System for autonomously limiting, recovering and releasing marine navigation device

A technology of aircraft and ocean, which is applied in the system field of self-limiting and retracting marine aircraft, can solve the problems of personnel injury equipment, high use and maintenance costs, and high risk, so as to improve operating efficiency, reduce economic costs, Highly intelligent effect

Active Publication Date: 2020-01-14

HARBIN ENG UNIV

7 Cites 1 Cited by

AI-Extracted Technical Summary

Problems solved by technology

[0003] At present, there are generally three methods for the recovery of marine unmanned aerial vehicles. The first method is for professionals to take a small boat close to the underwater robot carrier and perform manual lifting and docking to complete the recovery operation. Personnel injury and equipment damage; the second is to complete the recovery of the carrier with the help of a dedicated aircraft recovery system, such as a crane-type and frame-type recovery system. This recovery system has a complex structure and...

Method used

In summary, the present invention belongs to the field of marine unmanned vehicles, and the purpose is to provide a system for autonomously limiting and retracting marine vehicles: an electromagnetic crane and a slider anti-rolling device are installed on the catamaran platform , the bow fixed claw and the tail fixed claw are controlled by the bow fixed claw rotating device and the tail fixed claw rotating device and installed in the middle of the catamaran platform. The sliding trolley control of the side fixed claw is installed on the catamaran platform, and the two differential thrusters are installed on the b...

Abstract

The invention belongs to the field of marine unmanned navigation devices, and aims to provide a system for autonomously limiting, recovering and releasing a marine navigation device. An electromagnetic crane and a sliding block stabilizer are mounted on a catamaran platform; a bow fixing claw and a stern fixing claw are controlled by a bow fixing claw rotating device and a stern fixing claw rotating device to be mounted in the middle of the catamaran platform; a larboard side fixing claw and a starboard side fixing claw are controlled by a larboard side fixing claw sliding trolley and a starboard side fixing claw sliding trolley to be mounted on the catamaran platform; and two differential thrusters are mounted at the bottom of the catamaran platform. By the aid of the system, the navigation device can be guided and limited autonomously, so that the accuracy is greatly improved; the navigation device is limited by the aid of the four surrounding fixing claws, so that collisions of thenavigation device and a mother ship are reduced; by the aid of the stabilizer at the front part of a deck, the recovery mother ship can keep balance under severe sea conditions; and through the watertight design of an inside cabin of the mother ship, multiple navigation devices can be recovered and stored simultaneously, so that the operation efficiency is greatly improved.

Application Domain

Boats storing/fasteningHoisting/lowering gear

Technology Topic

Environmental geologyFishery +4

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Examples

Experimental program(1)

Example Embodiment

[0016] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0017] like Figure 1-2 As shown, including: 1. Crane beam, 2. Bridge car B, 3. Electromagnetic lifting head, 4. Catamaran platform, 5. Starboard side fixed claw sliding trolley, 6. Tail fixed claw turning device, 7. Starboard side Fixed claw, 8. Tail fixed claw, 9. Port side fixed claw, 10. Differential thruster, 11. Tail fixed claw rotation device, 12. Port side fixed claw sliding trolley, 13. Anti-roll slider, 14. Watertight Cabin, 15. Bow fixed claw.

[0018] The invention belongs to the field of marine unmanned aircraft, and specifically relates to a system for autonomously limiting and retracting a marine vehicle. The purpose is to provide a system for autonomous positioning and retracting and releasing of marine vehicles with simple operation, high intelligence and good reliability.

[0019] For realizing the purpose of the present invention, the technical scheme adopted is:

[0020] A system for autonomously limiting and retracting marine vehicles: an electromagnetic crane and a sliding block anti-rolling device are installed on the catamaran platform 4; The stern fixed claw rotation device 6 is controlled and installed in the middle of the catamaran platform. The port side fixed claw 9 and the starboard side fixed claw 7 are respectively controlled and installed on the catamaran by the port side fixed claw sliding trolley 12 and the starboard side fixed claw sliding trolley 5. On the platform, two differential thrusters 10 are mounted on the bottom of the double hull platform.

[0021] Said catamaran platform includes a deck opening for stowage of the craft and a watertight compartment 14 for storing the craft.

[0022] The electromagnetic crane includes a crane beam 1 , a bridge car 2 and an electromagnetic lifting head 3 .

[0023] The sliding block anti-rolling device includes a rolling block 13 and a transmission motor, both ends of which are fixed on the deck at the front of the catamaran platform, and the sliding block can move in the chute.

[0024] The surfaces of the bow fixed claw, the tail fixed claw, the port side fixed claw and the starboard side fixed claw are all provided with pressure sensors.

[0025] The mounted two differential thrusters are symmetrical about the mid-longitudinal section of the platform.

[0026] It is further described as follows:

[0027] like figure 1 , figure 2 As shown, the present invention includes a catamaran platform 4, an electromagnetic crane, a sliding block anti-rolling device 13, a bow fixed claw 15 and a rotating motor, a tail fixed claw 8 and a rotating motor 11, a port side fixed claw 9, and a starboard side fixed claw 7. Parts such as the propeller 10, the catamaran platform includes the deck opening for retracting the aircraft and the cabin 14 for storing the aircraft, the electromagnetic crane includes the beam 1, the bridge car 2 and the electromagnetic lifting head 3; The rocking device includes a slider 13 and a transmission motor; the fixed claw at the bow and tail is composed of a fixed claw at the bow 15, a fixed claw at the tail 8, a rotating motor and a transmission mechanism; the fixed claw on the side is composed of the fixed claw on the port side. The transmission mechanism is composed; the propulsion device includes two differential propellers 10 located on the left and right hulls.

[0028] When recovering the aircraft, the bow fixed claw 15 is rotated 90° and lowered into a vertical state, the tail fixed claw 8 is rotated backward and lifted up, forming an included angle of 30° with the horizontal plane, and at the same time the heads of the left and right side fixed claw are folded into a bell mouth After the vehicle enters the bell mouth through the guiding device, the tails of the fixed claws on both sides are closed, and at the same time, the fixed claws 8 of the tail move forward, and the fixed claws of the bow, the fixed claws of the tail, the fixed claws of the port side and the fixed claws of the starboard side are used for navigation. until the pressure sensor on each fixed claw reaches the preset value. Finally, the bridge car 2 of the electromagnetic crane moves to the top of the aircraft, and the magnet lifting head 3 is lowered to attract it. At the same time, the bow, tail and side The side fixing claws are moved outwards and the crane lifts the craft and places it in the designated watertight compartment 14 .

[0029] When deploying the aircraft, the crane lifts the aircraft in the designated watertight compartment 14 through the electromagnet hoisting head 3, and then puts it into the water through the deck opening. During the retraction process, the platform deck is kept horizontal by automatically adjusting the anti-rolling slider 13 of the bow. After the deployment and recovery are completed, the fixed claws of the bow and stern turn inward and stick to the deck below, and the fixed claws of the starboard and starboard move to both sides and stick to the inner sidewall of the catamaran.

[0030] In summary, the present invention belongs to the field of marine unmanned vehicles, and aims to provide a system for autonomously limiting and retracting marine vehicles: an electromagnetic crane, a sliding block anti-rolling device are installed on the catamaran platform, and the bow The fixed claw and the stern claw are controlled and installed in the middle of the catamaran platform by the rotating device of the fixed claw of the bow and the rotating device of the fixed claw of the tail. The sliding trolley control is mounted on the catamaran platform, and the two differential thrusters are mounted on the bottom of the catamaran platform. The invention can autonomously guide and limit the aircraft, greatly improving the accuracy, and limit the position of the aircraft through the four surrounding fixing claws, so as to reduce the collision between the aircraft and the mother ship. To keep the recovery mother ship in balance under severe sea conditions, through the watertight design of the internal cabin of the mother ship, multiple aircraft can be recovered and stored at the same time, which greatly improves the operation efficiency.

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Classification and recommendation of technical efficacy words

high intelligence
easy to operate

System for autonomously limiting, recovering and releasing marine navigation device

AI-Extracted Technical Summary

Problems solved by technology

Method used

Abstract

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Examples

Example Embodiment

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Description & Claims & Application Information

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