Multifunctional catamaran unmanned ship

Abstract

The utility model provides a kind of multifunctional double body unmanned ship, it is related to unmanned ship technical field.The device includes ship body, spiral drive mechanism, paddle wheel propulsion mechanism and grass cutting mechanism, wherein, the grass cutting mechanism detachably connected in the bow of the ship body and the grass cutting mechanism is used to cut water grass, the spiral drive mechanism and the paddle wheel propulsion mechanism are interchangeable and detachably assembled in the stern of the ship body, the spiral drive mechanism is used to drive the ship body in high-speed cruising mode, and the paddle wheel propulsion mechanism is used to drive the ship body in low-speed grass cutting mode.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vessel technology, and in particular to a multifunctional catamaran unmanned vessel. Background Technology

[0002] Traditional catamaran unmanned surface vessels (USVs) are mostly used for water quality monitoring, waterway patrol, and material transportation, and generally employ propeller propulsion. However, when operating in complex waterways such as lakes, wetlands, and rivers rich in aquatic plants, the propellers are easily entangled in these vegetation, potentially leading to power failure, equipment damage, and mission interruption. Furthermore, most existing USVs lack integrated functions for specialized tasks such as surface mowing and waste removal; if mowing is required, the hull structure typically needs to be specially designed, resulting in poor versatility, resource waste, and high operating costs.

[0003] In addition, some traditional grass-cutting boats have drawbacks such as large size, poor maneuverability, and difficulty in achieving remote intelligent control. They also cannot quickly switch between high-speed inspection mode and low-speed operation mode, making it difficult to meet the needs of efficient navigation and precise operation.

[0004] Therefore, there is an urgent need for a modular catamaran unmanned surface vessel platform that is highly mobile, easy to modify, adaptable to complex aquatic plant environments, and integrates efficient mowing functions, in order to solve the technical problems of existing equipment in complex water operations, such as easy entanglement during propulsion, single function, poor versatility, and inconvenience in mode switching. Utility Model Content

[0005] The purpose of this invention is to provide a multifunctional catamaran unmanned surface vessel. The preferred technical solutions among the various technical solutions provided by this invention and their numerous technical effects are detailed below.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This utility model provides a multifunctional catamaran unmanned surface vessel, comprising a hull, a propeller drive mechanism, a paddle wheel propulsion mechanism, and a mowing mechanism. The mowing mechanism is detachably connected to the bow of the hull and is used to cut aquatic plants. The propeller drive mechanism and the paddle wheel propulsion mechanism are interchangeable and detachably mounted to the stern of the hull. The propeller drive mechanism is used to drive the hull in a high-speed cruising mode, and the paddle wheel propulsion mechanism is used to drive the hull in a low-speed mowing mode.

[0008] Optionally, the propeller drive mechanism includes an electric propeller and a conformal propeller tail section, wherein the conformal propeller tail section is detachably connected to the stern of the hull, and the electric propeller is detachably assembled in the conformal propeller tail section.

[0009] The lower end of the conformal tail section of the propeller is provided with an opening, and the propeller assembly on the electric propeller thruster is located below the conformal tail section of the propeller.

[0010] Optionally, the paddle wheel propulsion mechanism includes a paddle wheel propeller and a paddle wheel conformal stern section, the paddle wheel conformal stern section being detachably connected to the stern of the hull, and the paddle wheel propeller being detachably assembled within the paddle wheel conformal stern section;

[0011] The lower end and the tail end of the paddle wheel conformal tail section are both provided with slots;

[0012] The paddle wheel tail section has an internal accommodating space, and the paddle wheel propeller blades are located within the accommodating space. The accommodating space is connected to the slot.

[0013] Optionally, the hull includes a left hull, a right hull, and a deck platform. The left hull and the right hull are connected via the deck platform. The bow of the left hull and the bow of the right hull are each detachably connected to a grass-cutting mechanism. The stern of the left hull and the stern of the right hull are each detachably connected to a screw drive mechanism or a paddle wheel propulsion mechanism.

[0014] Optionally, a garbage cage is provided between the left hull and the right hull.

[0015] Optionally, the system also includes a control system and a remote control system. The control system is installed on the hull, and the remote control system is communicatively connected to the control system. The propeller drive mechanism, the paddle wheel propulsion mechanism, and the mowing mechanism are all communicatively connected to the control system.

[0016] Optionally, the control system includes a central controller, an intelligent identification element, and an autonomous cruise element. The intelligent identification element is used to automatically identify the connected spiral drive mechanism, the paddle wheel propulsion mechanism, or the lawn mowing mechanism, and transmit the identification signal to the central controller.

[0017] The central controller is used to switch to the corresponding motion control mode according to the received signal;

[0018] The autonomous navigation element is used to identify and plan the mowing operation path.

[0019] Optionally, the mowing mechanism includes a motor, a support frame, a transmission assembly, a vertical cutting assembly, and a horizontal cutting assembly. The motor, the transmission assembly, the vertical cutting assembly, and the horizontal cutting assembly are all mounted on the support frame. The support frame is bolted to a positioning frame on the hull, and the connection position of the two is adjustable. The motor is connected to the transmission assembly, and the two output ends of the transmission assembly are respectively connected to the vertical cutting assembly and the horizontal cutting assembly. The vertical cutting assembly is arranged in a vertical direction, and the horizontal cutting assembly is arranged in a horizontal direction.

[0020] Optionally, the vertical cutting assembly includes a fixed vertical saw tooth, a movable vertical saw tooth, and a fixed frame. The fixed vertical saw tooth is connected to the fixed frame by bolts. The movable vertical saw tooth is slidably connected to the fixed frame and is in contact with the fixed vertical saw tooth. The transmission assembly is connected to the end of the movable vertical saw tooth. The fixed frame is arranged in the vertical direction.

[0021] Optionally, the transverse cutting assembly includes a transverse fixed saw tooth, a transverse movable saw tooth, a fixing strip, and a float. The transverse fixed saw tooth is connected to the fixing strip by bolts. The transverse movable saw tooth is slidably connected to the fixing strip and is in contact with the transverse fixed saw tooth. The transmission assembly is connected to the middle of the transverse movable saw tooth. The fixing strip is arranged in a horizontal direction and the float is connected to the fixing strip.

[0022] This utility model provides a multi-functional catamaran unmanned surface vessel (USV) that employs an interchangeable and detachable structure for its propeller drive mechanism and paddle wheel propulsion mechanism. This allows for rapid switching of power modes depending on the operational scenario: when using the propeller drive mechanism, the USV can enter a high-speed cruising mode, meeting the rapid navigation requirements for water quality monitoring and waterway patrol; after switching to the paddle wheel propulsion mechanism, it effectively avoids entanglement with aquatic plants, significantly improving operational reliability in aquatic environments such as lakes rich in aquatic plants, wetlands, and complex waterways, preventing power failure, equipment damage, and mission interruption. The mowing mechanism is detachably connected to the bow, allowing for direct assembly when mowing or cleaning operations are required, without the need for special modifications to the hull structure. This achieves multi-functional integration of inspection, patrol, mowing, and cleaning, solving the problems of traditional USVs' single function, poor versatility, high modification costs, and resource waste. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the multifunctional catamaran unmanned vessel equipped with a spiral drive mechanism provided in this embodiment of the utility model;

[0025] Figure 2 This is a schematic diagram of the multifunctional catamaran unmanned vessel equipped with a helical drive mechanism from another angle, according to an embodiment of this utility model.

[0026] Figure 3 This is a schematic diagram showing the separate structure of the multifunctional catamaran unmanned vessel and the paddle wheel propulsion mechanism provided in this embodiment of the utility model;

[0027] Figure 4 This is a structural schematic diagram of the separation angle between the multifunctional catamaran unmanned vessel and the paddle wheel propulsion mechanism provided in this embodiment of the utility model;

[0028] Figure 5 This is a structural schematic diagram of the separation angle two between the multifunctional catamaran unmanned vessel and the paddle wheel propulsion mechanism provided in this embodiment of the utility model;

[0029] Figure 6 This is a structural schematic diagram of the separation angle three of the multifunctional catamaran unmanned vessel and the paddle wheel propulsion mechanism provided in this embodiment of the utility model.

[0030] In the diagram: 1. Screw drive mechanism; 11. Electric propeller thruster; 12. Conformal propeller tail section;

[0031] 2. Paddle wheel propulsion mechanism; 21. Paddle wheel propeller; 22. Conformal paddle wheel tail section;

[0032] 3. Mowing mechanism; 31. Motor; 32. Support frame; 33. Vertical cutting assembly; 34. Horizontal cutting assembly;

[0033] 4. Left hull;

[0034] 5. Right hull;

[0035] 6. Deck platform;

[0036] 7. Garbage cage. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0038] In the description of this utility model, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] This utility model provides a multifunctional catamaran unmanned surface vessel (USV), comprising a hull, a propeller drive mechanism 1, a paddle wheel propulsion mechanism 2, and a mowing mechanism 3. The mowing mechanism 3 is detachably connected to the bow of the hull and is used for cutting aquatic plants. The propeller drive mechanism 1 and the paddle wheel propulsion mechanism 2 are interchangeable and detachably mounted to the stern of the hull. The propeller drive mechanism 1 drives the hull in a high-speed cruising mode, while the paddle wheel propulsion mechanism 2 drives the hull in a low-speed mowing mode. This multifunctional catamaran USV, with its interchangeable and detachable propeller drive mechanism 1 and paddle wheel propulsion mechanism 2, allows for rapid switching of power modes according to the operational scenario: when using the propeller drive mechanism 1, the USV can enter a high-speed cruising mode, meeting the rapid navigation requirements for water quality monitoring and waterway patrol; after switching to the paddle wheel propulsion mechanism 2, it effectively avoids entanglement with aquatic plants, significantly improving operational reliability in aquatic environments such as lakes rich in aquatic plants, wetlands, and complex waterways, preventing power failure, equipment damage, and mission interruption. The mowing mechanism 3 can be detachably connected to the bow of the boat and can be directly assembled when mowing and cleaning operations are required. No special modifications to the hull structure are needed. It integrates multiple functions such as inspection, patrol, mowing, and cleaning, solving the problems of traditional unmanned boats having single functions, poor versatility, high modification costs, and waste of resources.

[0041] As an optional implementation, the propeller drive mechanism 1 includes an electric propeller thruster 11 and a conformal propeller tail section 12. The conformal propeller tail section 12 is detachably connected to the stern of the hull. The conformal propeller tail section 12 and the stern can be bolted together, facilitating quick interchange with the paddle wheel propulsion mechanism 2. The electric propeller thruster 11 is detachably assembled in the conformal propeller tail section 12, facilitating individual disassembly, replacement, and subsequent maintenance of the electric propeller thruster 11. The electric propeller thruster 11, combined with the conformal propeller tail section 12, can precisely match the high-speed cruise working mode of the unmanned vessel, ensuring dynamic stability during high-speed cruise. The modular and detachable design allows for assembly without special modifications to the hull. The control system can control the operating status of the electric propeller thruster 11.

[0042] The lower end of the conformal tail section 12 of the propeller is provided with an opening, and the propeller assembly on the electric propeller thruster 11 is located below the conformal tail section 12. This not only avoids the conformal tail section 12 of the propeller from obstructing the water flow propulsion of the electric propeller thruster 11, ensuring efficient power transmission and guaranteeing propulsion efficiency during high-speed cruising, but also provides lateral protection for the electric propeller thruster 11 through the overall structure of the conformal tail section 12, reducing the collision damage to the propeller caused by shore obstacles and large floating objects during navigation. At the same time, when cruising in areas without abundant aquatic plants, it can reduce the probability of a small amount of floating debris getting entangled, indirectly improving the service life of the power system.

[0043] As an optional implementation, the paddle wheel propulsion mechanism 2 includes a paddle wheel propeller 21 and a conformal paddle wheel stern section 22. The conformal paddle wheel stern section 22 is detachably connected to the stern of the hull without requiring any modification to the hull structure. The conformal paddle wheel stern section 22 can be bolted to the stern, facilitating quick interchange with the screw drive mechanism 1 and enabling convenient switching between low-speed mowing and high-speed cruising modes. The paddle wheel propeller 21 is detachably mounted within the conformal paddle wheel stern section 22, allowing for individual disassembly, replacement, and subsequent maintenance. The control system can control the operating status of the paddle wheel propeller 21. The paddle wheel propulsion mechanism 2 is particularly suitable for waters with dense aquatic plants and possesses anti-entanglement capabilities.

[0044] The paddle wheel conformal tail section 22 has slots at both its lower and stern ends. The interior of the paddle wheel conformal tail section 22 contains a receiving space, within which the paddle wheel propeller 21 is located. This receiving space is connected to the slots. This structure effectively prevents aquatic plants and floating debris from directly entangled in the propeller blades, structurally avoiding the core problems of power failure, equipment damage, and mission interruption. It is suitable for low-speed mowing conditions in complex water bodies such as lakes, wetlands, and rivers rich in aquatic plants. Simultaneously, it ensures smooth water flow when the propeller blades rotate, preventing the paddle wheel conformal tail section 22 from obstructing water flow and causing power loss, thus ensuring efficient power transmission during low-speed propulsion and reducing the impact of water flow on the hull. The paddle wheel propeller 21 itself has the characteristics of low speed and high thrust. Combined with the structural design of the paddle wheel conformal tail section 22, it can keep the unmanned boat in a stable low-speed mowing mode. It can work precisely with the detachable mowing mechanism 3 at the bow to ensure the stability of the boat during mowing operations and avoid incomplete mowing, water splashing, or boat deviation due to excessive speed.

[0045] As an optional implementation, the hull is constructed entirely of lightweight, corrosion-resistant materials (such as fiberglass or carbon fiber composites). The hull comprises a port hull 4, a starboard hull 5, and a deck platform 6. The port hull 4 and starboard hull 5 are connected by the deck platform 6, forming a catamaran structure. This design allows for a shallow draft and good stability, effectively resisting the impact of currents and waves in complex waters, preventing tilting and capsizing during mowing operations or high-speed cruising. It is particularly suitable for operations in shallow waters and areas with dense aquatic vegetation. The port hull 4 and starboard hull 5 possess good stability and buoyancy reserves. The bow of the port hull 4... A mowing mechanism 3 is detachably connected to the bow of the starboard hull 5, simultaneously covering the aquatic vegetation areas on both sides of the hull to improve mowing efficiency. A propeller drive mechanism 1 or a paddle wheel propulsion mechanism 2 is detachably connected to the stern of both the port hull 4 and the starboard hull 5. During high-speed cruising, both sides are equipped with propeller drive mechanisms 1, with dual power working together to improve propulsion efficiency and navigation stability, meeting the needs of rapid inspection. During low-speed mowing, both sides are equipped with paddle wheel propulsion mechanisms 2, with the two paddle wheels working together to ensure stable low-speed movement and precisely cooperating with the two mowing mechanisms 3 to improve mowing accuracy. The paddle wheel propulsion mechanisms 2 are located on both sides of the stern, and the mowing mechanism 3 is located at the bow, forming a forward and aft functional zone to prevent cutting debris from affecting the propulsion system during operation. The hull has a shallow draft and a smooth bottom, and with the high-positioned paddle wheels and the forward-mounted mowing mechanism 3, it can operate normally in water depths of over 0.5 meters, adapting to various terrains such as wetlands, ditches, and ponds.

[0046] As an optional implementation, a garbage cage 7 is provided between the left hull 4 and the right hull 5. The garbage cage 7 can hold the aquatic plants and floating debris cut by the mowing mechanism 3, so as to prevent the cut aquatic plants from falling into the water and getting tangled in the power mechanism again, and also to prevent the garbage from spreading with the water flow and causing secondary pollution.

[0047] As an optional implementation, a control system and a remote control system are also included. The control system is installed on the hull, and the remote control system is communicatively connected to the control system, supporting operators to remotely control the unmanned vessel with full functionality, including mode switching, power adjustment, and mowing control, ensuring personnel safety while providing real-time status feedback and improving operational safety and controllability in complex environments. The screw drive mechanism 1, the paddle wheel propulsion mechanism 2, and the mowing mechanism 3 can all communicate with the control system.

[0048] As an optional implementation, the control system includes a central controller, intelligent identification elements, and autonomous navigation elements. The hull is equipped with a first male terminal, a second male terminal, and a third male terminal. The screw drive mechanism 1 is equipped with a first female terminal, the paddle wheel propulsion mechanism 2 is equipped with a second female terminal, and the mowing mechanism 3 is equipped with a third female terminal. The first male terminal and the first female terminal are plugged into each other, the second male terminal and the second female terminal are plugged into each other, and the third male terminal and the third female terminal are plugged into each other. The male and female terminals are equipped with physical error-proof structures to ensure the accuracy of assembly. The control system also includes monitoring elements and alarm elements.

[0049] The intelligent identification element automatically identifies the connected spiral drive mechanism 1, paddle wheel propulsion mechanism 2, or mowing mechanism 3, and transmits the identification signal to the central controller. Through the physical connection of the first, second, and third male terminals with their corresponding female terminals, combined with the intelligent identification element, the control system can automatically receive whether the current connection is a spiral drive mechanism 1, a paddle wheel propulsion mechanism 2, or a mowing mechanism 3. When the first male terminal and the first female terminal are connected, the intelligent identification element automatically identifies the connection signal after the connection, indicating that the current connection is a spiral drive mechanism 1. When the second male terminal and the second female terminal are connected, the intelligent identification element automatically identifies the connection signal after the connection, indicating that the current connection is a paddle wheel propulsion mechanism 2. When the third male terminal and the third female terminal are connected, the intelligent identification element automatically identifies the connection signal after the connection, indicating that the current connection is a mowing mechanism 3. Without the need for complex manual mode switching settings or circuit modifications, the central controller can automatically switch to the corresponding motion control mode based on the identification signal. For example, when the paddle wheel propulsion mechanism 2 is connected, the control system automatically enters a low-speed, high-thrust mowing mode; when the screw drive mechanism 1 is connected, the control system automatically enters a high-speed cruising mode. This solves the pain point of traditional equipment requiring manual intervention and being prone to errors when switching modes, and achieves true modular "plug and play".

[0050] The autonomous navigation component is used to identify and plan the mowing path. When performing mowing tasks, the unmanned surface vessel (USV) can autonomously identify the work area and plan the optimal mowing path, achieving automated and precise operation without continuous human remote control. This significantly improves operational efficiency, reduces labor costs, and supports long-term, large-scale continuous operation, solving the problems of traditional USVs that rely on manual operation and are inefficient.

[0051] As an optional implementation, the mowing mechanism 3 includes a motor 31, a support frame 32, a transmission assembly, a vertical cutting assembly 33, and a horizontal cutting assembly 34. The motor 31, transmission assembly, vertical cutting assembly 33, and horizontal cutting assembly 34 are all mounted on the support frame 32. The support frame 32 is bolted to a positioning frame on the hull, and the connection position of both is adjustable. The support frame 32 has multiple first connection holes, and the positioning frame has multiple second connection holes. By connecting the first and second connection holes at different positions, the height of the mowing mechanism 3 can be adjusted to adapt to different water depths and plant types, avoiding accidental injury to benthic organisms or damage to the underwater ecosystem. The motor 31 is connected to the transmission assembly. The two output ends of the transmission assembly are connected to the vertical cutting assembly 33 and the horizontal cutting assembly 34, respectively. The vertical cutting assembly 33 is set in the vertical direction, and the horizontal cutting assembly 34 is set in the horizontal direction. The vertical cutting assembly 33 is located in the middle area above the horizontal cutting assembly 34. The control system can control the motor 31 to start, so that the motor 31 drives the transmission assembly to operate. The transmission assembly will drive the vertical cutting assembly 33 and the horizontal cutting assembly 34 to cut. It can cut aquatic plants simultaneously in the vertical and horizontal directions, with a wider cutting range and higher cutting efficiency, and can realize three-dimensional cleaning of underwater weeds.

[0052] As an optional implementation, the vertical cutting component 33 includes a vertical fixed saw tooth, a vertical movable saw tooth, and a fixed frame. The vertical fixed saw tooth is connected to the fixed frame by bolts, the vertical movable saw tooth is slidably connected to the fixed frame and fits against the vertical fixed saw tooth, the transmission component is connected to the end of the vertical movable saw tooth, the fixed frame is arranged in the vertical direction, and the transmission component drives the vertical movable saw tooth to make up-and-down reciprocating movements, thereby sliding up and down relative to the vertical fixed saw tooth, which can effectively cut common submerged and floating-leaved plants such as water onion, goldfish algae, and foxtail algae.

[0053] As an optional implementation, the transverse cutting component 34 includes a fixed transverse saw tooth, a movable transverse saw tooth, a fixing strip, and a float. The fixed transverse saw tooth is connected to the fixing strip by bolts, the movable transverse saw tooth is slidably connected to the fixing strip and fits against the fixed transverse saw tooth, and a transmission component is connected to the middle of the movable transverse saw tooth. The fixing strip is arranged horizontally and the float is connected to the fixing strip. The transmission component drives the movable transverse saw tooth to move left and right in a reciprocating motion, thereby sliding left and right relative to the fixed transverse saw tooth, which can effectively cut common submerged and floating-leaved plants such as water onion, goldfish algae, and foxtail algae. The float allows the transverse cutting component 34 to float adaptively with the water level, ensuring that the mowing mechanism 3 is suspended in the water, thereby ensuring that the installation of the operation module does not affect the normal operation performance of the unmanned vessel and improving cutting stability and operation effect.

[0054] In summary, this utility model provides an intelligent catamaran unmanned vessel solution that integrates high-speed control, anti-entanglement propulsion, and adjustable mowing functions. It is particularly suitable for application scenarios such as urban river management, lake ecological restoration, and wetland protection, and has significant engineering value and market prospects.

[0055] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A multi-functional catamaran unmanned surface vessel, characterized in that, It includes the hull, the propeller drive mechanism (1), the paddle wheel propulsion mechanism (2), and the mowing mechanism (3), among which, The mowing mechanism (3) is detachably connected to the bow of the hull and is used to cut aquatic plants. The spiral drive mechanism (1) and the paddle wheel propulsion mechanism (2) are interchangeable and detachably assembled to the stern of the hull. The spiral drive mechanism (1) is used to drive the hull in a high-speed cruising mode, and the paddle wheel propulsion mechanism (2) is used to drive the hull in a low-speed mowing mode.

2. The multi-functional catamaran unmanned surface vessel according to claim 1, characterized in that, The propeller drive mechanism (1) includes an electric propeller thruster (11) and a conformal propeller tail section (12). The conformal propeller tail section (12) is detachably connected to the stern of the hull, and the electric propeller thruster (11) is detachably assembled in the conformal propeller tail section (12). The lower end of the conformal tail section (12) of the propeller is provided with an opening, and the propeller assembly on the electric propeller thruster (11) is located below the conformal tail section (12).

3. The multi-functional catamaran unmanned surface vessel according to claim 1, characterized in that, The paddle wheel propulsion mechanism (2) includes a paddle wheel propeller (21) and a paddle wheel conformal tail section (22). The paddle wheel conformal tail section (22) is detachably connected to the stern of the hull, and the paddle wheel propeller (21) is detachably assembled inside the paddle wheel conformal tail section (22). The lower end and the tail end of the paddle wheel conformal tail section (22) are both provided with slots; The interior of the paddle wheel conformal tail section (22) is provided with a receiving space, and the blades on the paddle wheel propeller (21) are located in the receiving space. The receiving space is connected to the slot.

4. The multi-functional catamaran unmanned surface vessel according to claim 1, characterized in that, The hull includes a left hull (4), a right hull (5), and a deck platform (6). The left hull (4) and the right hull (5) are connected by the deck platform (6). The bow of the left hull (4) and the bow of the right hull (5) are detachably connected to a grass-cutting mechanism (3). The stern of the left hull (4) and the stern of the right hull (5) are detachably connected to a screw drive mechanism (1) or a paddle wheel propulsion mechanism (2).

5. The multi-functional catamaran unmanned surface vessel according to claim 4, characterized in that, A garbage cage (7) is provided between the left hull (4) and the right hull (5).

6. The multi-functional catamaran unmanned surface vessel according to claim 1, characterized in that, It also includes a control system and a remote control system. The control system is installed on the hull and the remote control system is communicatively connected to the control system. The screw drive mechanism (1), the paddle wheel propulsion mechanism (2) and the grass cutting mechanism (3) are all communicatively connected to the control system.

7. The multifunctional catamaran unmanned surface vessel according to claim 6, characterized in that, The control system includes a central controller, an intelligent identification element, and an autonomous cruise element. The intelligent identification element is used to automatically identify the connected spiral drive mechanism (1), the paddle wheel propulsion mechanism (2), or the mowing mechanism (3), and transmit the identification signal to the central controller. The central controller is used to switch to the corresponding motion control mode according to the received signal; The autonomous navigation element is used to identify and plan the mowing operation path.

8. The multi-functional catamaran unmanned surface vessel according to claim 1, characterized in that, The mowing mechanism (3) includes a motor (31), a support frame (32), a transmission assembly, a vertical cutting assembly (33), and a horizontal cutting assembly (34). The motor (31), the transmission assembly, the vertical cutting assembly (33), and the horizontal cutting assembly (34) are all mounted on the support frame (32). The support frame (32) is connected to the positioning frame on the hull by bolts, and the connection position of the two is adjustable. The motor (31) is connected to the transmission assembly. The two output ends of the transmission assembly are respectively connected to the vertical cutting assembly (33) and the horizontal cutting assembly (34). The vertical cutting assembly (33) is arranged in the vertical direction, and the horizontal cutting assembly (34) is arranged in the horizontal direction.

9. The multifunctional catamaran unmanned surface vessel according to claim 8, characterized in that, The vertical cutting assembly (33) includes a fixed vertical saw tooth, a movable vertical saw tooth, and a fixed frame. The fixed vertical saw tooth is connected to the fixed frame by bolts. The movable vertical saw tooth is slidably connected to the fixed frame and is in contact with the fixed vertical saw tooth. The transmission assembly is connected to the end of the movable vertical saw tooth. The fixed frame is arranged in the vertical direction.

10. The multifunctional catamaran unmanned surface vessel according to claim 8, characterized in that, The transverse cutting assembly (34) includes a transverse fixed saw tooth, a transverse movable saw tooth, a fixed strip and a float. The transverse fixed saw tooth is connected to the fixed strip by bolts. The transverse movable saw tooth is slidably connected to the fixed strip and is in contact with the transverse fixed saw tooth. The transmission assembly is connected to the middle part of the transverse movable saw tooth. The fixed strip is arranged in a horizontal direction and the float is connected to the fixed strip.

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