Unmanned search and rescue boat with wave adaptability

Abstract

The application discloses an unmanned search and rescue boat with wave adaptability, which comprises a main hull, four floating cabins symmetrically arranged on both sides of the main hull, and four groups of suspension structures for connecting the main hull and the floating cabins; various sensing devices are arranged on the main hull to obtain the self-state and external environment information of the unmanned boat, thereby forming a sensing system of the unmanned boat; a control system is arranged in the main hull and is used for receiving information from the sensing system and making decisions or regulation on the future behavior of the unmanned boat when necessary; a propelling device is arranged in the lower part of two of the four floating cabins and is used for providing power for the forward movement and turning of the unmanned boat, and the power size is regulated by the control system; compared with a traditional unmanned boat, the application has stronger stability, and the floating cabins and the main hull are connected through the suspension structures, so that the floating cabins have a certain degree of freedom relative to the main hull, and the impact of waves on the main hull through the floating cabins can be reduced through elastic elements in the suspension structures.

Description

TECHNICAL FIELD

[0001] The application relates to an intelligent maritime search and rescue equipment, in particular to an unmanned search and rescue boat with wave adaptability, which is an unmanned search and rescue boat capable of maintaining good stability in severe sea conditions. BACKGROUND

[0002] In order to reduce the property loss of a ship in distress at sea and protect the safety of human life at sea, a marine life search and rescue ship becomes an effective rescue tool for a maritime accident.

[0003] Compared with a large manned search and rescue ship, an unmanned search and rescue boat gradually finds practical application in an intelligent maritime search and rescue system due to its flexibility, simplicity and safety. However, a real maritime accident scene is often accompanied by extreme weather and severe waves, which can cause severe oscillation of the small unmanned boat, thereby affecting the normal work of the sensing equipment carried by the unmanned boat, and finally leading to a reduction in search and rescue efficiency and difficulty in ensuring the safety of the unmanned boat. A self-stabilizing platform, a stabilizer fin and a stabilizing tank can improve the stability of a ship or a ship-borne sensing device, but due to the relatively complex structure of these devices and the large space required for arrangement, they are mainly suitable for large manned ships and are difficult to arrange in small unmanned boats. SUMMARY

[0004] In order to solve the above problems, the application provides the technical scheme that the unmanned search and rescue boat with wave adaptability comprises a main hull, four floating cabins symmetrically arranged on both sides of the main hull and four suspension structures for connecting the main hull and the floating cabins.

[0005] Various sensing devices are arranged on the main hull to obtain information about the state of the unmanned boat and the external environment, thereby constituting a sensing system of the unmanned boat.

[0006] A control system is arranged in the main hull to receive information from the sensing system and make decisions or control the future behavior of the unmanned boat when necessary.

[0007] Propelling devices are arranged at the lower parts of two rear floating cabins among the four floating cabins to provide power for the forward movement and turning of the unmanned boat, and the power size is controlled by the control system.

[0008] Further, the floating cabin is connected with the suspension structure through a fixed support.

[0009] Further, the suspension structure comprises a V-shaped connecting plate, a triangular connecting plate, symmetrically arranged first and second shaft seats, a short shaft and an air spring with adjustable damping.

[0010] The V-shaped connecting plate is hinged with the short shaft I and the short shaft II fixed on the main hull shaft support through the first short shaft sleeve and the second short shaft sleeve at the upper end, and is hinged with the long shaft I fixed on the pontoon support through the long shaft sleeve at the lower end;

[0011] The triangular connecting plate is hinged with the short shaft III and the short shaft IV fixed on the main hull shaft support through the third short shaft sleeve and the fourth short shaft sleeve at the upper end, and is hinged with the long shaft II fixed on the pontoon support through the long shaft sleeve at the lower end, four positioning threaded holes are formed in the triangular connecting plate, and two same first shaft seats and second shaft seats are fixed; the axis lines of the short shaft I and the short shaft II are collinear, the axis lines of the short shaft III and the short shaft IV are collinear, the axis line distance of the first short shaft sleeve and the first long shaft sleeve at the two ends of the V-shaped connecting plate is equal to the axis line distance of the third short shaft sleeve and the second long shaft sleeve at the two ends of the triangular connecting plate, two through threaded holes are formed in the lower part of the first shaft seat and the second shaft seat, and the first shaft seat and the second shaft seat are fixed to the triangular connecting plate through two same screws, one threaded hole is formed in the upper part of each side surface of the two shaft seats, and the two shaft seats are clamped and fixed to the short shaft through two same locking second screws; the lower end of the air spring is hinged with the short shaft fixed on the first shaft seat and the second shaft seat, and the upper end of the air spring is hinged with the short shaft V fixed on the main hull shaft support.

[0012] Further, the steel V-shaped connecting plate and the triangular connecting plate are both hollow designs.

[0013] Further, the four pontoons are respectively a pontoon I, a pontoon II, a pontoon III and a pontoon IV, are distributed on the same horizontal plane, and are connected with the main hull through the suspension structure and the fixed support on the pontoon.

[0014] Further, the pontoon shell is made of aluminum alloy and has a V-shaped design.

[0015] Further, the pontoon support is fixed to the upper surface of the pontoon I through four same screws, two groups of through holes are formed on the two sides of the support, are used for positioning the long shaft I and the long shaft II, the distance between the axis lines of the positioning long shaft I and the long shaft II is same as the distance between the axis lines of the short shaft I and the short shaft III fixed on the main hull shaft support, and the included angle between the straight line where the center lines of the two through holes on the same side of the pontoon support pass through and the horizontal plane is same as the included angle between the straight line where the center lines of the through holes on the same side of the shaft support where the short shaft I and the short shaft III of the main hull pass through and the horizontal plane.

[0016] The unmanned search and rescue boat with wave self-adaptability provided by the application has the following advantages:

[0017] 1. The unmanned search and rescue boat provides buoyancy through four distributed floating cabins, has stronger stability compared to traditional unmanned boats, and is connected to the main hull through a suspension structure, so that the floating cabin has a certain degree of freedom relative to the main hull, so that the impact of waves on the main hull through the floating cabin can be reduced through elastic elements in the suspension structure, further improving the stability of the main hull platform, thereby ensuring that the sensing devices carried thereby maintain good working conditions, and ultimately ensuring and improving the efficiency of the unmanned boat in performing maritime search and rescue tasks.

[0018] 2. The unmanned boat carries multiple sensing devices and has an intelligent decision control system, which can autonomously complete maritime search and rescue tasks according to the sensed state and environmental information, and can also be remotely controlled by a land base when necessary, so that search and rescue personnel do not need to directly participate in rescue, saving manpower and ensuring the safety of search and rescue personnel;

[0019] 3. The overall structure of the unmanned boat is designed using a modular design approach, and the various components can be interchanged according to different problems or requirements, and are easy to assemble and debug;

[0020] 4. The unmanned boat uses double propulsion devices to provide power for forward movement and turning, which are arranged at the lower part of the two rear floating cabins, and the two propellers are far apart and always in the water, thereby improving the maneuvering stability and maneuverability of the unmanned boat. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a schematic diagram of the overall structure of the unmanned search and rescue boat of the present application;

[0023] Figure 2 is a side view of the overall structure of the unmanned search and rescue boat of the present application;

[0024] Figure 3 is a top view of the overall structure of the unmanned search and rescue boat of the present application;

[0025] Figure 4 is a partial view of a set of shaft supports on the main hull of the unmanned search and rescue boat of the present application;

[0026] Figure 5 is a partial exploded view of a set of shaft supports on the main hull of the unmanned search and rescue boat of the present application;

[0027] Figure 6This is a schematic diagram of the suspension structure of the unmanned search and rescue boat of the present invention;

[0028] Figure 7 This is an exploded view of the suspension structure of the unmanned search and rescue boat of the present invention;

[0029] Figure 8 This is a schematic diagram of the floatation section of the unmanned search and rescue vessel of the present invention;

[0030] Figure 9 This is an exploded view of the floatation section of the unmanned search and rescue vessel of the present invention.

[0031] Reference numerals: 10. Main hull; 11. Electro-optical pod; 12. RTK positioning device; 13. IMU inertial navigation unit; 14. LiDAR; 15. Communication device; 16. Lighting device; 21. V-shaped connecting plate; 21a. First short bushing; 21b. Second short bushing; 21c. First long bushing; 22. Triangular connecting plate; 22a. Third short bushing; 22b. Fourth short bushing; 22c. Second long bushing; 23. Air spring; 30. Floating pod I; 31. Floating pod support; 32. Propulsion device; 4 0. Floating pod II; 50. Floating pod III; 60. Floating pod IV; 101. Short shaft I; 102. Short shaft II; 103. Short shaft III; 104. Short shaft IV; 105. Short shaft V; 106. First locking nut; 107. First washer; 221a. First bearing seat; 221b. Second bearing seat; 222. Short shaft; 311. Long shaft I; 312. Long shaft II; 313. Second locking nut; 314. Second washer; 315. Screw; 223. First screw; 224. Second screw. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] It is to be understood that the terms so far as the grammar used herein is concerned are to be interpreted in their dictionary meanings and are not to be interpreted in the context of legal terms. It is also to be understood that the terminology and the layout of the present subject specification are only intended to explain the exemplary embodiments of the present subject application and the same is not to be interpreted in limiting the scope of the present subject application. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present subject application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising", when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0035] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the present application unless otherwise specifically stated. It is also to be understood that the dimensions of the various parts shown in the drawings are not drawn to scale for ease of illustration. Techniques, methods, and apparatus known to those of ordinary skill are not discussed in detail because they would be considered as too familiar to be of value in the description of the present subject application. In all examples shown and discussed herein, any specific value should be interpreted as merely an example and not as a limitation. Thus, other examples of the exemplary embodiments can have different values. It is to be noted that like numbers and letters refer to like elements throughout the several views of the drawings and as such explicit discussions of the same will not be repeated in the following

[0036] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by orientation words such as "front, back, upper, lower, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Without the opposite indication, these orientation words do not indicate and imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component itself.

[0037] For the purposes of this description, spatially relative terms such as "beneath", "below", "lower", "above", "upper" and the like can be used to describe an element's or feature's position as relating to the position of other elements or features. These spatially relative terms are intended to encompass different positions to the positions shown in the drawings. The position can therefore be understood, for example, to include various orientations of the device in use or operation, including different orientations of the device in the case where the device is inverted or otherwise turned over. Accordingly, these spatially relative terms can be interpreted differently depending on the specific context of the disclosure. For example, if a device in the drawings is inverted, then a description of a device as "above" or "below" another element or feature can be interpreted as "below" or "above" the other element or feature, respectively. Thus, the spatially relative terms can be interpreted differently depending on the specific context of the disclosure. The device can also be oriented in other ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0038] In addition, it should be noted that the use of "first", "second", and the like words of distinction do not connote any meaning of superiority, inferiority, or any other limitation on the scope of protection of this invention, and are merely used to distinguish one element from another, unless otherwise stated.

[0039] An unmanned search and rescue boat with wave adaptability, comprising a main hull, four floating cabins symmetrically arranged on both sides of the main hull, and four groups of suspension structures for connecting the main hull and the floating cabins;

[0040] Various sensing devices are arranged on the main hull to obtain information about the state of the unmanned boat and the external environment, constituting the perception system of the unmanned boat.

[0041] A control system is arranged inside the main hull to receive information from the sensing system and make decisions or adjustments to the future behavior of the unmanned boat when necessary.

[0042] Propulsion devices are arranged at the lower part of the two rear floating cabins among the four floating cabins to provide power for the forward movement and turning of the unmanned boat, and the power size is adjusted by the control system.

[0043] Figure 1 The overall structure of the unmanned search and rescue boat of the present application is shown in the figure;

[0044] Figure 2 The overall structure of the unmanned search and rescue boat of the present application is shown in the figure;

[0045] Figure 3 The overall structure of the unmanned search and rescue boat of the present application is shown in the figure;

[0046] The perception system comprises a photoelectric pod 11 provided on the main hull 10 for acquiring visual information, an RTK positioning device 12 for positioning the unmanned search and rescue boat in real time, an IMU inertial navigation unit 13 for acquiring motion posture information of the unmanned boat, and a laser radar 14 for providing surrounding environment information of the unmanned boat,

[0047] The photoelectric pod is arranged at the front end of the main hull 10.

[0048] The IMU inertial navigation unit 13 is arranged below the laser radar 14.

[0049] The RTK positioning device 12 is arranged at the rear end of the main hull 10.

[0050] The photoelectric pod 11, the RTK positioning device 12, the IMU inertial navigation unit 13 and the laser radar 14 constitute the perception system of the unmanned boat as a whole, and realize acquisition of the state of the unmanned boat and external environment information.

[0051] The main hull is provided with a communication device 15, which can realize information interaction with a land base station.

[0052] The main hull is also provided with two illumination devices 16 for environmental illumination when performing night search and rescue tasks; the illumination devices are arranged on the main hull 10 through a support.

[0053] The support is provided with the IMU inertial navigation unit 13.

[0054] The hull of the main hull 10 is made of aluminum alloy and adopts a streamlined design, so as to reduce the influence of resistance from sea wind on navigation as much as possible.

[0055] The floating cabin and the suspension structure are connected through a floating cabin support 31.

[0056] Figure 4 It is a partial view of a group of shaft supports on the main hull of the unmanned search and rescue boat.

[0057] Figure 5 It is a partial exploded view of a group of shaft supports on the main hull of the unmanned search and rescue boat; each side of the main hull 10 is respectively provided with ten fixed shaft supports, five fixed shaft supports in front of each side are grouped as a group, five fixed shaft supports constitute a group of shaft supports, the group of shaft supports can be connected to a set of suspension structure; four short shafts and four short shaft sleeves of two connecting plates are hinged, and a short shaft is hinged to the upper end of the air spring.

[0058] The five fixed shaft supports include a first fixed shaft support, a second fixed shaft support, a third fixed shaft support, a fourth fixed shaft support and a fifth fixed shaft support; the first fixed shaft support, the second fixed shaft support, the third fixed shaft support, the fourth fixed shaft support and the fifth fixed shaft support are the same in structure

[0059] The positions of the five fixed shaft supports are configured as follows: the connecting lines of the positions of four fixed shaft supports form a rectangle, and the four shaft supports are respectively located at the four vertices of the rectangle, and one fixed shaft support is arranged above the formed rectangle;

[0060] The first fixed shaft support comprises two supports, i.e., a first support and a second support, and a short shaft, and through holes are arranged on the first support and the second support,

[0061] The through holes are fixed with the short shaft 101 having threads at both ends through two first locking nuts 106 and two same first gaskets 107.

[0062] The short shaft 101 is fixed on the shaft support of the main hull by two same first locking nuts 106 and two same first gaskets 107.

[0063] The second fixed shaft support comprises a second short shaft 102, the third fixed shaft support comprises a third short shaft 103, the fourth fixed shaft support comprises a fourth short shaft 104, and the fifth fixed shaft support comprises a fifth short shaft 105.

[0064] Figure 6 It is a schematic view of the suspension structure of the unmanned search and rescue boat of the present application;

[0065] Figure 7 It is an exploded view of the suspension structure of the unmanned search and rescue boat of the present application;

[0066] Figure 8 It is a schematic view of the floating cabin part of the unmanned search and rescue boat of the present application;

[0067] Figure 9 It is an exploded view of the floating cabin part of the unmanned search and rescue boat of the present application.

[0068] The suspension structure comprises a steel V-shaped connecting plate 21, a steel triangular connecting plate 22, two same and symmetrically arranged first shaft seats 221a and second shaft seats 221b, a short shaft 222 and an air spring 23 with adjustable damping;

[0069] The steel V-shaped connecting plate 21 and the triangular connecting plate 22 are both designed to be hollow, which can reduce the mass and save materials as much as possible under the premise of ensuring the strength, and the surface is treated for corrosion and rust resistance to improve the durability;

[0070] The V-shaped connecting plate 21 is hinged with the short shaft I 101 and the short shaft II 102 fixed on the shaft support of the main hull through the first short shaft sleeve 21a and the second short shaft sleeve 21b at the upper end, and is hinged with the long shaft I 311 fixed on the floating cabin support 31 through the long shaft sleeve 21c at the lower end;

[0071] The triangular connecting plate 22 is hinged with the short shaft III 103 and the short shaft IV 104 fixed on the main hull shaft support through the third short shaft sleeve 22a and the fourth short shaft sleeve 22b at the upper end, and is hinged with the long shaft II 312 fixed on the pontoon support 31 through the long shaft sleeve 22c at the lower end, four positioning threaded holes are opened on the triangular connecting plate 22, for fixing two same first shaft seats 221a and second shaft seats 221b; the axis of the short shaft I 101 is collinear with the axis of the short shaft II 102, and the axis of the short shaft III 103 is collinear with the axis of the short shaft IV 104; the axis distance of the first short shaft sleeve 21a and the first long shaft sleeve 21c at the two ends of the V-shaped connecting plate 21 is equal to the axis distance of the third short shaft sleeve 22a and the second long shaft sleeve 22c at the two ends of the triangular connecting plate 22; two through threaded holes are opened on the lower platforms of the first shaft seat 221a and the second shaft seat 221b, and the two shaft seats are fixed on the triangular connecting plate 22 through two same first screws 223, and a threaded hole is opened on the upper side surface of each of the two shaft seats, and the two shaft seats are clamped and fixed on the short shaft 222 through two same locking second screws 224; the lower end of the air spring 23 is hinged with the short shaft 222 fixed on the first shaft seat 221a and the second shaft seat 221b, and the upper end of the air spring 23 is hinged with the short shaft V 105 fixed on the main hull shaft support, the air spring 23 is used as a core elastic element of the suspension structure, can absorb the impact of waves on the main hull through the pontoon, so that the whole ship has a certain wave self-adaptive ability, and the internal damping is adjustable, and the damping parameter can be adjusted to the best according to different sea conditions, so that the best damping effect is obtained.

[0072] As shown in Figure 8 , Figure 9 , the four pontoons are respectively a pontoon I 30, a pontoon II 40, a pontoon III 50 and a pontoon IV 60, which are distributed on the same horizontal plane, are connected with the main hull through the suspension structure and the fixed support on the pontoon, and provide all the buoyancy required by the whole ship and further improve the stability of the whole ship.

[0073] The pontoon shell is made of aluminum alloy, and the shape adopts a V-shaped design, which can reduce the impact force of waves on the pontoon when the pontoon runs at high speed on the sea surface, thereby improving the heading stability and maneuverability of the unmanned ship.

[0074] Taking the pontoon I 30 as an example, the upper surface of the pontoon is a plane and has four positioning holes for fixing the support 31.

[0075] The bottom of the pontoon support 31 is fixed to the upper surface of the pontoon I 30 by four identical screws 315. Two groups of through holes are formed on the upper sides of the support for positioning the long shaft I 311 and the long shaft II 312. Both long shafts are fixed to the support by two identical second locking nuts 313 and second washers 314. The pontoon support 31 is also designed with a rib structure on the side to improve the overall strength. The long shaft I 311 and the long shaft II 312 fixed on the support 31 have the same distance between the axis as the short shaft I 101 and the short shaft III 103 fixed on the shaft support of the main hull. The angle between the straight line where the center lines of the two through holes on the same side of the pontoon support 31 are located and the horizontal plane is the same as the angle between the straight line where the center lines of the through holes on the same side of the shaft support of the short shaft I 101 and the short shaft III 103 of the main hull are located and the horizontal plane, so as to ensure that the plane where the pontoon is located is parallel to the plane where the main hull is located.

[0076] The pontoon III 50 and the pontoon IV 60 are provided with propulsion devices 32 at the bottom to provide the power required for the unmanned boat to move forward and turn.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can modify the technical solutions described in the above embodiments, or make equivalent replacement for part or all of the technical features. The modification or replacement does not change the essence of the corresponding technical solution, which is still within the scope of the technical solutions of the embodiments of the present application.

Claims

1. A wave-adaptive unmanned search and rescue vessel, characterized in that it includes a main hull, four floating pods symmetrically arranged on both sides of the main hull, and four sets of suspension structures for connecting the main hull and the floating pods. Various sensing devices are installed on the main hull to obtain information about the unmanned surface vessel's own status and the external environment, thus forming the unmanned surface vessel's perception system. A control system is installed inside the main hull to receive information from the sensor system and make decisions or adjustments to the future behavior of the unmanned surface vessel when necessary. Two of the four floating pods are equipped with propulsion devices located at the rear of the lower part, which provide power for the unmanned surface vessel to move forward and turn. The amount of power is controlled by the control system. It also includes a float support, wherein the float is connected to the suspension structure via a fixed support; The suspension structure includes a V-shaped connecting plate, a triangular connecting plate, a symmetrically arranged first axle seat and a second axle seat, a short shaft, and an adjustable damping air spring; The V-shaped connecting plate is hinged to short shaft I and short shaft II fixed on the main hull shaft frame via the first and second short shaft sleeves at the upper end, and the V-shaped connecting plate is hinged to long shaft I fixed on the floating hull support via the long shaft sleeve at the lower end. The triangular connecting plate is hinged to short shafts III and IV, which are fixed on the main hull shaft frame, via the upper third and fourth short shaft sleeves. The triangular connecting plate is hinged to long shaft II, which is fixed on the floating hull support, via the lower long shaft sleeve. The triangular connecting plate has four positioning threaded holes for fixing two identical first and second shaft seats. The axes of short shaft I and short shaft II are collinear, as are the axes of short shaft III and short shaft IV. The axial distance between the first short shaft sleeve and the first long shaft sleeve at both ends of the V-shaped connecting plate is equal to the axial distance between the third short shaft sleeve and the second long shaft sleeve at both ends of the triangular connecting plate. The lower part of the first and second shaft seats has two through threaded holes, which are fixed to the triangular connecting plate by two identical screws. Each of the upper sides of the two shaft seats has a threaded hole, which is used to clamp and fix the short shafts by two identical second locking screws. The lower end of the air spring is hinged to the short shafts fixed on the first and second shaft seats, and the upper end of the air spring is hinged to the short shaft V, which is fixed on the main hull shaft frame.

2. The wave-adaptive unmanned search and rescue vessel according to claim 1, characterized in that: Both the V-shaped connecting plate and the triangular connecting plate have a hollow design.

3. The wave-adaptive unmanned search and rescue vessel according to claim 1, characterized in that: The four floating pods are named Pod I, Pod II, Pod III, and Pod IV, and are distributed on the same horizontal plane.

4. The wave-adaptive unmanned search and rescue vessel according to claim 1, characterized in that: The hull is made of aluminum alloy and has a V-shaped design.

5. The wave-adaptive unmanned search and rescue vessel according to claim 1, characterized in that: The bottom of the floating hull support is fixed to the upper surface of the floating hull I by four identical screws. Two sets of through holes are opened on both sides of the support for positioning the long axis I and the long axis II. The distance between the axes of the long axis I and the long axis II is the same as the distance between the axes of the short axis I and the short axis III fixed on the main hull shaft bracket. The angle between the line connecting the centers of the two through holes on the same side of the floating hull support and the horizontal plane is the same as the angle between the line connecting the centers of the through holes on the same side of the shaft bracket containing the short axis I and the short axis III on the main hull and the horizontal plane.

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