Unmanned semi-submarine

An unmanned semi-submarine, comprising:

• 1) a main hull comprising a longitudinal axis;
• 2) airfoil buoyancy chambers, the airfoil buoyancy chambers comprising a front buoyancy chamber and a rear buoyancy chamber;
• 3) an antenna;
• 4) a radar;
• 5) a propeller;
• 6) a rudder;
• and
• 7) compartments;
• wherein:
• the front buoyancy chamber and the rear buoyancy chamber are distributed on the main hull along the longitudinal axis of the main hull;
• the radar and the antenna are disposed on a top end of the front buoyancy chamber;
• the rudder is disposed on the rear buoyancy chamber to control a forward direction of the unmanned semi-submarine;
• the propeller is disposed at a tail of the main hull to drive the unmanned semi-submarine;
• a cross-section of the front buoyancy chamber is symmetrical with respect to an axis that is parallel to the longitudinal axis of the main hull;
• a cross-section of the rear buoyancy chamber is symmetrical with respect to the axis that is parallel to the longitudinal axis of the main hull;
• the compartments comprise a front equipment compartment, a rear equipment compartment, a control equipment compartment, a battery compartment, and a propelling compartment;
• the compartments are separated from one another by watertight walls;
• the radar and the antenna are connected to the control equipment compartment;
• the front equipment compartment and the rear equipment compartment are equipped with a sonar and a depth probe;
• the control equipment compartment is equipped with processors for obstacle avoidance, route planning, and real-time processing detection data;
• the propelling compartment is equipped with a propulsion system and a rudder driving mechanism;
• a battery pack is installed in the battery compartment;
• the battery compartment is disposed in a bottom of the main hull;
• the propelling compartment comprises a DC motor, a reduction gearbox, a transmission shaft, an upper support plate, support pillars, and a lower support plate;
• the DC motor is connected to the reduction gearbox;
• and the reduction gearbox is connected to the propeller via the transmission shaft;
• the DC motor and the reduction gearbox are disposed on the lower support plate;
• and the upper support plate is located above the DC motor and the reduction gearbox;
• the support pillars are disposed on the lower support plate;
• and the upper support plate is supported by the support pillars;
• a driver motor is disposed on the upper support plate to supply steering power for the rudder;
• and
• the DC motor and the driver motor are both controlled by a controller in the control equipment compartment.