Unmanned boat for illegal vessel monitoring and repelling at sea and method thereof

Abstract

The application discloses an unmanned ship for offshore illegal ship monitoring and driving away, which comprises a fish-fin-like monitoring device on the top of the ship body, a tail smoke outlet, a main suction cup on the bottom of the ship body, a suction cup mechanical arm and a flexible net launching device; the front end face of the fish-fin-like monitoring device is provided with an infrared camera and a light emitter, and the rear end face is provided with a rearview camera; the tail smoke outlet can discharge colored smoke into the air; the suction cup mechanical arm comprises a mechanical arm and a suction cup impact device, the suction cup impact device can be adsorbed on the target ship body and drive the impact pin to impact the target ship body; and the flexible net launching device is used for launching the flexible net to the propeller of the target ship. Through the integration of the fish-fin-like monitoring device, the multi-dimensional interference system, the mechanical adsorption structure and the flexible net launching device, the application realizes the whole-process monitoring, step-by-step interference and forced stopping of the offshore illegal ship, and the unmanned ship has the characteristics of high mobility, strong adaptability and multi-functional integration, and can efficiently work under complex sea conditions.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) technology, and in particular to an USV for monitoring and expelling illegal vessels at sea. Background Technology

[0002] Traditional maritime law enforcement methods, such as radio warnings, flare warnings, and water cannons, typically rely on large ships or aircraft. While these methods are effective in addressing threats to some extent, they have several shortcomings. First, traditional maritime law enforcement methods have a slow reaction time. Using large ships or aircraft, for example, is often insufficient when dealing with high-speed, agile intruding vessels, especially highly maneuverable targets. Traditional ships require time to adjust their course and speed, making the operation complex and time-consuming, thus affecting the timeliness of the expulsion operation. Second, the effective range of traditional expulsion equipment, such as water cannons and water jets, is limited by equipment performance, configuration, and sea conditions. For example, the range of a water cannon determines its coverage area, making it ineffective in timely and efficient expulsion of long-range or beyond-visual-range targets. Especially in rough seas or complex terrain, the insufficient maneuverability and stability of traditional maritime law enforcement platforms severely restrict the effective range of expulsion. Third, traditional maritime law enforcement methods pose a high risk to personnel. Traditional maritime law enforcement often requires direct human intervention, especially when facing high-risk, illegally intruding vessels, where law enforcement personnel may face threats to their lives. For example, in some dangerous waters and high-risk missions, traditional platforms cannot avoid the risk of personnel casualties. Fourth, traditional maritime law enforcement methods are inefficient. When facing multiple illegally intruding targets, traditional maritime expulsion methods often rely on a single platform to expel them one by one, which is inefficient and consumes a lot of resources. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the main purpose of this invention is to provide an unmanned surface vessel for monitoring and expelling illegal vessels at sea. By integrating a variety of non-lethal expulsion equipment and efficient collaborative combat capabilities, it can improve the response speed of maritime law enforcement, expand the expulsion range, enhance the ability to deal with new threats, and ensure personnel safety. It can respond to complex maritime expulsion tasks in a shorter time, a wider area, and with greater precision, providing strong technical support for marine resource protection and security.

[0004] The technical solution adopted in this invention is: An unmanned surface vessel (USV) for monitoring and driving away illegal vessels at sea includes a hull, a fish-fin-like monitoring device mounted on the top of the hull, a stern exhaust port, a main suction cup, a suction cup robotic arm, and a flexible net launching device mounted on the bottom of the hull. The front end of the fish-fin-like monitoring device is equipped with an infrared camera and a light emitter, while the rear end is equipped with a rear-view camera. The stern exhaust port is used to emit colored smoke into the air. The main suction cup is used to achieve basic adhesion and fixation of the USV to the bottom surface of the target vessel. The suction cup robotic arm includes a robotic arm and a suction cup impact device; one end of the robotic arm is connected to the bottom of the hull, and the other end is equipped with the main suction cup, a suction cup robotic arm, and a flexible net launching device. A suction cup impact device; the suction cup impact device includes a firing pin battery compartment, a disc body, and a water storage device. The disc body is installed on the outer periphery of the firing pin battery compartment. The firing pin, electromagnet, and battery are installed inside the firing pin battery compartment. The firing pin is connected to the compartment wall through an elastic element. The attraction or repulsion generated by the electromagnet being energized drives the firing pin to impact the target ship hull. One end of the water storage device is connected to the firing pin battery compartment, and the other end is connected to a robotic arm. The disc body is connected to the water storage device through a water suction pipe. The water storage device has a built-in water pump for extracting water from the disc body and adsorbing it onto the surface of the target ship hull. A flexible net launching device is used to launch a flexible net at the propeller of the target ship.

[0005] In the above scheme, the unmanned surface vessel also includes a directional propeller installed at the bottom of the hull. There are three directional propellers, two of which are located at the bow and are symmetrically arranged about the longitudinal section of the hull, and the other is located at the stern and is located on the longitudinal section of the hull.

[0006] In the above scheme, the unmanned surface vessel also includes a main propeller installed at the stern of the hull.

[0007] In the above scheme, the unmanned surface vessel is equipped with a smoke interference chamber, which contains a smoke generator and an air pump. The smoke generator is used to generate colored smoke, and the air pump is connected to the tail exhaust port to discharge the colored smoke into the air.

[0008] In the above scheme, the unmanned surface vessel is equipped with a noise jamming chamber, which stores noise balls. The noise balls are connected to the unmanned surface vessel by cables. By releasing the noise balls from the noise jamming chamber to the water surface, high-frequency noise is emitted on the water surface.

[0009] In the above scheme, four suction cup robotic arms are provided, two of which are located at the bow and are symmetrical about the mid-longitudinal section, and the other two are located at the stern and are symmetrical about the mid-longitudinal section; one main suction cup is provided, which is located in the middle of the ship and on the mid-longitudinal section.

[0010] In the above scheme, several secretion ports are provided circumferentially at the end of the disc body to secrete lubricating fluid to make the bottom of the target ship smooth, thereby making the disc body firmly adhered.

[0011] In the above scheme, the flexible net launching device includes a flexible net launching cabin, a lifting and rotating structure, and a rotating shaft; the lifting and rotating structure includes a telescopic structure and a horizontal rotating platform, one end of the telescopic structure is connected to the hull, and the other end is rotatably mounted on the horizontal rotating platform; the flexible net launching cabin is mounted on the horizontal rotating platform via the rotating shaft and can rotate in the vertical plane.

[0012] In the above scheme, the flexible net launch cabin includes a flexible net storage compartment, a launch mechanism, and a battery compartment; the flexible net storage compartment is equipped with a door, and a spare flexible net is stored inside the door, while a flexible net to be launched is placed outside the door; the battery compartment is installed behind the flexible net storage compartment, and the launch mechanism and battery are installed inside the battery compartment; the door of the flexible net storage compartment has a hole for the launch mechanism to pass through, so that the launch mechanism can launch the flexible net to be launched.

[0013] This invention also proposes a method for monitoring and expelling illegal vessels at sea, which uses the aforementioned unmanned surface vessel and includes the following steps: Detection and approach of suspicious vessels: The unmanned surface vessel (USV) patrols the water at a low speed, approaches and continuously tracks the suspicious vessel, and carries out preliminary interference operations. It obtains real-time image data of the target vessel through the infrared camera and rear-view camera on the fish fin monitoring device, and the alarm system issues a warning requiring it to leave the scene immediately. Drive-away mode activated: If the suspicious vessel does not respond to the warning and continues to approach, the hull will begin to submerge, leaving only the top infrared camera above the water to continuously monitor the target. The unmanned vessel will approach the suspicious vessel at high speed and emit green light from the light emitter at night for deterrence. Noise and smoke interference: When the unmanned surface vessel is close to the target vessel, if the target still refuses to leave, the operator releases a noise ball from the bow compartment to continuously emit high-frequency noise on the water surface. If the target still does not move, the operator activates the smoke system in the stern compartment to release a large amount of colored smoke, which works in conjunction with the high-frequency noise to form a compound interference effect, completely obscuring the crew's vision. Mechanical Adsorption and High-Mobility Impact: If noise and smoke interference still fail to drive away the target, the unmanned surface vessel (USV) dives underwater and first uses a suction cup robotic arm to complete the adsorption, and then uses the main suction cup to adsorb the bottom of the vessel to achieve multi-point fixation; after positioning is completed, the firing pins distributed in the suction cup robotic arm reciprocate at high speed under electromagnetic drive to impact the bottom shell of the vessel, generating continuous vibration and noise. Support request and forced stop: If continued impact fails to force the target vessel to leave, the unmanned surface vessel (USV) sends a support request to the command center. During this stage, the USV moves along the bottom of the vessel towards the stern of the target vessel until it approaches the propeller area of ​​the target vessel. Then, it launches a flexible net at the propeller through a flexible net launcher to wrap around and lock the propeller of the target vessel, causing it to stop, thereby forcing it to stop.

[0014] The beneficial effects of this invention are: 1. The unmanned surface vessel of this invention integrates a fish-fin-like monitoring device, a multi-dimensional interference system, a mechanical adsorption structure, and a flexible net launching device to achieve full-process monitoring, tiered interference, and forced stopping of illegal vessels at sea. The unmanned surface vessel has the characteristics of high mobility, strong adaptability, and multi-functional integration, and can operate efficiently in complex sea conditions. It effectively solves the problems of slow response and poor driving effect of traditional maritime security equipment, reduces the risk of personnel operation, and improves the intelligence and automation level of maritime security.

[0015] 2. Significantly Improved Response Speed: The unmanned surface vessel (USV) system of this invention possesses extremely high maneuverability, enabling real-time data acquisition and image transmission during mission execution. This allows the operator to quickly adjust course and speed, and immediately execute interference or expulsion operations. Due to the USV's small size and high maneuverability, it can track and interfere with high-speed targets in a short time, greatly improving response speed. This advantage enables USVs to respond to sudden maritime incidents and effectively shortens the response time required by traditional platforms, especially when facing high-speed, highly maneuverable illegal intrusion targets, demonstrating higher timeliness and accuracy.

[0016] 3. Expanding the scope of threat removal and optimizing execution effectiveness: In complex sea conditions, unmanned surface vessels (USVs) can adaptively provide operators with route planning and operational mode suggestions, continuously conducting precise threat removal and expanding the effective range of removal operations. Furthermore, the innovative multi-dimensional interference mechanism—combining noise, smoke screens, and a unique suction cup mechanical attachment structure—ensures it maintains strong intervention capabilities even in turbulent and complex seas, optimizing execution effectiveness. Through the coordinated operation of a biomimetic sensor array, non-toxic colored smoke, and a mechanical stopping system, a progressive intervention chain from monitoring to physical interception is formed. This highly adaptable, multi-functional integrated design is not only more deterrent than traditional methods at the law enforcement level but also represents a leap towards an environmentally friendly law enforcement model at the technological level.

[0017] 4. Personnel Safety Assurance: During mission execution, the unmanned surface vessel (USV) system of this invention allows personnel to operate the USV from the shore or a boat, enabling long-range operations and minimizing direct human involvement and safety risks. When facing dangerous illegal intrusion targets, the USV system can remotely execute expulsion or interception missions, ensuring the safety of law enforcement personnel. Especially in harsh environments and high-risk missions, the USV system of this invention can effectively replace manual labor in performing dangerous tasks, thereby achieving safer maritime law enforcement. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the 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 based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional structural schematic diagram of the unmanned surface vessel used for monitoring and expelling illegal vessels at sea according to the present invention; Figure 2 This is a three-dimensional structural diagram of the unmanned surface vessel of the present invention in a high-speed navigation state; Figure 3 This is a bottom view of the unmanned surface vessel of the present invention in a high-speed navigation state; Figure 4 This is a top view of the unmanned surface vessel of the present invention in a high-speed navigation state; Figure 5 This is a schematic diagram of the internal compartment layout of the unmanned surface vessel of the present invention; Figure 6 This is a three-dimensional structural schematic diagram of the fish fin-like monitoring device for the unmanned surface vessel of the present invention. Figure 7 This is a three-dimensional structural schematic diagram of the suction cup robotic arm of the unmanned surface vessel of the present invention; Figure 8 yes Figure 7 A schematic diagram of the suction cup impact device of the suction cup robotic arm shown. Figure 9 yes Figure 7 The diagram shows the structure of the suction cup robotic arm. Figure 10 This is a schematic diagram of the flexible net launching device of the unmanned surface vessel of the present invention; Figure 11 yes Figure 10 The diagram shows the structure of the flexible net launch cabin of the flexible net launch device.

[0020] In the diagram: 10. Hull; 11. Noise jamming compartment; 12. I. Power control compartment; 13. Battery compartment; 14. Central control compartment; 15. II. Power control compartment; 16. Smoke jamming compartment; 20. Fish fin-like monitoring device; 21. Infrared camera; 22. Light emitter; 23. Rearview camera; 30. Suction cup robotic arm; 31. Suction cup impact device; 311. Impact pin battery compartment; 312. Disc body; 313. Water storage device; 314. Suction pipe; 315. Impact pin; 316. Secretion port; 317. Drain valve; 32. Robotic arm; 40. Main suction cup; 50. Flexible net launching device; 51. Flexible net launching chamber; 511. Flexible net storage chamber; 512. Launching mechanism; 513. Battery compartment; 52. Lifting and rotating structure; 53. Rotating shaft; 60. Reversible propeller; 70. Main propeller; 80. Noise ball; 90. Tail exhaust port. Detailed Implementation

[0021] 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.

[0022] It should be noted that the illustrations provided in the embodiments of the present invention are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0023] In this invention, it should also be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used only for descriptive and distinguishing purposes and should not be construed as indicating or implying relative importance.

[0024] Furthermore, it should be noted that the features of the various embodiments of the present invention can be combined or integrated in whole or in part, and as those skilled in the art will understand, they can interact and operate in different ways. Each embodiment can be implemented independently of each other or in association with one another.

[0025] Example 1: like Figure 1-4 As shown, an unmanned surface vessel (USV) for monitoring and driving away illegal vessels at sea includes a hull 10, a fish-fin-like monitoring device 20 and a tail exhaust port 90 installed on the top of the hull 10, and a main suction cup 40, a suction cup robotic arm 30 and a flexible net launching device 50 installed on the bottom of the hull 10.

[0026] The simulated fish fin monitoring device 20 is installed at the mid-longitudinal section of the top of the hull 10, and its overall structure resembles a streamlined fish fin. Figure 6 As shown, an infrared camera 21 and a light emitter 22 are installed on the front end of the unmanned surface vessel (USV), and a rear-view camera 23 is installed on the rear end. The infrared camera 21 is used by the operator to remotely observe the situation in front of the USV, and the rear-view camera 23 is used by the operator to remotely observe the situation behind the USV. The light emitter 22 is used at night and emits green light, which is more stimulating to the human eye. The main control module inside the hull 10 realizes real-time transmission of image data and start / stop control of the light emitter 22. The fish-fin-like monitoring device 20 provides the operator with a forward and rearward field of view and performs positioning, and can also emit green light through the light emitter 22 to deter suspicious vessels.

[0027] The exhaust port 90 at the stern is installed at the mid-longitudinal section of the top of the hull 10. It is used to discharge colored smoke into the air. When the unmanned surface vessel circles around a suspicious vessel, the colored smoke discharged along with it can put psychological pressure on the crew of the suspicious vessel.

[0028] The main suction cup 40 is located in the middle of the ship and on the mid-longitudinal section. It is a vacuum suction cup that uses a built-in vacuum pump to achieve vacuum adsorption, which is used to achieve basic adsorption and fixation of the unmanned surface vessel on the bottom surface of the target ship.

[0029] The suction cup robotic arm 30 has four arms, two located at the front and symmetrically arranged about the mid-longitudinal section, and the other two located at the rear, also symmetrically arranged about the mid-longitudinal section. (Example:) Figure 7 As shown, each suction cup robotic arm 30 includes a robotic arm 32 and a suction cup impact device 31. The robotic arm 32 adopts a three-section telescopic structure, and its extension, retraction, and steering are achieved through hydraulic drive. Figure 9 As shown. One end of the robotic arm 32 is connected to the bottom of the hull 10, and the other end is equipped with a suction cup impact device 31. Figure 8As shown, the suction cup impact device 31 includes a firing pin battery compartment 311, a disc body 312, and a water storage device 313. The firing pin battery compartment 311 has a cylindrical structure and a hard alloy firing pin 315 is installed inside. The firing pin 315 is connected to the bulkhead through an elastic element. The firing pin battery compartment 311 also contains an electromagnet and a lithium battery pack. Utilizing the attraction or repulsion generated by the electromagnet being energized, the firing pin 315 is driven to impact the target hull. After the impact, the firing pin 315 returns to the center position of the coil under the combined action of the rebound force and the spring restoring force. The electromagnet is energized again, pushing the firing pin 315 to impact again, and so on, forming a high-frequency continuous impact effect. The disc body 312 has a ring structure and is installed on the outer periphery of the firing pin battery compartment 311. Multiple secretion ports 316 are evenly arranged circumferentially at the end of the disc body 312, which are connected to the lubricating fluid storage tank inside the hull 10 through pipelines. Lubricating fluid is secreted through the secretion ports 316 to make the bottom of the target hull locally smooth, thereby making the disc body 312 firmly adhered. The water storage device 313 is a cylindrical cavity, with one end connected to the firing pin battery compartment 311 and the other end connected to the robotic arm 32. The disk 312 is connected to the water storage device 313 via a suction pipe 314. The water storage device 313 has a built-in water pump used to extract water between the disk 312 and the target hull, creating a negative pressure inside the disk 312 to achieve adsorption. The water storage device 313 is equipped with a drain valve 317, which allows the water stored in the water storage device 313 to be discharged into the environment after the unmanned surface vessel's mission is completed.

[0030] A flexible net launching device 50 is installed at the mid-longitudinal section of the bottom of the hull 10, and is used to launch a flexible net at the propeller of the target ship. Figure 10 As shown, the flexible net launching device 50 includes a flexible net launching chamber 51, a lifting and rotating structure 52, and a rotating shaft 53. The lifting and rotating structure 52 includes a telescopic structure and a horizontal rotating platform. The telescopic structure uses a hydraulic telescopic cylinder, with one end connected to the hull 10 and the other end rotatably mounted on the horizontal rotating platform via a bearing. The flexible net launching chamber 51 is mounted on the horizontal rotating platform via the rotating shaft 53, which is driven by a stepper motor, enabling the flexible net launching chamber 51 to rotate 0-90° in the vertical plane (pitch angle adjustment). The lifting and rotating structure 52 and the rotating shaft 53 work together to allow the unmanned surface vessel (USV) to launch a flexible net at different angles towards the propeller of the target vessel from below its stern via the flexible net launching device 50.

[0031] like Figure 11As shown, the flexible net launching device 50 includes a flexible net storage compartment 511, a launching mechanism 512, and a battery compartment 513. The flexible net storage compartment 511 has an electrically controlled door at its front end, storing multiple spare flexible nets inside, and a single flexible net to be launched is placed outside the door. The battery compartment 513 is installed at the rear of the flexible net storage compartment 511, housing the launching mechanism 512 and a lithium battery pack. The launching mechanism 512 uses a compressed air-driven launcher, and the lithium battery pack provides power to the launching mechanism 512. The door of the flexible net storage compartment 511 has a through hole for the launch tube of the launching mechanism 512 to pass through, enabling precise launch of the flexible net. After the flexible net outside the door is launched, the storage compartment door opens, and a pusher plate located in the middle of the compartment pushes the spare flexible net outside, putting the flexible net into a ready-to-launch state. It should be noted that each flexible net is made of high-strength polyethylene fiber with a tensile strength of ≥2000N. It can wrap around the propeller of a suspicious vessel, causing the propeller of the target vessel to stop running, thereby forcing it to stop.

[0032] Three directional propellers 60 are also installed at the bottom of the hull 10. Two of them are located at the bow and are symmetrically arranged about the mid-longitudinal section of the hull 10, while the other is located at the stern and on the mid-longitudinal section of the hull 10. The steering angle (0-360°) is controlled by a servo motor, enabling the unmanned surface vessel to move laterally and rotate at a fixed point. A main propeller 70 is installed at the stern of the hull 10 as the main propulsion device, which, together with the directional propellers 60, enables the unmanned surface vessel to navigate with high maneuverability.

[0033] like Figure 5As shown, the unmanned surface vessel (USV) is equipped with, from bow to stern, a noise jamming compartment 11, a power control compartment 12, a battery compartment 13, a central control compartment 14, a power control compartment 15, and a smoke jamming compartment 16. The noise jamming compartment 11 stores a noise ball 80, which is connected to the USV's bulkhead via a high-strength nylon cable. The noise ball 80 contains a built-in high-frequency transmitter and a lithium battery. Releasing the noise ball 80 from the noise jamming compartment 11 onto the water surface generates high-frequency noise. The power control compartment 12 controls the suction cup robotic arms 30 on both sides of the bow and the two directional propellers 60 at the bow. The battery compartment 13 houses a lithium battery pack to power the hull 10. The central control compartment 14 receives and transmits commands from the shore operator, monitors the surrounding environment and provides feedback, and also controls the main suction cup 40 and the fish-fin-like monitoring device 20. II. The power control cabin 15 controls the suction cup robotic arms 30 on both sides of the tail, a directional propeller 60, two main propellers 70, and a flexible net launching device 50. The smoke jamming cabin 16 houses a smoke generator and an air pump. The smoke generator utilizes the reaction of sodium nitrite with carbon (such as sugar or charcoal) to produce sodium nitrite (NaNO2) and carbon dioxide (CO2). When sodium nitrite reacts with water vapor in the air, it produces colored smoke (such as yellow or red smoke), and the reaction process does not produce toxic gases, making it relatively environmentally friendly. The air pump is connected to the tail exhaust port 90 to release the colored smoke into the air.

[0034] Example 2: A method for monitoring and expelling illegal vessels at sea, this embodiment uses the unmanned surface vessel described in Embodiment 1, and the specific expulsion method includes the following steps: 1. Unmanned surface vessel standby and activation Unmanned surface vessels (USVs) are typically on standby during routine missions, docked at coast guard vessels or designated berths. Upon receiving mission instructions or encountering emergencies, operators can remotely activate the USV and start its propulsion system. This process involves switching the equipment from a low-power standby mode to full-function operation to ensure rapid deployment. Once activated, the USV will be operated and executed in real-time by dedicated personnel.

[0035] 2. Detecting and approaching suspicious vessels Once activated, the unmanned surface vessel's primary task is to approach and monitor the movements of any suspicious vessel. At this time, the main propeller 70 and the directional propeller 60 work together to patrol the designated sea area at low speed, approaching and continuously tracking the suspicious vessel, and conducting initial interference operations. The infrared camera 21 and rear-view camera 23 of the simulated fin monitoring device 20 collect real-time sea surface image data and transmit it to the shore-based command center. Simultaneously, the shore-based command center sends a voice warning to the suspicious vessel via the unmanned surface vessel's communication module, demanding that it leave the area immediately.

[0036] 3. Drive-away mode activated If the suspicious vessel does not respond to the warning and continues to approach, the unmanned surface vessel (USV) enters the "emergency" phase. At this point, the hull 10 begins to submerge, leaving only the top infrared camera 21 above the water to continuously monitor the target. During this phase, the USV will approach the suspicious vessel at high speed; especially at night, the light emitter 22 can emit a green beam and, by adjusting the attitude of the hull 10, direct the beam directly at the target crew's location, thereby further interfering with their visual system and enhancing the deterrent effect.

[0037] 4. Noise and smoke interference When the unmanned surface vessel is close to the target vessel (about 50 meters), if the target still refuses to leave, the operator can remotely activate the release mechanism of the noise jamming chamber 11 to release the noise ball 80 onto the water surface around the target vessel. The noise ball 80 floats on the water surface and emits high-frequency noise, causing obvious physiological discomfort to the target crew.

[0038] If the target remains unresponsive, the operator will escalate the interference measures. At this point, the operator activates the smoke system in the stern compartment, releasing a large amount of colored smoke that, in conjunction with high-frequency noise, creates a combined interference effect, completely obscuring the crew's vision. During this process, the noise ball 80 will circle the target vessel with the unmanned surface vessel, continuously applying noise and visual interference, increasing its discomfort and psychological stress, forcing it to slow down or change course.

[0039] 5. Mechanical adsorption and high-velocity impact If noise and smoke interference fail to drive away the target, the unmanned surface vessel (USV) will enter the final stopping phase. At this point, the USV will fully submerge, turn off its lights and all jamming devices, and approach the target vessel's starboard side hull quickly and silently, maintaining synchronized speed. During this process, the two sets of suction cup robotic arms 30 on the port side of the hull 10 extend first, emptying the water inside the suction cups and firmly adhering to the hull surface. Subsequently, under the action of the directional propeller 60, the USV reverses its hull 10, causing the top-mounted fish-fin-like monitoring device 20 to face away from the water surface. At this time, the suction cup robotic arm 30 on the starboard side of the hull 10 extends and completes its adsorption, followed by the large suction cup in the center of the hull, which also simultaneously adheres to the hull, achieving multi-point fixation. After positioning is complete, the firing pins 315 distributed within the four suction cup robotic arms 30, driven electromagnetically, reciprocate at high speed against the metal hull shell, generating continuous vibration and noise.

[0040] 6. Request for Support and Forced Halt If continued impacts fail to force the target vessel to leave, the unmanned surface vessel (USV) sends a support request to the command center. During this phase, the USV moves along its hull towards the stern of the target vessel, as follows: First, the two suction cup robotic arms 30 at the rear of the hull 10 detach from the hull and extend towards the stern, then reattach to the hull surface. Simultaneously, the large suction cup and the bow suction cup robotic arm 30 detach, moving towards the stern under the propeller's drive. Once the bow suction cup robotic arm 30 has completed its attachment to its new position, the stern suction cup robotic arm 30 detaches again and continues to extend towards the stern. This alternating "forward attachment, rearward detachment" process is repeated until the USV approaches the propeller area of ​​the target vessel.

[0041] Upon reaching the propeller position, the stern will extend a launching device to precisely deploy a flexible net, which will entangle and lock the target vessel's propeller, causing it to stop spinning and thus bringing it to a halt. At this point, the control system will continuously monitor the target vessel's status; if it detects that the vessel is attempting to reverse course or evade interference, the unmanned surface vessel will perform another impact operation until the target has completely left the mission area.

[0042] 7. Support Phase and Final Deportation Upon receiving a request for support from an unmanned surface vessel, the command center will immediately access its real-time surveillance footage and relevant sensor data, and combine this with the target vessel's trajectory, size, and behavioral characteristics to determine its threat level and possible intentions.

[0043] If the assessment indicates that the target is a low-threat fishing vessel (e.g., it has mistakenly entered the mission area, the operation area overlaps, or the course has deviated), the command center will dispatch an unmanned surface vessel of the same type for coordinated support. After arriving at the scene, the support vessel will directly conduct irregular and frequent impact operations on the bottom of the target vessel to maintain the unpredictability of the interference, thereby forcing it to leave the designated sea area voluntarily and avoid affecting normal operations or mission execution.

[0044] If the assessment indicates that the vessel is large and exhibits abnormal behavior (e.g., its track repeatedly approaches sensitive areas, it maintains a low cruising speed, and there are no signs of normal fishing or commercial activity), it suggests that its intentions may pose a risk. In such cases, the command center will immediately dispatch coast guard vessels and relevant law enforcement forces to provide support, implement direct expulsion measures, and may simultaneously activate a combination of measures such as broadcast warnings, flank warning lights, and loudspeaker equipment to ensure that the target vessel leaves the mission area as soon as possible and maintain safety and order in the area.

[0045] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0046] The order of the steps in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0047] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. An unmanned surface vessel (USV) for monitoring and expelling illegal vessels at sea, comprising a hull, characterized in that, It also includes a fish-fin-like monitoring device and a stern exhaust port installed on the top of the hull, as well as a main suction cup, a suction cup robotic arm, and a flexible net launching device installed on the bottom of the hull. The front end of the simulated fish fin monitoring device is equipped with an infrared camera and a light emitter, and the rear end is equipped with a rear-view camera. The tail exhaust port is used to discharge colored smoke into the air; The main suction cup is used to achieve basic adsorption and fixation of the unmanned surface vessel on the bottom surface of the target hull. The suction cup robotic arm includes a robotic arm and a suction cup impact device. One end of the robotic arm is connected to the bottom of the hull, and the other end is equipped with the suction cup impact device. The suction cup impact device includes a ramming pin battery compartment, a disc body, and a water storage device. The disc body is installed on the outer periphery of the ramming pin battery compartment. The ramming pin, electromagnet, and battery are installed inside the ramming pin battery compartment. The ramming pin is connected to the compartment wall through an elastic element. The attraction or repulsion generated by the electromagnet being energized drives the ramming pin to impact the target hull. One end of the water storage device is connected to the ramming pin battery compartment, and the other end is connected to the robotic arm. The disc body is connected to the water storage device through a water suction pipe. The water storage device has a built-in water pump for extracting water from the disc body and adsorbing it onto the surface of the target hull. The flexible net launching device is used to launch a flexible net at the propeller of the target ship.

2. The unmanned surface vessel for monitoring and expelling illegal vessels at sea as described in claim 1, characterized in that, The unmanned surface vessel also includes a directional propeller installed at the bottom of the hull. There are three directional propellers, two of which are located at the bow and are symmetrically arranged about the longitudinal section of the hull, and the other is located at the stern and is located on the longitudinal section of the hull.

3. The unmanned surface vessel for monitoring and expelling illegal vessels at sea as described in claim 1, characterized in that, The unmanned surface vessel also includes a main propeller installed at the stern of the hull.

4. The unmanned surface vessel for monitoring and expelling illegal vessels at sea as described in claim 1, characterized in that, The unmanned surface vessel is equipped with a smoke interference chamber, which contains a smoke generator and an air pump. The smoke generator is used to generate colored smoke, and the air pump is connected to the exhaust port at the stern to release the colored smoke into the air.

5. The unmanned surface vessel for monitoring and expelling illegal vessels at sea as described in claim 1, characterized in that, The unmanned surface vessel (USV) is equipped with a noise jamming chamber containing noise balls. These noise balls are connected to the USV via cables. By releasing the noise balls from the noise jamming chamber onto the water surface, high-frequency noise is emitted.

6. The unmanned surface vessel for monitoring and expelling illegal vessels at sea as described in claim 1, characterized in that, The suction cup robotic arms are provided in four parts, two of which are located at the bow and are symmetrical about the mid-longitudinal section, and the other two are located at the stern and are symmetrical about the mid-longitudinal section; the main suction cup is provided in one part, which is located in the middle of the ship and on the mid-longitudinal section.

7. The unmanned surface vessel for monitoring and expelling illegal vessels at sea as described in claim 1, characterized in that, The disc body has several secretion ports along its circumferential direction at its end, which are used to secrete lubricating fluid to make the bottom of the target ship smooth, thereby making the disc body firmly adhered.

8. The unmanned surface vessel for monitoring and expelling illegal vessels at sea according to claim 1, characterized in that, The flexible net launching device includes a flexible net launching cabin, a lifting and rotating structure, and a rotating shaft; the lifting and rotating structure includes a telescopic structure and a horizontal rotating platform, one end of the telescopic structure is connected to the hull, and the other end is rotatably mounted on the horizontal rotating platform; the flexible net launching cabin is mounted on the horizontal rotating platform via the rotating shaft and can rotate in the vertical plane.

9. The unmanned surface vessel for monitoring and expelling illegal vessels at sea according to claim 8, characterized in that, The flexible net launch cabin includes a flexible net storage compartment, a launch mechanism, and a battery compartment. The flexible net storage compartment has a door, inside which spare flexible nets are stored, and outside the door, flexible nets to be launched are placed. The battery compartment is installed behind the flexible net storage compartment, and the launch mechanism and batteries are installed inside the battery compartment. The door of the flexible net storage compartment has a hole for the launch mechanism to pass through, so that the launch mechanism can launch the flexible nets to be launched.

10. A method for monitoring and expelling illegal vessels at sea, characterized in that, The method employs any one of the unmanned surface vessel (USV) claims 1-9, and the method includes the following steps: Detection and approach of suspicious vessels: The unmanned surface vessel (USV) patrols the water at a low speed, approaches and continuously tracks the suspicious vessel, and carries out preliminary interference operations. It obtains real-time image data of the target vessel through the infrared camera and rear-view camera on the fish fin monitoring device, and the alarm system issues a warning requiring it to leave the scene immediately. Drive-away mode activated: If the suspicious vessel does not respond to the warning and continues to approach, the hull will begin to submerge, leaving only the top infrared camera above the water to continuously monitor the target. The unmanned vessel will approach the suspicious vessel at high speed and emit green light from the light emitter at night for deterrence. Noise and smoke interference: When the unmanned surface vessel is close to the target vessel, if the target still refuses to leave, the operator releases a noise ball from the bow compartment to continuously emit high-frequency noise on the water surface. If the target still does not move, the operator activates the smoke system in the stern compartment to release a large amount of colored smoke, which works in conjunction with the high-frequency noise to form a compound interference effect, completely obscuring the crew's vision. Mechanical Adsorption and High-Mobility Impact: If noise and smoke interference still fail to drive away the target, the unmanned surface vessel (USV) dives underwater and first uses a suction cup robotic arm to complete the adsorption, and then uses the main suction cup to adsorb the bottom of the vessel to achieve multi-point fixation; after positioning is completed, the firing pins distributed in the suction cup robotic arm reciprocate at high speed under electromagnetic drive to impact the bottom shell of the vessel, generating continuous vibration and noise. Support request and forced stop: If continued impact fails to force the target vessel to leave, the unmanned surface vessel (USV) sends a support request to the command center. During this stage, the USV moves along the bottom of the vessel towards the stern of the target vessel until it approaches the propeller area of ​​the target vessel. Then, it launches a flexible net at the propeller through a flexible net launcher to wrap around and lock the propeller of the target vessel, causing it to stop, thereby forcing it to stop.

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