An unmanned ship release and recovery system and control method

Abstract

The application provides an unmanned ship release and recovery system and a control method, which are applied to the technical field of ship device and use a movable connecting table arranged on a track body as a fulcrum, a rotatable flap plate, a first release and recovery device and a second release and recovery mechanism arranged at two ends of the flap plate to recover the unmanned ship, abandon the traditional mode of hoisting the unmanned ship by a boat hoisting rope to release and recover the unmanned ship, are convenient to operate, stable in structure, prevent the unmanned ship from shaking due to the influence of wind and waves, and possible scraping of the unmanned ship and the hull of the mother ship, and when the unmanned ship approaches the hull of the mother ship during the recovery process, the first containing plate is pressed down by a gravity device, the first containing plate is arranged on the deck, the unmanned ship is pulled to move to the first containing plate, the unmanned ship is limited after moving to a specified position, the first containing plate is disassembled, and the recovery can prevent the unmanned ship from being placed unstably to cause the unmanned ship to collide with the deck.

Description

TECHNICAL FIELD

[0001] The present application relates to an unmanned ship release and recovery system and control method, which is applied to the technical field of ship device. BACKGROUND

[0002] In recent years, with the development of marine resource exploration and the increasing attention of the country to the sea area, surface unmanned ships are becoming an important unmanned equipment in the marine field. Surface unmanned ships can carry different equipment and are widely used in various water tasks, such as coastal patrol, offshore defense, port patrol, naval escort and environmental monitoring, etc. Among them, the coastal patrol is one of the common applications of the surface unmanned ship. The surface unmanned ship can quickly respond, cruise for a long time, and can patrol, monitor and collect real-time data in the coastal sea area. They can be equipped with high-definition cameras, infrared cameras, radars and other equipment for monitoring maritime safety, early warning of coastal safety hazards, etc. Offshore defense is another important application field of the surface unmanned ship. The surface unmanned ship can work with manned ships to patrol, track and monitor the offshore area, and improve the maritime security defense capability. In summary, the surface unmanned ship has a wide application prospect in the marine field. With further innovation and development of technology, the surface unmanned ship will be able to better meet the needs of maritime tasks and provide more efficient, safe and intelligent marine operation solutions. The role of the unmanned ship is so extensive, but the release and recovery of the unmanned ship is a problem to be solved at present; the Chinese invention patent with the application number CN201910388792.7 and the patent name of "an unmanned ship release and recovery system and an unmanned ship release and recovery method" discloses a method of releasing and recovering the unmanned ship by using the crane frame to control the crane cable to hoist the unmanned ship. Due to the large wind and wave on the sea surface, this method of releasing and recovering the unmanned ship may occur during the hoisting process, and the unmanned ship may sway due to the influence of the wind and wave, which may cause the problem of scratching between the unmanned ship and the mother ship body. Even if the staff can reduce the swaying of the unmanned ship by tightening the anti-swing cable, it is difficult to avoid this situation, and during the recovery process, it is difficult to ensure stable placement, which may cause the situation of collision between the unmanned ship and the deck. Therefore, an unmanned ship release and recovery system and a method of releasing and recovering the unmanned ship by using the unmanned ship release and recovery device are designed to solve the above problems. SUMMARY

[0003] The present application provides an unmanned ship release and recovery system and control method, which can effectively solve the above problems.

[0004] The present application is implemented as follows:

[0005] An unmanned ship release and recovery system for recovering or releasing an unmanned ship, wherein the bottom of the unmanned ship is provided with a sliding member, and the unmanned ship is further provided with a first positioning module, comprising:

[0006] The traction mechanism comprises a track body arranged on the deck of the mother ship, a moving connection table slidably arranged on the track body, and a traction assembly for driving the moving connection table to slide.

[0007] The cantilever mechanism comprises a cantilever plate hinged to the moving connection table and a support assembly arranged on the track body near the end of the mother ship's hull, and a first sliding part arranged on the upper surface of the cantilever plate and slidably connected with the sliding part.

[0008] The first release and recovery mechanism comprises a detachable first accommodating plate hinged to the end of the cantilever plate away from the hull of the mother ship, and a second sliding part arranged on the upper surface of the first accommodating plate and slidably connected with the unmanned ship, and a traction assembly arranged at the end of the first accommodating plate away from the cantilever plate.

[0009] The second release and recovery mechanism comprises a second accommodating plate hinged to the end of the cantilever plate near the hull of the mother ship, and a second sliding part arranged on the upper surface of the second accommodating plate and slidably connected with the sliding part, and an air bag arranged on the back of the second accommodating plate.

[0010] The second sliding part is provided with a second positioning module and a locking module in communication with the positioning module, and the second accommodating plate is folded to the same horizontal plane as the sea level under the action of the air bag buoyancy, and the first and second positioning modules cooperate to control the sliding part of the unmanned ship to abut against the second sliding part of the second accommodating plate, and when the unmanned ship slides to the designated position, the locking module locks and fixes the sliding part on the unmanned ship.

[0011] As a further improvement, the traction assembly arranged on the moving connection table comprises a driving motor fixedly arranged on the rear end of the track body, a double drum driven by the driving motor, a first steel wire and a second steel wire wound on the double drum in opposite directions, and a fixed pulley fixedly arranged on the front end of the track body, the free end of the first steel wire is connected to the rear end of the moving connection table, the free end of the second steel wire passes through the fixed pulley and is connected to the front end of the moving connection table, and the first steel wire and the second steel wire drive the moving connection table to slide along the track body by controlling the forward and reverse rotation of the driving motor.

[0012] As a further improvement, the support assembly comprises a hinge block arranged on the deck at the front end of the track body, the hinge block is hinged with an H-shaped connecting rod, the middle part of the H-shaped connecting rod is connected with the piston rod of a hydraulic cylinder, the end of the hydraulic cylinder away from the piston rod is hinged with the deck, the end of the H-shaped connecting rod away from the hinge block is symmetrically provided with a rotatable second pulley, the back of the cantilever plate and the second accommodating plate is symmetrically provided with a third sliding rail slidably connected with the second pulley, and when the traction assembly drives the moving connection table to slide backward, the second pulley slides along the third sliding rail on the back of the cantilever plate and the second accommodating plate.

[0013] As a further improvement, the hydraulic cylinder comprises a hydraulic cylinder body and a piston rod arranged slidably in the hydraulic cylinder body, the hydraulic cylinder is provided with a first spring near one end of the cylinder port, a linear bearing is arranged below the first spring, a buffer pad ring is arranged between the linear bearing and the side wall of the hydraulic cylinder body, the piston rod comprises a piston, a steel ball mounting hole is arranged through the piston along the radial direction thereof, the steel ball mounting hole contains a rotatable steel ball, and a piston seal is arranged on the side wall of the piston.

[0014] As a further improvement, the first sliding part comprises first sliding rails symmetrically arranged on the upper end surface of the warped plate, the sliding member comprises first pulleys adapted to slide with the first sliding rails, the front surface of the first accommodating plate and the second accommodating plate is provided with a second sliding part slidably connected with the unmanned ship, the second sliding part comprises second sliding rails connected with the first sliding rails, and the locking module comprises a plurality of guide rail clamps arranged on the side surface of the second sliding rails.

[0015] As a further improvement, the ratchet assembly is arranged at the hinge between the first accommodating plate, the second accommodating plate and the warped plate.

[0016] As a further improvement, the ratchet assembly comprises mounting holes symmetrically arranged at both ends of the length direction of the warped plate, the side wall of the mounting hole is provided with first ratchet blocks which are mirror-symmetric along the axis direction thereof, the first accommodating plate and the second accommodating plate are provided with protruding plates extended at the connecting end with the warped plate, the protruding plates are provided with through holes penetrating along the width direction thereof, a connecting rod coaxially rotating is arranged in the through hole, connecting columns symmetrically arranged at both ends of the connecting rod are arranged in the mounting holes, the first accommodating plate and the second accommodating plate rotate around the connecting rod as the axis, the side wall of the connecting column is provided with second ratchet blocks which are mirror-symmetric along the axis direction thereof, when the first accommodating plate and the second accommodating plate rotate around the axis of the connecting rod towards the end close to the back surface of the warped plate, the first ratchet blocks abut against the second ratchet blocks so that the first accommodating plate, the second accommodating plate and the warped plate are on the same horizontal plane.

[0017] As a further improvement, the first accommodating plate comprises an accommodating plate body and a convex plate detachably connected with the accommodating plate body, the convex plate is provided with an accommodating groove at one end connected with the accommodating plate body, the accommodating groove is provided with symmetrical positioning holes along the two end sidewalls parallel to the axis direction of the through hole, a rotatable optical shaft is arranged in the positioning hole, one of the mechanical hooks arranged on the optical shaft is provided with a pressing plate, and the accommodating plate body is provided with fixing rods adapted to the mechanical hooks at one end connected with the convex plate; the accommodating plate body is provided with positioning blocks between the fixing rods, the sidewall of the accommodating groove is provided with positioning grooves adapted to the positioning blocks, the pressing plate is pressed, the positioning blocks and the positioning grooves abut each other, the pressing plate is loosened, the mechanical hooks are clamped with the fixing rods to fix the accommodating plate body and the convex plate.

[0018] A control method of a recovered unmanned ship, adopting an unmanned ship release and recovery system, comprising the following steps:

[0019] S10: the traction moving connection table is moved to one end of the track body close to the ship side of the mother ship;

[0020] S20: the second accommodating plate is lowered to the sea level, so that the second accommodating plate is folded to the same horizontal plane as the sea level under the action of the air bag buoyancy;

[0021] S30: the unmanned ship is abutted with the second accommodating plate and moved to a designated position for locking;

[0022] S40: the traction moving connection table is moved to one end of the track body away from the ship side of the mother ship;

[0023] S50: the first accommodating plate is lowered to the deck of the mother ship, the locking of the unmanned ship and the second accommodating plate is released, and the unmanned ship is moved to a designated position of the first accommodating plate for locking;

[0024] S60: the first accommodating plate is disassembled to complete the recovery of the unmanned ship.

[0025] A control method of a released unmanned ship, adopting an unmanned ship release and recovery system, comprising the following steps:

[0026] S10: the traction moving connection table is moved to one end of the track body away from the ship side of the mother ship;

[0027] S20: the unmanned ship is moved to a designated position of the first accommodating plate for locking, and the first accommodating plate is connected with the warped plate;

[0028] S30: the traction moving connection table is moved to one end of the track body close to the ship side of the mother ship;

[0029] S40: the second accommodating plate goes down to the sea level, so that the second accommodating plate is folded to the same level as the sea level under the air bag buoyancy;

[0030] S50: the unmanned ship is moved to the second accommodating plate by releasing the locking between the unmanned ship and the first accommodating plate;

[0031] S60: the unmanned ship is released by moving the unmanned ship away from the second accommodating plate.

[0032] The beneficial effects of the present application are that the device uses the moving connection table arranged on the track body as a fulcrum, arranges the rotatable flap, and arranges the first release and recovery mechanism and the second release and recovery mechanism arranged at both ends of the flap to recover the unmanned ship, discards the traditional method of lifting the unmanned ship by the boat cable to release and recover the unmanned ship, is convenient to operate, has a stable structure, prevents the unmanned ship from shaking due to the influence of wind and waves, and prevents the problem that the unmanned ship is scratched with the mother ship body, and in the recovery process, the first positioning module and the second positioning module cooperate to control the sliding piece of the unmanned ship and the second sliding part of the second accommodating plate to abut, and when the unmanned ship slides to the specified position, the locking module locks and fixes the sliding piece on the unmanned ship. When the unmanned ship approaches the mother ship side, the first accommodating plate is arranged on the deck by using the gravity device to press down the first accommodating plate, the unmanned ship is moved to the first accommodating plate, the unmanned ship is positioned after moving to the specified position, and the first accommodating plate is disassembled to complete the recovery, which can prevent the situation that the unmanned ship is not stably placed to cause the unmanned ship to collide with the deck. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0034] Figure 1 is a structural schematic diagram provided by the embodiment of the present application.

[0035] Figure 2 is an unmanned ship structural schematic diagram provided by the embodiment of the present application.

[0036] Figure 3 is a flap structural schematic diagram provided by the embodiment of the present application.

[0037] Figure 4 is a support assembly structural schematic diagram provided by the embodiment of the present application.

[0038] Figure 5 is a hydraulic cylinder structural schematic diagram provided by the embodiment of the present application.

[0039] Figure 6 is a motion state diagram of the unmanned ship release and recovery device provided by the embodiment of the application.

[0040] Figure 7 is a force analysis diagram of the support assembly provided by the embodiment of the application.

[0041] Figure 8 is a connecting rod structure diagram provided by the embodiment of the application.

[0042] Figure 9 is a first accommodating plate explosion structure diagram provided by the embodiment of the application.

[0043] Figure 10 is a main structure diagram of the accommodating plate provided by the embodiment of the application.

[0044] Figure 11 is a convex plate structure diagram provided by the embodiment of the application.

[0045] Figure 12 is a flowchart of an unmanned ship release method provided by the embodiment of the application.

[0046] Figure 13 is a flowchart of an unmanned ship recovery method provided by the embodiment of the application.

[0047] The drawings are identified as follows:

[0048] 10, traction mechanism; 11, track body; 12, moving connection table; 13, traction assembly; 131, drive motor; 132, double drum; 133, first steel wire rope; 134, second steel wire rope; 135, fixed pulley;

[0049] 20, rocker mechanism; 21, rocker; 22, support assembly; 221, hinged block; 222, H-shaped connecting rod; 223, hydraulic cylinder; 2231, hydraulic cylinder body; 2232, piston rod; 2232a, piston; 2232b, steel ball; 2233, first spring; 2234, linear bearing; 2235, buffer pad ring; 224, second pulley; 225, third sliding rail; 23, first sliding rail;

[0050] 30, first release and recovery mechanism; 31, first accommodating plate; 311, accommodating plate body; 3111, fixed rod; 3112, positioning block; 312, universal wheel; 32, second sliding rail; 321, guide rail clamp;

[0051] 40, second release and recovery mechanism; 41, second accommodating plate; 42, air bag;

[0052] 50, ratchet assembly; 51, mounting hole; 511, first ratchet block; 52, protruding plate; 521, through hole; 522, connecting rod; 523, connecting column; 524, second ratchet block; 525, accommodating groove; 526, positioning hole; 527, optical axis; 528, mechanical hook; 5281, pressing plate; 529, positioning groove;

[0053] 60, unmanned surface vehicle; 61, first pulley. DETAILED DESCRIPTION

[0054] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0055] In the description of the present application, the terms "first", "second" are only used for descriptive purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0056] Reference Signs List Figure 1As shown, an unmanned ship release and recovery system is used for recovering or releasing an unmanned ship, a sliding member is arranged at the bottom of the unmanned ship, and a first positioning module is further arranged on the unmanned ship, and the unmanned ship release and recovery system comprises a traction mechanism 10, the traction mechanism 10 comprises a track body 11 which is installed on the deck of the ship body and extends to the edge of the deck, a movable connecting table 12 is slidably arranged on the track body 11, the movable connecting table 12 is in the form of a trolley, an H-shaped fixed support is arranged on the movable connecting table 12, rollers which can slide on the track body are arranged below the movable connecting table 12, and the traction mechanism 10 further comprises a traction assembly 13 which is arranged at the rear of the track body 11 and drives the movable connecting table 12 to slide. The traction assembly 13 on the movable connecting table 12 comprises a driving motor 131 which is fixedly arranged at the rear end of the track body 11, a double winding drum 132 which is driven by the driving motor 131, a first steel wire rope 133 and a second steel wire rope 134 which are wound on the double winding drum 132 in the forward direction and the reverse direction respectively, and a fixed pulley 135 which is fixedly arranged at the front end of the track body 11, the free end of the first steel wire rope 133 is connected to the rear end of the movable connecting table 12, the free end of the second steel wire rope 134 passes through the fixed pulley 135 and is connected to the front end of the movable connecting table 12, and the movable connecting table 12 is driven to slide along the track body 11 by controlling the forward rotation and the reverse rotation of the driving motor 131.

[0057] Reference Figures 1-4As shown, the rocker mechanism 20 comprises a rocker 21 hinged to the moving connection table 12, the rocker 21 is hinged to an H-shaped fixed support of the moving connection table 12, rotates around the connecting point of the H-shaped fixed support, and further comprises a support assembly 22 arranged at the end of the track body 11 close to the hull side of the mother ship, the support assembly 22 serves as an auxiliary fulcrum when releasing or recovering the unmanned ship 60, prevents the rocker 21 from shaking during the traction process, causes damage to the hull, and increases the stability of the release or recovery of the unmanned ship 60. In this embodiment, the support assembly 22 comprises a hinged block 221 arranged on the deck at the front end of the track body 11, the hinged block 221 is hinged with an H-shaped connecting rod 222, the middle part of the H-shaped connecting rod 222 is connected with the piston rod of a hydraulic cylinder 223, the end of the hydraulic cylinder 223 away from the piston rod is hinged with the deck, and the purpose of arranging the hydraulic cylinder 223 is to buffer the H-shaped connecting rod 222. Because the rocker 21 needs to abut against the H-shaped connecting rod 222 during the release and recovery of the unmanned ship, the large weight of the unmanned ship may cause the H-shaped connecting rod 222 to break, therefore, the hydraulic cylinder 223 is arranged to facilitate buffering and improve the bearing capacity of the support assembly 22. The H-shaped connecting rod 222 is hinged, which can improve the flexibility of the support assembly 22 during the traction process. The end of the H-shaped connecting rod 222 away from the hinged block 221 is symmetrically provided with a rotatable second pulley 224, the back of the rocker 21 and the second accommodating plate 41 is symmetrically provided with a third sliding rail 225 slidably connected with the second pulley 224, and when the traction assembly 13 slides the moving connection table 12 backward, the second pulley 224 slides along the third sliding rail 225 on the back of the rocker 21 and the second accommodating plate 41. Because the rocker 21 may shake during the traction process, the H-shaped connecting rod 222 is used as an auxiliary fulcrum to prevent the rocker 21 from shaking and damaging the hull, and the second pulley 224 arranged on the H-shaped connecting rod 222 is connected with the third sliding rail 225 to improve the stability of the release and recovery of the unmanned ship.

[0058] As shown in the drawings, Figure 5 In this embodiment, the hydraulic cylinder 223 is a single-acting hydraulic cylinder, the hydraulic cylinder 223 comprises a hydraulic cylinder body 2231 and a piston rod 2232 slidably arranged in the hydraulic cylinder body 2231, a first spring 2233 is arranged at the end of the hydraulic cylinder 223 close to the cylinder port, a linear bearing 2234 is arranged below the first spring 2233, a buffer pad ring 2235 is arranged between the linear bearing 2234 and the side wall of the hydraulic cylinder body 2231, the piston rod 2232 comprises a piston 2232a, the piston 2232a is provided with a steel ball mounting hole penetrating through in the radial direction thereof, the steel ball mounting hole contains a rotatable steel ball 2232b, and a piston seal 2232c is arranged on the side wall of the piston 2232a. Figure 1As shown, the force analysis can be obtained: when the mobile connection table 12 slides to the end of the track body 11 close to the mother ship, that is, when the unmanned boat 60 is recovered, because the angle between the flap 21 and the ground is large, the horizontal force F1 of the second pulley 224 is large, and the vertical force F2 of the second pulley 224 is small, as shown in Figures 5-7 As shown, the piston 2232a of the hydraulic cylinder 223 moves to the end of the cylinder port of the hydraulic cylinder body 2231, and compresses the first spring 2233. Because the hydraulic cylinder body 2231 is hinged on the deck, the hydraulic cylinder body 2231 has a downward tilt trend under the influence of gravity, so the radial force F3 (counterforce) of the piston 2232a is large. When the mobile connection table 12 is moved away from the end of the mother ship, the horizontal force F1 of the second pulley 224 decreases, and the vertical force F2 of the second pulley 224 increases. At this time, the piston 2232a moves away from the cylinder port of the hydraulic cylinder body 2231. Because the radial force F3 (counterforce) of the piston 2232a is large, the piston 2232a accelerates wear during movement, reduces the service life of the piston, and may cause traction problems. Therefore, the rotatable steel ball 2332b on the piston 2232a is arranged. When the piston 2232a moves away from the cylinder port of the hydraulic cylinder body 2231, the steel ball 2332b rolls with the linear bearing 2234 to reduce the sliding friction of the piston 2332a, reduce the wear of the piston 2332a, and increase the service life of the piston 2332a. The circumferential support surface of the linear bearing 2234 adopts a rubber support buffer ring 2235 to reduce the stress of the end of the linear bearing 2234 when the hydraulic cylinder body 2231 is subjected to radial force, avoid the situation that the local stress of the linear bearing 2234 is overloaded to cause damage to the linear bearing 2234, and rely on the elastic force of the first spring 2233 to solve the problem of unsmooth traction.

[0059] Referring to Figures 1-2 As shown, the first sliding part of the flap 21 is arranged on the front surface of the unmanned boat; the second sliding part of the first accommodating plate 31 is arranged on the front surface of the unmanned boat, and the second sliding part of the second accommodating plate 41 is arranged on the front surface of the unmanned boat. The first sliding part includes a first sliding rail 23 symmetrically arranged on the front surface of the flap 21, and the sliding part arranged on the bottom of the unmanned boat 60 is a first pulley 61 adapted to slide with the first sliding rail 23. The second sliding part includes a second sliding rail 32 abutting against the first sliding rail 23.

[0060] Referring to Figures 1-4As shown, the first release and recovery mechanism 30 includes a detachable first accommodating plate 31 hinged to the end of the flap 21 away from the ship's side, and the upper end surface of the first accommodating plate 31 is provided with a second sliding part for sliding connection with the unmanned ship.

[0061] The second release and recovery mechanism 40 includes a second accommodating plate 41 hinged to the end of the flap 21 close to the ship's side, and the upper end surface of the second accommodating plate 41 is provided with a second sliding part for sliding connection with the sliding part, and the back of the second accommodating plate 41 is provided with an air bag 42; the second sliding part is provided with a second positioning module and a locking module in communication connection with the positioning module, and the first positioning module and the second module can be one of an infrared sensor, a radar sensing module, a laser displacement sensor, or a combination thereof, which is not limited here. The second accommodating plate 41 is folded to the same horizontal plane as the sea level under the action of the air bag 42, and the first positioning module and the second positioning module cooperate to control the sliding part of the unmanned ship 60 to abut against the second sliding part of the second accommodating plate 41, and when the unmanned ship 60 slides to the designated position, the locking module locks and fixes the sliding part on the unmanned ship 60. The locking module is a plurality of guide rail clamps 321 arranged on the side of the second sliding rail 32, and in this embodiment, the number of guide rail clamps 321 is 4, and the arrangement of the guide rail clamps 321 can limit the movement of the unmanned ship, and in one embodiment, the unmanned ship 60 includes a positioning sensor, and the purpose of arranging the positioning sensor is to facilitate the positioning of the unmanned ship 60 and the guide rail clamp 321. The cooperation of the first sliding part and the second sliding part can limit the sliding of the unmanned ship 60 along the first sliding rail 23 and the second sliding rail 32 during the release or recovery process, and increase the stability.

[0062] Referring to Figures 1-5As shown, the ratchet assembly 50 includes mounting holes 51 symmetrically arranged at both ends of the flap 21 along the length direction, and the side wall of the mounting hole 51 is provided with first ratchet blocks 511 which are mirror symmetric along the axial direction of the mounting hole 51; the first accommodating plate 31 and the second accommodating plate 41 are provided with protruding plates 52 at the end connected with the flap 21, the protruding plate 52 is provided with through holes 521 along the width direction, and the through hole 521 is provided with a connecting rod 522 which rotates coaxially, and the connecting rod 522 is provided with connecting columns 523 which are symmetrically arranged at both ends, and the connecting column 523 is arranged in the mounting hole 51, so that the first accommodating plate 31 and the second accommodating plate 41 rotate around the connecting rod 522 as the axis; the side wall of the connecting column 523 is provided with second ratchet blocks 524 which are mirror symmetric along the axial direction of the connecting column 523, when the first accommodating plate 31 and the second accommodating plate 41 rotate towards the back end of the flap 21, the first ratchet blocks 511 abut against the second ratchet blocks 524 to limit the rotation of the first accommodating plate 31 and the second accommodating plate 41, so that the first accommodating plate 31 and the second accommodating plate 41 are in the same horizontal plane with the flap 21 to form an integrated flap structure, which is convenient for the action of the gravity device during the release and recovery of the unmanned ship 60, but the first accommodating plate 31 and the second accommodating plate 41 can rotate towards the front end of the flap 21, which is convenient for the docking and recovery of the unmanned ship 60.

[0063] Referring to Figures 1-11As shown, the first accommodating plate 31 comprises an accommodating plate body 311 and a convex plate 52 detachably connected with the accommodating plate body 311, the convex plate 52 is provided with an accommodating groove 525 at one end connected with the accommodating plate body 311, the accommodating groove 525 is provided with symmetrical positioning holes 526 along the two end side walls parallel to the axis direction of the through hole 521, the positioning hole 526 is provided with a rotatable optical shaft 527, the optical shaft 527 is provided with a mechanical hook claw 528 coaxially rotating with the optical shaft 527 near the two sides of the positioning hole 526, one of the mechanical hook claws 528 is provided with a pressing plate 5281, and the accommodating plate body 311 is provided with fixing rods 3111 adapted to the mechanical hook claws 528 symmetrically at one end connected with the convex plate 52; the accommodating plate body 311 is provided with positioning blocks 3112 between the fixing rods 3111, the accommodating groove 525 is provided with positioning grooves 529 adapted to the positioning blocks 3112, the positioning blocks 3112 and the positioning grooves 529 abut each other by pressing the pressing plate 5281, and the mechanical hook claws 528 clamp the fixing rods 3111 to fix the accommodating plate body 311 and the convex plate 52 by releasing the pressing plate 5281. The front surface of the end of the accommodating plate body 311 away from the convex plate 52 is provided with a traction assembly 13, the traction assembly 13 of the first accommodating plate 31 comprises a driving motor 131 fixedly arranged on the rear end of the accommodating plate body 311, a double drum 132 driven by the driving motor 131, a first steel wire rope 133, a second steel wire rope 134 respectively wound in forward and reverse directions on the double drum 132, and a fixed pulley 135 fixedly arranged on the front end of the second accommodating plate 41, the free end of the first steel wire rope 133 is connected to the front end of the unmanned ship 60, the free end of the second steel wire rope 134 passes through the fixed pulley 135 and is connected to the rear end of the unmanned ship 60, and the unmanned ship 60 is driven to slide by controlling the forward and reverse rotation of the driving motor 131. The back of the accommodating plate body 311 is provided with universal wheels 312 for movement. The first accommodating plate 31 is provided with a pull rod in front, and the detachable purpose of the first accommodating plate 31 is to facilitate the movement of the unmanned ship 60 on the ship, the inspection and maintenance of the unmanned ship 60 after recycling the unmanned ship 60, through the universal wheels 312 for movement provided on the back of the accommodating plate body 311 and the pull rod in front of the first accommodating plate 31.

[0064] The device has the advantages that: the device takes the moving connection table 12 arranged on the track body 11 as the fulcrum, arranges the rotatable flap 21, and arranges the first release and recovery device 30 and the second release and recovery mechanism 40 arranged at both ends of the flap 21 to release and recover the unmanned ship 60, discards the traditional boat cable lifting unmanned ship 60 release and recovery mode, is convenient to operate, is stable in structure, prevents the unmanned ship 60 from shaking due to the influence of wind and waves, prevents the problem that the unmanned ship 60 may be scratched with the mother ship body, and in the recovery process, the first positioning module and the second positioning module cooperate to control the sliding piece of the unmanned ship to abut against the second sliding part of the second containing plate 41, and when the unmanned ship slides to the specified position, the locking module locks and fixes the sliding piece on the unmanned ship. When the unmanned ship 60 approaches the mother ship side, the first containing plate 31 is arranged on the deck by using the gravity equipment to press down the first containing plate 31, the unmanned ship 60 is moved to the first containing plate 31, the unmanned ship 60 is positioned after moving to the specified position, the first containing plate 31 is disassembled to complete the recovery, and the situation that the unmanned ship 60 is not stably placed to cause the unmanned ship 60 to collide with the deck can be prevented.

[0065] Referring to Figures 1-12 The release method of the unmanned ship shown in the figure adopts an unmanned ship release and recovery system, and includes the following steps:

[0066] S10: The moving connection table 12 is pulled to move to one end of the track body 11 close to the mother ship side;

[0067] S20: The second containing plate 41 is lowered to the sea level, so that the second containing plate 41 is folded to the same horizontal plane as the sea level under the action of the buoyancy of the air bag 42;

[0068] S30: The unmanned ship 60 is controlled to abut against the second containing plate 41 and move to the specified position for locking and fixing;

[0069] S40: The moving connection table 12 is pulled to move to one end of the track body 11 away from the mother ship side;

[0070] S50: The first containing plate 31 is lowered to the mother ship deck, the locking of the unmanned ship 60 and the second containing plate 41 is released, and the unmanned ship 60 is pulled to move to the specified position of the first containing plate 31 for locking and fixing;

[0071] S60: The first containing plate 31 is disassembled to complete the recovery of the unmanned ship 60.

[0072] Referring to Figures 1-13 The control method for releasing the unmanned ship shown in the figure includes the following steps:

[0073] S10: The moving connection table 12 is pulled to move to one end of the track body 11 away from the mother ship side;

[0074] S20: Move the unmanned boat 60 to the designated position of the first receiving plate 31 and lock it in place, connecting the first receiving plate 31 and the rocker plate 21;

[0075] S30: The traction mobile connecting platform 12 is moved to one end of the track body 11 near the side of the mother ship;

[0076] S40: The second receiving plate 41 descends to the sea level, and under the buoyancy of the airbag 42, the second receiving plate 41 folds up to be on the same horizontal plane as the sea level;

[0077] S50: Release the lock between the unmanned surface vessel 60 and the first receiving plate 31, and tow the unmanned surface vessel 60 to the second receiving plate 41;

[0078] S60: The mobile unmanned surface vessel 60 leaves the second receiving plate 41, completing the release of the unmanned surface vessel 60.

[0079] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. An unmanned surface vessel (USV) release and recovery system for recovering or releasing an USV (60), wherein a sliding member is provided at the bottom of the USV (60), and a first positioning module is also provided on the USV (60), characterized in that, include: The traction mechanism (10) includes a track body (11) mounted on the deck of the mother ship, a movable connecting platform (12) slidably mounted on the track body (11), and a traction component (13) for driving the movable connecting platform (12) to slide. The rocker mechanism (20) includes a rocker (21) hinged to the movable connecting platform (12) and a support assembly (22) disposed on the end of the track body (11) near the ship's side. The upper surface of the rocker (21) is provided with a first sliding part that is slidably connected to the sliding member. The first release and recovery mechanism (30) includes a detachable first receiving plate (31) hinged to the end of the rocker (21) away from the mother ship's side. The upper surface of the first receiving plate (31) is provided with a second sliding part that is slidably connected to the unmanned surface vessel. The end of the first receiving plate (31) away from the rocker (21) is provided with a traction component (13). The second release and recovery mechanism (40) includes a second receiving plate (41) hinged to the rocker (21) near the side of the mother ship. The upper surface of the second receiving plate (41) is provided with a second sliding part that is slidably connected to the sliding member. An airbag (42) is provided on the back of the second receiving plate (41). The second sliding part is provided with a second positioning module and a locking module that are communicatively connected to the positioning module. The second accommodating plate (41) is folded up to the same level as the sea surface under the buoyancy of the airbag (42). The first positioning module and the second positioning module cooperate to control the sliding part of the unmanned boat (60) to abut against the second sliding part of the second accommodating plate (41). When the unmanned boat (60) slides to the designated position, the locking module locks and fixes the sliding part on the unmanned boat (60).

2. The unmanned surface vessel release and recovery system according to claim 1, characterized in that, The traction assembly (13) set on the mobile connecting platform includes a drive motor (131) fixedly set on the rear end of the track body (11), a double drum (132) driven by the drive motor (131), a first wire rope (133) and a second wire rope (134) respectively wound on the double drum (132) in the forward and reverse directions, and a fixed pulley (135) fixedly set on the front end of the track body (11). The free end of the first wire rope (133) is connected to the rear end of the mobile connecting platform (12), and the free end of the second wire rope (134) passes through the fixed pulley (135) and is connected to the front end of the mobile connecting platform (12). By controlling the forward and reverse rotation of the drive motor (131), the first wire rope (133) and the second wire rope (134) drive the mobile connecting platform (12) to slide along the track body (11).

3. The unmanned surface vessel release and recovery system according to claim 1, characterized in that, The support assembly (22) includes a hinge block (221) on the deck at the front end of the track body (11). The hinge block (221) is hinged to an H-shaped connecting rod (222). The middle part of the H-shaped connecting rod (222) is connected to the piston rod (2232) of the hydraulic cylinder (223). The end of the hydraulic cylinder (223) away from the piston rod (2232) is hinged to the deck. A rotatable second pulley (224) is symmetrically arranged at the end of the H-shaped connecting rod (222) away from the hinge block (221). A third slide rail (225) is symmetrically arranged on the back of the rocker (21) and the second receiving plate (41) and is slidably connected to the second pulley (224). When the traction assembly (13) pulls the movable connecting platform (12) to slide backward, the second pulley (224) slides along the third slide rail (225) on the back of the rocker (21) and the second receiving plate (41).

4. The unmanned surface vessel release and recovery system according to claim 3, characterized in that, The hydraulic cylinder (223) includes a hydraulic cylinder body (2231) and a piston rod (2232) that is slidable within the hydraulic cylinder body (2231). A first spring (2233) is provided at one end of the hydraulic cylinder (223) near the cylinder port. A linear bearing (2234) is provided below the first spring (2233). A buffer ring (2235) is provided between the linear bearing (2234) and the side wall of the hydraulic cylinder body (2231). The piston rod (2232) includes a piston (2232a). A steel ball mounting hole is provided radially through the piston (2232a). A rotatable steel ball (2232b) is accommodated in the steel ball mounting hole. A piston seal (2232c) is installed on the side wall of the piston (2232a).

5. The unmanned surface vessel release and recovery system according to claim 4, characterized in that, The first sliding part includes a first slide rail (23) symmetrically arranged on the upper surface of the rocker (21), and the sliding member includes a first pulley (61) adapted to slide with the first slide rail (23); the front of the first receiving plate (31) and the second receiving plate (41) are provided with a second sliding part that is slidably connected to the unmanned surface vessel, the second sliding part includes a second slide rail (32) connected to the first slide rail (23), and the locking module includes a plurality of guide rail clamps (321) arranged on the side of the second slide rail (32).

6. The unmanned surface vessel release and recovery system according to claim 1, characterized in that, A ratchet assembly (50) is provided at the hinge joint between the first receiving plate (31), the second receiving plate (41) and the rocker (21).

7. The unmanned surface vessel release and recovery system according to claim 6, characterized in that, The ratchet assembly (50) includes mounting holes (51) symmetrically arranged at both ends of the rocker (21) along its length. The sidewalls of the mounting holes (51) are provided with first ratchet blocks (511) that are mirror-symmetrical along their axial direction. A protruding plate (52) extends from one end of the first receiving plate (31) and the second receiving plate (41) connected to the rocker (21). A through hole (521) is provided through the protruding plate (52) along its width direction. A coaxially rotating connecting rod (522) is installed within the through hole (521). Connecting posts (523) are symmetrically arranged at both ends of the connecting rod (522). 3) Set in the mounting hole (51) so that the first receiving plate (31) and the second receiving plate (41) rotate about the connecting rod (522) as the axis; the side wall of the connecting column (523) is provided with a second ratchet block (524) that is mirror-symmetrical along its axis. When the first receiving plate (31) and the second receiving plate (41) rotate about the axis of the connecting rod (522) toward the end closer to the back of the rocker (21), the first ratchet block (511) abuts against the second ratchet block (524) so ​​that the first receiving plate (31), the second receiving plate (41) and the rocker (21) are on the same horizontal plane.

8. The unmanned surface vessel release and recovery system according to claim 7, characterized in that, The first receiving plate (31) includes a receiving plate body (311) and a protruding plate (52) detachably connected to the receiving plate body (311). A receiving groove (525) is provided at one end of the protruding plate (52) connected to the receiving plate body (311). Symmetrical positioning holes (526) are provided on the two sidewalls of the receiving groove (525) parallel to the axis of the through hole (521). A rotatable optical axis (527) is provided within the positioning hole (526). Mechanical claws (528) coaxially rotating with the optical axis (527) are provided on both sides of the optical axis (527) near the positioning hole (526). One of the mechanical claws (528) is equipped with a pressure plate (5281). The receiving plate body (311) and the convex plate (52) are symmetrically provided with fixing rods (3111) adapted to the mechanical claw (528) at one end; the receiving plate body (311) is provided with a plurality of positioning blocks (3112) between the fixing rods (3111); the side wall of the receiving groove (525) is provided with positioning grooves (529) adapted to and connected to the positioning blocks (3112); when the pressure plate (5281) is pressed, the positioning blocks (3112) and the positioning grooves (529) abut against each other; when the pressure plate (5281) is released, the mechanical claw (528) engages the fixing rods (3111) to fix the receiving plate body (311) and the convex plate (52).

9. A control method for recovering unmanned surface vessels, characterized in that, The unmanned surface vessel release and recovery system according to any one of claims 1-8 includes the following steps: S10: The traction mobile connecting platform (12) is moved to one end of the track body (11) near the side of the mother ship; S20: The second accommodating plate (41) descends to the sea level, causing the second accommodating plate (41) to fold up to the same level as the sea level under the buoyancy of the airbag (42); S30: Control the unmanned surface vessel (60) to abut against the second receiving plate (41) and move it to the designated position for locking and fixing; S40: The traction mobile connecting platform (12) moves to one end of the track body (11) away from the ship's side; S50: The first receiving plate (31) descends to the deck of the mother ship, releases the lock between the unmanned boat (60) and the second receiving plate (41), and tows the unmanned boat (60) to the designated position of the first receiving plate (31) for locking and fixing. S60: Disassemble the first receiving plate (31) to complete the recovery of the unmanned surface vessel (60).

10. A control method for releasing an unmanned surface vessel, characterized in that, The unmanned surface vessel release and recovery system according to any one of claims 1-8 includes the following steps: S10: The traction mobile connecting platform (12) is moved to one end of the track body (11) away from the side of the mother ship; S20: Move the unmanned boat (60) to the designated position of the first receiving plate (31) and lock it in place, connecting the first receiving plate (31) and the rocker (21). S30: The traction mobile connecting platform (12) moves to one end of the track body (11) near the side of the mother ship; S40: The second receiving plate (41) descends to the sea level, and the second receiving plate (41) is folded up to the same level as the sea level under the buoyancy of the airbag (42); S50: Release the lock between the unmanned surface vessel (60) and the first receiving plate (31), and tow the unmanned surface vessel (60) to the second receiving plate (41); S60: The mobile unmanned surface vessel (60) leaves the second containment plate (41) to complete the release of the unmanned surface vessel (60).

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