Dual-mode hydrofoil unmanned ship

Abstract

The invention provides a dual-mode hydrofoil unmanned ship, and belongs to the technical field of aircrafts. Comprising a boat body and a hydrofoil propelling assembly, an energy supply module and a water ballast space are arranged in the boat body, and the water ballast space is connected with the outside of the boat body through a ballast water pump; the hydrofoil propelling assembly comprises a control module, supporting legs, hydrofoils and propellers, the hydrofoils are arranged at the bottom of the boat body and connected with the boat body through the supporting legs, the propellers are arranged at the bottoms of wing plates of the hydrofoils, the control module is arranged in the hydrofoils, and the propellers and the water ballast tanks are in communication connection with the energy supply module and the control module. According to the dual-mode hydrofoil unmanned ship provided by the embodiment of the invention, the ship body and the hydrofoil structure are integrally optimized, so that the speed and maneuverability can be ensured, and meanwhile, the balance and environmental adaptability of the overwater mode and the underwater mode are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a dual-mode hydrofoil unmanned boat. Background Art

[0002] The dual-mode unmanned boat is an advanced underwater vehicle that combines the characteristics of surface speedboats and submarines. It can travel at high speed on the water surface and dive underwater to perform tasks as needed. This type of unmanned boat combines the speed advantage of surface speedboats with the stealth and versatility of submarines, aiming to provide more flexible and efficient maritime operation capabilities.

[0003] In the related art, the power system of the existing dual-mode unmanned boat system is usually a propeller installed on the hull, which requires most of the hull to be located below the water surface to achieve propulsion and navigation regardless of whether it is in the water or underwater mode. This structural setting will cause the unmanned boat to have insufficient environmental adaptability and poor maneuverability and stability during use, and cannot effectively operate in complex or changeable marine environments. For example, it is difficult to maintain the course and stable posture under severe weather conditions such as strong winds and waves, complex water currents, etc., which increases the risk of mission failure and may even cause damage or loss of equipment. Summary of the invention

[0004] The embodiment of the present invention provides a dual-mode hydrofoil unmanned boat, which optimizes the hull and hydrofoil structure as a whole, improves the balance and environmental adaptability of the dual modes above and below the water while ensuring speed and maneuverability. The technical solution is as follows:

[0005] The embodiment of the present invention provides a dual-mode hydrofoil unmanned boat, comprising: a boat body and a hydrofoil propulsion assembly,

[0006] The hull is provided with an energy supply module and a ballast water tank, and the ballast water tank is connected to the outside of the hull through a ballast water pump;

[0007] The hydrofoil propulsion assembly includes a control module, support legs, a hydrofoil and a propeller. The hydrofoil is arranged at the bottom of the hull and is connected to the hull through the support legs. The propeller is arranged at the bottom of the wing plate of the hydrofoil. The control module is arranged inside the hydrofoil. The propeller and the ballast water tank are both communicatively connected to the energy supply module and the control module.

[0008] Optionally, the dihedral angle between the wing plate of the hydrofoil and the supporting leg is 90°.

[0009] Optionally, the hydrofoil propulsion assemblies are provided in a plurality of groups, each group of the hydrofoil propulsion assemblies includes two hydrofoil propulsion assemblies symmetrically arranged on both sides of the hull, and the plurality of groups of the hydrofoil propulsion assemblies are arranged at intervals along the extension direction of the hull.

[0010] Optionally, the two supporting legs in the two hydrofoil propulsion assemblies in the same group are integrally connected via a special-shaped connecting rod, and the special-shaped connecting rod is detachably connected to the hull.

[0011] Optionally, the ballast water tank includes nine ballast compartments arranged in a nine-square array in the horizontal direction, and the ballast compartment located in the middle stores ballast liquid and is coupled to other ballast compartments through a control valve and a two-way water pump, and the control valve and the two-way water pump are communicatively connected to the control module.

[0012] Optionally, the control module includes an STM32 single-chip microcomputer, a velocity sensor, an acceleration sensor and a six-axis gyroscope. The STM32 single-chip microcomputer is used to obtain the speed, acceleration and hull attitude data of the dual-mode hydrofoil unmanned boat based on the velocity sensor, the acceleration sensor and the six-axis gyroscope to control the distribution of ballast liquid in the ballast water tank.

[0013] Optionally, a relatively rotatable adjustment plate is provided at the rear section of the wing plate of the hydrofoil, and the STM32 single chip microcomputer is used to control the relative angle between the adjustment plate and the wing plate based on the speed, acceleration and hull attitude data of the dual-mode hydrofoil unmanned boat.

[0014] Optionally, the hull includes a control cabin and a backup equipment cabin, the energy supply module and the ballast water tank are both arranged in the control cabin, and the backup equipment cabin is used to store scientific research equipment.

[0015] Optionally, it also includes a communication sensor antenna and a control navigation module for communicating with a host computer.

[0016] Optionally, the propeller is a pump-jet propeller.

[0017] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0018] The dual-mode hydrofoil unmanned boat provided by the embodiment of the present invention uses the ballast water tank in the boat body to suck and discharge ballast liquid such as seawater to adjust the weight of the boat body, and uses the propeller to provide power to achieve dual-mode navigation of floating on the water surface and diving under the water. By connecting the hydrofoil with support legs under the boat body and setting the propeller at the bottom of the wing plate of the hydrofoil, in the surface navigation mode, the propeller power can be increased to cooperate with the hydrofoil to provide lift, and the boat body can be lifted above the water surface by the support legs to reduce the contact resistance to achieve high-speed navigation. The influence of the complex water surface environment on the boat body in the water navigation mode can be avoided to a certain extent. By optimizing the hull and hydrofoil structure as a whole, the balance and environmental adaptability of the dual modes on and under water are improved while ensuring speed and maneuverability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0020] Figure 1 is a schematic diagram of the top structure of a dual-mode hydrofoil unmanned boat provided by an embodiment of the present invention;

[0021] Figure 2 1 is a schematic diagram of the structure of a dual-mode hydrofoil unmanned boat provided by an embodiment of the present invention;

[0022] Figure 3 yes Figure 2 A local enlarged schematic diagram of the middle A;

[0023] Figure 4 is a schematic structural diagram of another hydrofoil provided by an embodiment of the present invention;

[0024] Figure 5 is an internal structure distribution diagram of a ballast water tank provided by an embodiment of the present invention;

[0025] Figure 6 is a dynamic balance adjustment flow chart of a control module provided by an embodiment of the present invention;

[0026] Figure 7 is a schematic structural diagram of a thruster provided by an embodiment of the present invention;

[0027] Figure 8 is a structural cross-sectional view of a propeller provided by an embodiment of the present invention;

[0028] Fig. 9 It is a structural block diagram of a control module provided in an embodiment of the present invention.

[0029] In the figure: 1-hull; 1a-control cabin; 1b-reserve equipment cabin; 2-hydrofoil propulsion assembly; 11-energy supply module; 12-ballast water tank; 12a-ballast water pump; 21-control module; 22-support leg; 23-hydrofoil; 24-thruster; 25-special-shaped connecting rod; 121-ballast grid; 211-STM32 single-chip microcomputer; 212-speed sensor; 213-acceleration sensor; 214-six-axis gyroscope; 215-communication sensor antenna; 216-control navigation module; 231-wing plate; 232-adjustment plate; 241-annular duct; 242-stator; 243-rotor. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0031] Figure 1 is a schematic diagram of the top structure of a dual-mode hydrofoil unmanned boat provided by an embodiment of the present invention; Figure 2 1 is a schematic diagram of the structure of a dual-mode hydrofoil unmanned boat provided by an embodiment of the present invention; Figure 3 yes Figure 2 A local enlarged schematic diagram of the middle A; Figure 4 is a schematic structural diagram of another hydrofoil provided by an embodiment of the present invention;

[0032] Figure 5 is an internal structure distribution diagram of a ballast water tank provided by an embodiment of the present invention; Figure 6 is a dynamic balance adjustment flow chart of a control module provided by an embodiment of the present invention; Figure 7 is a schematic structural diagram of a thruster provided by an embodiment of the present invention; Figure 8 is a structural cross-sectional view of a propeller provided by an embodiment of the present invention; Fig. 9 is a structural block diagram of a control module provided by an embodiment of the present invention. Figures 1 to 9 As shown, an embodiment of the present invention provides a dual-mode hydrofoil unmanned boat, including a boat body 1 and a hydrofoil propulsion assembly 2.

[0033] An energy supply module 11 and a ballast water tank 12 are provided in the hull 1, and the ballast water tank 12 is connected to the outside of the hull 1 through a ballast water pump 12a.

[0034] The hydrofoil propulsion assembly 2 includes a control module 21, a support leg 22, a hydrofoil 23 and a propeller 24. The hydrofoil 23 is arranged at the bottom of the hull 1 and connected to the hull 1 through the support leg 22, and the propeller 24 is arranged at the bottom of the wing plate 231 of the hydrofoil 23. The control module 21 is arranged inside the hydrofoil 23, and the propeller 24 and the ballast water tank 12 are all connected to the energy supply module 11 and the control module 21 in communication.

[0035] In the embodiment of the present invention, when the dual-mode hydrofoil unmanned boat is in the water navigation mode, the control module 21 is used to send and receive control signals of various electronic control components in the dual-mode hydrofoil unmanned boat, and the ballast liquid in the ballast water tank 12 is emptied by the ballast water pump 12a. During the floating process, the boat body 1 can float on the water surface by the draft of its own weight. At this time, the support legs 22, hydrofoils 23 and propeller 24 under the boat body 1 are all located under the water surface, and the propeller 24 can provide power to move forward at a low speed on the water surface. By increasing the power of the propeller 24, based on the Bernoulli principle and the principle of aerodynamics, when the hydrofoil 23 moves rapidly underwater, different water flow velocities are formed on the upper and lower surfaces of the wing plate 231 of the hydrofoil 23, the upper water flow velocity is fast and the pressure is small, and the lower water flow velocity is slow and the pressure is large, thereby generating an upward lift. This lift can lift the hull 1 to the water surface as a whole by using the support legs 22, leaving only the wing plate 231 and the propeller 24 underwater, reducing the contact resistance between the hull 1 and the water surface, and achieving the effect of high-speed travel. Under severe weather conditions such as strong winds and waves, complex currents, the water inlet valve of the ballast tank 12 is opened to allow seawater to enter, increase the weight of the hull 1 and deepen the draft, so that the hull 1 dives under the water surface as a whole, and is powered by the propeller 24 to achieve underwater travel. Different navigation modes can be flexibly switched based on different water surface and weather conditions to perform long-term and autonomous tasks such as environmental monitoring, hydrological surveys, weather forecasts, biological tracking, remote warnings, and communication relays.

[0036] The dual-mode hydrofoil unmanned boat provided by the embodiment of the present invention uses the ballast water tank 12 in the hull 1 to suck and discharge ballast liquid such as seawater to adjust the weight of the hull 1, and uses the propeller 24 to provide power to achieve dual-mode navigation of floating on the water surface and diving under the water. By connecting the hydrofoil 23 with the support legs 22 under the hull 1, and arranging the propeller 24 at the bottom of the wing plate 231 of the hydrofoil 23, in the surface navigation mode, the propeller 24 can be used to increase the power of the propeller 24 to cooperate with the hydrofoil 23 to provide lift, and the hull 1 can be lifted above the water surface by the support legs 22, reducing the contact resistance to achieve high-speed navigation, and can avoid the influence of the complex water surface environment on the hull 1 in the water navigation mode to a certain extent. By optimizing the hull and hydrofoil structure as a whole, while ensuring speed and maneuverability, the balance and environmental adaptability of the dual modes on and under water are improved.

[0037] Exemplarily, in an embodiment of the present invention, the energy supply module 11 for supplying energy to the ballast tank 12 in the hull 1, the control module 21 in the hydrofoil propulsion assembly 2, the propeller 24 and other electronic control devices includes a conventional battery pack and a fuel cell system. The fuel cell system includes a fuel cell stack, a hydrogen storage unit, a hydrogen supply control system and a corresponding heat pipe module. The fuel cell stack can directly convert the chemical energy of hydrogen and oxygen into electrical energy. The energy conversion efficiency of this process is much higher than that of the traditional combustion process. This direct energy conversion method greatly reduces energy consumption and improves the overall energy efficiency of the energy supply module 11. In combination with a battery pack composed of conventional batteries, etc., it can provide a longer endurance time and higher energy efficiency for the dual-mode hydrofoil unmanned boat.

[0038] Furthermore, in an embodiment of the present invention, the energy supply module 11 is integrally arranged at the bottom of the hull 1, which is beneficial to lowering the overall center of gravity of the hull 1, thereby improving the stability of the unmanned boat. By appropriately distributing the weight front and rear and arranging a ballast water tank 12 at the rear end of the energy supply module 11, the balance of the unmanned boat can be further optimized, making it more stable when sailing under different sea conditions. Placing the energy supply module 11 at the bottom of the hull 1 can effectively protect these key components from direct erosion or collision damage from seawater during navigation on and under water. For example, when the hull 1 is sailing on the water as a whole, the vibration caused by the impact of surges on the hull 1 in a harsh marine environment can be reduced.

[0039] Optionally, the dihedral angle between the wing plate 231 of the hydrofoil 23 and the support leg 22 is 90°. Exemplarily, in the embodiment of the present invention, one end of the support leg 22 is fixedly connected to the lower side of the hull 1, the upper half of which is in an arc away from the hull 1, and the lower half extends downward in the vertical direction and is connected to the horizontally arranged wing plate 231 to form a 90° dihedral angle. The connection between the wing plate 231 of the hydrofoil 23 and the support leg 22 is designed in an inverted T shape as a whole, which is conducive to increasing the lateral stability of the upper hull 1 and reducing the interference resistance between the hydrofoil 23 and the hull 1. In addition, the 90° dihedral angle ensures the upward distribution of the lift, which helps to provide better longitudinal stability. The design of the T-shaped hydrofoil 23 structure can reduce the impact of water surface changes (such as surges) on the hull 1 when sailing at high speed, thereby reducing the vibration of the hull 1, which is conducive to improving the safety of the equipment and cargo carried in the hull 1.

[0040] Optionally, multiple groups of hydrofoil propulsion assemblies 2 are provided, each group of hydrofoil propulsion assemblies 2 includes two hydrofoil propulsion assemblies 2 symmetrically arranged on both sides of the hull 1, and multiple groups of hydrofoil propulsion assemblies 2 are arranged at intervals along the extension direction of the hull 1. For example, in an embodiment of the present invention, the hull 1 includes a control cabin 1a and a backup equipment cabin 1b fixedly connected by bolt connectors, the energy supply module 11 and the ballast water tank 12 are both arranged in the control cabin 1a, and the backup equipment cabin 1b is used to store scientific research equipment. This partition can more reasonably utilize the longitudinal space of the hull 1, effectively isolate the driving and equipment management functions of the unmanned boat, ensure the independence of each function and the convenience of operation, and according to actual needs, the backup equipment cabin 1b may not be equipped. At the same time, on the control cabin 1a and the backup equipment cabin 1b, two groups of hydrofoil propulsion assemblies 2 are arranged along the extension direction of the hull 1, that is, two support legs 22, hydrofoils 23 and propellers 24 are arranged on both sides of the control cabin 1a and the backup equipment cabin 1b. Through this symmetrical arrangement, while ensuring the propulsion driving power, the balance during driving is further improved. At the same time, by changing the power of the propellers 24 on both sides, or setting a steering assembly at the end of the propeller 24, the hull 1 can be stably turned, and obstacle avoidance and handling of complex environments and tasks can be achieved.

[0041] Optionally, the two support legs 22 in the two hydrofoil propulsion assemblies 2 in the same group are connected as a whole through a special-shaped connecting rod 25, and the special-shaped connecting rod 25 is detachably connected to the hull 1. For example, in the embodiment of the present invention, in the two hydrofoil propulsion assemblies 2 in the same group, the tops of the two support legs 22 symmetrically arranged on both sides of the hull 1 are connected as a whole through a special-shaped connecting rod 25 matching the bottom profile of the hull 1. During assembly, the bolt connection part on the special-shaped connecting rod 25 is matched with the bottom of the hull 1 and then connected by bolts, which has a simple structure and is easy to install. It is conducive to disassembly, maintenance and replacement after long-term use, thereby improving the overall service life.

[0042] Optionally, the ballast water tank 12 includes nine ballast compartments 121 arranged in a nine-square array in the horizontal direction. The ballast liquid is stored in the ballast compartment 121 located in the middle, and is coupled to other ballast compartments 121 through a control valve and a two-way pump. The control valve and the two-way pump are in communication with the control module 21. Exemplarily, in an embodiment of the present invention, the ballast water tank 12 configured at the bottom of the hull 1 is composed of nine ballast compartments 121 arranged in a nine-square array. Figure 5 The ballast compartment 121 located in the middle stores ballast liquid and is arranged at the center of the nine-square structure. The other ballast compartments are coupled to the ballast compartment 121 through control valves and two-way pumps. During the driving process, the tilt angle and tilt direction of the hull 1 are determined according to the data transmitted by the control module 21, so that the liquid in the ballast compartment 121 is pumped into other ballast compartments 121 to achieve the balance of the center of gravity.

[0043] Furthermore, the control module 21 includes an STM32 single-chip microcomputer 211, a speed sensor 212, an acceleration sensor 213 and a six-axis gyroscope 214. The STM32 single-chip microcomputer 211 is used to obtain the speed, acceleration and hull attitude data of the dual-mode hydrofoil unmanned boat based on the speed sensor 212, the acceleration sensor 213 and the six-axis gyroscope 214 to control the ballast liquid distribution in the ballast water tank 12. The STM32 single-chip microcomputer 211 has powerful computing power and fast processing speed, and can process data from the speed sensor 212, the acceleration sensor 213 and the six-axis gyroscope 214 in real time, and send corresponding adjustment instructions. Among them, the hull attitude information mainly includes the hull inclination angle of the hull 1 in the X, Y, Z three-axis coordinate system, and is as follows Figure 6 The dynamic balancing process shown is to regulate the engine output power in the ballast water tank 12 and the propeller 24 to achieve dynamic balancing adjustment of the hull 1.

[0044] For example, reference Figure 5 , the adjustment strategy of the ballast water tank 12 is as follows:

[0045] If cy>0 and cz=0, open ballast compartment No. 4;

[0046] If cy<0 and cz=0, open ballast compartment No. 6;

[0047] If cy=0 and cz>0, open ballast compartment No. 2;

[0048] If cy=0 and cz<0, open ballast compartment No. 8;

[0049] If cy<0 and cz<0, open ballast compartments 6, 8, and 9;

[0050] If cy<0 and cz>0, open ballast compartments 2, 3, and 6;

[0051] If cy>0 and cz<0, open ballast compartments 4, 7, and 8;

[0052] If cy>0 and cz>0, open ballast compartments 1, 2, and 4.

[0053] The control module 21 receives and analyzes the hull attitude data, monitors and adjusts the speed and acceleration to ensure safe operation, and accurately controls the distribution of the ballast liquid in the ballast tank 12 through the control valve and the two-way pump system to achieve a balancing effect. When the heel angle cy and the longitudinal angle cz of the hull 1 reach zero, the system stops the liquid adjustment to ensure the stability of the center of gravity of the hull 1. If adjustment is needed again, the control module 21 will restart the corresponding process to ensure that the hull 1 can maintain balance under various operating conditions.

[0054] Optionally, a relatively rotatable adjustment plate 232 is provided at the rear section of the wing plate 231 of the hydrofoil 23, and the STM32 single-chip computer 211 is used to control the relative angle between the adjustment plate 232 and the wing plate 231 based on the speed, acceleration and hull attitude data of the dual-mode hydrofoil unmanned boat. Exemplarily, in addition to the ballast water tank 12, the control module 21 on the hydrofoil 23 can also adjust the attitude of the adjustment plate 232 at the rear section of the wing plate 231 based on the navigation requirements by collecting various data of the hull 1, so as to improve the mobility and stability of the hydrofoil 23, such as adjusting the lift and improving the efficiency of switching the navigation mode.

[0055] Optionally, the dual-mode hydrofoil unmanned boat also includes a communication sensor antenna 215 and a control navigation module 216 for communication connection with a host computer. By integrating the communication sensor antenna 215 and the control navigation module 216 in the hydrofoil 23, the communication sensor antenna 215 ensures that the hydrofoil 23 can effectively transmit and receive data in a wider area. Whether it is receiving instructions from the ground station or sending real-time data to the ground station, the reliability and stability of communication are significantly improved. At the same time, the data in the control module 21 can also be transmitted to the host computer of the control center in real time, and the heading can be adjusted according to preset instructions or receiving remote instructions. After completing the task, the control navigation module 216 is used for self-service control to start back to the starting point or a designated location. It can cope with complex environments and tasks, such as automatic obstacle avoidance, path planning and positioning.

[0056] Optionally, the propeller 24 is a pump-jet propeller. Exemplarily, in an embodiment of the present invention, the propeller 24 is a pump-jet propeller, which includes an annular conduit 241, a stator 242 and a rotor 243. The annular conduit 241 forms a closed fluid power channel, optimizes the path of water flow through the propeller 24, reduces eddies and turbulence, and thus improves propulsion efficiency. By finely regulating the interaction between the water flow in the annular conduit 241 and the stator 242 and the rotor 243, the optimal energy utilization and propulsion can be achieved, energy waste can be reduced, and operating costs can be reduced.

[0057] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0058] The above descriptions are merely optional 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 dual-mode hydrofoil unmanned boat, characterized in that: include: Hull (1) and hydrofoil propulsion assembly (2), An energy supply module (11) and a ballast water tank (12) are arranged inside the hull (1), and the ballast water tank (12) is connected to the outside of the hull (1) via a ballast water pump (12a); The hydrofoil propulsion assembly (2) comprises a control module (21), a support leg (22), a hydrofoil (23) and a propeller (24); the hydrofoil (23) is arranged at the bottom of the hull (1) and connected to the hull (1) through the support leg (22); the propeller (24) is arranged at the bottom of a wing plate (231) of the hydrofoil (23); the control module (21) is arranged inside the hydrofoil (23); the propeller (24) and the ballast water tank (12) are all in communication connection with the energy supply module (11) and the control module (21).

2. The dual-mode hydrofoil unmanned boat according to claim 1, characterized in that: The dihedral angle between the wing plate (231) of the hydrofoil (23) and the support leg (22) is 90°.

3. The dual-mode hydrofoil unmanned boat according to claim 2, characterized in that: The hydrofoil propulsion assemblies (2) are provided in a plurality of groups, each group of the hydrofoil propulsion assemblies (2) comprising two hydrofoil propulsion assemblies (2) symmetrically arranged on both sides of the hull (1), and the plurality of groups of the hydrofoil propulsion assemblies (2) are arranged at intervals along the extension direction of the hull (1).

4. The dual-mode hydrofoil unmanned boat according to claim 3, characterized in that: The two support legs (22) in the two hydrofoil propulsion assemblies (2) in the same group are integrally connected via a special-shaped connecting rod (25), and the special-shaped connecting rod (25) is detachably connected to the hull (1).

5. The dual-mode hydrofoil unmanned boat according to claim 1, characterized in that: The ballast water tank (12) comprises nine ballast compartments (121) arranged in a nine-square array in the horizontal direction, wherein the ballast compartment (121) located in the middle stores ballast liquid and is coupled to other ballast compartments (121) via a control valve and a bidirectional water pump, wherein the control valve and the bidirectional water pump are in communication connection with the control module (21).

6. The dual-mode hydrofoil unmanned boat according to claim 5, characterized in that: The control module (21) comprises an STM32 single-chip microcomputer (211), a speed sensor (212), an acceleration sensor (213) and a six-axis gyroscope (214); the STM32 single-chip microcomputer (211) is used to obtain the speed, acceleration and hull attitude data of the dual-mode hydrofoil unmanned boat based on the speed sensor (212), the acceleration sensor (213) and the six-axis gyroscope (214), so as to control the distribution of ballast liquid in the ballast water tank (12).

7. The dual-mode hydrofoil unmanned boat according to claim 6, characterized in that: A relatively rotatable adjustment plate (232) is provided at the rear section of the wing plate (231) of the hydrofoil (23), and the STM32 single-chip computer (211) is used to control the relative angle between the adjustment plate (232) and the wing plate (231) based on the speed, acceleration and hull attitude data of the dual-mode hydrofoil unmanned boat.

8. The dual-mode hydrofoil unmanned boat according to any one of claims 1 to 7, characterized in that: The hull (1) comprises a control cabin (1a) and a backup equipment cabin (1b), the energy supply module (11) and the ballast water tank (12) are both arranged in the control cabin (1a), and the backup equipment cabin (1b) is used to store scientific research equipment.

9. The dual-mode hydrofoil unmanned boat according to any one of claims 1 to 7, characterized in that: It also includes a communication sensor antenna (215) and a control navigation module (216) for communicating with a host computer.

10. The dual-mode hydrofoil unmanned boat according to any one of claims 1 to 7, characterized in that: The propeller (24) is a pump-jet propeller.

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