A hull center of gravity adjustment structure, unmanned ship and application method thereof

Abstract

The present invention relates to the technical field of unmanned boats, and proposes a structure for adjusting the center of gravity of a boat, including a side hull, a main hull, a lifting mechanism and a laser measuring instrument, wherein two side hulls are arranged in parallel; the main hull is arranged on the two side hulls, and the main hull can slide along the direction of travel of the hull; the lifting mechanism is arranged on the main hull, and the lifting mechanism extends between the two side hulls, and the lifting mechanism can be adjusted to allow part of itself to enter or leave the water body; the laser measuring instrument is arranged on the main hull. The present invention supports the main hull by arranging two side hulls, and the main hull can slide on the side hulls, so that the center of gravity of the hull can be adjusted; the main hull is also provided with a lifting mechanism, and the center of gravity position of the hull can be further adjusted by relying on the telescopic changes of the lifting mechanism itself, thereby ensuring that the hull can adapt to the application environment, avoiding the problem of the hull being unstable and overturning due to environmental factors, and preventing interference with the application of the laser measuring instrument.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ships, and in particular to a ship center of gravity adjustment structure, an unmanned ship and an application method thereof. Background Art

[0002] Unmanned boats are a common tool ship, which are widely used in water detection, scientific research, resource exploration, maritime communications and safety rescue. However, the current unmanned boats are generally small boats, which are more susceptible to water fluctuations. When the hull is unstable, it is easy to capsize and interfere with the normal operation of the detection equipment on board. Therefore, it is necessary to ensure the stability of the hull during operation.

[0003] The invention patent application with the existing application publication number CN117464617A discloses a modular unmanned ship and a control method, which relates to the technical field of unmanned ships, including a floating body component module, a main body module, a propulsion module, an unmanned driving module, a load module and an eccentric adjustment module, wherein the floating body component module includes a first floating body and a second floating body, wherein the first floating body and the second floating body are respectively detachably mounted on both sides of the main body module, and one end of the propulsion module is detachably mounted on the bottom of the main body module;

[0004] As in the above technical solution, a center of gravity block placement groove is provided on the hull for installing a counterweight block to adjust the center of gravity of the hull. However, this structure can only counterweight the hull before the unmanned boat is used, and cannot realize the counterweight adjustment when the hull is sailing, resulting in the unmanned boat being unable to adjust the center of gravity according to the environment, and the application is not stable enough. Summary of the invention

[0005] In view of this, the present invention proposes a hull center of gravity adjustment structure, an unmanned boat and an application method thereof which can adjust the hull center of gravity in real time to ensure stable navigation, thereby solving the problem that the existing hull center of gravity cannot be adjusted according to the application environment.

[0006] The technical solution of the present invention is achieved in this way:

[0007] On the one hand, the present invention provides a ship center of gravity adjustment structure, including a side hull, a main hull, a lifting mechanism and a laser measuring instrument, wherein:

[0008] There are two side hulls arranged side by side for contacting the water;

[0009] The main hull is arranged on the two side hulls, and the main hull can slide along the traveling direction of the hull;

[0010] The lifting mechanism is arranged on the main hull, the lifting mechanism extends between the two side hulls, and the lifting mechanism can be adjusted to allow the main hull to partially enter or leave the water body;

[0011] The laser measuring instrument is arranged on the main hull.

[0012] On the basis of the above technical solution, preferably, the lifting mechanism includes a first nut seat, a first screw rod, a plate frame, a guide rod, a motor and a first bearing seat, wherein:

[0013] The first nut seat is arranged inside the main hull;

[0014] The first screw rod is connected to the first nut seat through a thread, and the first screw rod extends between the two side hulls;

[0015] The plate frame is arranged on one end of the first screw rod close to the side hull, and the first screw rod is rotatably connected to the plate frame through the first bearing seat;

[0016] One end of the guide rod is connected to the plate frame, and the other end is matched with the main hull through a sliding bearing;

[0017] The motor is arranged on a surface of the plate frame away from the first screw rod, and the main shaft of the motor is connected to the first screw rod.

[0018] On the basis of the above technical solution, preferably, it also includes a protective shell, which is arranged in the main hull and surrounds the first nut seat, the first screw rod and the guide rod.

[0019] On the basis of the above technical solution, preferably, the first screw rod and the guide rod both pass through the main hull.

[0020] On the basis of the above technical solution, preferably, it further includes a carrier, a linear drive member and a slide rail, wherein:

[0021] The two ends of the carrier are each connected to a side hull;

[0022] The linear drive member is arranged on the carrier along the traveling direction of the hull;

[0023] The slide rail is arranged on the carrier, and the slide rail is parallel to the linear drive member;

[0024] The main hull is connected with the movable part of the linear drive member, and the main hull is slidably matched with the slide rail.

[0025] On the basis of the above technical solution, preferably, the linear drive member includes a second screw rod, a second nut seat and a second bearing seat, wherein:

[0026] The second screw rod is arranged on the carrier along the traveling direction of the hull, and the second screw rod is installed through the second bearing seat;

[0027] The second nut seat is arranged on the main hull, and the second nut seat is matched with the second screw rod through threads.

[0028] On the basis of the above technical solution, preferably, the carrier includes a crossbeam, a longitudinal beam and a pallet, wherein:

[0029] There are two cross beams, which are arranged in parallel, and the two ends of the cross beams are respectively connected to a side hull;

[0030] There are two longitudinal beams, which are arranged in parallel, and the two ends of the longitudinal beams are respectively connected to a cross beam;

[0031] The clamping plate is arranged at the connection between the cross beam and the longitudinal beam, and the clamping plate clamps both sides of the cross beam and the longitudinal beam;

[0032] The second bearing seat and the end of the slide rail are both arranged on the clamping plate.

[0033] On the basis of the above technical solution, preferably, two grooves are opened on the bottom surface of the main hull, and the linear drive member and the slide rail are respectively located in one groove.

[0034] On the other hand, the present invention provides an unmanned ship, comprising the above-mentioned ship center of gravity adjustment structure.

[0035] In another aspect, the present invention provides an application method of the unmanned ship, comprising the following steps:

[0036] S1. Place the unmanned boat on the water surface, with the two side hulls touching the water and the main hull suspended in the air;

[0037] S2. When traveling, the position of the laser measuring instrument is adjusted by sliding the main hull, and the front and rear center of gravity of the unmanned boat are adjusted synchronously;

[0038] S3. By raising and lowering the lifting mechanism, the length of the lifting mechanism close to the water body is adjusted to adjust the upper and lower center of gravity of the unmanned boat.

[0039] The hull center of gravity adjustment structure, unmanned ship and application method of the present invention have the following beneficial effects compared with the prior art:

[0040] (1) Two side hulls are provided to support the main hull, and the main hull can slide on the side hulls, so that the center of gravity of the hull can be adjusted; a lifting mechanism is also provided on the main hull, and the center of gravity of the hull can be further adjusted by the extension and contraction of the lifting mechanism itself, thereby ensuring that the hull can adapt to the application environment, avoiding the problem of the hull being unstable and capsizing due to environmental factors, and preventing interference with the application of the laser measuring instrument;

[0041] (2) The lifting mechanism adopts a screw lifting structure. When adjusting, the motor drives the first screw to cooperate with the first nut seat to lift and lower. The motor, the first screw and the guide rod will be lifted and lowered synchronously, so as to adjust the center of gravity of the hull, which has the advantages of stable and fast action.

[0042] (3) By providing a protective shell, part of the first screw rod and the guide rod located inside the main hull can be protected to prevent the wiring harness and components inside the main hull from contacting the screw rod and the guide rod and causing damage; at the same time, the screw rod and the guide rod penetrate the main hull, which allows the lifting mechanism to be set as long as possible, thereby ensuring the largest possible adjustment range;

[0043] (4) In the present hull, the two side hulls are connected by a carrier, and the linear drive member and the slide rail for sliding the main hull are installed on the carrier, so that the structure between the side hull and the main hull can be strengthened to ensure the stability of the overall structure;

[0044] (5) A groove is provided on the bottom surface of the main hull for accommodating the linear drive member and the slide rail, so that the hull structure can be compact and make it easier to carry and use;

[0045] (6) The carrier is composed of a crossbeam, a longitudinal beam and a clamping plate, wherein the clamping plate is clamped with the crossbeam and the longitudinal beam and is used to install the second bearing seat and the slide rail, thereby improving the stability of the overall structure of the carrier and the convenience of component assembly, while ensuring the correct position of the components. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A perspective view of an unmanned ship according to the present invention;

[0048] Figure 2 For the present invention Figure 1 A magnified view of the structure at point A;

[0049] Figure 3 A front view of the unmanned boat of the present invention;

[0050] Figure 4 For the present invention Figure 3 Middle AA section view;

[0051] Figure 5 A side view of an unmanned boat of the present invention equipped with a laser measuring instrument;

[0052] Figure 6 For the present invention Figure 5 Middle BB section;

[0053] Figure 7 This is a structural diagram of the installation of the linear drive assembly of the unmanned boat of the present invention;

[0054] Figure 8 A top view of the unmanned boat of the present invention;

[0055] Fig. 9 A diagram showing the installation structure of a laser measuring instrument for an unmanned ship of the present invention;

[0056] Fig.10 A parameter identification diagram of the unmanned ship of the present invention;

[0057] In the figure: 1. side hull; 2. main hull; 201. groove; 3. lifting mechanism; 31. first nut seat; 32. first screw rod; 33. plate frame; 34. guide rod; 35. motor; 36. first bearing seat; 4. laser measuring instrument; 5. protective shell; 6. carrier; 61. cross beam; 62. longitudinal beam; 63. clamping plate; 7. linear drive member; 71. second screw rod; 72. second nut seat; 73. second bearing seat; 8. slide rail. DETAILED DESCRIPTION

[0058] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] like Figures 1 to 9 As shown, the ship center of gravity adjustment structure of the present invention includes a side hull 1, a main hull 2, a lifting mechanism 3, a laser measuring instrument 4, a protective shell 5, a carrier 6, a linear drive member 7 and a slide rail 8;

[0060] The unmanned ship of the present invention comprises the above-mentioned ship center of gravity adjustment structure.

[0061] like Figures 1 to 5 and Figure 8 As shown, two side hulls 1 are arranged in parallel for contacting the water body; the main hull 2 ​​is arranged on the two side hulls 1, and the main hull 2 ​​can slide along the traveling direction of the hull, and the laser measuring instrument 4 is arranged on the main hull 2;

[0062] As in the above structure, the side hull 1 is used to contact the water surface, and the inside of the side hull 1 is used to install a propulsion assembly to propel the hull to sail on the water surface;

[0063] The laser measuring instrument 4 is installed on the main hull 2. Before launching, the center of gravity of the hull can be initially adjusted by moving the main hull 2 ​​on the side hull 1 to ensure the stability of the hull after launching.

[0064] The lifting mechanism 3 is arranged on the main hull 2, and extends between the two side hulls 1. The lifting mechanism 3 can be adjusted to move up and down so that the main hull 2 ​​can partially enter or leave the water.

[0065] As in the above structure, after the hull is launched, the stability will be affected by factors such as waves, wind direction and wind speed. The lifting mechanism 3 is used to adjust the center of the hull to ensure the stability of the hull;

[0066] In specific applications, the lifting mechanism 3 is raised and lowered, and it can be extended between the two side hulls 1. By changing the extension length, the center of gravity of the hull can be changed to adapt to the environment, ensure smooth navigation, and prevent external factors from affecting the accuracy of the detection of the laser measuring instrument 4. When adjusting, the lifting mechanism 3 can be adjusted within the range above the water surface, and can also be extended into the water.

[0067] Specifically, in this structure, the laser measuring instrument 4 emits a laser spot or a linear laser to the object to be measured, and uses two or more detectors (electric coupling components or position sensor components) to measure the distance from the surface of the object to be measured to the laser measuring instrument 4 to detect the environment; after obtaining the relevant parameters, the parameters are imported into the computer and converted into a 3D model by the software;

[0068] The laser measuring instrument 4 can also be replaced by other measuring components. During installation, the measuring components can be installed on the outside of the main hull 2 ​​or placed inside the main hull 2.

[0069] like Figure 4 As shown, the lifting mechanism 3 includes a first nut seat 31, a first screw rod 32, a plate frame 33, a guide rod 34, a motor 35 and a first bearing seat 36, wherein the first nut seat 31 is arranged inside the main hull 2; the first screw rod 32 is connected to the first nut seat 31 through a thread, and the first screw rod 32 extends between the two side hulls 1; the plate frame 33 is arranged on the end of the first screw rod 32 close to the side hull 1, and the first screw rod 32 is rotatably connected to the plate frame 33 through the first bearing seat 36; one end of the guide rod 34 is connected to the plate frame 33, and the other end is matched with the main hull 2 ​​through a sliding bearing; the motor 35 is arranged on a side of the plate frame 33 away from the first screw rod 32, and the main shaft of the motor 35 is connected to the first screw rod 32;

[0070] As in the above-mentioned structure, when the center of gravity is adjusted through the lifting mechanism 3, the motor 35 drives the first screw rod 32 to rotate. By relying on the cooperation between the first screw rod 32 and the first nut seat 31, the first screw rod 32, the plate frame 33, the guide rod 34 and the motor 35 can be lifted and lowered. By relying on the lifting and lowering of the above-mentioned components, the hull can be balanced and the center of gravity of the hull can be adjusted to adapt to the navigation environment on the water surface, thereby ensuring the stability of navigation.

[0071] like Figure 4As shown, the protective shell 5 is disposed in the main hull 2, and the protective shell 5 surrounds the first nut seat 31, the first screw rod 32 and the guide rod 34;

[0072] As in the above structure, since the first nut seat 31 is installed in the main hull 2, the first screw rod 32 and the guide rod 34 need to extend to the interior of the main hull 2; by providing a protective shell 5, the first screw rod 32, the guide rod 34 and the first nut seat 31 can be enclosed and protected to prevent components such as the wiring harness inside the main hull 2 ​​from contacting the first screw rod 32, the guide rod 34 and the first nut seat 31, thereby preventing interference damage.

[0073] Furthermore, the first screw rod 32 and the guide rod 34 both penetrate the main hull 2;

[0074] As in the above structure, by passing the first screw rod 32 and the guide rod 34 through the main hull 2, the lifting mechanism 3 can have a larger length to achieve a wider range of adjustment. At the same time, the guide rod 34 passes through the main hull 2 ​​twice, and the main hull 2 ​​limits the guide rod 34 twice, which can ensure the stability of the structure and the reliability of the action.

[0075] In some embodiments, Fig. 9 As shown, the length of the guide rod 34 is shorter than that of the first screw rod 32, and the laser measuring instrument 4 is installed on the top of the guide rod 34. When this structure is used, under the premise of a good external environment, the position of the laser measuring instrument 4 can be adjusted to achieve a good detection effect; at the same time, the laser measuring instrument 4 can also be used as a counterweight. Under the action of the first screw rod 32, it moves following the guide rod 34 to adjust the center of gravity of the hull.

[0076] like Figure 6 and Figure 7 As shown, both ends of the carrier 6 are connected to a side hull 1; the linear drive member 7 is arranged on the carrier 6 along the traveling direction of the hull; the slide rail 8 is arranged on the carrier 6, and the slide rail 8 is parallel to the linear drive member 7; the main hull 2 ​​is connected to the movable part of the linear drive member 7, and the main hull 2 ​​is slidably matched with the slide rail 8;

[0077] As in the above structure, the carrier 6 is used to connect the two side hulls 1 in parallel. When the main hull 2 ​​is slidably adjusted, the linear drive member 7 drives the main hull 2 ​​to slide along the slide rail 8, thereby realizing the position adjustment of the main hull 2.

[0078] Specifically, the linear drive member 7 includes a second screw rod 71, a second nut seat 72 and a second bearing seat 73, wherein the second screw rod 71 is arranged on the carrier 6 along the traveling direction of the hull, and the second screw rod 71 is installed through the second bearing seat 73; the second nut seat 72 is arranged on the main hull 2, and the second nut seat 72 and the second screw rod 71 are matched by threads;

[0079] As in the above structure, when adjusting the main hull 2, the second screw rod 71 rotates, so that the second nut seat 72 drives the main hull 2 ​​to move, thereby achieving adjustment;

[0080] Specifically, the second screw rod 71 can be driven by a hand wheel or a motor to achieve automatic adjustment.

[0081] like Figure 2 As shown, the carrier 6 includes a cross beam 61, a longitudinal beam 62 and a clamping plate 63, wherein two cross beams 61 are provided, the two cross beams 61 are arranged in parallel, and the two ends of the cross beam 61 are respectively connected to a side hull 1; two longitudinal beams 62 are provided, the two longitudinal beams 62 are arranged in parallel, and the two ends of the longitudinal beam 62 are respectively connected to a cross beam 61; the clamping plate 63 is provided at the connection between the cross beam 61 and the longitudinal beam 62, and the clamping plate 63 clamps the two sides of the cross beam 61 and the longitudinal beam 62; the second bearing seat 73 and the end of the slide rail 8 are both provided on the clamping plate 63;

[0082] As in the above structure, when connecting the hulls, the two side hulls 1 are connected by two cross beams 61, and then the longitudinal beam 62 is arranged between the two cross beams 61, and the cross beam 61 and the longitudinal beam 62 are clamped and fixed by the clamping plate 63, and then the second bearing seat 73 and the slide rail 8 are installed on the clamping plate 63, and finally the complete linear drive member 7 and the main hull 2 ​​are installed;

[0083] Specifically, the clamping plate 63 is fixed to the cross beam 61 and the longitudinal beam 62 with the aid of bolts.

[0084] In some embodiments, the cross beam 61 and the longitudinal beam 62 are welded and fixed, and the clamping plate 63 is clamped with the cross beam 61 and the longitudinal beam 62 to achieve the positioning of the two second bearing seats 73 for installing the second screw rod 71 and the installation positioning of the slide rail 8, thereby ensuring the stability of the component movement.

[0085] like Figure 6 As shown, two grooves 201 are provided on the bottom surface of the main hull 2, and the linear drive member 7 and the slide rail 8 are respectively located in one groove 201;

[0086] As in the above structure, by providing a groove 201 on the bottom surface of the main hull 2, which is used to accommodate the linear drive member 7 and the slide rail 8, the hull structure can be made more compact and stable, ensuring good navigation stability.

[0087] like Fig.10 As shown, in the unmanned boat, the height of the side hull 1 is L1, the maximum draft of the side hull 1 is L2, and when the lifting mechanism 3 is at the highest position, the height of the corresponding part of the side hull 1 is L3;

[0088] Then the above parameters need to satisfy the following relationship: L3<L1-L2;

[0089] As set up as above, it can ensure that when the side hull 1 is at the maximum draft, the lifting mechanism 3 can rise to the highest position to avoid the lower end being immersed in the water, thereby extending the service life of the component.

[0090] In the unmanned boat, when viewed from a top view, the main hull 2 ​​and the side hull 1 partially overlap, and the distance between the two side hulls 1 is L4, and the width of the overlapping portion between the main hull 2 ​​and the side hull 1 is L5;

[0091] Then the above parameters need to satisfy the following relationship: L5<L4;

[0092] The above arrangement can ensure that the lifting mechanism 3 has sufficient movement space, and can also ensure the stability of the main hull structure, which can significantly reduce the risk of capsizing in windy and choppy weather.

[0093] Furthermore, the distance between the linear drive member 7 and the slide rail 8 is greater than the distance between the two side hulls 1, that is, greater than L4. This structure limits the width of the main hull 2, which can make the hull of the unmanned boat have better balance performance;

[0094] Specifically, the linear drive member 7 and the slide rail 8 themselves have a certain width, and the distance between the linear drive member 7 and the slide rail 8 is the distance between the two relatively far from the side surfaces, so as to further limit the minimum width of the main hull 2, that is, the width of the main hull 2 ​​must be at least larger than the distance between the linear drive member 7 and the slide rail 8, at this time, the compactness and balance of the hull can be guaranteed.

[0095] The application method of the unmanned boat of the present invention comprises the following steps:

[0096] S1. Place the unmanned boat on the water surface, with the two side hulls 1 contacting the water and the main hull 2 ​​suspended in the air;

[0097] S2, when traveling, the position of the laser measuring instrument 4 is adjusted by the sliding of the main hull 2, and the front and rear center of gravity of the unmanned boat are adjusted synchronously;

[0098] S3. By raising and lowering the lifting mechanism 3, the length of the lifting mechanism 3 close to the water body is adjusted to adjust the upper and lower center of gravity of the unmanned boat.

[0099] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A ship center of gravity adjustment structure, characterized in that: It comprises a side hull (1), a main hull (2), a lifting mechanism (3), a laser measuring instrument (4), a protective shell (5), a carrier (6), a linear drive member (7) and a slide rail (8), wherein: The side hulls (1) are arranged in parallel with each other for contacting the water body; The main hull (2) is arranged on the two side hulls (1), and the main hull (2) can slide along the traveling direction of the hull; The lifting mechanism (3) is arranged on the main hull (2), the lifting mechanism (3) extends between the two side hulls (1), and the lifting mechanism (3) can be raised and lowered to adjust itself so that part of it enters or leaves the water body; The lifting mechanism (3) comprises a first nut seat (31), a first screw rod (32), a plate frame (33), a guide rod (34), a motor (35) and a first bearing seat (36), wherein the first nut seat (31) is arranged inside the main hull (2); the first screw rod (32) is connected to the first nut seat (31) by a thread, and the first screw rod (32) extends between the two side hulls (1); the plate frame (33) is arranged on an end of the first screw rod (32) close to the side hull (1), and the first screw rod (32) is rotatably connected to the plate frame (33) through the first bearing seat (36); one end of the guide rod (34) is connected to the plate frame (33), and the other end is matched with the main hull (2) through a sliding bearing; the motor (35) is arranged on a surface of the plate frame (33) away from the first screw rod (32), and the main shaft of the motor (35) is connected to the first screw rod (32); The laser measuring instrument (4) is arranged on the main hull (2); The height of the side hull (1) is L1, the maximum draft of the side hull (1) is L2, and when the lifting mechanism (3) is in the highest position, the height of the part corresponding to the side hull (1) is L3; When viewed from a top view, the main hull (2) and the side hull (1) partially overlap, and the distance between the two side hulls (1) is assumed to be L4, and the width of the overlapping portion between the main hull (2) and the side hull (1) is assumed to be L5; The above parameters satisfy the following relationship: L3<L1-L2, L5<L4; The protective shell (5) is arranged in the main hull (2), and the protective shell (5) surrounds the first nut seat (31), the first screw rod (32) and the guide rod (34); The first threaded rod (32) and the guide rod (34) both pass through the main hull (2); The two ends of the carrier (6) are respectively connected to one of the side hulls (1); the linear drive member (7) is arranged on the carrier (6) along the direction of travel of the hull; the slide rail (8) is arranged on the carrier (6), and the slide rail (8) is parallel to the linear drive member (7); the main hull (2) is connected to the movable part of the linear drive member (7), and the main hull (2) and the slide rail (8) are slidably matched.

2. The ship center of gravity adjustment structure according to claim 1, characterized in that: The linear drive member (7) comprises a second screw rod (71), a second nut seat (72) and a second bearing seat (73), wherein: The second screw rod (71) is arranged on the carrier (6) along the traveling direction of the hull, and the second screw rod (71) is installed via the second bearing seat (73); The second nut seat (72) is arranged on the main hull (2), and the second nut seat (72) and the second screw rod (71) are matched through threads.

3. The ship center of gravity adjustment structure according to claim 2, characterized in that: The carrier (6) comprises a crossbeam (61), a longitudinal beam (62) and a clamping plate (63), wherein: Two cross beams (61) are provided, the two cross beams (61) are arranged in parallel, and both ends of the cross beam (61) are respectively connected to one of the side hulls (1); Two longitudinal beams (62) are provided, the two longitudinal beams (62) are arranged in parallel, and both ends of the longitudinal beams (62) are respectively connected to one of the transverse beams (61); The clamping plate (63) is arranged at the connection between the cross beam (61) and the longitudinal beam (62), and the clamping plate (63) clamps two sides of the cross beam (61) and the longitudinal beam (62); The second bearing seat (73) and the end of the slide rail (8) are both arranged on the clamping plate (63).

4. The ship center of gravity adjustment structure according to claim 3, characterized in that: Two grooves (201) are provided on the bottom surface of the main hull (2), and the linear drive member (7) and the slide rail (8) are each located in one of the grooves (201).

5. An unmanned ship, characterized in that: It comprises the hull center of gravity adjustment structure as described in any one of claims 1 to 4.

6. A method for using the unmanned ship according to claim 5, characterized in that: The following steps are involved: S1. placing the unmanned boat on the water surface, wherein the two side hulls (1) are in contact with the water and the main hull (2) is suspended in the air; S2, when traveling, relying on the sliding of the main hull (2), the position of the laser measuring instrument (4) is adjusted, and the front and rear center of gravity of the unmanned boat are adjusted synchronously; S3. By raising and lowering the lifting mechanism (3), the length of the lifting mechanism (3) close to the water body is adjusted to achieve the upper and lower center of gravity adjustment of the unmanned boat.

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