A rudder device for unmanned ships

Abstract

The utility model provides a kind of rudder device for unmanned ship, including rack, and the sealing cover, sealing assembly and drive transmission mechanism being set on rack, first waterproof joint is provided on sealing cover;First cable channel is provided on sealing assembly;Drive transmission mechanism is dynamically sealed and transmission connection with propeller by sealing assembly, and second cable channel is provided on;First cable channel and second cable channel coaxial communication, form through cable passage;The cable of propeller sequentially passes first cable channel and second cable channel, and then enters cabin by first waterproof joint.In the internal of rudder device, the lead-out path of cable is formed by the synergic cooperation of first cable channel, second cable channel and first waterproof joint, make full use of device internal space, without in the hull separate opening, protect the hull integrity, improve structural strength, avoid the risk of water intake due to opening, improve the safety and stability of unmanned ship in the process of navigation.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vessel technology, and in particular to a rudder device for unmanned vessels. Background Technology

[0002] Unmanned surface vessels (USVs) are fully automated surface robots that achieve autonomous navigation using satellite positioning and sensing systems. They can be equipped with devices such as infrared detectors to perform preset tasks and are used in environmental monitoring, underwater mapping, security patrols, and military applications.

[0003] Unmanned surface vessels (USVs) are generally equipped with fixed propulsion systems, with fewer applications of rotary rudders. This is mainly because integrated rotary rudder designs are costly, complex, and have a limited number of available options on the market.

[0004] Currently, most unmanned surface vessels (USVs) use rudder mechanisms adapted from existing ships. These rudder mechanisms are typically bulky, requiring the propulsion cables to be routed from the side of the rudder mechanism and then connected to the internal compartment via a separate opening in the hull. This design not only compromises the structural integrity and strength of the hull but, more importantly, creates potential water leakage channels, increasing the risk of water ingress into the USV. Furthermore, these rudder mechanisms have limited sealing performance and waterproofing capabilities. If water accumulates on the deck, it can easily trigger short circuits in the electrical system, disrupting the normal operation of the USV.

[0005] In view of the above, this utility model is hereby proposed. Utility Model Content

[0006] The purpose of this invention is to provide a rudder device for unmanned surface vessels (USVs) to address the shortcomings of existing USV rudder device designs. These designs require propeller cables to be routed from the side of the rudder device and through separate openings in the hull, compromising hull integrity, reducing structural strength, and increasing the risk of water ingress. The preferred technical solutions provided by this invention offer numerous advantages, which are detailed below.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] This utility model provides a rudder device for an unmanned surface vessel (USV), including a frame, a sealing cover, a sealing assembly, and a drive transmission mechanism sealed on the frame. The sealing cover has a first waterproof connector; the sealing assembly has a first cable channel; the drive transmission mechanism is dynamically sealed and connected to a thruster through the sealing assembly, and the drive transmission mechanism has a second cable channel; the first cable channel and the second cable channel are connected to form a through cable path; the thruster cable passes through the first cable channel and the second cable channel in sequence, and then enters the USV's cabin through the first waterproof connector.

[0009] Preferably, the drive transmission mechanism includes a driver, a servo motor, and an eccentric reducer. The base of the eccentric reducer is mounted on the frame, and the second cable channel is located at the axis of the eccentric reducer. The servo motor is driven by the eccentric reducer, and the driver is electrically connected to the servo motor.

[0010] Preferably, the sealing cap is a cylindrical structure with one end open and the other end closed, and its open end extends radially outward to form an edge portion; the edge portion is annular, and a first annular groove is provided on its lower end surface for installing a first sealing ring; the first sealing ring seals and connects the edge portion and the frame.

[0011] Preferably, the sealing assembly includes a sealing seat and a sealing mounting bracket. The sealing seat has an annular structure and a second annular groove on its upper surface for installing a second sealing ring. The second sealing ring seals and connects the sealing seat and the frame. The sealing mounting bracket connects the output end of the eccentric reducer and the pusher. The sealing mounting bracket has an I-shaped cross-section, and the first cable channel is located at the axial center of the sealing mounting bracket. A third annular groove is provided on the sealing mounting bracket for installing a rotary sealing ring. The rotary sealing ring rotatably seals and connects the sealing mounting bracket and the sealing seat.

[0012] Preferably, the first cable channel is provided with a third sealing ring, which seals and connects the first cable channel and the cable.

[0013] Preferably, a through hole is provided on the frame, and the eccentric reducer is connected to the sealing mounting bracket through the through hole.

[0014] Preferably, the base of the eccentric reducer has a first shoulder, and a first limiting groove is provided on the through hole, with the first shoulder abutting against the first limiting groove; the output end of the eccentric reducer has a second shoulder, and a second limiting groove is provided on the sealing mounting bracket, with the second shoulder abutting against the second limiting groove.

[0015] Preferably, a buoyancy block is fitted on the outside of the sealing mounting bracket, and the outer wall surface of the buoyancy block is adapted to the curvature of the hull.

[0016] Preferably, the buoyancy block has a split structure.

[0017] The preferred technical solution of this utility model can also produce at least the following technical effects:

[0018] This invention effectively solves the technical problems existing in the design of the rudder device of unmanned ships, where the propulsion cable needs to be led out from the side of the rudder device and run through a separate hole in the hull, which damages the integrity of the hull and increases the risk of water ingress for the unmanned ship.

[0019] This utility model provides a rudder device for an unmanned vessel, including a frame, a sealing cover, a sealing assembly, and a drive transmission mechanism sealed on the frame. The sealing cover is provided with a first waterproof connector; the sealing assembly is provided with a first cable channel; the drive transmission mechanism is dynamically sealed and connected to the thruster through the sealing assembly, and the drive transmission mechanism is provided with a second cable channel; the first cable channel and the second cable channel are connected to form a through cable path; the thruster cable passes through the first cable channel and the second cable channel in sequence, and then enters the cabin of the unmanned vessel through the first waterproof connector.

[0020] This invention utilizes the coordinated operation of a first cable channel, a second cable channel, and a first waterproof connector to form a path for the propeller cable inside the rudder device. This fully utilizes the internal space of the rudder device, eliminating the need for separate openings in the hull, protecting the integrity of the hull, improving structural strength, and avoiding the risk of water ingress caused by openings. This enhances the safety and stability of the unmanned vessel during navigation. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of the structure of a rudder device for an unmanned vessel provided by this utility model;

[0023] Figure 2 This is a schematic diagram of the sealing cover of an unmanned ship rudder device provided by this utility model in a transparent state;

[0024] Figure 3This is a schematic diagram of the structure of a rudder device for an unmanned vessel with the sealing cover removed and the drive transmission mechanism provided by this utility model;

[0025] Figure 4 This is a structural schematic diagram from another perspective of the unmanned ship rudder device provided by this utility model, with the sealing cover and drive transmission mechanism removed and the sealing seat in a transparent state.

[0026] Figure 5 This is a schematic diagram of the sealed mounting bracket of an unmanned ship rudder device provided by this utility model in a perspective view.

[0027] Figure 6 This is a schematic diagram of the drive transmission mechanism of a rudder device for an unmanned vessel provided by this utility model;

[0028] Figure 7 This is a schematic diagram of the layout of the two sets of rudder devices provided by this utility model on an unmanned vessel.

[0029] In the picture:

[0030] 1. Frame; 101. Through hole; 1011. First limiting groove; 102. First mounting hole b; 103. Third mounting hole b;

[0031] 2. Sealing cap; 201. Edge portion; 2011. First annular groove; 202. First sealing ring; 203. First mounting hole a; 204. First waterproof connector; 205. Second waterproof connector;

[0032] 3. Sealing seat; 301. Second annular groove; 302. Second sealing ring; 303. Second mounting hole a; 304. Third mounting hole c;

[0033] 4. Sealed mounting bracket; 401. First cable channel; 402. First horizontal part; 4021. Third annular groove; 4022. Second limiting groove; 4023. Fourth mounting hole b; 403. Vertical part; 404. Second horizontal part; 405. Rotary sealing ring; 406. Third sealing ring;

[0034] 5. Driver; 501. Mounting plate;

[0035] 6. Servo motor;

[0036] 7. Eccentric reducer; 701. Second cable channel; 702. Base; 7021. First shoulder; 7022. Third mounting hole a; 703. Output end; 7031. Second shoulder; 7032. Fourth mounting hole a;

[0037] 8. Buoyancy blocks;

[0038] 9. Thruster;

[0039] 10. Hull. Detailed Implementation

[0040] 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.

[0041] like Figures 1 to 7 As shown, this utility model provides a rudder device for an unmanned vessel, including a frame 1, a sealing cover 2, a sealing assembly, and a drive transmission mechanism sealed on the frame 1. The frame 1 is located at the stern of the hull 10 of the unmanned vessel. The sealing cover 2 is provided with a first waterproof connector 204. The sealing assembly is provided with a first cable channel 401. The drive transmission mechanism is dynamically sealed and connected to the thruster 9 through the sealing assembly, and the drive transmission mechanism is provided with a second cable channel 701. The first cable channel 401 and the second cable channel 701 are coaxially connected to form a through cable path. The cable of the thruster 9 passes through the first cable channel 401 and the second cable channel 701 in sequence, and then enters the cabin through the first waterproof connector 204.

[0042] Through the coordinated operation of the first cable channel 401, the second cable channel 701, and the first waterproof connector 204, a path for the propeller 9 cable is formed inside the rudder device. This makes full use of the space inside the rudder device, eliminating the need for separate openings in the hull 10, protecting the integrity of the hull 10, improving structural strength, and avoiding the risk of water ingress caused by openings, thereby enhancing the safety and stability of the unmanned vessel during navigation.

[0043] Furthermore, the frame 1 is made of stainless steel, which has good strength and corrosion resistance to better meet the needs of offshore working conditions.

[0044] The first waterproof connector 204 includes a sealed gland as in the prior art, which allows cables to pass through while achieving a seal. Multiple first waterproof connectors 204 are available, and the specific number can be flexibly designed according to the number of cables.

[0045] As an optional implementation, such as Figure 2 , Figure 6 As shown, the drive transmission mechanism includes a driver 5, a servo motor 6, and an eccentric reducer 7. The eccentric reducer 7 is sealed to the frame 1, and the second cable channel 701 is opened at the axis of the eccentric reducer. The servo motor 6 is driven by the eccentric reducer, and the driver 5 is electrically connected to the servo motor 6.

[0046] Furthermore, the driver 5 is connected to the servo motor 6 via a mounting plate 501. The driver 5 is connected to the mounting plate 501 by bolts, and the mounting plate 501 is connected to the mounting holes on the servo motor 6 by bolts, so that the driver 5 is mounted around the servo motor 6, rather than being set up independently. This reduces interference between the driver 5 and the servo motor 6, while making the overall structure more compact and reducing the space occupied by the drive transmission mechanism.

[0047] In addition, the hollow shaft of the eccentric reducer 7 forms a second cable channel 701, which has both transmission and wiring functions, simplifying the structure and eliminating the need for additional openings.

[0048] The sealing cover 2 is also provided with a second waterproof connector 205, which includes a waterproof aviation plug in the prior art, to realize a waterproof and sealed electrical connection between the servo motor 6 and its control system.

[0049] As an optional implementation, such as Figure 1 , Figure 2 As shown, the sealing cover 2 is a cylindrical structure with one end open and the other end closed, and its open end extends radially outward to form an edge portion 201; the edge portion 201 is annular, and a first annular groove 2011 is provided on its lower end surface for installing a first sealing ring 202; the first sealing ring 202 seals and connects the edge portion 201 and the frame 1.

[0050] Furthermore, the edge portion 201 is provided with a plurality of first mounting holes a203, which surround the outside of the first annular groove 2011. The frame 1 is provided with first mounting holes b102 that are adapted to the first mounting holes a203. The first mounting holes a203 and the first mounting holes b102 are connected by bolts so that the first sealing ring 202 will deform under pressure, filling the tiny gap between the sealing cover 2 and the frame 1, thereby achieving a sealed connection between the sealing cover 2 and the frame 1 and effectively preventing seawater from entering from the connection between the two.

[0051] As an optional implementation, such as Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6As shown, the sealing assembly includes a sealing seat 3 and a sealing mounting bracket 4. The sealing seat 3 has an annular structure, and a second annular groove 301 is provided on the upper end surface of the sealing seat 3. The second annular groove 301 is used to install a second sealing ring 302. The second sealing ring 302 seals and connects the sealing seat 3 and the frame 1. The sealing mounting bracket 4 connects the output end 703 of the eccentric reducer and the pusher 9. The cross-section of the sealing mounting bracket 4 is I-shaped, and a first cable channel 401 is provided at the axial position of the sealing mounting bracket 4. A third annular groove 4021 is provided on the sealing mounting bracket 4 for installing a rotary sealing ring 405. The rotary sealing ring 405 rotates and seals and connects the sealing mounting bracket 4 and the sealing seat 3.

[0052] Furthermore, the sealing seat 3 is made of polyethylene, which has excellent strength, good wear resistance and corrosion resistance, in order to better meet the needs of marine working conditions.

[0053] The sealing mounting bracket 4 is made of stainless steel, which has good strength and corrosion resistance to better meet the needs of offshore working conditions.

[0054] The sealing mounting bracket 4 includes a first horizontal section 402, a vertical section 403, and a second horizontal section 404 connected in sequence. The first horizontal section 402 is drive-connected to the output end 703 of the eccentric reducer 7, and a third annular groove 4021 is provided on its outer wall surface. The second horizontal section 404 is connected to the pusher 9. A first cable channel 401 is provided to pass through the first horizontal section 402, the vertical section 403, and the second horizontal section 404 axially.

[0055] The rotary seal 405 includes a Glyd ring. The Glyd ring is a mature combination seal in the prior art, capable of achieving dynamic sealing between the sealing seat 3 and the sealing mount 4 in high-pressure seawater environments.

[0056] like Figure 4 , Figure 5 As shown, the sealing seat 3 has multiple second mounting holes a303, which surround the outside of the second annular groove 301. The frame 1 has second mounting holes b that are adapted to the second mounting holes a303. The second mounting holes a303 and the second mounting holes b are connected by bolts so that the second sealing ring 302 will deform when compressed, thus achieving a sealing connection between the sealing seat 3 and the frame 1.

[0057] like Figure 3 , Figure 4 , Figure 5 , Figure 6As shown, the base 702 of the eccentric reducer 7 has multiple third mounting holes a7022, the frame 1 has a third mounting hole b103 that matches the third mounting hole a7022, and the sealing seat 3 has a third mounting hole c304 that matches the third mounting hole b103. The third mounting hole c304 is arranged around the inside of the second annular groove 301. The third mounting holes a7022, b103, and c304 are connected by bolts so that the second sealing ring 302 will deform under pressure, achieving a sealing connection between the sealing seat 3 and the frame 1. At the same time, the base 702, frame 1, and sealing seat 3 of the eccentric reducer 7 are firmly connected together.

[0058] like Figure 4 , Figure 5 , Figure 6 As shown, the output end 703 of the eccentric reducer 7 has multiple fourth mounting holes a7032, and the first horizontal part 402 has a fourth mounting hole b4023 that matches the fourth mounting holes a7032. The fourth mounting holes a7032 and the fourth mounting holes b4023 are connected by bolts to realize the transmission connection between the output end 703 of the eccentric reducer 7 and the sealing mounting bracket 4, thereby driving the pusher 9 to move.

[0059] As an optional implementation, such as Figure 4 , Figure 5 As shown, the first cable channel 401 is provided with a third sealing ring 406, which seals and connects the first cable channel 401 and the cable.

[0060] Furthermore, there are two third sealing rings 406, which are arranged sequentially along the axial direction.

[0061] A straight-through cable channel is formed between the first cable channel 401 and the second cable channel 701, allowing the thruster 9 cable to pass directly along this channel without bending or secondary insertion into the hull. To further improve the sealing effect, a third sealing ring 406 is disposed on the inner wall surface of the first cable channel 401 near the thruster 9, tightly adhering to the cable surface and effectively preventing seawater from seeping in through the gap between the cable and the first cable channel 401.

[0062] The first sealing ring 202, the second sealing ring 302, and the third sealing ring 406 all use O-rings from the prior art.

[0063] Through the sealing design of the sealing cover 2 and the frame 1, the sealing seat 3 and the frame 1, the rotary sealing connection of the sealing mounting bracket 4 and the sealing seat 3, and the sealing connection of the first cable channel 401 and the cable, the possible water ingress points are effectively sealed from different parts and links, forming a complete four-level waterproof sealing system to cope with complex working conditions at the seaside, such as rain, seawater waves, and high air salinity.

[0064] As an optional implementation, such as Figure 3 As shown, a through hole 101 is provided on the frame 1, and the eccentric reducer 7 is connected to the sealing mounting bracket 4 through the through hole 101.

[0065] A reliable sealing space is formed between the frame 1 and the sealing mounting bracket 4 through the sealing connection between the sealing cover 2 and the frame 1, the sealing connection between the sealing seat 3 and the frame 1, and the rotational sealing connection between the sealing mounting bracket 4 and the sealing seat 3.

[0066] As an optional implementation, such as Figure 3 , Figure 5 , Figure 6 As shown, the base 702 of the eccentric reducer 7 has a first shoulder 7021, and a first limiting groove 1011 is provided on the through hole 101, with the first shoulder 7021 abutting against the first limiting groove 1011; the output end 703 of the eccentric reducer 7 has a second shoulder 7031, and a second limiting groove 4022 is provided on the sealing mounting bracket 4, with the second shoulder 7031 abutting against the second limiting groove 4022.

[0067] The first shoulder 7021 abuts against the first limiting groove 1011, which plays a certain role in positioning and limiting, further restricting the relative position of the base 702 of the eccentric reducer 7 and the frame 1.

[0068] The second shoulder 7031 abuts against the second limiting groove 4022, which plays a certain positioning and limiting role, further restricting the relative position of the output end 703 of the eccentric reducer 7 and the sealing mounting bracket 4.

[0069] As an optional implementation, such as Figure 1 , Figure 7 As shown, a buoyancy block 8 is fitted on the outside of the sealing mounting bracket 4, and the outer wall of the buoyancy block 8 is adapted to the curvature of the hull 10.

[0070] Furthermore, the mounting connection surface between the buoyancy block 8 and the sealing mounting bracket 4 is a curved surface matched by laser scanning.

[0071] The existing rudder mounts lack an effective buoyancy compensation structure. When the unmanned vessel submerges or encounters wave impacts, the rudder blades are prone to sinking due to their own weight or external forces, resulting in a large deviation in course and seriously affecting the navigation accuracy and stability of the unmanned vessel.

[0072] The buoyancy block 8 of this invention generates upward buoyancy in water, which can partially or completely offset the downward force on the rudder when it submerges or is impacted by waves, thus reducing the rudder's sinking amplitude. Furthermore, the buoyancy block 8 adopts a design that conforms to the shape of the hull 10, forming a relatively smooth overall shape with the hull 10, ensuring aesthetics while reducing water resistance.

[0073] As an optional implementation, the buoyancy block 8 is a split structure and is fixed by bolts.

[0074] This design makes the installation of the buoyancy block 8 on the left and right sides of the sealed mounting bracket 4 more convenient.

[0075] like Figure 7 As shown, the present invention provides two sets of rudder devices, which are respectively installed at the stern of the hull 10 of the unmanned vessel, forming a symmetrical structure that works in coordination.

[0076] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0077] 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.

[0078] 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.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "a particular example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0080] 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 rudder device for an unmanned vessel, characterized in that, The device includes a frame, a sealing cover, a sealing assembly, and a drive transmission mechanism sealed on the frame. The sealing cover has a first waterproof connector; the sealing assembly has a first cable channel; the drive transmission mechanism is dynamically sealed and connected to the thruster through the sealing assembly, and the drive transmission mechanism has a second cable channel; the first cable channel and the second cable channel are connected to form a through cable path; the thruster cable passes through the first cable channel and the second cable channel in sequence, and then enters the cabin of the unmanned vessel through the first waterproof connector.

2. The rudder device for an unmanned vessel according to claim 1, characterized in that, The drive transmission mechanism includes a driver, a servo motor, and an eccentric reducer. The base of the eccentric reducer is mounted on the frame, and the second cable channel is located at the axis of the eccentric reducer. The servo motor is driven by the output end of the eccentric reducer, and the driver is electrically connected to the servo motor.

3. The unmanned vessel rudder device according to claim 2, characterized in that, The sealing cap is a cylindrical structure with one end open and the other end closed, and its open end extends radially outward to form an edge portion; the edge portion is annular, and a first annular groove is provided on its lower end surface for installing a first sealing ring; the first sealing ring seals and connects the edge portion and the frame.

4. A rudder device for an unmanned vessel according to claim 3, characterized in that, The sealing assembly includes a sealing seat and a sealing mounting bracket. The sealing seat has an annular structure and a second annular groove on its upper surface for installing a second sealing ring. The second sealing ring seals and connects the sealing seat and the frame. The sealing mounting bracket connects the output end of the eccentric reducer and the pusher. The sealing mounting bracket has an I-shaped cross-section, and the first cable channel is located at the axial center of the sealing mounting bracket. The sealing mounting bracket has a third annular groove for installing a rotary sealing ring. The rotary sealing ring rotatably seals and connects the sealing mounting bracket and the sealing seat.

5. A rudder device for an unmanned vessel according to claim 4, characterized in that, The first cable channel is provided with a third sealing ring, which seals and connects the first cable channel and the cable.

6. A rudder device for an unmanned vessel according to claim 5, characterized in that, The frame has a through hole, and the output end of the eccentric reducer is connected to the sealing mounting bracket through the through hole.

7. A rudder device for an unmanned vessel according to claim 6, characterized in that, The base of the eccentric reducer has a first shoulder, and a first limiting groove is provided on the through hole, with the first shoulder abutting against the first limiting groove; the output end of the eccentric reducer has a second shoulder, and a second limiting groove is provided on the sealing mounting bracket, with the second shoulder abutting against the second limiting groove.

8. A rudder device for an unmanned vessel according to claim 4, characterized in that, The sealed mounting bracket is fitted with a buoyancy block, the outer wall of which is adapted to the curvature of the unmanned vessel's hull.

9. A rudder device for an unmanned vessel according to claim 8, characterized in that, The buoyancy block has a split structure.

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