An unmanned surface vehicle with adjustable floats

Abstract

The utility model relates to an unmanned ship with adjustable buoy, has at least two buoyancy cylinders, is connected to the both sides of ship body through mechanical arm symmetry, and mechanical arm includes upper connecting arm and lower connecting arm, and lower connecting arm can slide along upper connecting arm axial to realize mechanical arm telescoping, the other end of upper connecting arm is rotatably connected with ship body, and the other end of lower connecting arm is rigidly connected with buoyancy cylinder, one end of first hydraulic telescopic link is rotatably connected with the along of ship body side, and the other end is rotatably connected with upper connecting arm, and drive mechanical arm rotates around the connector to drive the buoyancy cylinder of both sides to open or gather to ship body. The utility model realizes the flexible telescoping of mechanical arm length, can accurate adjustment the distance between buoyancy cylinder and ship body, can be according to different operation scene flexible adaptation demand, through the rotary connection of first hydraulic telescopic link and upper connecting arm, drive buoyancy cylinder to realize accurate opening or gathering action, ensure the unmanned ship between different operation form switches the high efficiency and accuracy.

Description

Technical Field

[0001] This utility model relates to the field of unmanned surface vessels, specifically to an unmanned surface vessel with adjustable buoys. Background Technology

[0002] In marine development operations, unmanned surface vessels (USVs) frequently need to switch between high-speed navigation and stable operation scenarios. However, the existing structural design of USVs has significant limitations. Traditional USVs typically connect their buoyancy components to the hull via fixed-length structures, making it impossible to flexibly adjust the distance between them. This results in excessive water resistance and increased energy consumption during high-speed navigation. Furthermore, in complex sea conditions, the unreasonable buoyancy distribution leads to insufficient stability, making them susceptible to swaying or even instability due to wind and waves. Simultaneously, when switching operational modes, the opening or closing of the buoyancy components often experiences jamming or misalignment, affecting the efficiency and accuracy of mode switching and failing to meet the adaptability requirements of diverse marine operations.

[0003] The above problems are worth solving. Utility Model Content

[0004] In order to overcome the problem that the buoyancy components of existing unmanned surface vessels are connected to the hull through a fixed structure, making it impossible to flexibly adjust the distance, this utility model provides an unmanned surface vessel with adjustable floats.

[0005] The technical solution of this utility model is as follows: An unmanned surface vessel with adjustable pontoons includes: Hull; At least two buoyancy tubes are symmetrically arranged on both sides of the hull; The robotic arm includes an upper connecting arm and a lower connecting arm whose ends are sleeved together, and the lower connecting arm can slide along the axial direction of the upper connecting arm to realize the extension and retraction of the robotic arm; the other end of the upper connecting arm is rotatably connected to the hull, and the other end of the lower connecting arm is rigidly connected to the buoyancy cylinder. The drive mechanism includes a first hydraulic telescopic rod, one end of which is rotatably connected to the upper edge of the hull side and the other end is rotatably connected to the upper connecting arm of the robotic arm. It is used to drive the robotic arm to rotate around the connecting head, so as to cause the buoyancy cylinders on both sides to open or close relative to the hull.

[0006] As a preferred technical solution of this utility model, a connector is provided on the side of the hull, and one end of the upper connecting arm is rotatably connected to the connector, so that the robotic arm rotates around the connector in a vertical plane to achieve opening and closing actions at different angles.

[0007] Furthermore, the rotation angle range between the connector and the upper connecting arm is 60°.

[0008] As a preferred embodiment of this utility model, the inner diameter of the upper connecting arm is larger than the outer diameter of the lower connecting arm, and the lower connecting arm is fitted inside the upper connecting arm.

[0009] As a preferred technical solution of this utility model, the upper connecting arm and the lower connecting arm are respectively provided with fixed seats inside, and a second hydraulic telescopic rod is provided between the two fixed seats. The upper connecting arm and the lower connecting arm are driven to slide relative to each other by the extension and retraction of the second hydraulic telescopic rod, so as to realize the length adjustment of the robotic arm.

[0010] As a preferred embodiment of this utility model, the upper connecting arm and the lower connecting arm are cylindrical or square.

[0011] As a preferred technical solution of this utility model, the buoyancy cylinder has a hollow structure and at least one sealed chamber inside.

[0012] As a preferred technical solution of this utility model, the tail end of the buoyancy cylinders on both sides is provided with a first propeller, which is used to provide power.

[0013] As a preferred embodiment of this utility model, the stern of the hull is provided with a second propeller, which is used to provide power.

[0014] Furthermore, the second propeller at the stern of the hull is connected to the hull via a third hydraulic telescopic rod, which can drive the second propeller to move up and down in the vertical direction.

[0015] Furthermore, the connection between the second thruster and the third hydraulic telescopic rod is provided with a rotary drive structure, which is used to drive the second thruster to rotate around the axis of the third hydraulic telescopic rod in order to adjust the thrust direction of the second thruster.

[0016] The advantages of this utility model based on the above solution are as follows: The robotic arm of this invention adopts a structure in which the upper connecting arm and the lower connecting arm are interlocked and can slide axially, realizing flexible extension and retraction of the robotic arm length. It can precisely adjust the distance between the buoyancy cylinder and the hull, so as to retract the robotic arm and reduce the distance between the buoyancy cylinder and the hull to reduce resistance during high-speed navigation; and extend the robotic arm and increase the distance between the buoyancy cylinder and the hull to optimize buoyancy distribution during stable operation. It can flexibly adapt to the needs of different operation scenarios. The drive mechanism is rotatably connected to the upper connecting arm via the first hydraulic telescopic rod. Combined with the rotatable connection between the upper connecting arm and the hull, a stable power transmission path is formed, reliably driving the robotic arm to rotate around the connector, thereby driving the buoyancy tube to achieve precise opening or closing movements. This ensures the efficiency and accuracy of the unmanned surface vessel switching between different operating modes. At the same time, combined with the telescopic robotic arm structure, the overall structure's resistance to wind and waves is improved while ensuring adjustment flexibility, enabling the unmanned surface vessel to better adapt to complex marine environments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model when switching to the catamaran navigation mode; Figure 2 This is a schematic diagram of the structure of this utility model when switching to the three-body operation mode; Figure 3 A schematic diagram of a structure with a first thruster for a buoyancy cylinder; Figure 4 A schematic diagram of a structure that provides a second propulsion unit for a vessel.

[0018] In the diagram, 1. Hull; 2. Buoyancy cylinder; 3. Mechanical arm; 31. Upper connecting arm; 32. Lower connecting arm; 33. Second hydraulic telescopic rod; 4. First hydraulic telescopic rod; 51. First thruster; 52. Second thruster; 6. Third hydraulic telescopic rod; 7. Connecting structure reinforcement. Detailed Implementation

[0019] To better understand the purpose, technical solution, and technical effects of this utility model, the following description, in conjunction with the accompanying drawings and embodiments, will provide further explanation. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need further definition and explanation in subsequent drawings. It is also stated that the embodiments described below are only for explaining this utility model and are not intended to limit it.

[0020] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The term "several" means two or more, unless otherwise explicitly specified.

[0021] like Figure 1 and Figure 2As shown, an unmanned surface vessel (USV) with adjustable buoys includes: a hull 1, at least two buoyancy tubes 2, a robotic arm 3, and a drive mechanism. The drive mechanism controls the robotic arm 3 to change the relative position of the buoyancy tubes 2 and the hull 1, thereby switching the platform's operational mode. The hull 1 serves as the main body of the platform, carrying various equipment and systems. The buoyancy tubes 2, symmetrically arranged on both sides of the hull 1, are key components for achieving mode switching and providing buoyancy. One end of the robotic arm 3 is rotatably connected to the hull 1, and the other end is connected to the buoyancy tube 2. Each buoyancy tube 2 is connected to the hull 1 via at least one robotic arm 3. The drive mechanism is connected to both the hull 1 and the robotic arm 3, driving the robotic arm 3 to rotate around its connection point with the hull 1, causing the buoyancy tubes 2 on both sides to open or close relative to the hull 1, switching between a mode where the hull 1 is not in contact with the water surface and a mode where the hull 1 is in contact with the water surface.

[0022] When the drive mechanism is working, its output power directly acts on the robotic arm 3, driving the robotic arm 3 to rotate around its connection end with the hull 1. When it is necessary to switch to the mode where the hull 1 is in contact with the water surface, the drive mechanism drives the robotic arm 3 to rotate, causing the buoyancy cylinders 2 on both sides to open outward. At this time, the distance between the buoyancy cylinders 2 increases, the center of gravity of the platform decreases, and the hull 1 gradually approaches and contacts the water surface. The hull 1 and the buoyancy cylinders 2 are in contact with the water surface together, forming a stable support structure, which enhances the platform's resistance to wind and waves and operational stability under complex sea conditions. It is suitable for marine monitoring, sample collection and other operations that require precise operation and high stability. When switching to the mode where the hull 1 is not in contact with the water surface, the drive mechanism drives the robotic arm 3 in the opposite direction, causing the buoyancy cylinders 2 to retract towards the hull 1, the distance between the buoyancy cylinders 2 decreases, the center of gravity of the platform shifts upward, and the hull 1 leaves the water surface. At this time, the platform mainly relies on the buoyancy cylinders 2 to float, reducing the contact area with the water surface, reducing navigation resistance, and improving navigation speed and efficiency. It is suitable for long-distance, rapid movement operations.

[0023] This utility model's marine surface robot platform combines the advantages of stable operation and high-speed navigation, effectively expanding the platform's application scenarios and scope of application. It can flexibly adjust its form to meet different operational needs, enabling it to stably perform tasks within the operational area while quickly reaching the target area. Compared to traditional fixed-form marine surface robots, it significantly improves operational efficiency and environmental adaptability, meeting diverse marine operational requirements.

[0024] In this invention, a connector is provided on the side of the hull 1, and one end of the upper connecting arm 31 is rotatably connected to the connector, allowing the robotic arm 3 to rotate around the connector in a vertical plane to achieve opening and closing actions at different angles. Through clearly defined rotation fulcrums and motion trajectory constraints, the precise and controllable movement of the robotic arm 3 driving the buoyancy cylinder 2 is ensured. The connector provides a stable axis of rotation for the robotic arm 3, enabling it to rotate directionally around it in a vertical plane, avoiding deviation or swaying during rotation.

[0025] In one specific embodiment, the rotation angle range between the connector and the upper connecting arm 31 is 60°, ensuring precise and controllable control over the opening and closing amplitude of the buoyancy cylinder 2. This avoids instability during the switching between the two operating modes due to angular deviations, ensuring optimal stability for the hull 1 when it contacts the water surface through the maximum effective opening amplitude of the buoyancy cylinder 2. Simultaneously, when closing, it precisely reaches the minimum resistance state required for the hull 1 to leave the water surface, ensuring optimal performance for both modes. Furthermore, the clearly defined angle simplifies the control logic of the drive mechanism, eliminating the need for complex angle adjustment procedures to achieve precise mode switching. This reduces the design difficulty and failure rate of the control system, and improves operational efficiency.

[0026] In this invention, the driving mechanism includes a first hydraulic telescopic rod 4. One end of the first hydraulic telescopic rod 4 is rotatably connected to the upper edge of the side of the hull 1, and the other end is rotatably connected to the robotic arm 3. The extension and retraction of the first hydraulic telescopic rod 4 drives the robotic arm 3 to rotate. The first hydraulic telescopic rod 4, the robotic arm 3, and the connection point on the side of the hull form a movable triangular transmission structure. When the first hydraulic telescopic rod 4 extends, it applies a thrust to the robotic arm 3, driving the robotic arm 3 to rotate around the connection end with the hull 1, causing the buoyancy cylinder 2 to retract inward. When the first hydraulic telescopic rod 4 shortens, it generates a pulling force on the robotic arm 3, causing the robotic arm 3 to rotate in the opposite direction, causing the buoyancy cylinder 2 to open outward, thereby realizing the flexible switching of the platform between different operating modes. Hydraulic drive features high power density and fast response, significantly reducing platform mode switching time and improving operational efficiency. The extension and retraction of the hydraulic telescopic rod can be precisely controlled by the hydraulic system, thereby achieving precise adjustment of the rotation angle of the robotic arm 3, ensuring that the angle of the buoyancy cylinder 2 is consistent each time it retracts or opens, and ensuring the stability and reliability of platform mode switching. The hydraulic drive system has good overload protection capabilities. When the robotic arm 3 encounters abnormal resistance during rotation, the hydraulic system pressure increases, which can automatically unload the load and avoid structural damage due to overload, enhancing the platform's adaptability and safety in complex sea conditions.

[0027] In a preferred embodiment, the robotic arm 3 is a telescopic structure comprising at least two relatively movable structural segments. The length of the robotic arm 3 is adjusted by the relative movement of these segments to change the distance between the buoyancy cylinder 2 and the hull 1. During this process, when the platform needs to switch to a stable operating mode where the hull 1 is in contact with the water surface, the structural segments of the robotic arm 3 extend outwards, increasing its length. This increases the distance between the buoyancy cylinder 2 and the hull 1, lowers the platform's center of gravity, and makes it easier for the hull 1 to approach the water surface. This enhances the platform's stability in complex sea conditions and adapts to tasks requiring high precision, such as marine monitoring and sample collection. Conversely, when the platform needs to switch to a high-speed navigation mode where the hull 1 is not in contact with the water surface, the structural segments of the robotic arm 3 retract inwards, shortening its length. This allows the buoyancy cylinder 2 to move closer to the hull 1, reducing the overall water resistance of the platform, increasing navigation speed, and meeting the needs of rapid relocation and other operations. It is evident that the retractable robotic arm 3 gives the platform stronger environmental adaptability, and can precisely adjust the distance between the buoyancy cylinder 2 and the hull 1 according to different operating scenarios and sea conditions, so that the platform always maintains the best working state; by changing the length of the robotic arm 3, the platform's center of gravity distribution and force structure are optimized, which effectively improves the stability of the platform during the form change process and avoids the risk of shaking or loss of control caused by form change.

[0028] Specifically, the telescopic structure includes an upper connecting arm 31 and a lower connecting arm 32, which are fitted together. Each of the upper and lower connecting arms 31 and 32 has a fixed seat inside, and a second hydraulic telescopic rod 33 is located between the two fixed seats. That is, the upper connecting arm 31 has a first fixed seat inside, and the lower structure has a second fixed seat inside. The first and second fixed seats are respectively connected to the two ends of the second hydraulic telescopic rod 33. The extension and retraction of the second hydraulic telescopic rod 33 drives the upper connecting arm 31 and the lower connecting arm 32 to slide relative to each other, thereby adjusting the length of the robotic arm 3. The upper connecting arm 31 and the lower connecting arm 32 are nested together, allowing them to slide relative to each other axially. Fixed seats are provided inside each of the two sections of the structure, and the two ends of the second hydraulic telescopic rod 33 are connected to these two fixed seats, forming a closed drive unit. The technical principle is as follows: When the second hydraulic telescopic rod 33 extends, it will generate a thrust on the fixed seats of the upper connecting arm 31 and the lower connecting arm 32, driving and forcing the two sections of the structure to move away from each other along the axial direction, thereby increasing the overall length of the robotic arm 3 and thus widening the distance between the buoyancy cylinder 2 and the hull 1; when the second hydraulic telescopic rod 33 shortens, it will generate a pulling force on the two sections of the structure through the fixed seats, causing the two sections of the structure to move closer to each other, shortening the overall length of the robotic arm 3, and thus reducing the distance between the buoyancy cylinder 2 and the hull 1.

[0029] The nested interlocking structure ensures coaxiality and stability during relative sliding of structural segments, avoiding swaying or jamming during extension and retraction, and improving the structural rigidity of the robotic arm 3. The built-in layout of the second hydraulic telescopic rod 33 protects the drive components from direct seawater corrosion and external impact, extending the service life of the equipment. Compared with other telescopic mechanisms, the telescopic structure adopted in this invention has higher power transmission efficiency and faster response speed, and can quickly complete length adjustment under complex sea conditions, enhancing the platform's adaptability to environmental changes. Furthermore, the overall structure is compact, does not occupy additional external space, avoids interference with water flow, and further reduces navigation resistance.

[0030] In one specific embodiment, the upper connecting arm 31 and the lower connecting arm 32 are cylindrical structures, which can be square or cylindrical. The inner diameter of the upper connecting arm 31 is larger than the outer diameter of the lower connecting arm 32, and the lower connecting arm 32 is fitted into the interior of the upper connecting arm 31.

[0031] In this invention, the buoyancy cylinder 2 has a hollow structure with at least one sealed compartment inside. Each sealed compartment is equipped with a pressure regulating device for adjusting the ballast load of the buoyancy cylinder 2. The hollow structure of the buoyancy cylinder 2, combined with at least one sealed compartment and pressure regulating devices such as pressure sensors and drainage devices, forms a core structure capable of dynamically adjusting buoyancy. Its working principle is as follows: the independent separation of the sealed compartments ensures buoyancy stability; the pressure sensor monitors the pressure state inside the compartment in real time; and the control system injects or drains water into the compartment according to operational needs through the drainage device, changing the ballast load of the buoyancy cylinder and thus adjusting the platform's draft and center of gravity. The independent structure of the sealed compartments enhances safety; even if a single compartment leaks, the remaining compartments can still maintain basic buoyancy, reducing the risk of platform instability. The linkage between the pressure regulating device and the control system enables precise control of the ballast load, allowing the platform to lower its center of gravity and enhance stability under light loads by injecting water for ballast, and to increase buoyancy and prevent sinking under heavy loads by draining water, flexibly adapting to different operational scenarios.

[0032] In this invention, the float is made of high-strength, corrosion-resistant composite material, such as carbon fiber reinforced plastic, and has an anti-corrosion coating on the surface, taking into account both lightweight and anti-aging performance; structurally, it is cylindrical and adopts a streamlined design to reduce water resistance during navigation.

[0033] In an optional embodiment, the connection between the pontoon and the robotic arm 3 includes a connecting structure reinforcement 7, comprising a support plate and a sleeve. The support plate is a plate structure that fits flat against the outer surface of the pontoon, increasing the contact area with the pontoon and distributing the force transmitted by the robotic arm 3 to the pontoon surface, thus preventing deformation or damage to the pontoon due to localized force concentration. The sleeve is a tubular structure fixed to the pontoon, into which the end of the robotic arm 3 can be inserted and fixed. The tubular structure forms a circumferential constraint on the robotic arm 3, limiting its radial sway and ensuring that the connecting axis between the robotic arm 3 and the pontoon is aligned, thereby improving the overall structural rigidity. The supporting plate disperses stress by increasing the contact area, reducing the local load on the pontoon at the connection point and preventing cracks or damage to the pontoon due to long-term stress. The sleeve, by rigidly constraining the end of the robotic arm 3, ensures the connection accuracy between the robotic arm 3 and the pontoon, preventing the robotic arm 3 from shifting when rotating or bearing loads. At the same time, it enhances the shear resistance of the connection point, making the pontoon and the robotic arm 3 form a stable integral structure. Thus, during platform mode switching, navigation, or operation, it can reliably transmit force and torque, ensuring the structural stability of the platform.

[0034] like Figure 3 and Figure 4 As shown, in this invention, a propeller is provided at the stern of the hull 1 and / or the tail of the buoyancy tank 2, and the propeller is used to provide power. The propeller of the propeller can be controlled by the power system to achieve forward and reverse rotation. When the propeller rotates forward, the water flow is pushed backward, generating forward thrust; when the propeller rotates in reverse, the water flow is pushed forward, generating backward thrust, thereby realizing the forward and backward movement of the platform. For the first propeller 51 located at the tail of the buoyancy tank component, steering can be achieved by the speed difference between the two first propellers 51. For the second propeller 52 located at the stern of the hull 1, rotation can be achieved by a rotary drive structure. By changing the angle of the second propeller 52, the thrust direction is deviated from the centerline of the hull, generating lateral force and driving the entire platform to turn.

[0035] In one specific embodiment, the second thruster 52 at the stern of the hull 1 is connected to the hull 1 via a third hydraulic telescopic rod 6. The third hydraulic telescopic rod 6 can drive the second thruster 52 to move up and down in the vertical direction, and can adjust the underwater depth of the thruster according to the operating mode of the platform to ensure that it can be submerged in water when the hull 1 leaves or touches the water surface. The connection between the second thruster 52 and the third hydraulic telescopic rod 6 is provided with a rotary drive structure, which is used to drive the second thruster 52 to rotate around the axis of the third hydraulic telescopic rod 6 to adjust the thrust direction of the second thruster 52.

[0036] Specifically, the rotary drive structure can be a hydraulic rotary motor or a servo motor, which is connected to the end of the third hydraulic telescopic rod 6, and the base of the second thruster 52 is connected to the output end of the rotary drive structure. Driven by the hydraulic power of the hydraulic rotary motor or the electrical energy of the servo motor, the second thruster 52 can be driven to rotate 360° around the axis of the third hydraulic telescopic rod 6, thereby flexibly adjusting the thrust direction of the second thruster 52.

[0037] The height adjustment function of the third hydraulic telescopic rod 6 is adapted to the platform's form switching requirements. In the catamaran navigation mode, the second thruster 52 can move down below the water surface with the telescopic rod. In the trimaran operation mode, it can adjust with the position of the hull 1 to maintain an effective immersion depth and ensure the continuity of thrust output.

[0038] The catamaran navigation mode refers to the robotic arm 3 retracting to bring the pontoons closer to the center, with the hull 1 leaving the water surface. Buoyancy is provided solely by the two pontoons, giving the platform a catamaran shape. The trimaran operation mode refers to the robotic arm 3 extending to both sides at a certain angle, with the hull 1 contacting the water surface. Buoyancy is provided jointly by the hull 1 and the two pontoons, giving the platform a trimaran shape. This mode increases stability and adapts to windy and wave conditions or operations involving heavy loads.

[0039] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An unmanned surface vessel with adjustable pontoons, characterized in that, include: Hull; At least two buoyancy tubes are symmetrically arranged on both sides of the hull; The robotic arm includes an upper connecting arm and a lower connecting arm whose ends are sleeved together, and the lower connecting arm can slide along the axial direction of the upper connecting arm to realize the extension and retraction of the robotic arm; the other end of the upper connecting arm is rotatably connected to the hull, and the other end of the lower connecting arm is rigidly connected to the buoyancy cylinder. The drive mechanism includes a first hydraulic telescopic rod, one end of which is rotatably connected to the upper edge of the hull side and the other end is rotatably connected to the upper connecting arm of the robotic arm. It is used to drive the robotic arm to rotate around the connecting head, so as to cause the buoyancy cylinders on both sides to open or close relative to the hull.

2. The unmanned surface vessel with adjustable pontoons according to claim 1, characterized in that, The hull is provided with a connector on its side, and one end of the upper connecting arm is rotatably connected to the connector, so that the robotic arm can rotate around the connector in a vertical plane to achieve opening and closing actions at different angles.

3. The unmanned surface vessel with adjustable pontoons according to claim 2, characterized in that, The rotation angle range of the connector and the upper connecting arm is 60°.

4. The unmanned surface vessel with adjustable pontoons according to claim 1, characterized in that, The inner diameter of the upper connecting arm is larger than the outer diameter of the lower connecting arm, and the lower connecting arm is fitted inside the upper connecting arm.

5. The unmanned surface vessel with adjustable pontoons according to claim 1, characterized in that, The upper connecting arm and the lower connecting arm are respectively provided with fixed seats inside, and a second hydraulic telescopic rod is provided between the two fixed seats. The upper connecting arm and the lower connecting arm are driven to slide relative to each other by the extension and retraction of the second hydraulic telescopic rod, so as to realize the length adjustment of the robotic arm.

6. The unmanned surface vessel with adjustable pontoons according to claim 1, characterized in that, The upper connecting arm and the lower connecting arm are cylindrical or square.

7. The unmanned surface vessel with adjustable pontoons according to claim 1, characterized in that, The buoyancy cylinder has a hollow structure and at least one sealed compartment inside.

8. The unmanned surface vessel with adjustable pontoons according to claim 1, characterized in that, The tail end of each of the two buoyancy tubes is equipped with a first thruster, which is used to provide power.

9. The unmanned surface vessel with adjustable pontoons according to claim 1, characterized in that, The stern of the hull is equipped with a second propeller, which is used to provide power.

10. The unmanned surface vessel with adjustable pontoons according to claim 9, characterized in that, The second propeller at the stern of the hull is connected to the hull via a third hydraulic telescopic rod, which can drive the second propeller to move up and down in the vertical direction.

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