Heavy-duty level adaptive flow field sounding mechanical unmanned ship

Abstract

The application discloses a heavy-load-level self-adaptive flow field depth-finding mechanical unmanned ship and relates to the technical field of unmanned ships, which comprises a deck, floating assemblies are arranged on both sides of the lower portion of the deck, the floating assembly comprises a cuboid box fixed with the deck, a plurality of hollow tubes in equidistant linear distribution are embedded and fixed at the bottom of the cuboid box, a ball groove is formed in the hollow tube, a steel ball is arranged in the ball groove, and a plurality of rolling balls in contact with the steel ball are movably embedded in the inner side wall of the ball groove. The self-adaptive movement and damping energy consumption of the plurality of independent ball heads can convert the concentrated impact of waves into scattered local mechanical movement, thereby effectively inhibiting the rolling, pitching and heaving of the ship body. For the depth-finding task, the attitude stability of the unmanned ship is improved, the sound wave beam pointing accuracy is improved, the depth-finding error and acoustic image distortion caused by platform shaking can be greatly reduced, and thus the detection data accuracy is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned vessel technology, and in particular to a heavy-duty adaptive flow field depth sounding mechanical unmanned vessel. Background Technology

[0002] Water depth measurement is a core method for determining the topographic features of the bottom of water bodies and is widely used in fisheries, scientific research, navigation, and environmental monitoring. Depending on the measurement scenario and accuracy requirements, various technical means can be used, but generally, an unmanned surface vessel (USV) is required to carry an echo sounder to detect the depth of the water body.

[0003] A search revealed patent document CN114537598B, which discloses a small unmanned surface vessel (USV) for water quality testing. The USV includes a lower hull with an upper hull mounted on top. The lower and upper hulls are sealed together. Water inlets are fixedly connected to both the lower and upper hulls, and propellers are installed inside each inlet. A partition is fixedly connected to the bottom of the lower hull's inner cavity. This patent utilizes the propellers to move the hull on the water surface. Then, a second and a waterproof motor drive the cutting blades to rotate and swing at high speed, enabling the cutting of aquatic plants. This allows the hull to navigate in various water conditions. Simultaneously, second and third electromagnetic valves are activated to add water to the hull, increasing its weight and allowing it to move through the water. Different water volumes adjust the hull's depth, and a water quality detection head can then be used to test water quality at different depths.

[0004] Based on existing technologies and research findings, current unmanned surface vessels (USVs) used for detecting water parameters employ pontoon structures for levitation. However, pontoon structures are generally monolithic, and when waves occur in the waters where the USV is located (a type of flow field change), the USV struggles to maintain stability. This is because pontoon structures, designed for large deck space and shallow draft, are typically monolithic with simple cross-sections (such as cylindrical shapes), leading to inherent defects in their hydrodynamic performance. When waves strike the sides of the pontoon, the almost vertical cylinder wall directly bears a large area of ​​impact force, generating a huge rolling moment. Simultaneously, the pontoon's restoring moment in the water is extremely weak (the center of buoyancy hardly moves when tilting, resulting in poor righting ability), and its rolling damping is very small (smooth surface, minimal disturbance to water flow), making it difficult to dissipate the energy input from the waves, resulting in large sway amplitudes and slow decay. More importantly, the pontoon's inherent rolling frequency is low, easily resonating with common ocean wave frequencies, further amplifying the motion response. Therefore, although this structure has good static stability, it is extremely sensitive to wave energy under dynamic conditions and lacks an effective resistance and dissipation mechanism, resulting in violent shaking; thus, the unmanned vessel shakes violently in the waves, resulting in a short effective operating window. Summary of the Invention

[0005] The purpose of this invention is to provide a heavy-duty adaptive flow field depth sounding unmanned mechanical vessel to solve the problems mentioned in the background art.

[0006] The technical solution of the present invention is: a heavy-duty adaptive flow field depth sounding mechanical unmanned vessel, including a deck, with floating components installed on both sides below the deck;

[0007] The floating assembly includes a cuboid box fixed to the deck. Multiple hollow cylinders, linearly distributed at equal intervals, are embedded in the bottom of the cuboid box. Each hollow cylinder has a spherical groove containing a steel ball. Multiple ball bearings, each in contact with a steel ball, are movably embedded in the inner wall of the spherical groove. A hollow column penetrating the center of each steel ball is fixed to the outer side of the ball. A force-bearing rod is slidably inserted into the hollow column, and a spherical air cushion is fixed to the bottom of the force-bearing rod. An adaptive damping mechanism is provided at one end of the force-bearing rod located inside the cuboid box.

[0008] The adaptive damping mechanism includes a magnetorheological damper. A first universal joint is fixed between the telescopic end of the magnetorheological damper and the force-bearing rod, enabling relative movement between the two. A second universal joint is fixed between the cylinder of the magnetorheological damper and the cuboid box, enabling relative movement between the two. A displacement sensor is fixed to the telescopic end of the magnetorheological damper.

[0009] Preferably, a controller is fixedly installed on the surface of the deck, and the displacement sensor is electrically connected to the controller.

[0010] Preferably, a LoRa data transmission module is fixedly installed on the surface of the deck, and the LoRa data transmission module is electrically connected to the controller.

[0011] Preferably, an acoustic rangefinder is installed at the bottom center of the deck, and a balancing mechanism is provided between the acoustic rangefinder and the deck to keep the acoustic rangefinder balanced. The acoustic rangefinder is electrically connected to the controller.

[0012] Preferably, the balancing mechanism includes a balancing frame, a hollow spherical head, and a gyroscope. The gyroscope is electrically connected to a controller. The balancing frame is composed of multiple incomplete rings with a central angle greater than 180 degrees. The notches of each incomplete ring face the same direction, and the side of the balancing frame that is aligned with the notch is fixed to the bottom of the deck. The hollow spherical head is located inside the balancing frame, and multiple support beads that are in contact with the hollow sphere are movably embedded in the inner wall of the balancing frame. The gyroscope and the acoustic rangefinder are both fixed inside the hollow sphere, and the detection end of the acoustic rangefinder is located on the outer bottom of the hollow sphere.

[0013] Preferably, a corrugated sleeve is provided on the outer side of the force-bearing rod, and the two ends of the corrugated sleeve are respectively fixed to one end of the hollow cylinder located on the outside of the cuboid box and the other end of the force-bearing rod located on the outside of the cuboid box.

[0014] Preferably, the outer side of the force-bearing rod is fixed with a plurality of slide bars parallel to its central axis, and the inner side wall of the hollow column is provided with a plurality of straight grooves adapted to the slide bars, and each slide bar is slidably disposed in each straight groove.

[0015] Preferably, the force-bearing rod is hollow and connected to the spherical air cushion. An air inlet pipe connected to the outside of the force-bearing rod is fixed, and each air inlet pipe shares a common air pressure system. A pressure sensor is fixedly installed on each force-bearing rod, and the pressure sensor is located inside the spherical air cushion.

[0016] Preferably, the pneumatic system includes an air compressor, an air tank, a filter, a distributor pipe, and multiple guide pipes. The air compressor is fixed to the deck, and the air outlet of the air compressor is connected to the air tank. The air outlet of the air tank is connected to the filter, and the air outlet of the filter is connected to the distributor pipe. Each branch of the distributor pipe corresponds to a guide pipe. Each guide pipe and its corresponding branch are connected to a common pipeline, and an electromagnetic pressure reducing valve and a two-position three-way electromagnetic valve are fixedly installed on the pipeline. Each guide pipe corresponds to an air inlet pipe, and the guide pipe and its corresponding air inlet pipe are connected to a corrugated pipe. The two ends of the guide pipe are respectively embedded and fixed inside the deck and inside the cuboid box.

[0017] This invention provides an improved version of a heavy-duty adaptive flow field bathymetry mechanical unmanned surface vessel, which, compared with the prior art, has the following improvements and advantages:

[0018] Firstly, this invention uses the adaptive motion and damping energy dissipation of multiple independent ball heads to resolve the concentrated impact of waves into dispersed local mechanical motion, which can effectively suppress the hull's roll, pitch, and heave. For depth sounding tasks, it improves the attitude stability of unmanned vessels, enhances the accuracy of acoustic beam pointing, and can significantly reduce depth sounding errors and acoustic image distortion caused by platform shaking, thereby improving the accuracy of detection data.

[0019] Secondly, traditional small catamarans are prone to resonance in waves, resulting in violent swaying and limiting their operation to lower sea states. In contrast, the distributed ball head system disrupts the single resonant frequency of the hull and actively disperses and dissipates wave energy, enabling the platform to maintain stability at higher wave heights for the same size. This directly extends the time available for safe and effective mapping tasks, improving vessel availability and the timeliness of task completion.

[0020] Thirdly, even if some of the pontoons of this invention are locked due to malfunction, the remaining pontoons can still continue to provide most of the roll reduction and buoyancy functions, avoiding the risk that local damage to traditional monohull or catamaran pontoons will lead to a serious decline in overall performance; at the same time, when encountering extreme waves, the independent movement of the pontoons can serve as a passive "pressure relief" mechanism to absorb overload energy, providing additional protection for the critical main hull structure and core equipment, and improving the survivability of the entire system.

[0021] Fourth, the oscillation adaptive damping and controllable inflation volume spherical airbag collaborative system, with its dual mechanism of "passive energy consumption + active regulation", can improve the sway reduction and attitude control effect and depth measurement accuracy, and avoid resonance risk. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the internal structure of the deck of the present invention;

[0025] Figure 3 This is a schematic diagram of the internal structure of the floating component of the present invention;

[0026] Figure 4 This is a three-dimensional structural diagram of the bottom region of the unmanned vessel of the present invention;

[0027] Figure 5 for Figure 4 A magnified structural diagram at point A;

[0028] Figure 6 This is a cross-sectional view of the balanced structure of the present invention;

[0029] Figure 7 This is a three-dimensional structural diagram of the hollow cylinder region of the present invention;

[0030] Figure 8 This is a schematic diagram of the internal three-dimensional structure of the hollow cylinder region of the present invention;

[0031] Figure 9 This is a cross-sectional view of the hollow cylinder of the present invention.

[0032] Figure label:

[0033] 1. Deck; 2. Rectangular box; 3. Hollow cylinder; 4. Steel ball; 5. Ball bearing; 6. Hollow column; 7. Force rod; 8. Spherical air cushion; 9. Magnetorheological damper; 10. First universal joint; 11. Second universal joint; 12. Displacement sensor; 13. Controller; 14. LoRa data transmission module; 15. Acoustic rangefinder; 16. Balance frame; 17. Hollow ball head; 18. Gyroscope; 19. Support ball; 20. Corrugated sleeve; 21. Sliding bar; 22. Air pressure sensor; 23. Air compressor; 24. Air tank; 25. Filter; 26. Diverter pipe; 27. Guide pipe; 28. Piping; 29. ​​Electromagnetic pressure reducing valve; 30. Two-position three-way solenoid valve. Detailed Implementation

[0034] The present invention will now be described in detail, and the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] This invention provides a heavy-duty adaptive flow field depth sounding unmanned surface vessel through improvements. The technical solution of this invention is as follows:

[0036] like Figures 1 to 9 As shown, this embodiment of the invention provides a heavy-duty adaptive flow field depth sounding mechanical unmanned surface vessel, including a deck 1. Floating components for floating on the water surface are provided on both sides below the deck 1. It should be noted that the unmanned surface vessel's rudder, electric propeller, and other electrical components are all existing technologies and will not be described in detail here. Similarly, the technology for the unmanned surface vessel to remain on flowing water is also existing technology and will not be described in detail here.

[0037] The floating assembly includes a cuboid box 2 fixed to the deck 1. Multiple hollow cylinders 3, linearly distributed at equal intervals, are embedded in the bottom of the cuboid box 2. Each hollow cylinder 3 has a ball groove inside, and a steel ball 4 is placed inside the ball groove. Multiple ball bearings 5, each in contact with a steel ball 4, are movably embedded in the inner wall of the ball groove. This allows the steel ball head to rotate within the ball groove, with rolling friction. A hollow column 6, penetrating the center of each steel ball 4, is fixed to the outer side of each steel ball 4. A force-bearing rod 7 is slidably inserted into the interior of the hollow column 6. (Further explanation needed regarding the force-bearing rod 7.) A spherical air cushion 8 is fixed to the bottom of rod 7. An adaptive damping mechanism is installed at one end of the force-bearing rod 7 within the cuboid box 2. This adaptive damping mechanism includes a magnetorheological damper 9. It should be noted that the magnetorheological damper 9 utilizes the properties of a magnetorheological fluid (a special fluid containing micron-sized magnetic particles) to control the fluid viscosity through a magnetic field generated by an electromagnetic coil, achieving real-time and continuous adjustment of the damping force. A first universal joint 10 is fixed between the telescopic end of the magnetorheological damper 9 and the force-bearing rod 7, allowing relative movement between the two. The cylinder of the magnetorheological damper 9 and the cuboid box... A second universal joint 11 is fixed between the two components, enabling relative movement. It should be noted that the second universal joint 11 allows the magnetorheological damper 9 to swing within the cuboid box 2. During the swinging and vertical movement of the force-bearing rod 7, the force-bearing rod 7 can transmit force to the magnetorheological damper 9 via the first universal joint 10, thus generating corresponding resistance. A displacement sensor 12 is fixed to the telescopic end of the magnetorheological damper 9. It should be noted that the displacement sensor 12 is mainly used to detect the displacement of the magnetorheological damper 9 per unit time. The expansion and contraction amount is used to determine the wave intensity. A controller 13 is fixedly installed on the surface of the deck 1. The displacement sensor 12 is electrically connected to the controller 13. It should be noted that the controller 13 changes the working process of the magnetorheological damper 9 as follows: the expansion end moves → the displacement sensor 12 collects the displacement signal → the controller 13 calculates the movement speed → the controller 13 outputs a current matching the speed → the damper coil generates a magnetic field → the rheological properties of the magnetorheological fluid change → the damper resistance is adjusted in real time. It should be further noted that the controller 13 can use a ceiling control algorithm, which is not limited here.

[0038] From the above connections, it can be seen that when waves are generated on the water surface, the waves will impact the spherical air cushion 8 of the floating component. The spherical air cushion 8 transmits the force to the force-bearing rod 7, which in turn drives the steel ball 4 to rotate within the spherical groove. The waves exert a force on the force-bearing rod 7 along its central axis, causing it to slide within the hollow column 6. The second universal joint 11 allows the magnetorheological damper 9 to oscillate within the cuboid box 2. Furthermore, during the oscillation and vertical movement of the force-bearing rod 7, it can transmit force via the first universal joint 10. A magnetorheological damper 9 is provided, so the magnetorheological damper 9 can generate corresponding resistance. The displacement sensor 12 detects the expansion and contraction of the magnetorheological damper 9 per unit time, and controls the adjustment of the resistance of the magnetorheological damper 9. The specific adjustment process is as follows: the expansion and contraction end moves → the displacement sensor 12 collects the displacement signal → the controller 13 calculates the movement speed → the controller 13 outputs a current matching the speed → the damper coil generates a magnetic field → the rheological properties of the magnetorheological fluid change → the damper resistance is adjusted in real time, thereby realizing the adaptive adjustment of resistance. In summary, through the adaptive movement of multiple independent ball heads and the resistance... The distributed ball head system dissipates the concentrated impact of waves into dispersed local mechanical motion, effectively suppressing the hull's roll, pitch, and heave. For depth sounding missions, it improves the unmanned surface vessel's attitude stability and enhances the accuracy of acoustic beam pointing, significantly reducing depth sounding errors and acoustic image distortion caused by platform sway, thereby improving the accuracy of detection data. Traditional small catamarans are prone to resonance in waves, resulting in severe swaying and limiting their operation to lower sea states. The distributed ball head system, however, disrupts the hull's single resonant frequency and actively disperses and dissipates wave energy, enabling the platform to operate at a higher speed and stability within the same size range. Maintaining stability in higher waves directly extends the time available for safe and effective surveying operations, improving vessel availability and mission timeliness. Even if individual pontoons lock up due to malfunction, the remaining pontoons can continue to provide most of the roll reduction and buoyancy functions, avoiding the risk of severe overall performance degradation caused by local damage to traditional monohull or catamaran pontoons. At the same time, in the event of extreme waves, the independent movement of the pontoons can act as a passive "pressure relief" mechanism, absorbing overload energy and providing additional protection for critical main hull structures and core equipment, thus enhancing the survivability of the entire system.

[0039] Specifically, in conjunction with the appendix Figure 1 As shown, a LoRa data transmission module 14 is fixedly installed on the surface of the deck 1. The LoRa data transmission module 14 is electrically connected to the controller 13. The LoRa data transmission module 14 is existing technology, so it will not be described in detail here. The LoRa data transmission module 14 is used for signal reception and transmission.

[0040] Specifically, in conjunction with the appendix Figure 4-6As shown, an acoustic rangefinder 15 is installed at the bottom center of the deck 1. It should be noted that the acoustic rangefinder 15 is existing technology, so it will not be described in detail here. The acoustic rangefinder 15 is a common depth measurement method in water. A balancing mechanism is provided between the acoustic rangefinder 15 and the deck 1 to keep the acoustic rangefinder 15 balanced. The acoustic rangefinder 15 is electrically connected to the controller 13.

[0041] Specifically, in conjunction with the appendix Figure 5 and attached Figure 6 As shown, the balancing mechanism includes a balancing frame 16, a hollow spherical head 17, and a gyroscope 18. The gyroscope 18 is electrically connected to the controller 13. The balancing frame 16 is composed of multiple incomplete circular rings with a central angle greater than 180 degrees. The notches of each incomplete circular ring face the same direction, and the side of the balancing frame 16 aligned with the notches is fixed to the bottom of the deck 1. The hollow spherical head 17 is disposed inside the balancing frame 16, and multiple support beads 19, each in contact with the hollow sphere, are movably embedded in the inner wall of the balancing frame 16. The gyroscope... Both the gyroscope 18 and the acoustic rangefinder 15 are fixed inside the hollow sphere, and the detection end of the acoustic rangefinder 15 is located on the outer bottom of the hollow sphere. It should be noted that the hollow sphere can roll inside the balance frame 16, and the friction is rolling friction. When the acoustic rangefinder 15 is working, and the deck 1 is rocked by waves, the gyroscope 18 participates in the operation, so that the hollow sphere does not rotate relative to the water surface, thereby ensuring that the detection end of the acoustic rangefinder 15 remains perpendicular to the water surface at all times, and improving the accuracy of the measurement data.

[0042] Specifically, in conjunction with the appendix Figure 3 and attached Figure 7 As shown, a corrugated sleeve 20 is fitted on the outer side of the force-bearing rod 7. The two ends of the corrugated sleeve 20 are respectively fixed to one end of the hollow cylinder 3 located on the outer side of the cuboid box 2 and the other end of the force-bearing rod 7 located on the outer side of the cuboid box 2. It should be noted that the corrugated sleeve 20 is designed to prevent water from flowing into the interior of the cuboid box 2 from the hollow cylinder 3.

[0043] Specifically, in conjunction with the appendix Figure 7 As shown, the outer side of the force-bearing rod 7 is fixed with multiple slide bars 21 parallel to its central axis. The inner sidewall of the hollow column 6 is provided with multiple straight grooves that are adapted to the slide bars 21. Each slide bar 21 is slidably disposed in each straight groove. It should be noted that the slide bars 21 and the straight grooves are provided to prevent the force-bearing rod 7 from rotating inside the hollow column 6, thereby twisting the telescopic end of the magnetorheological damper 9.

[0044] Specifically, in conjunction with the appendix Figure 2-9As shown, the force-bearing rod 7 is hollow and connected to the spherical air cushion 8. An air inlet pipe connected to the outside of the force-bearing rod 7 is fixed thereto. All air inlets share a common air pressure system. A pressure sensor 22 is fixedly installed on each force-bearing rod 7, and the pressure sensor 22 is located inside the spherical air cushion 8. The air pressure system includes an air compressor 23, an air tank 24, a filter 25, a distribution pipe 26, and multiple guide pipes 27. The air compressor 23 is fixed to the deck 1, and its outlet is connected to the air tank 24. The outlet of the air tank 24 is connected to the filter. The filter 25 is connected to the outlet of the filter 25 and the branch pipe 26. Each branch of the branch pipe 26 corresponds to a guide pipe 27. Each guide pipe 27 and its corresponding branch are connected to a pipe 28. An electromagnetic pressure reducing valve 29 and a two-position three-way solenoid valve 30 are fixedly installed on the pipe 28. Each guide pipe 27 corresponds to a corresponding air inlet pipe. Each guide pipe 27 and its corresponding air inlet pipe are connected to a bellows. The two ends of the guide pipe 27 are respectively embedded and fixed in the deck 1 and the cuboid box 2. It should be noted that the air pressure sensor 22 and the air compressor are also connected. 23. The electromagnetic pressure reducing valve 29 and the two-position three-way solenoid valve 30 are electrically connected to the uniform controller 13. Further explanation is needed: when the spherical airbag swings, the controller 13 determines the wave impact force through the expansion and contraction of the magnetorheological damper 9. The air pressure sensor 22 installed inside the spherical airbag continuously feeds back the airbag's internal pressure data. If the controller 13 determines that the impact force exceeds a preset threshold, it immediately sends a command to the two-position three-way solenoid valve 30. The solenoid valve switches to the deflation path, and the gas inside the airbag is discharged through the hollow force-bearing rod 7, the inlet pipe, the bellows, and the pipeline 28. The airbag volume then shrinks, thereby reducing the impact force. The wave impact area; when the wave impact force weakens, the controller 13 instructs the electromagnetic pressure reducing valve 29 to start. The compressed air pre-stored in the air tank 24 by the air compressor 23 is purified by the filter 25, distributed by the diverter pipe 26, and then inflated into the spherical airbag through the pipe 28, the bellows and the air inlet pipe, until the internal pressure fed back by the air pressure sensor 22 reaches the preset value adapted to the current sea state. The two-position three-way solenoid valve 30 closes, the airbag stops inflating and maintains a stable volume. In summary, the swing adaptive damping (magnetorheological resistance) and the controllable inflation volume spherical airbag collaborative system, through "magnetorheological damping passive energy dissipation + The dual adaptive mechanism of "active airbag expansion and contraction control" improves the roll reduction and attitude control: it not only uses the real-time drag adjustment of the magnetorheological damper 9 to efficiently dissipate wave impact energy and suppress the hull roll, pitch and heave, but also dynamically adjusts the force-bearing area through the adaptive inflation and deflation of the airbag to adapt to different sea conditions. Under the dual action, it avoids the risk of hull resonance, improves the attitude stability and beam pointing accuracy of the sonar equipment, and reduces the error of the depth measurement data.

[0045] Working principle: When waves are generated on the water surface, they impact the spherical air cushion 8 of the floating component. The spherical air cushion 8 transmits the force to the force-bearing rod 7, which in turn causes the steel ball 4 to rotate within the spherical groove. The waves exert a force on the force-bearing rod 7 along its central axis, causing it to slide within the hollow column 6. The second universal joint 11 allows the magnetorheological damper 9 to oscillate within the cuboid box 2. Furthermore, during the oscillation and vertical movement of the force-bearing rod 7, it can utilize the first universal joint... Shaft 10 transmits force to magnetorheological damper 9, so magnetorheological damper 9 can generate corresponding resistance. Displacement sensor 12 detects the amount of expansion and contraction of magnetorheological damper 9 per unit time and controls the adjustment of resistance of magnetorheological damper 9. The specific adjustment process is as follows: the expansion end moves → displacement sensor 12 collects displacement signal → controller 13 calculates movement speed → controller 13 outputs current matching speed → damper coil generates magnetic field → rheological properties of magnetorheological fluid change → damper resistance is adjusted in real time, thereby realizing adaptive resistance adjustment.

[0046] When the spherical airbag swings, the controller 13 determines the wave impact force through the expansion and contraction of the magnetorheological damper 9. The air pressure sensor 22 installed inside the spherical airbag continuously feeds back the airbag's internal pressure data. If the controller 13 determines that the impact force exceeds a preset threshold, it will immediately send a command to the two-position three-way solenoid valve 30. The solenoid valve switches to the deflation path, and the gas inside the airbag is discharged through the hollow force-bearing rod 7, the air inlet pipe, the bellows, and the pipeline 28. The volume of the airbag shrinks accordingly, thereby reducing the area exposed to the waves. When the wave impact force weakens, the controller 13 commands the electromagnetic pressure reducing valve 29 to start. The compressed air pre-stored in the air storage tank 24 by the air compressor 23 is purified by the filter 25, distributed by the diverter pipe 26, and then filled into the spherical airbag through the pipeline 28, the bellows, and the air inlet pipe via the hollow force-bearing rod 7 until the internal pressure fed back by the air pressure sensor 22 reaches the preset value adapted to the current sea state. The two-position three-way solenoid valve 30 closes, the airbag stops inflating, and maintains a stable volume.

[0047] The foregoing description enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A heavy-duty adaptive flow field depth sounding unmanned surface vessel, comprising a deck (1), characterized in that, Floating components are provided on both sides below the deck (1); The floating assembly includes a cuboid box (2) fixed to the deck (1). A plurality of hollow cylinders (3) are embedded and fixed at the bottom of the cuboid box (2) in a linearly distributed manner. A ball groove is opened inside the hollow cylinder (3), and a steel ball (4) is set inside the ball groove. A plurality of ball bearings (5) that are in contact with the steel ball (4) are movably embedded in the inner side wall of the ball groove. A hollow column (6) penetrating the center of the steel ball (4) is fixed on the outer side of the steel ball (4). A force-bearing rod (7) is slidably inserted inside the hollow column (6), and a ball air cushion (8) is fixed at the bottom of the force-bearing rod (7). An adaptive damping mechanism is set at one end of the force-bearing rod (7) located inside the cuboid box (2). The adaptive damping mechanism includes a magnetorheological damper (9), and a first universal joint (10) is fixed between the telescopic end of the magnetorheological damper (9) and the force rod (7) to enable relative movement between the two. A second universal joint (11) is fixed between the cylinder of the magnetorheological damper (9) and the cuboid box (2) to enable relative movement between the two. A displacement sensor (12) is fixed to the telescopic end of the magnetorheological damper (9). The force-bearing rod (7) is hollow and connected to the spherical air cushion (8). An air inlet pipe connected to the outside of the force-bearing rod (7) is fixed. Each air inlet pipe shares a pressure system. A pressure sensor (22) is fixedly installed on each force-bearing rod (7) and the pressure sensor (22) is located inside the spherical air cushion (8). The pneumatic system includes an air compressor (23), an air tank (24), a filter (25), a branch pipe (26), and multiple guide pipes (27). The air compressor (23) is fixed to the deck (1). The air outlet of the air compressor (23) is connected to the air tank (24). The air outlet of the air tank (24) is connected to the filter (25), and the air outlet of the filter (25) is connected to the branch pipe (26). Each branch of the branch pipe (26) is... Each guide pipe (27) corresponds to a branch and is connected to a pipe (28). An electromagnetic pressure reducing valve (29) and a two-position three-way electromagnetic valve (30) are fixedly installed on the pipe (28). Each guide pipe (27) corresponds to an air intake pipe. The guide pipe (27) and the corresponding air intake pipe are connected to a bellows. The two ends of the guide pipe (27) are respectively embedded and fixed in the deck (1) and the cuboid box (2).

2. The heavy-duty adaptive flow field depth sounding unmanned surface vessel according to claim 1, characterized in that: A controller (13) is fixedly installed on the surface of the deck (1), and the displacement sensor (12) is electrically connected to the controller (13).

3. The heavy-duty adaptive flow field depth sounding unmanned surface vessel according to claim 2, characterized in that: A LoRa data transmission module (14) is fixedly installed on the surface of the deck (1), and the LoRa data transmission module (14) is electrically connected to the controller (13).

4. The heavy-duty adaptive flow field depth sounding unmanned surface vessel according to claim 2, characterized in that: An acoustic rangefinder (15) is provided at the bottom center of the deck (1). A balancing mechanism is provided between the acoustic rangefinder (15) and the deck (1) to keep the acoustic rangefinder (15) balanced. The acoustic rangefinder (15) is electrically connected to the controller (13).

5. The heavy-duty adaptive flow field depth sounding unmanned surface vessel according to claim 4, characterized in that: The balancing mechanism includes a balancing frame (16), a hollow ball head (17), and a gyroscope (18). The gyroscope (18) is electrically connected to the controller (13). The balancing frame (16) is composed of multiple incomplete rings with a central angle greater than 180 degrees. The notches of each incomplete ring face the same direction, and the side of the balancing frame (16) that is aligned with the notch is fixed to the bottom of the deck (1). The hollow ball head (17) is located inside the balancing frame (16), and multiple support beads (19) that are in contact with the hollow sphere are movably embedded in the inner wall of the balancing frame (16). The gyroscope (18) and the acoustic rangefinder (15) are both fixed inside the hollow sphere, and the detection end of the acoustic rangefinder (15) is located on the outer bottom of the hollow sphere.

6. The heavy-duty adaptive flow field depth sounding unmanned surface vessel according to claim 1, characterized in that: The outer side of the force-bearing rod (7) is fitted with a corrugated sleeve (20), and the two ends of the corrugated sleeve (20) are respectively fixed to one end of the hollow cylinder (3) located on the outside of the cuboid box (2) and the other end of the force-bearing rod (7) located on the outside of the cuboid box (2).

7. A heavy-duty adaptive flow field depth sounding unmanned surface vessel according to claim 6, characterized in that: The outer side of the force-bearing rod (7) is fixed with multiple slide bars (21) parallel to its central axis. The inner side wall of the hollow column (6) is provided with multiple straight grooves that are adapted to the slide bars (21). Each slide bar (21) is slidably arranged in each straight groove.

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