Full-autonomous unmanned ship and system

Abstract

The invention is suitable for the field of unmanned boats, and provides a full-autonomous unmanned boat and system, the full-autonomous unmanned boat comprises a boat body, a power system, an intelligent center and a sensing cluster, the boat body is of a planing boat structure and is provided with an aluminum alloy framework and a PVC air bag, the PVC air bag and the aluminum alloy framework are bonded and fixed through structural adhesive and define the outline of the boat body, and a boat bow of the boat body is of a drainage type structure; a stern of the boat body is of a sliding structure; in the invention, the aluminum alloy framework is firmly connected with the PVC air bag through the structural adhesive, so that the structural strength of the boat body is maintained by virtue of the rigidity of aluminum alloy, sufficient buoyancy is provided by virtue of the PVC air bag, the navigation resistance is effectively reduced in cooperation with a boat bow drainage type and boat stern sliding structure, and the problems of insufficient buoyancy, low structural strength and poor water area adaptability of the existing unmanned boat are solved; the unmanned ship can stably sail in complex water areas such as shallow water areas and multi-wave areas.

Description

Technical Field

[0001] This invention belongs to the field of unmanned surface vessels, and particularly relates to a fully autonomous unmanned surface vessel and system. Background Technology

[0002] Most existing unmanned surface vessels (USVs) are modified from traditional vessels, with only partial innovations and no systematic independent design. Their level of intelligence is low, and they rely on manual remote control. They can only achieve the level of assisted driving and cannot complete tasks independently without human intervention. In high-risk environments (such as deep-sea exploration and patrol of dangerous waters), the inability of personnel to reach them makes it difficult for USVs to carry out operations and fails to meet the needs of actual applications. Existing unmanned surface vessels have weak environmental perception capabilities and lack the integration of multiple types of sensors to form a redundant and heterogeneous fusion structure. They are not accurate enough in obstacle recognition, object type judgment, speed and distance measurement in the aquatic environment, and have poor anti-interference capabilities. They are prone to perception failure in complex waters (such as areas with many reefs or sea areas under bad weather), leading to loss of navigation control and poor water adaptability. The existing unmanned surface vessel's power control system is poorly designed, relying heavily on traditional servo motors for steering. The transmission chain is long, resulting in low control accuracy and significant response lag. Furthermore, the power system and control system have poor compatibility, failing to balance operational flexibility and shallow water adaptability. When operating in shallow water, unstable power output or equipment bottoming out and damage can easily occur, affecting operational efficiency. Existing unmanned surface vessels (USVs) lack an independent and highly protected control center, have low integration of core components, poor power supply system stability, and are susceptible to environmental factors such as seawater corrosion and vibration, resulting in high system failure rate and short service life. They are unable to perform complex tasks stably for a long time and cannot meet the continuous operation needs of various fields. Therefore, a fully autonomous unmanned surface vessel and system are needed to solve the above problems. Summary of the Invention

[0003] The purpose of this invention is to provide a fully autonomous unmanned surface vessel and system to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A fully autonomous unmanned surface vessel and system includes a hull, a power system, an intelligent central hub, and a sensing cluster; the hull is a planing boat structure with an aluminum alloy frame and PVC airbags. The PVC airbags are bonded and fixed to the aluminum alloy frame with structural adhesive and form the outline of the hull. The bow of the hull is designed as a drainage structure, and the stern of the hull is designed as a planing structure. The power system includes an outboard motor, a redundant electric reciprocating pump, a hydraulic cylinder, and a rudder angle device. The outboard motor is compatible with the start, stop, and reversing control of both electronic and motor-driven mechanical handles. The redundant electric reciprocating pump is connected to the hydraulic cylinder and can control the hydraulic cylinder to perform reciprocating linear motion. The hydraulic cylinder is connected to the outboard motor and can drive the outboard motor to rotate. The rudder angle device is connected to the outboard motor through a parallelogram linkage mechanism. The intelligent hub is independently isolated and protected by a cabin, and the protection level of the intelligent hub reaches IP67. The intelligent hub is equipped with a main electric pump, an auxiliary electric pump, an engine control unit, a pump driver, a communication server, a main control box, a power distribution unit and a battery. The battery is electrically connected to the power distribution unit, and the power distribution unit is electrically connected to the main electric pump, the auxiliary electric pump, the engine control unit, the pump driver, the communication server and the main control box respectively. The main control box is connected to the engine control unit, the pump driver and the communication server for signal connection respectively. The sensing cluster includes an antenna, two GPS antennas, a Tiantong (Skycom) communication device, a lidar, a monocular camera, a millimeter-wave radar, and a monitoring system. The antenna includes a 4G / 2.4G antenna. The two GPS antennas, Tiantong, lidar, monocular camera, millimeter-wave radar, and monitoring system are respectively connected to the communication server. This unmanned surface vessel and system rely on the sensors of the perception cluster, the control system of the intelligent hub, and artificial intelligence algorithms to independently complete environmental perception, path planning, task execution, and decision-making and obstacle avoidance actions. The composite structure of aluminum alloy frame and PVC airbags in the hull ensures structural strength while improving buoyancy and cushioning performance. Combined with the planing bow and stern structure, it effectively reduces sailing resistance and enhances water adaptability. The direct drive structure of the power system shortens the control link, improves control accuracy and response speed, and is compatible with dual-handle control to improve operational flexibility. The high protection and stable power supply design of the intelligent hub extends the system life, and the redundant fusion of the sensing cluster improves the reliability of environmental perception. The whole system achieves fully autonomous operation and eliminates reliance on manual labor.

[0005] In a further technical solution, the PVC airbag is a prefabricated structure. After the PVC airbag is bonded to the aluminum alloy frame with structural adhesive, it forms a structure that provides buoyancy support and buffer protection for the hull. The prefabricated PVC airbags ensure a good fit with the aluminum alloy frame and are firmly connected by structural adhesive. This provides sufficient buoyancy to the hull, ensuring its stability in complex waters, and also acts as a buffer when the hull collides with obstacles, reducing damage to the hull and extending its service life.

[0006] In a further technical solution, the outboard motor, under the coordinated action of redundant electric reciprocating pumps and hydraulic cylinders, can simultaneously realize the thrust output and steering adjustment of the unmanned surface vessel, and the rudder angle device can obtain the swing angle information of the outboard motor in real time through a parallelogram linkage mechanism. The coordinated control of redundant electric reciprocating pumps and hydraulic cylinders enables the outboard motor to both output thrust to drive the unmanned surface vessel and achieve steering through rotation, simplifying the power transmission structure. With the real-time angle information feedback from the rudder angle sensor, the main control box can promptly correct steering deviations, improve power control accuracy and response speed, and avoid control lag.

[0007] In a further technical solution, the battery of the intelligent hub can receive power replenishment from shore-based equipment and absorb electrical energy generated during the operation of the outboard motor. The battery delivers stable electrical energy to various components inside the intelligent hub through the power distribution unit. The dual power acquisition methods of the battery ensure sufficient power reserves and prevent mission interruption due to insufficient power; the power distribution unit stably distributes battery power to various components, ensuring the continuous and stable operation of the internal equipment of the intelligent hub and providing reliable energy support for the fully autonomous operation of the unmanned surface vessel.

[0008] A further technical solution is that the Tiantong of the perception cluster can achieve communication in environments without terrestrial network coverage or in harsh conditions, and the 4G / 2.4G antennas respectively enable communication between the unmanned surface vessel and the wide area network and interconnection between devices inside the unmanned surface vessel; Tiantong breaks through the limitations of ground networks, ensuring the communication reliability of unmanned surface vessels in extreme environments such as the open sea and severe weather. The 4G / 2.4G antennas ensure wide area network communication and interconnection of internal equipment in normal environments. The combination of multiple communication methods enables stable data interaction of unmanned surface vessels in different environments and avoids communication interruptions.

[0009] In a further technical solution, the LiDAR, monocular camera, and millimeter-wave radar of the perception cluster form a redundant and complementary structure. The LiDAR is used for high-precision environmental modeling and contour recognition, the monocular camera is used for color, text, and object type recognition, and the millimeter-wave radar is used for speed measurement and distance measurement. The redundancy and complementarity of the three types of sensors avoid perception failure caused by the failure of a single sensor. The high-precision modeling of lidar, the object recognition of monocular camera, and the speed and distance measurement of millimeter-wave radar work together to improve the accuracy and comprehensiveness of environmental perception, enabling unmanned surface vessels to accurately judge the water environment and ensure navigation safety and mission execution accuracy.

[0010] In a further technical solution, the communication server of the intelligent hub is connected to the sensing cluster and the cloud server respectively, so as to realize real-time data interaction between the unmanned surface vessel and the environment, and between the unmanned surface vessel and the cloud server; As the core of data interaction, the communication server can receive environmental data collected by the sensing cluster, transmit task data to the cloud server, and receive cloud commands, realizing real-time linkage between the unmanned surface vessel and the external environment and the cloud. It provides data support for the main control box decision-making and ensures real-time monitoring and task scheduling of the unmanned surface vessel by the background.

[0011] A further technical solution is that the aluminum alloy frame is used to maintain the rigid structure of the hull and ensure the structural strength of the hull. The drainage structure at the bow and the sliding structure at the stern work together to reduce the resistance during the hull's navigation. The rigid structure of the aluminum alloy frame ensures that the hull is not easily deformed during navigation and operation, thus guaranteeing structural stability. The bow drainage structure reduces water resistance during navigation, while the stern planing structure improves the hull's planing performance in the water. The combination of these two features significantly reduces overall navigation resistance and improves the navigation efficiency and energy utilization of the unmanned surface vessel.

[0012] Compared with the prior art, the beneficial effects of the present invention are: In this invention, the aluminum alloy frame is firmly connected to the PVC airbag through structural adhesive. This not only utilizes the rigidity of the aluminum alloy to maintain the structural strength of the hull, but also relies on the PVC airbag to provide sufficient buoyancy. Combined with the bow-drainage type and stern-sliding structure, it effectively reduces navigation resistance and solves the problems of insufficient buoyancy, low structural strength, and poor water adaptability of existing unmanned surface vessels. This enables unmanned surface vessels to navigate stably in complex waters such as shallow water areas and wave-filled areas. This invention uses a redundant electric reciprocating pump to directly control the hydraulic cylinder to drive the engine rotation, simplifying the transmission link and achieving synchronous control of thrust and steering. In conjunction with the rudder angle device, the engine angle is fed back in real time through a parallelogram linkage, improving control accuracy and response speed. This solves the defects of existing unmanned surface vessels such as control lag and poor operational flexibility. At the same time, the outboard motor is compatible with dual-handle control, enhancing the adaptability and reliability of the power system. This invention utilizes the redundancy fusion of multiple sensors in a sensing cluster. Environmental data is transmitted to the main control box in real time via a communication server. The main control box, combined with AI algorithms, quickly makes autonomous decisions. The IP67 protection of the intelligent hub and the stable power supply of the battery ensure the continuous operation of core components. This invention solves the problems of existing unmanned surface vessels (USVs) relying on manual labor, having weak anti-interference capabilities, and high failure rates. It enables USVs to independently complete complex tasks in high-risk environments, freeing up manpower and improving operational efficiency.

[0013] To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2This is a three-dimensional structural diagram of the independent protective cabin of the present invention; Figure 3 This is a three-dimensional structural diagram of the aluminum alloy skeleton of the present invention; Figure 4 This is a three-dimensional structural schematic diagram of the outboard motor engine of the present invention; Figure 5 This is a three-dimensional structural schematic diagram of the lidar of the present invention; Figure 6 This is a three-dimensional structural diagram of the PVC airbag of the present invention.

[0015] In the diagram: 1. Hull; 11. Aluminum alloy frame; 12. PVC airbag; 13. Bow; 14. Stern; 2. Power system; 21. Outboard engine; 22. Parallelogram linkage mechanism; 23. Hydraulic cylinder; 24. Rudder angle device; 3. Intelligent hub; 31. Main electric pump; 32. Auxiliary electric pump; 33. Engine control unit; 34. Pump driver; 35. Communication server; 36. Main control box; 37. Power distribution unit; 38. Battery; 39. Independent protective compartment; 4. Sensing cluster; 41. 4G / 2.4G antenna; 42. GPS antenna; 43. Tiantong (Skycom); 44. LiDAR; 45. Monocular camera; 46. Millimeter-wave radar; 47. Monitoring. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0017] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0018] Example 1: Application in marine surveying and scientific research scenarios; like Figures 1-6As shown, this embodiment of the invention provides a fully autonomous unmanned surface vessel and system, including a hull 1, a power system 2, an intelligent central hub 3, and a sensing cluster 4; the aluminum alloy frame 11 of the hull 1 is bonded to the PVC airbag 12 with structural adhesive, the bow 13 is a drainage structure, and the stern 14 is a planing structure; the outboard motor 21 of the power system 2 is compatible with both electronic and motor-driven mechanical handle control, a redundant electric reciprocating pump is connected to a hydraulic cylinder 23, the hydraulic cylinder 23 drives the outboard motor 21 to rotate, and the rudder angle device 24 is connected to the engine through a parallelogram linkage mechanism 22; the intelligent... The central control unit 3 is independently housed with an IP67 protection rating. Inside, it houses a main electric pump 31, an auxiliary electric pump 32, an engine control unit 33, a pump driver 34, a communication server 35, a main control box 36, a power distribution unit 37, and a battery 38. The battery 38 is electrically connected to the power distribution unit 37, which supplies power to all components. The sensing cluster 4 includes a 4G / 2.4G antenna 41, two GPS antennas 42, a Tiantong (Skycom) sensor 43, a lidar 44, a monocular camera 45, a millimeter-wave radar 46, and a monitoring system 47. Each sensor is connected to the communication server 35.

[0019] In this embodiment, the aluminum alloy frame 11 of the hull 1 ensures the structural stability of the hull during surveying operations, and the PVC airbag 12 provides sufficient buoyancy, enabling the unmanned surface vessel to navigate stably in the shallow waters of the surveying area. The precise steering and rapid response of the power system 2 ensure that the unmanned surface vessel can navigate along the planned surveying path, avoiding the omission of surveying data due to steering deviation. The lidar 44 of the perception cluster 4 performs high-precision modeling of the seabed topography, the monocular camera 45 identifies surveying markers, and the dual GPS antennas 42 provide accurate location information. The data is transmitted to the main control box 36 via the communication server 35. The main control box 36 controls the equipment to complete data acquisition and transmit it back to the cloud. Large-scale marine surveying tasks can be completed without human intervention, avoiding the risks of wind and waves faced by personnel at sea, while improving surveying efficiency and solving the problems of high cost and low efficiency of traditional manned scientific research vessel operations.

[0020] Example 2: Application in environmental monitoring and protection scenarios; The difference between this embodiment and embodiment 1 is that the sensors of the sensing cluster 4 collect aquatic environmental data in a coordinated manner, and the communication server 35 of the intelligent hub 3 prioritizes the transmission of detection data through the 4G antenna 41. When in an area without 4G signal, it automatically switches to the Tiantong 43 for data transmission.

[0021] In this embodiment, the lidar 44 of the sensing cluster 4 identifies floating pollutants in the water, the monocular camera 45 determines the type of pollutant, and the millimeter-wave radar 46 monitors the movement speed of the pollutants. The data is transmitted to the main control box 36 in real time. The main control box 36 combines GPS positioning information to mark the location of the pollutants and plan the detection path. In near-shore areas with 4G signals, the communication server 35 transmits the detection data to the environmental monitoring platform quickly through the 4G antenna 41 to achieve real-time monitoring. When the unmanned surface vessel travels to an area in the open sea without 4G signals, the communication server 35 automatically switches to the Tiantong 43 to ensure that the detection data is not interrupted. The battery 38 of the intelligent hub 3 absorbs the power of the engine to extend the working time, enabling the unmanned surface vessel to continuously complete environmental detection tasks in a large area of ​​water without frequent returns. This solves the problems of small coverage and data lag in traditional manual sampling and detection, and provides timely and accurate data support for environmental governance.

[0022] Example 3: Application in national defense and security scenarios; The difference between this embodiment and embodiment 1 is that the main control box 36 of the intelligent hub 3 enhances the autonomous decision-making and obstacle avoidance function, the Tiantong 43 of the perception cluster 4 is used for secure communication with the command center, and the redundant electric reciprocating pump of the power system 2 adopts a dual backup design to ensure the reliability of power control.

[0023] In this embodiment, the lidar 44, monocular camera 45, and millimeter-wave radar 46 of the perception cluster 4 work together to monitor unidentified targets in the sea area. The dual GPS antennas 42 locate the target position. After the data is transmitted to the main control box 36, the main control box 36 quickly analyzes the target attributes and makes a decision. If it is determined to be a suspicious target, it automatically plans a tracking path or obstacle avoidance path. The Tiantong 43 establishes secure communication with the command center to transmit target data and unmanned surface vessel status in real time, ensuring the security of command transmission. The dual-backup redundant electric reciprocating pumps of the power system 2 ensure that even if one pump fails, the other pump can immediately take over, ensuring the normal control of the outboard motor 21. This allows the unmanned surface vessel to continuously perform patrol missions in complex sea areas without the need for human pilots, reducing the risk of exposure for military personnel. At the same time, through multi-vessel collaborative operations, a large-scale sea area security protection network is formed, enhancing national defense security capabilities.

[0024] Working principle and usage process of this invention: Deployment and initialization phase: The unmanned surface vessel (USV) is placed on the shore of the operating area, and the battery 38 of the intelligent hub 3 is connected to the shore-based equipment to charge the battery 38. After charging is completed, the main control box 36 of the intelligent hub 3 is started, and the main control box 36 triggers the system initialization program. The power distribution unit 37 distributes the power of the battery 38 to components such as the main electric pump 31, auxiliary electric pump 32, engine control unit 33, pump driver 34, and communication server 35. The two GPS antennas 42 of the perception cluster 4 are started to obtain the initial position and precise time of the USV. The 4G / 2.4G antenna 41 and the Tiantong 43 are started and establish communication connections with the cloud server and the background control center. The lidar 44, monocular camera 45, and millimeter-wave radar 46 perform self-checks. After confirming that the functions of each sensor are normal, they send a ready signal to the main control box 36. Task reception and path planning stage: The cloud server or the back-end control center generates task instructions based on the operation requirements (such as the survey range, detection area, and patrol route), and transmits the instructions to the main control box 36 through the communication server 35. After receiving the instructions, the main control box 36 calls the artificial intelligence algorithm, combines the initial environmental data (such as the distribution of surrounding obstacles and water topography) collected in real time by the perception cluster 4 and GPS positioning information, and plans the optimal operation path that meets the task requirements. The path avoids known no-navigation zones, reefs and other obstacles. After the planning is completed, the path data is stored in the local storage module of the main control box 36, and at the same time, it is sent back to the cloud server for confirmation. During the power start-up and navigation control phase: The main control box 36 sends a power start command to the engine control unit 33, which drives the outboard motor 21 to start. According to the speed requirements of the planned path, it sends a speed control signal to the pump driver 34. The pump driver 34 controls the redundant electric reciprocating pump to work, which drives the hydraulic cylinder 23 to perform reciprocating linear motion. The hydraulic cylinder 23 drives the outboard motor 21 to rotate, adjusting the engine output power to achieve speed control of the unmanned surface vessel. When turning is required, the main control box 36 sends a turning command to the pump driver 34. The redundant electric reciprocating pump controls the hydraulic cylinder 23 to drive the engine to rotate to the target angle. The rudder angle sensor 24 collects the engine swing angle in real time through the parallelogram linkage mechanism 22 and feeds the angle signal back to the main control box 36. The main control box 36 compares the target angle with the actual angle and corrects the output parameters of the pump driver 34 to ensure that the unmanned surface vessel navigates accurately along the planned path. Autonomous Operation and Dynamic Obstacle Avoidance Phase: During navigation, the sensing cluster 4 continuously collects aquatic environmental data, the lidar 44 models the surrounding environment, the monocular camera 45 identifies operational targets (such as surveying markers, pollutants, and unidentified targets), the millimeter-wave radar 46 monitors the speed and distance of sudden obstacles (such as passing vessels and floating objects), and the monitoring 47 captures real-time images of the hull's surroundings for backend observation. All sensing data is transmitted to the main control box 36 via the communication server 35. The main control box 36 processes the data according to the task type: for surveying tasks, it controls the lidar 44 and GPS antenna 42 to collect terrain and location data; for environmental monitoring tasks, it analyzes water quality-related data collected by sensors (such as identifying pollutant types through cameras). If a sudden obstacle is detected, the main control box 36 immediately activates the obstacle avoidance algorithm, calculates the obstacle avoidance path, sends deceleration and steering commands to the engine control unit 33, and automatically returns to the original operational path after avoiding the obstacle. Mission completion and return phase: When the data collected by the sensing cluster 4 covers the entire operation area, the mission instructions are completed, or the battery 38's power level is lower than the preset threshold, the main control box 36 triggers the return procedure, planning a path back to the shore based on GPS positioning information; the power system 2 drives the unmanned surface vessel (USV) towards the shore according to the return path, continuously performing autonomous obstacle avoidance during the journey; after arriving at the designated area on the shore, the main control box 36 sends a shutdown command to the engine control unit 33, and the outboard motor 21 stops working; the sensors of the sensing cluster 4 stop collecting data, and the communication server 35 sends a mission completion report and operation data summary to the cloud server; the battery 38 switches to charging mode and is recharged through shore-based equipment, while the background control center confirms the USV's status through monitoring 47, completing the mission and awaiting the next deployment.

[0025] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully autonomous unmanned surface vessel and system, comprising a hull (1), a power system (2), an intelligent central hub (3), and a sensing cluster (4), characterized in that: The hull (1) is a planing boat structure with an aluminum alloy frame (11) and a PVC airbag (12). The PVC airbag (12) is bonded and fixed to the aluminum alloy frame (11) by structural adhesive and forms the outline of the hull (1). The bow (13) of the hull (1) is a drainage structure and the stern (14) of the hull (1) is a planing structure. The power system (2) includes an outboard motor (21), a redundant electric reciprocating pump, a hydraulic cylinder (23), and a rudder angler (24). The outboard motor (21) is compatible with the start, stop, and reversing control of the electronic handle and the motor-driven mechanical handle. The redundant electric reciprocating pump is connected to the hydraulic cylinder (23) and can control the hydraulic cylinder (23) to perform reciprocating linear motion. The hydraulic cylinder (23) is connected to the outboard motor (21) and can drive the outboard motor (21) to rotate. The rudder angler (24) is connected to the outboard motor (21) through a parallelogram linkage mechanism (22). The intelligent hub (3) is independently protected by an independent protective cabin (39), and the protection level of the intelligent hub (3) reaches IP67. The intelligent hub (3) is equipped with a main electric pump (31), an auxiliary electric pump (32), an engine control unit (33), a pump driver (34), a communication server (35), a main control box (36), a power distribution unit (37) and a battery (38). The battery (38) is electrically connected to the power distribution unit (37). The power distribution unit (37) is electrically connected to the main electric pump (31), the auxiliary electric pump (32), the engine control unit (33), the pump driver (34), the communication server (35) and the main control box (36) respectively. The main control box (36) is connected to the engine control unit (33), the pump driver (34) and the communication server (35) respectively. The sensing cluster (4) includes a 4G / 2.4G antenna (41), two GPS antennas (42), a Tiantong (43), a lidar (44), a monocular camera (45), a millimeter-wave radar (46), and a monitoring (47). The two GPS antennas (42), Tiantong (43), lidar (44), monocular camera (45), millimeter-wave radar (46), and monitoring (47) are respectively connected to the communication server (35) via signals. The unmanned surface vessel and system rely on the sensors of the perception cluster (4), the control system of the intelligent hub (3), and artificial intelligence algorithms to independently complete environmental perception, path planning, task execution, and decision-making and obstacle avoidance actions.

2. The fully autonomous unmanned surface vessel and system according to claim 1, characterized in that: The PVC airbag (12) is a prefabricated structure. After the PVC airbag (12) is bonded to the aluminum alloy frame (11) with structural adhesive, it forms a structure that provides buoyancy support and buffer protection for the hull (1).

3. The fully autonomous unmanned surface vessel and system according to claim 1, characterized in that: The outboard motor (21) can simultaneously achieve thrust output and steering adjustment of the unmanned surface vessel under the coordinated action of redundant electric reciprocating pump and hydraulic cylinder (23), and the rudder angle device (24) can obtain the swing angle information of the outboard motor (21) in real time through the parallelogram linkage mechanism (22).

4. The fully autonomous unmanned surface vessel and system according to claim 1, characterized in that: The battery (38) of the intelligent hub (3) can receive power replenishment from shore-based equipment and absorb the electrical energy generated during the operation of the outboard motor (21). The battery (38) delivers stable electrical energy to the internal components of the intelligent hub (3) through the power distribution unit (37).

5. The fully autonomous unmanned surface vessel and system according to claim 1, characterized in that: The Tiantong (43) of the sensing cluster (4) can achieve communication in environments without ground network coverage or in harsh conditions. The 4G / 2.4G antenna (41) respectively realizes communication between the unmanned surface vessel and the wide area network and interconnection between internal equipment of the unmanned surface vessel.

6. The fully autonomous unmanned surface vessel and system according to claim 1, characterized in that: The LiDAR (44), monocular camera (45), and millimeter-wave radar (46) of the perception cluster (4) form a redundant and complementary structure. The LiDAR (44) is used for high-precision environmental modeling and contour recognition, the monocular camera (45) is used for color, text and object type recognition, and the millimeter-wave radar (46) is used for speed measurement and distance measurement.

7. The fully autonomous unmanned surface vessel and system according to claim 1, characterized in that: The communication server (35) of the intelligent hub (3) is connected to the sensing cluster (4) and the cloud server respectively, realizing real-time data interaction between the unmanned vessel and the environment, and between the unmanned vessel and the cloud server.

8. The fully autonomous unmanned surface vessel and system according to claim 1, characterized in that: The aluminum alloy frame (11) is used to maintain the rigid structure of the hull (1) and ensure the structural strength of the hull (1). The drainage structure of the bow (13) and the sliding structure of the stern (14) work together to reduce the resistance of the hull (1) during navigation.

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