Cross-media multi-hull unmanned surface vehicle

Abstract

The application discloses a cross-medium multi-horizon unmanned ship, which comprises a ship body, a bow lifting hydrofoil module, a stern rotating hydrofoil module, a buoyancy adjusting module and a multi-degree-of-freedom power propulsion module; the bow lifting hydrofoil module comprises a first driving mechanism, a lifting driving mechanism and a bow hydrofoil assembly, and the bow hydrofoil assembly can realize vertical lifting movement; the stern rotating hydrofoil module comprises a second driving motor set, a rotating pipe system, a stern hydrofoil assembly and a main propeller, the rotating pipe system is driven by the second driving motor set to rotate and drive the two side stern hydrofoil assemblies to switch between a folding state and an unfolding state; the buoyancy adjusting module realizes the floating or diving of the unmanned ship; and the rotation of the auxiliary propeller driven by a servo motor realizes the turning or vertical auxiliary propulsion of the unmanned ship. The application can execute water surface facility maintenance and underwater structure detection tasks by switching water surface / underwater navigation modes, the water surface form can quickly complete large-area inspection work, and the underwater navigation posture can greatly improve the maneuvering performance.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) technology, and in particular to a novel multi-mode USV with cross-medium navigation capability. Background Technology

[0002] With the accelerated construction of offshore wind farms, problems such as the huge daily inspection costs caused by the complex marine environment and the poor mobility of traditional operation and maintenance models have become increasingly prominent, becoming key pain points restricting the development of the industry.

[0003] The current operation and maintenance of offshore wind farms involves two core tasks: underwater support structure inspection and surface power transmission and transformation facility maintenance. The traditional "ROV (Remotely Operated Vehicle) + workboat" split operation and maintenance model has significant drawbacks: on the one hand, the ROV is limited by the length of its umbilical cable, and its operating radius is usually no more than 300 meters, which severely restricts the operation and maintenance coverage; on the other hand, surface drones cannot penetrate the water to monitor underwater structures, and ROVs cannot simultaneously inspect the surface transformer's heat dissipation system. Therefore, it is generally necessary to carry out dual equipment operations in separate sessions, which leads to inefficiency caused by equipment separation. At the same time, underwater corrosion data and surface temperature data lack effective integration, forming information silos and significantly increasing decision-making risks.

[0004] Chinese patent CN 116750191A discloses a variable cross-medium unmanned surface vessel (USV). The USV includes a main hull, side hulls on either side of the main hull, and a propeller. The side hulls can flip relative to the main hull, allowing for different orientations and enabling the USV to variate and achieve cross-medium navigation functions such as high-speed aerial flight, energy-efficient surface navigation, and stealthy underwater movement. The propeller provides appropriate propulsion modes for the USV in different motion states, improving the matching and reliability of propulsion in different media domains (surface, underwater, and air). However, this patent has the following drawbacks: when navigating on the surface, it is a displacement vessel, relying primarily on the stern propeller for propulsion, which does not support rapid movement on the surface during sudden emergency missions; and when navigating underwater, the USV lacks yaw drive, preventing direct lateral displacement during special missions and resulting in poor maneuverability. Summary of the Invention

[0005] The main objective of this invention is to propose a multi-mode unmanned surface vessel (USV) that can perform surface facility maintenance and underwater structure inspection tasks by switching between surface and underwater navigation modes. Its surface configuration resembles a hydrofoil, enabling rapid large-area inspections, making it suitable for large-scale waterway patrols. Its underwater navigation mode is a fully driven underwater AUV (Autonomous Underwater Vehicle), allowing it to perform underwater hovering and inspections. Equipped with multiple rotatable auxiliary thrusters, it significantly improves the vehicle's underwater maneuverability. Compared to traditional methods, this solution significantly reduces maintenance costs while enhancing maneuverability and application scenarios.

[0006] The technical solution adopted in this invention is: A multi-mode unmanned surface vessel (USV) includes a hull, a bow-end lifting hydrofoil module, a stern-end rotating hydrofoil module, a buoyancy adjustment module, and a multi-degree-of-freedom propulsion module. The bow-end lifting hydrofoil module includes a first drive mechanism, a lifting drive mechanism, and a bow hydrofoil assembly. The lifting drive mechanism and the bow hydrofoil assembly are arranged symmetrically about the left and right sides of the hull. The lifting drive mechanism is installed at the power output end of the first drive mechanism, and the bow hydrofoil assembly is installed at the power output end of the lifting drive mechanism. The first drive mechanism drives the lifting drive mechanism, thereby driving the bow hydrofoil assembly to achieve vertical lifting motion. The stern-end rotating hydrofoil module includes two sets of second drive motors arranged symmetrically about the left and right sides of the hull, and a rotating tube. The unmanned surface vessel (USV) comprises a stern hydrofoil assembly and a main propulsion unit. The stern hydrofoil assembly consists of two perpendicular tubes, one end of which is connected to the power output of a second drive motor, and the other end of which is fitted with the stern hydrofoil assembly. The main propulsion unit is fixed to the end of the stern hydrofoil assembly. The stern hydrofoil assembly is rotated by the second drive motor, thereby switching between a closed and deployed state. The buoyancy adjustment module is located in the middle of the hull and is used to enable the USV to surface or submerge. The multi-degree-of-freedom propulsion module includes a servo motor and an auxiliary propulsion unit mounted on the power output shaft of the servo motor. The auxiliary propulsion unit is rotated by the servo motor to enable the USV to steer or perform vertical assisted propulsion.

[0007] In the above scheme, the multi-mode unmanned surface vessel (USV) includes a surface gliding attitude and an underwater navigation attitude. The process of switching from the underwater navigation attitude to the surface gliding attitude is as follows: the buoyancy adjustment module controls the USV to rise to the surface, while the multi-degree-of-freedom propulsion module provides upward vertical thrust, enabling the USV to quickly reach the water surface; as the USV surfaces, the stern rotating hydrofoil module deforms, and the two stern hydrofoil assemblies on both sides rotate downward to a closed state; at the same time, the bow lifting hydrofoil module deforms accordingly, and the two bow hydrofoil assemblies on both sides descend to their lowest position, forming a gliding surface with the stern hydrofoil assembly, and the USV enters the surface gliding attitude. The process of switching from surface gliding to underwater navigation is as follows: the bow-end hydrofoil module deforms, and the bow hydrofoil components on both sides rise to their highest position, smoothly transitioning with the hull's curved surface; simultaneously, the stern-end rotating hydrofoil module deforms, and the stern hydrofoil components on both sides rotate upwards to their deployed state; the buoyancy adjustment module controls the unmanned surface vessel's (USV) descent, while the multi-degree-of-freedom propulsion module provides downward vertical thrust, enabling the USV to quickly reach the designated underwater position and enter underwater navigation. After completing the underwater navigation switch, by controlling the rotation angle of the auxiliary thruster of the multi-degree-of-freedom propulsion module, and simultaneously by changing the angle of the stern hydrofoils, the USV's steering is controlled, achieving a combined adjustment of vertical lift and horizontal thrust, ultimately realizing multi-degree-of-freedom propulsion control.

[0008] In the above scheme, the bow hydrofoil assembly includes a bow adjustment box and a bow hydrofoil; the bow adjustment box is fixed to the power output end of the lifting drive mechanism, and the bow hydrofoil is installed on one or both sides of the bow adjustment box. The bow adjustment box has a built-in first micro servo motor connected to the bow hydrofoil for adjusting the pitch angle of the bow hydrofoil.

[0009] In the above scheme, the first drive mechanism includes a first drive motor set, a drive gear installed at the output end of the first drive motor set, two first driven gears installed on both sides of the drive gear, and two second driven gears installed on both sides of the drive gear; the first driven gears are used to connect the lifting drive mechanism; the second driven gears are connected to the frame beam through bearings to support the gear set.

[0010] In the above scheme, the lifting drive mechanism includes a worm, a worm wheel, a screw, a threaded lifting component, and a lifting hydrofoil bracket. The worm is coaxially connected to the first driven gear. The worm wheel and the worm are orthogonally meshed to form a worm wheel and worm gear mechanism. The screw is coaxially connected to the worm wheel. The threaded lifting component is connected to the screw through a threaded engagement. The upper end of the lifting hydrofoil bracket is fixedly connected to the threaded lifting component, and the lower end is equipped with the bow hydrofoil assembly.

[0011] In the above scheme, the stern hydrofoil assembly includes a stern multi-functional adjustment box and a stern hydrofoil. The stern multi-functional adjustment box is fixed to the other end of the rotating pipe system. The stern hydrofoil is installed inside or on both sides of the stern multi-functional adjustment box. The stern multi-functional adjustment box has a built-in second micro servo motor connected to the stern hydrofoil for adjusting the pitch angle of the stern hydrofoil.

[0012] In the above scheme, the stern hydrofoil assembly also includes a locking mechanism. The locking mechanism includes a third micro servo motor installed in a multi-functional adjustment box on one side of the stern and a gear coaxially connected to it, as well as a rack meshing with the gear. Both sides of the stern hydrofoil are provided with tooth grooves for the rack to pass through. The gear is driven to rotate by the third micro servo motor, which drives the rack to move along the tooth groove. When the rack moves into the tooth groove of the other side of the stern hydrofoil, the stern hydrofoils on both sides are locked.

[0013] In the above scheme, the buoyancy adjustment module includes a ballast water tank and an air compressor, a high-pressure air tank, a buoyancy adjustment motor, and an inlet / outlet pipe installed in the ballast water tank. The air compressor is connected to the power output end of the buoyancy adjustment motor, the high-pressure air tank is connected to the air compressor, and the inlet / outlet pipe is fixed to the ballast water tank wall and forms a through structure with the hull of the unmanned surface vessel.

[0014] In the above scheme, the multi-degree-of-freedom propulsion module is installed in the hull, and the hull is provided with lateral thrust openings and / or vertical thrust openings at the installation positions of the auxiliary thrusters.

[0015] In the above scheme, the cross-medium multi-mode unmanned surface vessel also includes an inlet hatch module. The inlet hatch module includes a translation drive mechanism and an inlet hatch. The translation drive mechanism drives the inlet hatch to move so as to open or close the vertical thrust opening on the bottom surface of the hull.

[0016] The beneficial effects of this invention are: (1) This invention achieves integrated execution of underwater structure inspection and surface facility maintenance by autonomously switching the navigation attitude across media. While eliminating information silos in traditional split operations, it significantly improves overall operation efficiency and breaks through the inherent limitations of traditional operation and maintenance mode of alternating operation of separate equipment.

[0017] (2) The present invention can be transformed into a hydrofoil planing boat, which can glide quickly on the water surface and reach the remote operation point of the offshore wind farm faster than traditional operation and maintenance vessels, thus greatly shortening the large-scale inspection cycle.

[0018] (3) The present invention is equipped with a multi-degree-of-freedom propulsion unit, which can not only provide sway, heave, and pitch drive in underwater navigation mode, thus possessing longitudinal, lateral, and vertical motion performance and improving the maneuverability of the unmanned surface vessel. It can also provide upward or downward vertical thrust when the unmanned surface vessel is surfacing or diving, enabling the unmanned surface vessel to quickly complete the transition to a floating state, thereby improving the efficiency of switching attitudes across media.

[0019] (4) The pitch angle of the stern hydrofoil can be freely adjusted. On the one hand, when gliding on the water surface, the pitch angle of the bow hydrofoil can be adjusted to make the unmanned boat glide quickly on the water surface; on the other hand, the underwater navigation attitude can also be changed to achieve flexible turning of the unmanned boat in conjunction with the auxiliary propulsion.

[0020] (5) Based on the built-in underwater wireless communication and power supply module, on the basis of expanding the operation coverage, the multi-degree-of-freedom propulsion system realizes omnidirectional maneuvering response in complex sea conditions, comprehensively improves the flexibility of operation, and completely gets rid of the physical constraints of the umbilical cable on the traditional ROV. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of the overall structure of the cross-medium multi-mode unmanned surface vessel of the present invention; Figure 2 yes Figure 1 A schematic diagram of the internal structure after the outer shell has been removed; Figure 3 yes Figure 2 Another perspective illustration; Figure 4 This is a structural schematic diagram of the bow hydrofoil module; Figure 5 This is a schematic diagram of the stern rotating hydrofoil module; Figure 6 This is a structural schematic diagram of the buoyancy adjustment module; Figure 7 This is a structural schematic diagram of a multi-degree-of-freedom propulsion module; Figure 8 This is a structural schematic diagram of the inlet hatch; Figure 9 This is a schematic diagram showing the positional relationship between the inlet hatch and the multi-degree-of-freedom propulsion module when the inlet hatch is open. (9-1) is the external view, and (9-2) is the internal view. Figure 10This is a schematic diagram showing the positional relationship between the inlet hatch and the multi-degree-of-freedom propulsion module when the inlet hatch is closed. (10-1) is the external view, and (10-2) is the internal view. Figure 11 This is a schematic diagram of the multi-mode unmanned surface vessel's gliding attitude across media; Figure 12 This is a schematic diagram of the underwater navigation attitude of an unmanned surface vessel (USV) with multiple navigation modes across media. Figure 13 This is a schematic diagram of the multi-degree-of-freedom propulsion module providing thrust in the sway direction underwater.

[0023] In the diagram: 10. Bow-end lifting hydrofoil module; 111. First drive motor assembly; 112. Drive gear; 113. First driven gear; 114. Second driven gear; 121. Worm; 122. Worm wheel; 123. Worm wheel and worm protective housing; 124. Screw; 125. Threaded lifting component; 126. Lifting hydrofoil bracket; 131. Bow-end regulating box; 132. Bow-end hydrofoil; 20. Stern rotating hydrofoil module; 21. Second drive motor unit; 22. Rotating piping system; 231. Stern multi-functional regulating box; 232. Stern hydrofoil; 233. Locking mechanism; 24. Main propeller; 30. Buoyancy adjustment module; 31. Ballast water tank; 32. Air compressor; 33. High-pressure air tank; 34. Buoyancy adjustment motor; 35. Inlet and outlet pipes; 40. Multi-degree-of-freedom propulsion module; 41. Servo motor; 42. Auxiliary thruster; 50. Inlet hatch module; 511. Hatch motor; 512. Hatch worm gear; 513. Hatch worm wheel; 514. Hatch screw; 515. Hatch threaded sliding component; 516. Hatch worm wheel and worm gear protective housing; 52. Inlet hatch; 60. Hull; 61. Lateral thrust opening; 62. Vertical thrust opening; 63. Frame beam; 70. Control box. Detailed Implementation

[0024] 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.

[0025] 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.

[0026] 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.

[0027] like Figure 1-3 As shown, the present invention proposes a multi-mode unmanned surface vessel (USV) that can navigate across media, comprising a hull 60, a bow-end lifting hydrofoil module 10, a stern-end rotating hydrofoil module 20, a buoyancy adjustment module 30, a multi-degree-of-freedom propulsion module 40, and an inlet hatch module 50. A frame beam 63 is provided inside the hull 60 from bow to stern for positioning and installing the various modules.

[0028] like Figure 4 As shown, the bow-end hydrofoil module 10 includes a first drive mechanism, a lifting drive mechanism, and a bow-end hydrofoil assembly. Two sets of lifting drive mechanisms and bow-end hydrofoil assemblies are symmetrically arranged about left and right of the midship section. The lifting drive mechanism is installed at the power output end of the first drive mechanism, and the bow-end hydrofoil assembly is installed at the power output end of the lifting drive mechanism. The first drive mechanism drives the lifting drive mechanism, thereby causing the bow-end hydrofoil assembly to achieve vertical lifting and lowering movement.

[0029] In one embodiment, the first drive mechanism includes a first drive motor assembly 111, a drive gear 112 mounted on the output end of the first drive motor assembly 111, two first driven gears 113 mounted on both sides of the drive gear 112, and two second driven gears 114 mounted on both sides of the drive gear 112. The first drive motor assembly 111 is mounted on the frame beam 63, and the first driven gears 113 are used to connect to the lifting drive mechanism; the second driven gears 114 are connected to the frame beam 63 through bearings to support the gear assembly.

[0030] In one embodiment, the lifting drive mechanism includes a worm 121, a worm wheel 122, a screw 124, a threaded lifting component 125, and a lifting hydrofoil support 126. The worm 121 is coaxially connected to the first driven gear 113. The worm wheel 122 orthogonally meshes with the worm 121 to form a worm gear mechanism. The worm gear mechanism is externally provided with a worm gear protective shell 123, which is fixedly connected to the frame beam 63. The screw 124 is coaxially connected to the worm wheel 122 through a flange. The threaded lifting component 125 is threadedly connected to the screw 124. The upper end of the lifting hydrofoil support 126 is fixedly connected to the threaded lifting component 125, and the lower end is equipped with the bow hydrofoil assembly. When the first drive motor 111 is running, it drives the drive gear 112 to rotate. The first driven gears 113 on both sides of the drive gear 112 drive the worm gear mechanism to rotate, thereby driving the screw 124 to rotate, which in turn drives the threaded lifting component 125 and the lifting hydrofoil bracket 126 to move up and down, ultimately realizing the lifting of the bow hydrofoil assembly.

[0031] In one embodiment, the bow hydrofoil assembly includes a bow adjustment box 131 and a bow hydrofoil 132. The bow adjustment box 131 is fixed to the lower end of the lifting hydrofoil bracket 126, and the bow hydrofoil 132 is mounted on both sides of the bow adjustment box 131. The bow adjustment box 131 has a built-in first micro servo motor, and the power output end of the first micro servo motor is connected to the bow hydrofoil 132 for adjusting the pitch angle of the bow hydrofoil 132 so that it can glide quickly on the water surface.

[0032] like Figure 5 As shown, the stern-mounted rotating hydrofoil module 20 includes two sets of second drive motors 21 arranged symmetrically about the left and right sides of the vessel, a rotating pipe system 22, stern-mounted hydrofoil assemblies, and a main propulsion unit 24. The second drive motors 21 are mounted on the frame beam 63. The rotating pipe system 22 is L-shaped and includes two perpendicular pipes, one end of which is connected to the power output end of the second drive motors 21, and the other end of which is fitted with the stern-mounted hydrofoil assembly. The main propulsion unit 24 is fixed to the end of the stern-mounted hydrofoil assembly, providing thrust to the unmanned surface vessel. The rotating pipe system 22 is rotated by the second drive motors 21, thereby causing the stern-mounted hydrofoil assemblies on both sides to switch between a closed state and a deployed state.

[0033] In one embodiment, the stern hydrofoil assembly includes a stern multi-functional adjustment box 231 and stern hydrofoils 232. The stern multi-functional adjustment box 231 is fixed to the other end of the rotating pipe system 22, and the stern hydrofoils 232 are mounted on both sides of the stern multi-functional adjustment box 231. The stern multi-functional adjustment box 231 has a built-in second micro servo motor, the power output end of which is connected to the stern hydrofoils 232 for adjusting the pitch angle of the stern hydrofoils 232. On the one hand, it allows the stern hydrofoils to glide quickly on the water surface; on the other hand, it can also change the angle to control the steering of the unmanned surface vessel when it is underwater. In the closed state, the other pipe of the rotating pipe system 22 is vertical, the two stern hydrofoils 232 between the two stern multi-functional adjustment boxes 231 are attached together, and the pitch angles of the four stern hydrofoils 232 are the same. When deployed, the other tube of the rotating pipe system 22 rotates to a horizontal position and is at the same horizontal height, and the stern hydrofoils 232 on both sides separate accordingly.

[0034] In one embodiment, the stern hydrofoil assembly further includes a locking mechanism 233, which includes a third micro servo motor and a gear coaxially connected to it installed in a multi-functional adjustment box 231 on one side of the stern, and a rack meshing with the gear; both stern hydrofoils 232 on both sides are provided with toothed grooves for the rack to pass through; the gear is driven to rotate by the third micro servo motor, which drives the rack to move along the toothed grooves. When the rack moves into the toothed groove of the other stern hydrofoil 232, the two stern hydrofoils 232 on both sides are locked. The advantage of locking is that the pitch angle of the stern hydrofoil can be precisely adjusted and the stability can be improved.

[0035] like Figure 6 As shown, the buoyancy adjustment module 30 is located in the middle of the hull 60 and is the main equipment for enabling the unmanned surface vessel (USV) to rise or submerge. The buoyancy adjustment module 30 includes a ballast water tank 31 and an air compressor 32, a high-pressure gas tank 33, a buoyancy adjustment motor 34, and an inlet / outlet pipe 35 installed within the ballast water tank 31. The ballast water tank 31 is welded and fixed to the frame beam 63. The air compressor 32 is connected to the power output end of the buoyancy adjustment motor 34, and the high-pressure gas tank 33 is connected to the air compressor 32. The inlet / outlet pipe 35 is fixed to the wall of the ballast water tank 31 and forms a through structure with the hull 60 of the USV. When the USV needs to rise, the buoyancy adjustment motor 34 drives the air compressor 32 to inject compressed gas from the high-pressure gas tank 33 into the ballast water tank 31. Under the action of air pressure, the water inside the tank is discharged outside the vessel through the inlet / outlet pipe 35, increasing buoyancy and achieving buoyancy. During descent, the buoyancy adjustment motor 34 drives the air compressor 32 to draw the gas inside the cabin back to the high-pressure air tank 33, creating a negative pressure inside the ballast water tank 31. Outside seawater then flows into the cabin through the inlet and outlet pipes 35, reducing buoyancy and completing the descent. This buoyancy adjustment module 30 achieves the active ascent and descent function of the unmanned surface vessel through precise control of gas-liquid displacement.

[0036] like Figure 7 As shown, the multi-degree-of-freedom propulsion module 40 includes a servo motor 41 and an auxiliary thruster 42. The servo motor 41 is mounted on the frame beam 63, and the auxiliary thruster 42 is mounted on the power output shaft of the servo motor 41, enabling 360° rotation. The number and installation position of the multi-degree-of-freedom propulsion modules 40 can be designed according to requirements. Each multi-degree-of-freedom propulsion module 40 is independently controlled, and the servo motor 41 drives the auxiliary thruster 42 to rotate, thereby achieving steering or vertical auxiliary propulsion of the unmanned surface vessel.

[0037] In one embodiment, the multi-degree-of-freedom propulsion module 40 is housed within the hull 60. This internal placement reduces wind resistance and the impact of splashing water during surface navigation, and effectively protects the multi-degree-of-freedom propulsion module from collisions during underwater navigation. The hull 60 has a lateral thrust opening 61 and / or a vertical thrust opening 62 corresponding to the mounting position of the auxiliary thruster 42. The lateral thrust opening 61 facilitates the application of lateral thrust by the auxiliary thruster 42, while the vertical thrust opening 62 facilitates the application of vertical thrust by the auxiliary thruster 42.

[0038] In one embodiment, two sets of multi-degree-of-freedom propulsion modules 40 are symmetrically arranged on the left and right sides of the front of the hull 60. The hull 60 has corresponding lateral thrust openings 61 and vertical thrust openings 62. The two sets at the front mainly provide lateral thrust to enable multi-directional rotation of the unmanned surface vessel (USV), and can also provide vertical thrust during surfacing or diving to improve the efficiency of floating state transitions. A set of multi-degree-of-freedom propulsion modules 40 is arranged at the rear of the hull 60, with corresponding vertical thrust openings 62. The rear set mainly provides vertical thrust to assist the USV in quickly completing floating state transitions.

[0039] like Figure 8 As shown, the inlet hatch module 50 includes a translation drive mechanism and an inlet hatch 52. The translation drive mechanism drives the inlet hatch 52 to move so as to open or close the vertical thrust opening 62 on the bottom surface of the hull 60.

[0040] In one embodiment, the translation drive mechanism includes a hatch motor 511, a hatch worm 512, a hatch worm wheel 513, a hatch screw 514, a hatch threaded translation component 515, and a hatch worm wheel and worm gear protective shell 516. The hatch motor 511 is mounted on the frame beam 63. The hatch worm 512 is connected to the output shaft of the hatch motor 511. The hatch worm wheel 513 orthogonally meshes with the hatch worm 512 to form a hatch worm wheel and worm gear mechanism. The hatch worm wheel and worm gear mechanism is externally covered by the hatch worm wheel and worm gear protective shell 516, which is fixed to the frame beam 63. The hatch screw 514 is coaxially connected to the hatch worm wheel 513 to achieve torque transmission. The hatch threaded translation component 515 and the hatch screw 514 form a trapezoidal helical pair transmission. The lower end face of the hatch threaded translation component 515 is welded to the inlet hatch 52 to form an integral structure. The inlet hatch 52 moves back and forth by rotating the hatch screw 514.

[0041] Figure 9 The diagram shows the positional relationship between the inlet hatch 52 and the multi-degree-of-freedom propulsion module 40 when the hatch screw 514 is open. At this time, the rotation of the hatch screw 514 drives the hatch threaded translation component 515 to retract the inlet hatch 52 into the unmanned surface vessel.

[0042] Figure 10 The diagram shows the positional relationship between the inlet hatch 52 and the multi-degree-of-freedom propulsion module 40 when the vehicle is gliding on the water surface. At this time, the rotation of the hatch screw 514 drives the hatch threaded translation component 515 to slowly extend the inlet hatch 52 to cover the bottom of the vertical thrust opening 62, thereby reducing the water resistance caused by the vertical thrust opening 62 during gliding on the water surface.

[0043] In one embodiment, the hull 60 is also equipped with a control box 70, which is welded and fixed to the frame beam 63. The control box 70 contains the operation control system, power supply system and wireless communication system of the motors of each module of the unmanned surface vessel, and is equipped with a variety of sensors used for cruising.

[0044] In one embodiment, both the main thruster 24 and the auxiliary thruster 42 are shaftless thrusters.

[0045] The aforementioned multi-mode unmanned surface vessel includes surface gliding attitude and underwater navigation attitude.

[0046] Figure 11The demonstration showed the process of switching from underwater navigation to surface gliding: the buoyancy adjustment module 30 controls the unmanned surface vessel (USV) to rise, while three sets of multi-degree-of-freedom propulsion modules 40 provide upward vertical thrust, enabling the USV to quickly reach the water surface; as the USV surfaces, the stern rotating hydrofoil module 20 deforms, controlling the second drive motor set 21 to rotate the rotating pipe system 22, causing the stern hydrofoil assemblies on both sides to rotate downwards to a closed state. Then, the third micro servo motor 41 in the stern multi-functional adjustment box 231 drives the rack and pinion mechanism to engage the rack with the opposite stern hydrofoil 232, locking the stern hydrofoils 232 on both sides to the horizontal centerline; simultaneously, the bow lifting hydrofoil module 10 deforms, causing the bow hydrofoil assemblies on both sides to descend to their lowest position, forming a gliding surface with the stern hydrofoil assemblies; during this process, the inlet hatch 52 closes, and the USV enters the surface gliding posture. In a gliding posture on the water, the unmanned surface vessel can glide rapidly on the water surface by adjusting the pitch angle of the stern hydrofoil 232 and the bow hydrofoil 132.

[0047] Figure 12 The underwater navigation attitude was demonstrated. The process of switching from the surface gliding attitude to the underwater navigation attitude is as follows: the bow-end lifting hydrofoil module 10 deforms, causing the bow-end hydrofoil components on both sides to rise to their highest position and smoothly transition with the curved surface of the hull 60; the control rack retraction releases the locking state of the left and right stern hydrofoils 232, and the stern rotating hydrofoil module 20 deforms, causing the stern-end hydrofoil components on both sides to rotate upward to the deployed state, which can provide lateral stability compensation; then the inlet hatch 52 opens, the buoyancy adjustment module 30 controls the unmanned surface vessel to dive, and at the same time, the multi-degree-of-freedom power propulsion module 40 provides downward vertical thrust, enabling the unmanned surface vessel to quickly reach the designated underwater position, and the unmanned surface vessel enters the underwater navigation attitude.

[0048] like Figure 13 The diagram shows the multi-degree-of-freedom propulsion module 40 providing sway thrust underwater. After switching underwater navigation attitudes, by controlling the rotation angle of the auxiliary thruster 42 of the multi-degree-of-freedom propulsion module 40, and simultaneously controlling the steering of the unmanned surface vessel by changing the angle of the stern hydrofoil 232, the combined adjustment of vertical lift and horizontal thrust can be achieved, ultimately realizing multi-degree-of-freedom propulsion control.

[0049] 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.

[0050] 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.

[0051] 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. A multi-mode unmanned surface vessel, characterized in that, It includes a hull, a bow-end lifting hydrofoil module, a stern-end rotating hydrofoil module, a buoyancy adjustment module, and a multi-degree-of-freedom propulsion module; The bow-end hydrofoil module includes a first drive mechanism, a lifting drive mechanism, and a bow-end hydrofoil assembly. The lifting drive mechanism and the bow-end hydrofoil assembly are arranged symmetrically on the left and right sides of the ship. The lifting drive mechanism is installed at the power output end of the first drive mechanism, and the bow-end hydrofoil assembly is installed at the power output end of the lifting drive mechanism. The first drive mechanism drives the lifting drive mechanism to operate, thereby driving the bow-end hydrofoil assembly to achieve vertical lifting and lowering movement. The stern rotating hydrofoil module includes two sets of second drive motors symmetrically arranged about the left and right sides of the ship, a rotating pipe system, a stern hydrofoil assembly, and a main propulsion unit. The rotating pipe system includes two mutually perpendicular pipes, one end of which is connected to the power output end of the second drive motor, and the other end of which is fitted with the stern hydrofoil assembly. The main propulsion unit is fixed to the end of the stern hydrofoil assembly. The rotating pipe system is driven to rotate by the second drive motors, thereby causing the stern hydrofoil assemblies on both sides to switch between a closed state and a deployed state. The buoyancy adjustment module is located in the middle of the hull and is used to enable the unmanned surface vessel to rise or dive. The multi-degree-of-freedom propulsion module includes a servo motor and an auxiliary thruster mounted on the power output shaft of the servo motor. The servo motor drives the auxiliary thruster to rotate, thereby enabling the unmanned surface vessel to steer or perform vertical assisted propulsion.

2. The cross-medium multi-mode unmanned surface vessel according to claim 1, characterized in that, The cross-medium multi-mode unmanned surface vessel includes surface gliding attitude and underwater navigation attitude; The process of switching from underwater navigation attitude to surface gliding attitude is as follows: the buoyancy adjustment module controls the unmanned surface vessel to rise, while the multi-degree-of-freedom propulsion module provides upward vertical thrust, enabling the unmanned surface vessel to quickly reach the water surface; as the unmanned surface vessel rises, the stern rotating hydrofoil module deforms, and the two stern hydrofoil assemblies on both sides rotate downward to the closed state; at the same time, the bow lifting hydrofoil module deforms accordingly, and the two bow hydrofoil assemblies on both sides descend to the lowest position, forming a gliding surface with the stern hydrofoil assembly, and the unmanned surface vessel enters the surface gliding attitude; The process of switching from surface gliding attitude to underwater navigation attitude is as follows: the bow lift hydrofoil module deforms, and the bow hydrofoil components on both sides rise to the highest position and smoothly transition with the hull surface; at the same time, the stern rotating hydrofoil module deforms, and the stern hydrofoil components on both sides rotate upward to the deployed state; the buoyancy adjustment module controls the unmanned surface vessel to dive, and at the same time, the multi-degree-of-freedom power propulsion module provides downward vertical thrust, enabling the unmanned surface vessel to quickly reach the designated underwater position, and the unmanned surface vessel enters the underwater navigation attitude; After completing the underwater navigation attitude switch, the rotation angle of the auxiliary thruster of the multi-degree-of-freedom propulsion module is controlled, and the steering of the unmanned surface vessel is controlled by changing the angle of the stern hydrofoil, so as to achieve the composite adjustment of vertical lift and horizontal thrust, and finally realize multi-degree-of-freedom propulsion control.

3. The cross-medium multi-mode unmanned surface vessel according to claim 1, characterized in that, The bow hydrofoil assembly includes a bow adjustment box and a bow hydrofoil; the bow adjustment box is fixed to the power output end of the lifting drive mechanism, and the bow hydrofoil is installed on one or both sides of the bow adjustment box. The bow adjustment box has a built-in first micro servo motor connected to the bow hydrofoil for adjusting the pitch angle of the bow hydrofoil.

4. The cross-medium multi-mode unmanned surface vessel according to claim 1, characterized in that, The first drive mechanism includes a first drive motor assembly, a drive gear mounted on the output end of the first drive motor assembly, two first driven gears mounted on both sides of the drive gear, and two second driven gears mounted on both sides of the drive gear; the first driven gears are used to connect to the lifting drive mechanism; the second driven gears are connected to the frame beam through bearings to support the gear assembly.

5. The cross-medium multi-mode unmanned surface vessel according to claim 4, characterized in that, The lifting drive mechanism includes a worm, a worm wheel, a screw, a threaded lifting component, and a lifting hydrofoil bracket. The worm is coaxially connected to the first driven gear. The worm wheel meshes orthogonally with the worm to form a worm wheel and worm gear mechanism. The screw is coaxially connected to the worm wheel. The threaded lifting component is connected to the screw via a threaded connection. The upper end of the lifting hydrofoil bracket is fixedly connected to the threaded lifting component, and the lower end is fitted with the bow hydrofoil assembly.

6. The cross-medium multi-mode unmanned surface vessel according to claim 1, characterized in that, The stern hydrofoil assembly includes a stern multi-functional adjustment box and a stern hydrofoil. The stern multi-functional adjustment box is fixed to the other end of the rotating pipe system. The stern hydrofoil is installed inside or on both sides of the stern multi-functional adjustment box. The stern multi-functional adjustment box has a built-in second micro servo motor connected to the stern hydrofoil for adjusting the pitch angle of the stern hydrofoil.

7. The cross-medium multi-mode unmanned surface vessel according to claim 6, characterized in that, The stern hydrofoil assembly also includes a locking mechanism, which includes a third micro servo motor and a gear coaxially connected to it installed in a multi-functional adjustment box on one side of the stern, and a rack meshing with the gear; both sides of the stern hydrofoil are provided with tooth grooves for the rack to pass through; the gear is driven to rotate by the third micro servo motor, which drives the rack to move along the tooth grooves. When the rack moves into the tooth groove of the other side of the stern hydrofoil, the two stern hydrofoils are locked.

8. The cross-medium multi-mode unmanned surface vessel according to claim 1, characterized in that, The buoyancy adjustment module includes a ballast water tank and an air compressor, a high-pressure air tank, a buoyancy adjustment motor, and an inlet / outlet pipe installed in the ballast water tank. The air compressor is connected to the power output end of the buoyancy adjustment motor, the high-pressure air tank is connected to the air compressor, and the inlet / outlet pipe is fixed to the ballast water tank wall and forms a through structure with the hull of the unmanned surface vessel.

9. The cross-medium multi-mode unmanned surface vessel according to claim 1, characterized in that, The multi-degree-of-freedom propulsion module is located inside the hull, and the hull has lateral thrust openings and / or vertical thrust openings at the installation positions of the auxiliary thrusters.

10. The cross-medium multi-mode unmanned surface vessel according to claim 9, characterized in that, The cross-medium multi-mode unmanned surface vessel also includes an inlet hatch module, which includes a translation drive mechanism and an inlet hatch. The translation drive mechanism drives the inlet hatch to move so as to open or close the vertical thrust opening on the bottom surface of the hull.

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