661 results about "Stern" patented technology

The invention relates to the technical field of ships, in particular to a stern-direction icebreaking structure and a ship, the stern-direction icebreaking structure comprises two ice pressing appendages, the two ice pressing appendages are oppositely arranged in a spaced mode, the ice pressing appendages are fixedly arranged at the lower end of the stern, and inclined ice pressing structures are formed on the sides, away from the bow, of the ice pressing appendages; the inclined ice pressing structure is inclined downwards in the direction from the stern to the bow; the two rudder blades and the two ice pressing appendages are arranged in a one-to-one correspondence mode, and the rudder blades are rotationally arranged on the lower end faces of the ice pressing appendages. According to the invention, the stern sailing icebreaking capability of the ship can be obviously improved, and the power can be reduced.

The utility model provides a multi-laser radar fusion ship loader non-blind area measuring system, which relates to the field of laser radar measurement and comprises a ship body, a multi-laser radar fusion measuring device, a ship loader and a mechanical arm. The mechanical arm clamps the upper end of the multi-laser radar fusion measurement device; the mechanical arm is movably arranged on the ship loader, the moving route of the mechanical arm is from the bow to the stern of the ship body, and the mechanical arm is always located on the center line above the ship body. According to the utility model, the two long-distance laser radars are longitudinally installed, the high-precision holder is equipped, and the holder rotates at a low speed and at a small angle, so that dynamic splicing of scanning data is realized, accurate point cloud data can be rapidly obtained in a short time, data acquisition efficiency and precision are greatly improved, and the system is suitable for large-scale popularization and application. Through the installation of two long-distance radars and the cooperation of the other two short-distance radars, the non-blind area type measurement of the ship body is realized.

To provide a uniaxial two-rudder vessel capable of easily carrying out directional control and speed control and capable of carrying out vessel position retention maneuvering with fixed retention capacity at a low speed range.SOLUTION: A biaxial four-rudder vessel includes a maneuvering controller 201 for controlling an action direction of thrust around a stern working on a hull 110 by controlling a direction of a propeller wake flow of propulsion propellers 101a, 101b. The maneuvering controller 201 has parallel movement maneuvering unit 286 for moving the hull 110 in parallel in an arbitrary direction by combining an action direction of thrust of a starboard propulsion system 100a and an action direction of thrust of a stern propulsion system 100b in low speed range maneuvering.SELECTED DRAWING: Figure 2

The invention relates to the technical field of intelligent unmanned ships, in particular to a wave self-adaptive unmanned ship, a self-adaptive control system and a control method.The wave self-adaptive unmanned ship comprises a main ship body, a front arch, a rear arch, a suspension system, a propelling nacelle, a rigid sliding plate and a buoy, the main ship body is connected with the rear arch and the front arch, and the rigid sliding plate is fixed to the buoy; the propulsion nacelle is installed at the tail of the rigid sliding plate, the rear arch and the rigid sliding plate are installed through two bearings perpendicular to each other, the suspension system comprises a rocker arm, a plate spring and a TPMLM actuator, the rocker arm is connected to the rigid sliding plate, the plate spring and the TPMLM actuator are connected between the rocker arm and the rigid sliding plate and support the rocker arm to be in an upward inclined posture, and the rear arch is connected to the rigid sliding plate. The front arch is connected with the rocker arm, the plate spring and the TPMLM actuator are installed in parallel in the vertical direction, the TPMLM actuator is used for outputting active control force for restraining movement of the ship body, and the unmanned ship, the self-adaptive control system and the self-adaptive control method have the advantages that wave loads can be actively counteracted, and therefore movement restraining is achieved.

The utility model discloses an unmanned ship for underwater topographic surveying and mapping, which belongs to the technical field of underwater topographic surveying and mapping and comprises a ship body divided into a bow end and a stern end. The bow end comprises a first flow guide plate and a second flow guide plate, and the first flow guide plate and the second flow guide plate are connected to the two sides of the hull respectively. And one side of the top of the ship body is connected with a cutting device capable of cutting. The device has the beneficial effects that by arranging the first flow guide plate, the second flow guide plate, the flow guide groove and the cutting device, aquatic plants on the traveling path of the unmanned ship are cut, the situation that the aquatic plants are wound at the bow end of the ship body and affect traveling of the ship body to conduct underwater surveying and mapping operation is avoided, the cut aquatic plants can be guided to the two sides of the ship body, and influences are reduced; by arranging a supporting rod, a pushing plate, a sliding frame, an electric pushing rod and the like, the ship body is blocked when encountering a shoal during traveling, and the ship body is pushed to retreat to enter the water surface when encountering stranding, and traveling operation is conducted again.

The invention belongs to the technical field of ships, and discloses an arrangement position type polar region ship with a stern-direction ice breaking and discharging structure. The arrangement position type polar region ship comprises a ship body, an ice discharging piece and a rudder, and the width size of the ship body is B; the ice discharging piece is fixed to the bottom face of the stern, the outer surfaces of the ice discharging piece are all curved surfaces, the curvature radius R1 of the ice discharging piece in the ship length direction ranges from 0.20 B to 0.80 B, the curvature radius R2 of the ice discharging piece in the ship width direction ranges from 2 to 8, the contact area of the large-curvature outer surface and crushed ice is small, the crushed ice and the curved surfaces are difficult to form a stable attachment relation, and the ice discharging piece is not prone to falling off. Therefore, under the action of hydrodynamic force, crushed ice at different positions of the curved surface can quickly slide to different positions, accumulation of the crushed ice on the inner side of the upper portion of the rudder is avoided, and the sailing safety of a ship is improved. The rudder extends in the height direction of the ship, and the upper end of the rudder is installed on the bottom face of the ice discharging piece in a swinging mode and located at the end, close to the bow, of the ice discharging piece in the length direction of the ship, so that the ice discharging piece plays a role in protecting the rudder.

The invention relates to a slamming strength evaluation method for a duct fin at the tail of a ship, which comprises the following steps of: (1) establishing finite element models of the duct fin and an adjacent ship body structure, and setting boundary conditions; (2) selecting the lower surface of the upper region of the conduit and the lower surface of the fin as slamming pressure acting surfaces, and calculating a slamming pressure peak value of each point; (3) applying slamming pressure to the finite element model, and applying a slamming pressure peak value as a static load to a plurality of local areas of the conduit and the fin to generate different loading conditions; and (4) calculating the structure response, evaluating the Von Mises stress of the plate shell unit and the axial stress of the rod unit, and judging whether the Von Mises stress and the axial stress meet the allowable stress related to the grid size or not. Compared with a method for calculating the slamming load based on CFD, the slamming strength evaluation method has the advantages that the calculation efficiency is extremely high, and the slamming strength of the conduit fin can be quickly evaluated in a short time; the method is more suitable for slamming pressure calculation of the tail conduit fin, and the considered loading mode is more comprehensive.

The batten type water lubricated bearing comprises a shaft sleeve and a plurality of composite battens which are installed on the inner wall of the shaft sleeve at intervals in the circumferential direction of the shaft sleeve, and the composite battens comprise the first battens installed in a bearing area of the bearing and the second battens installed in a non-bearing area of the bearing. A through type variable cross-section groove is formed in the side, away from the ship stern shaft, of the first batten in the length direction of the first batten, and the cross-section area of the variable cross-section groove is gradually increased from the bow to the stern. The invention further discloses an assembly method of the batten type water lubricated bearing. The first batten is arranged in the bearing carrying area and provided with the variable cross-section groove, so that the rigidity of the first batten is gradually reduced in the direction from the bow to the stern, axial gradient rigidity distribution is formed, the low-rigidity area at the stern end can adapt to deformation of the stern shaft to be adjusted in a self-adaptive mode, local stress concentration is reduced, and the stability of the stern end is improved. And a high-rigidity area at the bow end maintains necessary bearing strength, so that the axial load of the bearing is homogenized as a whole.

The invention relates to the technical field of ship group intelligent control, and discloses a ship motion trail optimization control system based on deep learning, which comprises control devices deployed on ships, receiving navigation state information of adjacent ships through a ship automatic identification system, generating asymmetric virtual energy-saving potential fields, superposing the asymmetric virtual energy-saving potential fields to form a total potential field, and outputting the total potential field; according to the method, a ship group spontaneously forms a dynamic navigation manifold with relatively low overall energy consumption, and through the asymmetric potential field design of bow repulsive force and stern gravitational force, linkage course correction caused by traditional collision avoidance is converted into collaborative energy-saving motion, so that the energy-saving effect of the ship is improved. Meanwhile, navigation safety is ensured in combination with a post-arbitration mechanism, and environment self-adaptive compensation is achieved through micro-disturbance inversion ocean currents.

An assembly adapted for mounting a water engagement device to a marine vessel may include a transom plate, an actuator plate and a clamping assembly. The transom plate may be adapted to be connected to the marine vessel. The actuator plate may include a flange that is disposed under a bottom side of the transom plate. The clamping assembly is configured to engage the transom plate and the actuator plate to connect the actuator plate to the transom plate.

The invention discloses a steel wire rope splicing device and method for deepwater salvage, and relates to the technical field of salvage and salvage of offshore sunken ships, the steel wire rope splicing device comprises a sunken ship, a crane ship and a crane installed on a deck of the crane ship, a stern side jack is arranged at the stern of the deck of the crane ship, and a bow side jack is arranged at the bow of the deck; a 80t anchor gear is arranged at one end of the stern side jack, and a wave compensator is arranged at the other end of the stern side jack; one end of the bow side jack is provided with a rope container used for storing bow side steel wire ropes, the crane is provided with two main hook steel wire ropes, each main hook steel wire rope is provided with a triangular plate, the main hook steel wire ropes are spliced or disassembled through the bow side steel wire ropes and a second steel wire rope, and the triangular plates can achieve switching of lifting force when the steel wire ropes are spliced; the stern side jack is used for bearing ship sinking acting force when the steel wire rope is spliced or detached; the ship bow side jack plays a role in temporarily fixing the steel wire rope B in seawater when the crane of the crane ship is connected with or dismantled from the steel wire rope B.

An adjustable seat assembly may have a seat back that is configurable in a fore position or a stern-facing seat, an aft position for a bow-facing seat, and a pillow position which facilitates a user laying down across the stern-facing seat. In addition, the seat back may be placed in a stowed position in which the seat back is absent from both the bow-facing and stern-facing seats, such that the seats cooperate to provide a planar support surface along an aft-to-fore extent of the seat assembly. The seat back may be adjustable by hand without tools, such that a user may easily reconfigure the seat assembly to sit facing the bow, to sit facing the stern, or to lie down.

A modular keel is arranged along a centerline of a boat hull for displacing a bow wave towards the stern and creating distinct pressure zone situations to draw the keel back into water and reduce pitching. The keel features a base extending along a centerline of the boat hull and two symmetric curved segments. The base tapers toward a vertex on the centerline at a fore transitional area that generates a concentrated high pressure zone to help lift the hull and reduce pitching. The keel includes an aft transitional area for expelling water away from the keel in a laminar flow pattern during forward movement of the boat hull. The keel further includes an intermediate transitional area that creates a low pressure zone to dampen the motion of the hull through waves.

The invention provides a method and a system for analyzing the abrasion loss of a marine water-lubricated stern bearing and ship monitoring equipment. The method comprises the following steps: acquiring multi-modal data of the marine water-lubricated stern bearing; performing multi-dimensional feature extraction on the multi-modal data to obtain multi-dimensional feature data; inputting the multi-dimensional feature data into a wear quantitative evaluation model to obtain a wear quantitative evaluation result of the marine water-lubricated stern bearing, and determining an operation state of the marine water-lubricated stern bearing based on the wear quantitative evaluation result; and inputting the wear quantitative evaluation result and the historical wear quantitative evaluation result into a wear trend prediction model to obtain a predicted wear trend of the marine water-lubricated stern bearing in a future preset time period. According to the method, the accuracy and the reliability of abrasion loss analysis of the marine water-lubricated stern bearing are improved.

The invention provides a ship tail abnormal noise source separation method and system, and the method comprises the steps: employing a ship noise reference benchmark database, combining ship water navigation features, and sequentially collecting noise source correlation features when a ship is in an independent start-stop state, a steady state working condition and an unsteady state working condition of each main and auxiliary equipment; performing preset combined analysis of total-level contrastive analysis, 1 / 3oct frequency band analysis, line spectrum analysis, DEMON spectrogram analysis, frequency multiplication analysis and LOFAR spectrum analysis on the noise source correlation characteristics to obtain a plurality of ship tail abnormal noise source correlation results; and determining a noise comprehensive proportion of a plurality of ship tail abnormal noise source correlation results, and generating a ship tail abnormal noise source separation analysis result. According to the method, the problems of incomplete testing, inaccurate positioning and unclear abnormal reason analysis in the ship tail abnormal noise processing process can be solved, and technical support is provided for formulating an abnormal noise troubleshooting and repairing scheme.

The invention discloses a multifunctional unmanned patrol rescue boat which comprises a boat body, a first equipment area, an unmanned aerial vehicle, a first life buoy and a manipulator. The rescue boat further comprises water spraying propulsion mechanisms arranged on the two sides of the tail of the boat body and comprising a water outlet pipeline connected with the boat body and an angle adjusting mechanism arranged on the boat body. A propeller is arranged in the water outlet pipeline; the adjusting end of the angle adjusting mechanism is connected with the water outlet pipeline and used for adjusting the spraying inclination angle of the water outlet pipeline. The life buoy launching mechanisms are arranged on the two sides of the front end of the ship body; the lifesaving lifting mechanisms are arranged on the two sides of the ship body; the lifesaving lifting mechanism lifts the person to be rescued after the person sits on the lifesaving lifting mechanism to get rid of water immersion. According to the water spraying propulsion mechanism, the spraying inclination angle of the water outlet pipeline can be flexibly adjusted in the rescue process, so that dynamic increase and decrease control over the immersion depth of the ship body is achieved, the problem of ship body unbalance in the rescue process is solved, and the stability of the rescue boat is improved.

The invention provides a stern side thrust hole design method, which comprises the following steps: S1, calculating pressure distribution and streamline distribution of the surface of a ship body; S2, determining the position of a stern side thrust hole; S3, designing a diversion trench based on the position of the side thrust hole: outwards extending the diversion trench by taking the side thrust hole as the center of a horn mouth to form a horn mouth structure with a deep inner part and a shallow outer part; the center point of a first arc at the front end of the intersecting periphery of the flow guide grooves right faces the water flow direction in streamline distribution of the tail of the ship. The water flow passes through the central point of the second arc at the tail end of the diversion trench; and S4, designing grids in the side pushing hole, wherein the first grid is parallel to the water flow direction, and the second grid is perpendicular to the first grid. According to the design method of the stern lateral thrust hole, the resistance of the ship body after the hole is formed is effectively reduced, through the shape and depth design of the diversion trenches, the pressure distribution at the diversion trenches is uniform and gentle, the pressure gradient is small, the transition is smooth, local stress concentration and flow separation are reduced, and the resistance of the small stern lateral thrust hole to the ship body is reduced; and the influence on the rapidity of the ship is reduced.

According to the ultra-efficient energy-saving method and device for automobiles, ships, trains, submarines and aircrafts, when the automobiles and the ships advance, the heads push air to scatter all around, and negative pressure areas are formed on the bodies and the tails of the automobiles and the ships to suck and pull the automobiles and the ships. A rear flow cover 2 is additionally arranged at the head of the vehicle and vessel, scattered air is forced to leave the rear flow cover in an accelerated mode in the direction opposite to the advancing direction of the vehicle and vessel and flow towards the side and the tail of the vehicle and vessel, power (reverse thrust) is provided for the vehicle and vessel, air in a negative pressure area of the side and the tail of the vehicle and vessel is supplemented, the speed of airflow leaving the rear flow cover relative to the ground is reduced, and energy loss is reduced. A water baffle 4 is arranged on the bow, and the bottom edge of the water baffle is connected with a water pressing plate 5, so that the water pressure of the raised water level pushes the boat to advance. The water pressing plate is located on a static horizontal plane, so that the ship does not easily shovel water when advancing. The two sides of the ship are respectively provided with a manger board 1, so that waves generated by the ship surge towards the tail of the ship to reversely push the ship to advance. The air bag is arranged at the tail of the vehicle, high-pressure air generated by the windward side of the head of the vehicle is conveyed to the air bag, the air bag is prone to deformation and automatically searches for a large-negative-pressure position to fill a negative-pressure area, resistance is reduced, and safety is achieved.

This invention provides an in-situ stratified rapid sampling device and method for river and lake sediment pollution, relating to the field of river and lake sediment pollution monitoring technology. The device includes: a main control system, a main sampling system, a mounting frame, a depth sounding module, a working vessel hull, and a crane. The depth sounding module is installed below the stern of the working vessel hull. The main control system and the crane are both mounted on the working vessel hull. The main sampling system is connected to the crane and fixed within the mounting frame. The depth sounding module is used to detect and determine water depth and the thickness of floating mud, flowing mud, and silt. The main control system is used to control the sampling process of the main sampling system and to read the water depth, sediment thickness, and determine whether the main sampling system has completely inserted into the sediment in real time. The main sampling system is used to insert into the sediment to perform stratified sampling of the sediment pore solution. This invention solves the problems of low sampling rate, inability to perform stratified sampling, deviation between stratified sediment samples and actual conditions, low efficiency, and large errors in detection results in existing technologies.

The invention provides an underwater vehicle stern shell structure noise reduction method, and relates to the technical field of underwater vehicle noise reduction, and the method comprises the steps: obtaining the structure data of an underwater vehicle and a vibration signal in the operation process; determining a noise reduction target for the underwater vehicle according to the vibration signal; obtaining constraint conditions for the underwater vehicle; analyzing stern flow field characteristics and horseshoe vortex formation of the underwater vehicle on the basis of fluid dynamics analogue simulation; the method comprises the following steps: arranging a transition part of the underwater vehicle, vortex eliminating rectiblocks and reinforcing ribs; simulating vibration sound radiation of the underwater vehicle under fluid excitation by applying a finite element method in combination with sound-structure interaction analysis; optimizing the size of the transition part and the mounting position of the vortex elimination rectifying piece, and further optimizing the design parameters and the mounting position of the reinforcing rib by using a genetic algorithm; and outputting the target setting position of the reinforcing rib when the vibration sound radiation reaches the noise reduction target. According to the invention, systematic noise reduction analysis of the underwater vehicle structure can be realized.

The utility model belongs to the technical field of hydrofoils, and particularly relates to a ship with a telescopic elevator structure, which comprises a ship body, a bow, a stern, a buoyancy structure, a first arc-shaped strut and a second arc-shaped strut. The buoyant structure includes a first buoyant volume disposed near the bow and a second buoyant volume located between the first buoyant volume and the stern. The present application provides a vessel with a retractable elevator structure, a first buoyancy volume pivotably coupled to a second buoyancy volume along a radial axis to achieve precise directional control, first and second arcuate struts having proximal ends movably connected to the buoyancy structure and distal ends supporting a hydrofoil lift surface, the first arcuate strut and the second arcuate strut expand and contract in an arcuate manner along an external common radial axis, allowing seamless transition between a compact storage configuration and an expanded operating state, improving ship maneuverability, portability and safety.

A method of transporting a first vessel having wind turbine components to an offshore installation vessel. The method includes (i) securing the first vessel to a second vessel using a first tow line attached to a front end (or bow) of the first vessel, and (ii) securing the first vessel to a third vessel using a second tow line attached to a back end (or stern) of the first vessel. The method further includes transporting the first vessel to the offshore installation vessel using the second vessel and the third vessel secured to the first vessel via the first and second tow lines, respectively. The method also includes securing the first vessel to the offshore installation vessel. The first vessel can include one or more fender walls. The first vessel can be secured to the offshore installation vessel using one or more mooring lines.

An adjustable surf wake system enhances a wake formed by a watercraft travelling through water. The system may include a flap for deflecting water traveling past the stern of the watercraft, and / or a positioner operably connected to the flap for positioning the flap relative to a longitudinal axis of the watercraft between a neutral position and an outward position. Positioning a port flap in its extended position enhances a starboard surf wake, and positioning the starboard flap in its extended position enhances a port surf wake. A wake modifying system for modifying a wake produced by a watercraft traveling through water may include a rudder pivotally mounted to the watercraft for steering the watercraft, a fin pivotally mounted to the watercraft substantially along a centerline of the watercraft and forward the rudder, wherein the fin pivots about an upright axis to modify the wake produced by the watercraft traveling through the water, an actuator mounted within the watercraft and operably coupled to the fin for pivoting the fin relative to the centerline, and a controller mounted on the watercraft allowing an operator to control the actuator and selectively pivot the fin to a desired angle θd relative to the centerline.

The utility model discloses a novel concrete transportation and pouring integrated workboat which comprises a boat body, a stirring device, a pumping device and a concrete conveying device. The pumping device and the concrete conveying device are fixedly arranged on the left side and the right side of the stirring device respectively; the stirring device comprises a stirring tank, a power source and a base, the stirring tank is arranged on the central axis of a deck of the ship body, the stern end of the stirring tank is connected with the power source, and the bow end of the stirring tank is connected with a feeding port and a discharging port; the concrete conveying device comprises a steel cable suspension arm, a motor, a rotating base and a conveying pipe, the conveying pipe is welded to the steel cable suspension arm, and the steel cable suspension arm and the motor are connected to the rotating base; the pumping device comprises a horizontal pump truck, a hopper and a steel pump pipe, and the hopper is located below the discharge port; the hopper is connected with a steel pump pipe which is connected with a conveying pipe below the rotating base. The device is reasonable in structure, easy and convenient to operate and capable of reducing construction cost and improving construction efficiency.

The utility model discloses a multifunctional deck transport ship which comprises a main ship body and a dynamic positioning DP2 system, the main ship body is provided with a sinking mooring area, and the main ship body comprises a double-layer bottom deck, a middle deck, a main deck and a forecastle A deck. The dynamic positioning DP2 system comprises a bow thruster arranged on the bow portion of the ship and a pod thruster arranged on the stern portion of the ship. The multifunctional deck transport ship has the advantages of being high in maneuverability, high in maneuverability, longer in all-pass deck, wider in cargo transfer and loading and unloading operation range, higher in efficiency and high in safety.

The invention relates to the technical field of submarine optical cable burying, in particular to a submarine optical cable curve burying ship position line planning method and system based on parameterization calculation. The method comprises the following steps: setting a routing point and a steering point, determining the radius of an internally tangent turning circle, and enabling the internally tangent turning circle to be respectively tangent to the point; calculating the horizontal towing distance of the burying plough; respectively extending from the tangent points along the extension direction of the route to obtain the stern position at the beginning of steering and the stern position at the end of steering, and calculating the radius of the ship position circle; and calculating a ship head direction change angle arc length, a ship true course, a ship relative azimuth angle and a ship moving distance when the ship moves in the true azimuth angle each time when the ship moves each time, and finally completing the calculation of the embedded ship position when the ship steers. The technical problems that in the prior art, submarine optical cable steering and burying depend on visual observation and past experience of an operator, so that precision is poor, and the burden of the operator is heavy are effectively solved.

The invention discloses an oil spill treatment ship based on a multifunctional integrated cabin and application of the oil spill treatment ship, and belongs to the technical field of water surface environment protection. The ship comprises a deck, a cabin body below the deck and a navigation bridge installed on the surface of the deck. The top face and the interior of the navigation bridge are fixedly connected with a camera and a water surface oil spill emergency treatment system correspondingly. A mechanical arm base and a mechanical arm movably connected to the mechanical arm base are fixedly connected to the surface of a deck in front of the navigation bridge, a transverse oil suction roller is fixedly connected to the front end of the mechanical arm, and outward-opening arm unfolding plates are fixedly connected to the positions, on the two sides of the oil suction roller, of the prow; the cabin body is divided into a port treatment area and a starboard treatment area by a longitudinal isolation wall extending along the direction of the cabin body keel; an oil spill recovery cabin and a garbage compression cabin are sequentially arranged in the larboard treatment area from a ship bow to a ship stern; a sand excavation monitoring cabin is arranged in the starboard treatment area; and the stern parts of the port treatment area and the starboard treatment area are isolated to form a shared power cabin, so that a cabin body structure with compact space and integrated functions is formed.

A method and apparatus for adding buoyancy to the transom of a boat by attaching buoyant material to the trim tabs, or to the planing surface of the trim tab, or constructing the trim tab itself of buoyant material. The buoyancy can be used to correct listing of a boat, or compensate for outboard engines that are unable to clear the water line when tilted up, or generally raise the stern of the boat while at rest. Buoyancy can be added to conventional trim tab plates or added to vertically extending interceptor blade type trim tabs. The invention also proposes a method by which trim tabs can be attached to the transom or the “step” or “pocket” above by a fixed or manually adjustable linkage, such as with a turnbuckle or jack screw or through-bolted perforated rods.

The invention discloses a variable-structure unmanned ship and a simulation verification method, belongs to the field of water surface robots, and aims to solve the problem that an existing unmanned ship cannot realize cross-medium sailing to cope with complex sea conditions. Two foldable wings are arranged on the two sides of a main boat body respectively, each foldable wing can be turned over up and down, an underwater propeller is arranged on each foldable wing, and the underwater propellers are close to wing tips of the foldable wings and used for water surface and underwater sailing of the variable-structure unmanned boat; the air propeller is arranged at the stern of the main boat body, can turn over up and down and is used for sailing the variable-structure unmanned boat in the air or on the water surface; the number of the sliding wheels is three, and the three sliding wheels are arranged below the main boat body, can be retracted into the main boat body and are used for sliding, taking off and landing of the variable-structure unmanned boat on the land. The variable-structure unmanned ship can be transformed into a ground-effect wing ship mode, a small-waterplane-area triple-hulled ship mode or an underwater glider mode under the overturning of the foldable wings and the air propellers. The method is mainly used for task execution under complex sea conditions.