unmanned surface vessel (USV) combined landing device, comprising an USV and a carrier vehicle carrying the USV. The carrier vehicle includes a frame, a walking mechanism, and a control system. The frame is a closed frame that forms the chassis of the carrier vehicle, used to bear the entire weight of the USV when traveling on land. The control system is used to enable the carrier vehicle to travel on land and the USV to dock on the water surface. The walking mechanism includes tires, flanges, wheel frames, transmission rods, a first link, a second link, and a drive motor. The USV's on-land walking mechanism is integrated into an independent carrier vehicle. When the carrier vehicle and the USV are integrated, the USV can travel on land. When navigating in water, the USV detaches from the carrier vehicle, without affecting its hydrodynamic shape or adding an additional walking mechanism to the USV.

[0005] However, while the transport vehicle is used for land travel and the unmanned vessel is used for water navigation, and the transport vehicle waits at the anchor position for the unmanned vessel to return, although it improves amphibious performance and reduces the difficulty of recovery, it has technical problems such as the large space occupied by the deployment and retrieval equipment, low recovery efficiency, and the limited variety of recovery vessel types. Summary of the Invention

[0006] To overcome the problems of large space occupation, low recovery efficiency, and limited recovery vessel type in the existing technology, the present invention provides an amphibious unmanned vessel that combines recovery and underwater operations, integrating underwater operations and recovery functions, and eliminating the dependence on large mooring equipment and recovery devices.

[0007] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0008] The present invention provides an amphibious unmanned vessel that combines recovery and underwater operation functions, comprising a lower hull, wherein a full binary tree fixing structure is symmetrically arranged on the inner side of the upper surface of the lower hull, and a sealed cavity is symmetrically arranged on both sides of the outer side of the lower hull.

[0009] The full binary tree fixing structure includes at least two pairs of full binary tree claws. The full binary tree claws are convex in shape and are connected to the lower hull via telescopic rods.

[0010] The present invention describes an amphibious unmanned surface vessel that combines recovery and underwater operations. It features a full binary tree fixing structure symmetrically arranged on the inner side of the upper surface of the lower hull. The full binary tree claws are connected to the lower hull via telescopic rods, achieving dynamic fixation of the recovery unmanned surface vessel. It is applicable to different hull types and can flexibly deform to grasp different types of vessels to be recovered. By symmetrically arranged sealed cavities on both sides of the outer side of the lower hull, the lower hull can move underwater to move under the vessel to be recovered for recovery, thereby achieving the recovery of multiple vessel types.

[0011] Furthermore, a track is installed within the sealed cavity. The sealed cavity includes a catamaran-like hull and a membrane layer surrounding the catamaran-like hull. The catamaran-like hull includes metal plates, which are double-layered. The inner metal plate is located at the contact point of the adjacent outer metal plate. An arc-shaped telescopic rod embedded within the catamaran-like hull connects the adjacent metal plates. The outer layer of the metal plates is covered with sealing material. By adjusting the extension and retraction of the arc-shaped telescopic rod, the opening and closing of the sealed cavity is adjusted, thus determining whether the track is exposed. In conjunction with the operation of the water pump, this determines the buoyancy of the hull.

[0012] Furthermore, the sealed cavity is equipped with two wheels for the lower hull to move around. These wheels are connected by a track drive. The wheels and tracks are located inside the catamaran-like hull, and the sealed cavity is connected to a water pump via a conduit. The wheels and tracks enable the lower hull to move underwater, facilitating the recovery of other vessels awaiting recovery.

[0013] Furthermore, the amphibious unmanned vessel that combines recovery and underwater operations also includes an upper hull, which is connected to the lower hull by a snap-fit ​​mechanism. The lower hull is equipped with a correction track to assist in the connection between the upper and lower hulls, and the upper hull is also equipped with a buoyancy system.

[0014] The connecting buckle includes a buckle ring located on the middle of both sides of the outer side of the bottom of the upper hull, and a buckle hook located on the lower hull that matches the shape of the buckle ring. The correction track includes a second bar magnet symmetrically arranged on the middle of the inner side of the bow of the lower hull, and two third bar magnets symmetrically arranged on the middle of the inner side of the stern. The bow of the upper hull is provided with a first bar magnet with opposite magnetic poles to the correction track at the mid-longitudinal section.

[0015] A correction track is set up, and a first bar magnet with opposite magnetic poles to the correction track is placed on the upper hull. Due to the repulsive force of the magnets, the longitudinal section of the upper hull is aligned with the longitudinal section of the lower hull. Even when disturbed in the water, the upper and lower hulls can still be aligned for recovery. The upper and lower hulls are joined by a snap-fit ​​mechanism.

[0016] Furthermore, the lower hull is shaped like a concave upper shell and a convex lower shell, with a second camera fixedly installed at the front end and second shaftless propellers installed on both sides of the stern. The concave upper shell and convex lower shell shape of the lower hull facilitates the recovery of the upper hull, and the second shaftless propellers serve as the power source for the lower hull's propulsion.

[0017] Furthermore, the upper hull is convex at the top and flat at the bottom, with a streamlined upper surface. A first camera is fixedly mounted at the front end of the upper hull, and solar panels are mounted on both sides of the upper surface. A remote control WiFi module is located inside the upper hull, behind the first magnet, and a battery for powering the unmanned vessel is located at the rear end of the remote control WiFi module. The remote control WiFi module can control the extension of the telescopic rod connected by the full binary tree fixed structure to achieve the gripping of the vessel to be recovered; the solar panels convert solar energy into electrical energy to power the vessel's navigation.

[0018] Furthermore, the upper hull is equipped with an integrated water cooling circulation and water quality testing structure. This integrated structure includes a water quality testing tank located at the rear of the battery. Shark gill-shaped water inlets are located on both sides of the front end of the upper hull, and shark gill-shaped water outlets are located on both sides of the rear end of the lower hull. One end of the water quality testing tank is connected to the shark gill-shaped water inlets via a conduit, and the other end of the water quality testing tank is connected to the shark gill-shaped water outlets via a conduit. This integrated water cooling circulation and water quality testing structure avoids cumbersome water inlet and outlet settings and cools the equipment to prevent damage from prolonged high temperatures, thus extending the equipment's lifespan.

[0019] Furthermore, the buoyancy system includes a water pump located at the rear end of the water quality testing tank, and buoyancy air tanks connected to the left and right sides of the water pump. The buoyancy air tanks are connected to shark gill-shaped water outlets. The buoyancy system is used to achieve the buoyancy and submersion of the upper hull.

[0020] Furthermore, a first shaftless propeller is provided at the outer end of the stern of the upper hull, and the water pump is connected to an electric motor located behind the water pump. The electric motor is connected to the first shaftless propeller. The first shaftless propeller is the power unit of the upper hull.

[0021] Furthermore, the bow and stern of the lower hull are each equipped with a James hook. The James hook at the bow is positioned below the second camera, and the vertical distance from the bow hook to the bottom of the hull is equal to that of the James hook at the bow and the James hook at the stern. This allows for the connection of different lower hulls bow to stern, and when traveling on land, only the electric motor of the bow hull needs to operate, thus saving energy.

[0022] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0023] 1. By setting up a floating and sinking system on the upper hull and an integrated sheet-track structure on the lower hull, the upper and lower hulls can be separated and operate independently. When the upper hull is operating underwater, the lower hull can move underwater and recover other ships to be recovered, reducing the space occupied by the recovery and deployment equipment.

[0024] 2. By setting a correction track on the lower hull and a first bar magnet on the upper hull, the position of the vessel is calibrated during the recovery process. A connecting buckle is set to connect the upper and lower hulls, thereby improving recovery efficiency.

[0025] 3. By setting up a full binary tree fixed structure, it is possible to grasp unmanned ships of different types, overcoming the problem of only one type of ship to be recovered. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the external structure of the present invention;

[0027] Figure 2 This is a side view of the structure of the present invention;

[0028] Figure 3 This is a schematic diagram of the internal structure of the present invention;

[0029] Figure 4 This is a schematic diagram of the external structure of the upper hull;

[0030] Figure 5 This is a schematic diagram of the external structure of the lower hull;

[0031] Figure 6 for Figure 5 Enlarged view of point A;

[0032] Figure 7 This is a schematic diagram of the internal structure of the lower hull;

[0033] Figure 8 This is a structural diagram of the snap-fit ​​connection;

[0034] Figure 9 A schematic diagram of the structure at the hull section of a catamaran-like ship.

[0035] Figure 10 This is a cross-sectional view of the sealed cavity when it is closed.

[0036] Figure 11 This is a cross-sectional view of the sealed cavity when it is opened.

[0037] The components include: 1. Lower hull; 2. Upper hull; 3. First camera; 301. Second camera; 4. Shark gill-shaped water inlet; 5. Signal receiving antenna; 6. Solar panel; 7. First shaftless propeller; 701. Second shaftless propeller; 8. Catamaran-like hull; 9. Tracks; 10. Remote control WiFi module; 11. Shark gill-shaped water outlet; 12. Water pump; 13. Electric motor; 14. Buoyancy tank; 15. Water quality testing box; 16. Full binary tree fixing structure; 17. Clip hook; 18. Clip ring; 19. James hook; 20. Second bar magnet; 201. Third bar magnet. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this application. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the described embodiments without creative effort are within the scope of protection of this application.

[0039] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0040] Example 1

[0041] like Figure 1-7 As shown, this embodiment discloses an amphibious unmanned vessel that combines recovery function and underwater operation, including an upper hull 2 ​​and a lower hull 1. The upper hull 2 ​​and the lower hull 1 are connected by a coupling buckle. The lower hull 1 is provided with a correction track to assist the connection between the upper hull 2 ​​and the lower hull 1. The upper hull 2 ​​is also provided with a sinking and floating system. The lower hull 1 has a full binary tree fixing structure 16 symmetrically arranged on the left and right sides of its inner side. The lower hull 1 has sealed cavities symmetrically arranged on both sides of its outer side.

[0042] like Figure 8 As shown, the fastener includes a fastening ring 18 located on the middle of both sides of the outer side of the bottom of the upper hull 2 ​​and a fastening hook 17 located on the lower hull 1 with a shape adapted to the fastening ring 18. The correction track includes a second bar magnet 20 symmetrically arranged on the middle of the inner side of the bow of the lower hull 1, and two third bar magnets 201 symmetrically arranged on the middle of the inner side of the stern. A first bar magnet with opposite magnetic poles to the correction track is provided at the mid-longitudinal section of the bow of the upper hull 2. In this embodiment, the lower hull 1 is provided with a remote control WiFi module 10. The fastening hook 17 is connected to a fastening telescopic rod, and the fastening telescopic rod is connected to a motor. The fastening hook 17 of the lower hull 1 is provided with a rod groove adapted to the shape of the fastening telescopic rod. The fastening hook 17 and the fastening telescopic rod are electrically connected to the remote control WiFi module 10 of the lower hull 1 in the rod groove. The telescopic rod retracts, causing the latch hook 17 to move towards the bow, thereby hooking the latch ring 18 of the upper hull 2, which has reached the appropriate position. Then the latch hook 17 continues to move towards the bow, finally bringing the upper hull 2 ​​to a position where it is fully connected with the lower hull 1.

[0043] The telescopic rod is initially in a retracted state. When the hulls are engaged, the upper hull 2 ​​moves so that the latching ring 18 reaches one side of the rod groove. The telescopic rod of the lower hull 1 then extends, causing the latching hook 17 to move to the other side of the latching ring 18. Subsequently, the telescopic rod retracts, causing the latching hook 17 to hook back and engage the latching ring 18 of the upper hull 2. The telescopic rod continues to retract, and the latching hook 17 engages the latching ring 18, causing the upper hull 2 ​​to move in the direction of the telescopic rod's retraction. With the correction of the straightening track and the first bar magnet, the upper and lower hulls 1 are engaged.

[0044] By setting a correction track in the lower hull 1 and a first bar magnet with opposite magnetic poles to the correction track in the upper hull 2, the longitudinal section of the upper hull 2 ​​is aligned with the longitudinal section of the lower hull 1 by means of the repulsive force of the magnets. Under the condition of being disturbed in the water, the upper hull 2 ​​and the lower hull 1 can still be aligned for recovery. The upper hull 2 ​​and the lower hull 1 are connected by a buckle.

[0045] In this embodiment, as Figure 7 As shown, the full binary tree fixing structure 16 has 5 pairs of full binary tree claws with a depth of 2. The full binary tree fixing structure 16 is made of PC flexible material. The full binary tree claws are connected to the lower hull 1 via telescopic rods, achieving dynamic fixing of the unmanned vessel to be recovered. It is suitable for different hull types and can flexibly deform to grip different types of vessels to be recovered, enabling multi-vessel recovery. The gripping action of the full binary tree fixing structure 16: The remote control WiFi module 10 sends a signal, causing the telescopic rod connected to the full binary tree fixing structure 16 to extend, driving the full binary tree claws to move along the extension direction of the telescopic rod. The pairs of full binary tree claws move towards each other to form a gripping force, fixing the unmanned vessel to be recovered. After the full binary tree claw structure fixes the bottom of the vessel to be recovered, the end of the claw-like structure is simultaneously subjected to the thrust of the telescopic rod and the support force of the bottom of the vessel to be recovered, causing deformation under the force. The degree of deformation varies depending on the force, thus enabling flexible deformation and dynamic fixing, avoiding collisions between the two vessels, and allowing the recovery of different types of vessels.

[0046] like Figure 9-11As shown, a track is installed inside the sealed cavity. The sealed cavity includes a catamaran-like hull 8 and a membrane layer surrounding the catamaran-like hull 8. The catamaran-like hull 8 includes metal plates, which are double-layered. The inner metal plate is located at the contact point of the outer adjacent metal plate. An arc-shaped telescopic rod embedded in the catamaran-like hull 8 connects the adjacent metal plates. The outer layer of the metal plates is covered with sealing material. Two wheels for the lower hull 1 to move are also installed inside the sealed cavity. The two wheels are connected by a track 9. The wheels and track 9 are located inside the catamaran-like hull 8. The wheels on the left and right sides of the lower hull 1 are connected by axles. The sealed cavity is connected to a water pump 12 via a conduit. In this embodiment, one side of the hull includes 10 metal plates. Adjacent metal plates are connected by 3 arc-shaped telescopic rods. The telescopic rods are connected to a power source via wires. The sealing material is a plastic membrane layer.

[0047] When the telescopic rod retracts, the metal plates approach each other, adjacent metal plates move closer together, the sealed cavity opens, and the track 9 is exposed; when the telescopic rod extends, the metal plates move away from each other until the plate is completely sealed, the plate closes, and then the water pump 12 discharges the water in the plate, causing the hull to float.

[0048] The lower hull 1 is shaped like a semi-eggshell with a concave top and a convex bottom. A second camera 301 is fixedly installed at the front end of the lower hull 1. A second shaftless propeller 701 is installed on both sides of the stern of the lower hull 1. Batteries are installed inside the bow and stern of the lower hull 1.

[0049] The upper hull 2 ​​is convex in the hull direction and flat in the lower direction, with a streamlined upper surface. A first camera 3 is fixedly installed at the front end of the upper hull 2. Solar panels 6 are installed on both sides of the upper surface of the upper hull 2. A remote control WiFi module 10 is installed inside the upper hull 2 ​​behind the first magnet. A battery for powering the unmanned vessel is installed at the rear end of the remote control WiFi module 10. A sonar and signal receiving antenna 5 are also installed inside the front end of the upper hull 2. In this embodiment, the first camera 3 and the second camera 301 are movable cameras.

[0050] Example 2

[0051] In this specific implementation, based on Example 1, the upper hull 2 ​​is equipped with an integrated structure for water cooling circulation and water quality detection. This integrated structure includes a water quality detection tank 15 located at the rear of the battery. Shark gill-shaped water inlets 4 are located on both sides of the front end of the upper hull 2, and shark gill-shaped water outlets 11 are located on both sides of the rear end of the lower hull 1. One end of the water quality detection tank 15 is connected to the shark gill-shaped water outlets 11 via a conduit, and the other end of the water quality detection tank 15 is also connected to the shark gill-shaped water outlets 11 via a conduit. In this embodiment, the water quality detection equipment includes an automatic pH analyzer, an automatic turbidity analyzer, an automatic dissolved oxygen (DO) analyzer, and an automatic ammonia nitrogen analyzer. The shark gill-shaped water inlets 4 and shark gill-shaped water outlets 11 are each composed of several elongated, inclined parallelograms. The shark gill-shaped structure effectively prevents large particulate matter in the water from entering through the inlets and blocking the internal circulation path.

[0052] A cooling water conduit is coiled on the surface of the equipment: the cooling water enters the conduit through the shark gill-shaped outlet 11 at the bow, and after coiling around the battery, it enters the water quality testing tank 15 through the conduit to cool the water quality testing equipment. The sequence is: turbidity water quality automatic analyzer - dissolved oxygen water quality automatic analyzer - pH water quality automatic analyzer - ammonia nitrogen water quality analyzer, and then flows out through the shark gill outlets on both sides of the upper hull 2.

[0053] The buoyancy system includes a water pump 12 located at the rear end of the water quality testing tank 15, and buoyancy air tanks 14 connected to the left and right sides of the water pump 12. The buoyancy air tanks 14 are connected to the shark gill-shaped water outlet 11.

[0054] The upper hull 2 ​​is equipped with a first shaftless propeller 7 at the outer end of the stern. The water pump 12 is connected to an electric motor 13, and the electric motor 13 is located behind the water pump 12. The electric motor 13 is connected to the first shaftless propeller 7.

[0055] James hooks 19 are installed at the bow and stern of the lower hull 1. The James hook 19 at the bow is positioned below the second camera 301, and the vertical distance from the James hook 19 at the bow to the bottom of the hull is equal to that at the stern. This allows for the connection of different lower hulls 1 one after the other. When moving on land, only the electric motor 13 of the bow hull needs to operate, thus saving energy.

[0056] Example 3

[0057] This embodiment describes the recovery of the upper hull 2 ​​from the lower hull 1. The lower hull 1 sails to a position directly beneath the upper hull 2, and its telescopic rod extends, unfolding the two metal plates to seal the enclosed cavity. Then, the water pump 12 operates to drain the water from the sealed cavity. At this point, the weight of the lower hull 1 is less than its buoyancy, and it floats to a position below the upper hull 2. The concave structure on the upper surface of the lower hull 1 facilitates the loading of the upper hull 2. By setting a correction track on the lower hull 1 and a first bar magnet with opposite magnetic poles on the upper hull 2, the repulsive force of the magnets aligns the longitudinal section of the upper hull 2 ​​with the longitudinal section of the lower hull 1, aligning the upper hull 2 ​​and lower hull 1 for recovery. The upper hull 2 ​​and lower hull 1 are then joined together using a snap-fit ​​mechanism. After assembly, the second shaftless propeller 701 at the rear of the lower hull 1 (type 1 catamaran hull 8) starts, loading the upper hull 2 ​​and bringing it back to the shore. Once ashore, the sealed cavity opens, exposing the tracks 9, which then work to bring the unmanned vessel to be recovered back from land. The different lower hulls 1 are connected end-to-end via James hooks 19. When moving on land, only the electric motor 13 of the lead vessel needs to operate, saving energy.

[0058] Example 4

[0059] This embodiment describes the recovery of other types of unmanned surface vessels (USVs) by the lower hull 1. The lower hull 1 navigates to a position directly beneath the USV, and its telescopic rod extends, unfolding the two metal plates to seal the enclosed cavity. The water pump 12 then operates, expelling water from the sealed cavity. At this point, the lower hull 1's weight is less than its buoyancy, causing it to float beneath the USV. The concave structure on the upper surface of the lower hull 1 facilitates loading the USV. For USVs of different hull types than the upper hull 2, the lower hull 1's double-forked fixing structure extends to clamp the USV from both sides. Then, the second shaftless propeller 701 at the rear of the lower hull 1's catamaran-type hull 8 is activated. The lower hull 1 loads and brings the USV back to shore. Upon reaching the shore, the enclosed cavity opens, exposing the tracks 9, which then operate to bring the USV back from the land. The different lower hulls 1 are connected end to end by the James hook 19. When traveling on land, only the electric motor 13 of the first ship needs to be activated, thus saving energy.

[0060] Working principle

[0061] This invention enables the separation and separate operation of the upper hull 2 ​​and the lower hull 1, and also enables the lower hull 1 to be combined with the upper hull 2 ​​or other vessels to be recovered.

[0062] Separation: When the unmanned surface vessel (USV) is on the water surface, the telescopic boom retracts, and the metal plates approach each other. The increased overlap of the two metal plates opens the sealed cavity, exposing the track 9, allowing water to enter and causing the vessel to sink. Once the vessel has sunk to the bottom, the latch hook 17 on the lower hull 1 moves towards the stern, disengaging from the latch ring 18 on the upper hull 2, thus separating the upper hull 2 ​​from the lower hull 1. Subsequently, the motor 13 of the upper hull 2 ​​starts, driving the first shaftless propeller 7 at the stern to complete the separation of the upper hull 2 ​​from the lower hull 1. The upper hull 2 ​​then operates independently in the water, performing water quality testing; the lower hull 1 performs the recovery of other USVs. The lower hull 1 travels underwater, controlled by the remote-controlled WiFi module 10 and calibrated with the second camera 301, navigating directly beneath the USV to be recovered.

[0063] Recovery: The lower hull 1 sails to a position directly beneath the upper hull 2 ​​or the unmanned vessel to be recovered. The telescopic rod of the lower hull 1 extends, unfolding the two metal plates and sealing the enclosed cavity. Then, the water pump 12 operates to drain the water from the sealed cavity. At this point, the weight of the lower hull 1 is less than its buoyancy, and the lower hull 1 floats to a position beneath the upper hull 2 ​​or the other unmanned vessel to be recovered. The concave structure on the upper surface of the lower hull 1 facilitates the loading of the unmanned surface vessel to be recovered. For unmanned surface vessels of different hull types than those of the upper hull 2, the full-length bifurcated fixing structure of the lower hull 1 extends to clamp the unmanned surface vessel to be recovered from both sides. Then, the second shaftless propeller 701 at the rear of the catamaran-type hull 8 of the lower hull 1 is activated. For the recovery of the upper hull 2, by setting a correction track in the lower hull 1 and setting a first bar magnet with the opposite magnetic pole to the correction track in the upper hull 2, the longitudinal section of the upper hull 2 ​​is aligned with the longitudinal section of the lower hull 1 by means of the repulsive force of the magnets. The upper hull 2 ​​and the lower hull 1 are aligned for recovery. The upper hull 2 ​​and the lower hull 1 are joined by a buckle.

[0064] The upper hull 2 ​​or other unmanned surface vessels to be recovered are loaded and brought back to the shore. After sailing to the shore, the sealed cavity opens, exposing the tracks 9. The tracks 9 work to bring the unmanned surface vessels to be recovered back from the land. The different lower hulls 1 are connected end to end by the James hook 19. When moving on land, only the motor 13 of the first vessel needs to be operated, saving energy.

[0065] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An amphibious unmanned ship combining a recovery function and underwater operation, comprising a lower hull (1), characterized in that, The lower hull (1) upper surface inside left and right symmetrical full binary tree fixed structure (16) is provided with, the lower hull (1) outside both sides symmetrical closed cavity is provided with; The full binary tree fixed structure (16) includes at least two pairs of full binary tree claws, the full binary tree claw shape is " convex " character, full binary tree claw is connected with lower hull (1) through telescopic link; The closed cavity is provided with track inside, the closed cavity includes catamaran piece body (8) and the film layer wrapped in catamaran piece body (8) periphery, the catamaran piece body (8) includes the metal plate for forming closed cavity, metal plate is provided with double layer, inner layer metal plate is located at the contact of outer layer adjacent metal plate, adjacent metal plate is connected with arc telescopic link embedded in catamaran piece body (8), the outer layer of metal plate is wrapped with sealing material; The closed cavity is also provided with two walking wheels for the walking of lower hull (1), two the walking wheel is driven connection through track (9), the walking wheel and track (9) are located inside catamaran piece body (8);The closed cavity is connected with water pump (12) through conduit inside; The amphibious unmanned ship combining recovery function and underwater operation further includes upper hull (2), the upper hull (2) and lower hull (1) are connected through combination buckle, the lower hull (1) is provided with correction track for assisting the combination of upper hull (2) and lower hull (1), the upper hull (2) is also provided with a sinking and floating system; The combination buckle includes buckle ring (18) located in the middle part of the two sides of the bottom of the upper hull (2), and buckle hook (17) located in the lower hull (1) and the shape of the buckle ring (18) is matched, the correction track includes the second bar magnet (20) that is symmetrically arranged in the middle part of the inner side of the bow of the lower hull (1), and the two third bar magnets (201) that are symmetrically arranged in the middle part of the inner side of the stern, the first bar magnet is arranged at the middle longitudinal section of the bow of the upper hull (2) and has opposite magnetic poles with the correction track.

2. The amphibious unmanned ship according to claim 1, characterized in that, The lower hull (1) is in the shape of a concave upper and convex lower half-eggshell, the second camera (301) is fixedly arranged at the front end of the lower hull (1), and the second shaftless propeller (701) is arranged at the two sides of the tail of the lower hull (1).

3. The amphibious unmanned ship according to claim 1, characterized in that, The upper hull (2) is convex upward and flat downward along the hull direction, and the upper surface is in a streamline structure, the first camera (3) is fixedly arranged at the front end of the upper hull (2), the solar panels (6) are arranged at the two sides of the upper surface of the upper hull (2), the remote control WiFi module (10) is arranged at the inner side of the upper hull (2) behind the first magnet, and the battery for powering the unmanned ship is arranged at the rear end of the remote control WiFi module (10).

4. The amphibious unmanned ship of claim 1, wherein, The upper hull (2) is provided with a water cooling circulation and water quality detection integrated structure, which comprises a water quality detection box (15) located at the rear end of the battery, shark gill-shaped water inlets (4) are arranged on the two sides of the front end of the upper hull (2), shark gill-shaped water outlets (11) are arranged on the two sides of the rear end of the lower hull (1), one end of the water quality detection box (15) is connected with the shark gill-shaped water inlets (4) through a pipeline, and the other end of the water quality detection box (15) is connected with the shark gill-shaped water outlets (11) through a pipeline.

5. The amphibious unmanned ship of claim 1, wherein, The sink-float system comprises a water pump (12) located at the rear end of the water quality detection box (15) and sink-float gas tanks (14) connected to the left and right sides of the water pump (12), and the sink-float gas tanks (14) are communicated with the shark gill-shaped water outlets (11).

6. The amphibious unmanned ship of claim 1, wherein, The upper hull (2) is provided with a first shaftless propeller (7) at the outer end of the tail, the water pump (12) is connected with a motor (13) and the motor (13) is located at the rear side of the water pump (12), and the motor (13) is connected with the first shaftless propeller (7).

7. The amphibious unmanned ship of claim 1, wherein, The bow and the stern of the lower hull (1) are respectively provided with Jansky hooks (19), the Jansky hook (19) located at the bow is arranged below the second camera (301), and the vertical distance from the Jansky hook (19) located at the bow to the bottom of the ship is equal to that from the Jansky hook (19) located at the stern to the bottom of the ship.

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