Control method of stern chute type unmanned ship retracting and releasing device

Abstract

The invention belongs to the technical field of folding and unfolding of unmanned ships, and discloses a control method for a stern chute type unmanned ship folding and unfolding device, and the method comprises the steps: constructing a stern chute state machine and a condition word code; acquiring a control panel button signal and a stern chute state feedback signal of the stern chute type unmanned ship retracting and releasing device in real time; the condition word is updated based on a control panel button signal and a stern chute state feedback signal; according to the current state of the stern chute state machine and the updated condition word, state skipping of the stern chute state machine is conducted, and in the leaving state and the entering state, corresponding action programs are executed, so that control over retraction and release of the unmanned ship is achieved. According to the automatic folding and unfolding device, the folding and unfolding process of the unmanned ship is controlled based on the state machine and the input signal obtained in real time, the functions of automatic control and manual control over folding and unfolding of the unmanned ship are achieved, seamless switching between automatic control and manual control is achieved, and the safety of the automatic folding and unfolding device for the stern chute type unmanned ship is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) deployment and retrieval technology, and particularly to a control method for a stern-slide type USV deployment and retrieval device. Background Technology

[0002] The control system of a traditional stern-mounted unmanned surface vessel (USV) launch and retrieval device uses a slideway located at the stern of the vessel. The launch and retrieval equipment is driven by a hydraulic system, which moves the USV along the slideway to complete the launch and retrieval process.

[0003] However, the control system of the traditional stern slide type unmanned surface vessel (USV) launching and recovering device has the following drawbacks: low degree of automation, many operation steps for launching or recovering the vessel, easy to make mistakes during operation, and the resulting impact can range from shutdown alarm to equipment damage.

[0004] Therefore, how to provide a control method for a stern-slide-type unmanned surface vessel launch and recovery device is an urgent problem to be solved. Summary of the Invention

[0005] This invention provides a control method for a stern-slide type unmanned surface vessel (USV) launch and recovery device to solve the problems mentioned above in the prior art.

[0006] According to a first aspect of the present invention, a control method for a stern slide-type unmanned surface vessel (USV) launch and recovery device is provided.

[0007] In one embodiment, the control method for the stern-mounted unmanned surface vessel (USV) launch and recovery device includes: Construct the stern slide state machine and condition word encoding, where the condition words include button condition words and stern slide condition words; Real-time acquisition of control panel button signals and stern slide status feedback signals from the stern slide type unmanned surface vessel launch and recovery device; The condition words are updated based on the control panel button signals and the stern slide status feedback signals; The stern slide state machine is transitioned based on its current state and the updated condition word. When leaving or entering a state, the corresponding action program is executed to control the deployment and retrieval of the unmanned surface vessel.

[0008] In one embodiment, the states of the stern slide state machine include: automatically opening the left / right stern doors, automatically unlocking the main / auxiliary rail frame, automatically deploying the main / auxiliary rail frame, automatically deploying the auxiliary rail (bend), automatically retracting the auxiliary rail (bend), automatically retracting the main / auxiliary rail frame, automatically locking the main / auxiliary rail frame, automatically closing the left / right stern doors, manually opening the left / right stern doors, manually unlocking the main / auxiliary rail frame, manually deploying the main / auxiliary rail frame, manually deploying the auxiliary rail (bend), manually retracting the auxiliary rail (bend), manually retracting the main / auxiliary rail frame, manually locking the main / auxiliary rail frame, manually closing the left / right stern doors, unmanned surface vessel (USV) retraction complete, USV deployment complete, first waiting operation state, second waiting operation state, third waiting operation state, fourth waiting operation state, fifth waiting operation state, sixth waiting operation state, and seventh waiting operation state.

[0009] In one embodiment, the control panel button signals of the stern slide-type unmanned surface vessel (USV) deployment and retrieval device include: manually opening the left / right stern door, manually closing the left / right stern door, manually unlocking the main / auxiliary rail frame, manually locking the main / auxiliary rail frame, manually releasing the main / auxiliary rail frame, manually retracting the main / auxiliary rail frame, manually releasing the auxiliary rail frame (bend button), manually retracting the auxiliary rail frame (bend button), automatically releasing the USV, and automatically retracting the USV. The stern slide status feedback signals include the following signals: left stern door open to position signal, left stern door closed to position signal, right stern door open to position signal, right stern door closed to position signal, main rail frame left lock locked to position signal, main rail frame right lock locked to position signal, auxiliary rail frame left lock locked to position signal, auxiliary rail frame right lock locked to position signal, main rail frame left lock unlocked to position signal, main rail frame right lock unlocked to position signal, auxiliary rail frame left lock unlocked to position signal, auxiliary rail frame right lock unlocked to position signal, main / auxiliary rail frame reaching bottom end signal, main / auxiliary rail frame reaching top end signal, auxiliary rail zigzag reaching top end signal, and auxiliary rail zigzag reaching bottom end signal.

[0010] In one embodiment, the button condition word is 16 bits, and updating the button condition word includes: Read the button enable word of the current state, and based on the pressed state of the button signal on the control panel, combined with the enable state of the corresponding bit of the button enable word, determine the value of the corresponding bit of the button condition word, and update the button condition word.

[0011] In one embodiment, the stern slide condition word has 16 bits, and updating the stern slide condition word includes: Based on the stern slide condition feedback signal and the condition determination conditions of each component of the stern slide, the values ​​of the corresponding bits of the stern slide condition word are determined to update the stern slide condition word.

[0012] In one embodiment, the step of transitioning the state of the stern slide state machine based on its current state and a condition word includes: The stern slide state machine, based on its current state and the values ​​of the stern slide condition word and the button condition word, can switch to the corresponding state or keep the current state unchanged, thus completing the state switching control of the stern slide state machine.

[0013] In one embodiment, the stern slide state machine executes corresponding action programs during the departure and entry states, including: When the stern slide state machine enters a state, it executes the corresponding button enable program and starts the corresponding start program; when the stern slide state machine leaves a state, it executes the corresponding stop program.

[0014] In one embodiment, the button enable program updates the button enable word and the button light control word according to the current state, wherein the button enable word is 16 bits and the button light control word is 32 bits.

[0015] In one embodiment, the button enable procedure is further configured to decode the button light control word, wherein the decoding step includes: Construct a temporary variable with a preset number of valid bits, extract the corresponding bits of the button light control word and copy them to the temporary variable, and control the indicator light of the corresponding button to be in a constant off, constant on, or flashing state according to the value of the temporary variable, thus completing the decoding of the button light control word.

[0016] According to a second aspect of the present invention, a computer device is provided.

[0017] In some embodiments, the computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method described above.

[0018] According to a third aspect of the present invention, a computer-readable storage medium is provided.

[0019] In one embodiment, a computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the above method.

[0020] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects: This invention controls the deployment and retrieval process of unmanned surface vessels (USVs) based on a state machine and real-time acquired input signals. It realizes automatic and manual control functions for USV deployment and retrieval, as well as seamless switching between automatic and manual control. It also provides prompts for available operations in each state, making the operation of the stern-slide type USV deployment and retrieval device more convenient and faster. At the same time, it constrains the button control enablement in each state, reducing the risk of human error and improving the safety of the stern-slide type USV automatic deployment and retrieval device.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0023] Figure 1 This is a state transition diagram of a stern slide state machine according to an exemplary embodiment; Figure 2 This is an initial jump flowchart of the stern slide state machine according to an exemplary embodiment; Figure 3 This is a state transition flowchart of the unmanned surface vessel recovery completion state of the stern slide state machine according to an exemplary embodiment. Figure 4 This is a state transition flowchart of the first waiting operation state of a stern slide state machine according to an exemplary embodiment; Figure 5 This is a state transition flowchart of the second waiting operation state of a stern slide state machine according to an exemplary embodiment; Figure 6 This is a state transition flowchart of the third waiting operation state of a stern slide state machine according to an exemplary embodiment; Figure 7 This is a state transition flowchart of the fourth waiting operation state of a stern slide state machine according to an exemplary embodiment; Figure 8 This is a state transition flowchart of the fifth waiting operation state of a stern slide state machine according to an exemplary embodiment; Figure 9 This is a state transition flowchart of the sixth waiting operation state of a stern slide state machine according to an exemplary embodiment; Figure 10 This is a state transition flowchart of the seventh waiting operation state of a stern slide state machine according to an exemplary embodiment; Figure 11This is a state transition flowchart of the unmanned surface vessel (USV) deployment completion state in a stern slide state machine according to an exemplary embodiment. Figure 12 This is a state transition flowchart of the automatic opening of the left / right stern door state machine of the stern slide state machine according to an exemplary embodiment; Figure 13 This is a flowchart illustrating the automatic unlocking of the main / auxiliary rail frame state of the stern slide state machine according to an exemplary embodiment. Figure 14 This is a flowchart illustrating the state transition of the stern slide state machine in automatically releasing the main / auxiliary rail frame, according to an exemplary embodiment. Figure 15 This is a flowchart illustrating the state transition of the stern slide state machine in the automatic release of the auxiliary track zigzag state, according to an exemplary embodiment. Figure 16 This is a state transition flowchart of the stern slide state machine in the automatic retraction of the auxiliary track zigzag state, according to an exemplary embodiment. Figure 17 This is a state transition flowchart of the stern slide state machine for automatically retracting the main / auxiliary rail frame, according to an exemplary embodiment. Figure 18 This is a state transition flowchart of the automatic locking main / auxiliary rail frame state of the stern slide state machine according to an exemplary embodiment; Figure 19 This is a state transition flowchart of the automatic closing of the left / right stern doors of the stern slide state machine according to an exemplary embodiment; Figure 20 This is a flowchart illustrating the state transition of the stern slide state machine in the manual opening of the left / right stern doors, according to an exemplary embodiment. Figure 21 This is a flowchart illustrating the state transition of the stern slide state machine for manually unlocking the main / auxiliary rail frame, according to an exemplary embodiment. Figure 22 This is a state transition flowchart illustrating the manual release of the main / auxiliary rail frame state of the stern slide state machine according to an exemplary embodiment; Figure 23 This is a flowchart illustrating the state transition of the stern slide state machine in the manual release of the secondary track zigzag state, according to an exemplary embodiment. Figure 24 This is a flowchart illustrating the state transition of the stern slide state machine in the manual retraction of the auxiliary track zigzag state, according to an exemplary embodiment. Figure 25 This is a state transition flowchart illustrating the manual retraction of the main / auxiliary rail frame state of the stern slide state machine according to an exemplary embodiment; Figure 26This is a state transition flowchart illustrating the manual locking main / auxiliary rail frame state of the stern slide state machine according to an exemplary embodiment; Figure 27 This is a state transition flowchart illustrating the manual closing of the left / right stern doors of a stern slide state machine according to an exemplary embodiment; Figure 28 This is a schematic diagram of the structure of a computer device according to an exemplary embodiment. Detailed Implementation

[0024] The following description and accompanying drawings fully illustrate specific embodiments described herein to enable those skilled in the art to practice them. Some portions and features of certain embodiments may be included in or replace portions and features of other embodiments. The scope of the embodiments herein includes the entire scope of the claims and all available equivalents thereof. The various embodiments described herein are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments; similar or identical parts between embodiments can be referred to interchangeably.

[0025] The modules in the apparatus or system of this application can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0026] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0027] An embodiment of the control method for a stern slide-type unmanned surface vessel launch and recovery device of the present invention.

[0028] In this optional embodiment, the control method for the stern-mounted unmanned surface vessel (USV) launch and recovery device includes: Construct the stern slide state machine and condition word encoding, where the condition words include button condition words and stern slide condition words; Real-time acquisition of control panel button signals and stern slide status feedback signals from the stern slide type unmanned surface vessel launch and recovery device; The condition words are updated based on the control panel button signals and the stern slide status feedback signals; The stern slide state machine is transitioned based on its current state and the updated condition word. When leaving or entering a state, the corresponding action program is executed to control the deployment and retrieval of the unmanned surface vessel.

[0029] In this optional embodiment, the states of the stern slide state machine include: automatically opening the left / right stern doors, automatically unlocking the main / auxiliary rail frame, automatically deploying the main / auxiliary rail frame, automatically deploying the auxiliary rail (bend), automatically retracting the auxiliary rail (bend), automatically retracting the main / auxiliary rail frame, automatically locking the main / auxiliary rail frame, automatically closing the left / right stern doors, manually opening the left / right stern doors, manually unlocking the main / auxiliary rail frame, manually deploying the main / auxiliary rail frame, manually deploying the auxiliary rail (bend), manually retracting the auxiliary rail (bend), manually retracting the main / auxiliary rail frame, manually locking the main / auxiliary rail frame, manually closing the left / right stern doors, unmanned surface vessel (USV) retraction completed, USV deployment completed, first waiting operation state, second waiting operation state, third waiting operation state, fourth waiting operation state, fifth waiting operation state, sixth waiting operation state, and seventh waiting operation state.

[0030] In this optional embodiment, the control panel button signals of the stern slide-type unmanned surface vessel (USV) deployment and retrieval device include: manually opening the left / right stern door, manually closing the left / right stern door, manually unlocking the main / auxiliary rail frame, manually locking the main / auxiliary rail frame, manually releasing the main / auxiliary rail frame, manually retracting the main / auxiliary rail frame, manually releasing the auxiliary rail frame (bend button), manually retracting the auxiliary rail frame (bend button), automatically releasing the USV, and automatically retracting the USV. The stern slide status feedback signals include the following signals: left stern door open to position signal, left stern door closed to position signal, right stern door open to position signal, right stern door closed to position signal, main rail frame left lock locked to position signal, main rail frame right lock locked to position signal, auxiliary rail frame left lock locked to position signal, auxiliary rail frame right lock locked to position signal, main rail frame left lock unlocked to position signal, main rail frame right lock unlocked to position signal, auxiliary rail frame left lock unlocked to position signal, auxiliary rail frame right lock unlocked to position signal, main / auxiliary rail frame reaching bottom end signal, main / auxiliary rail frame reaching top end signal, auxiliary rail zigzag reaching top end signal, and auxiliary rail zigzag reaching bottom end signal.

[0031] In this optional embodiment, the button condition word has 16 bits, and updating the button condition word includes: Read the button enable word of the current state, and based on the pressed state of the button signal on the control panel, combined with the enable state of the corresponding bit of the button enable word, determine the value of the corresponding bit of the button condition word, and update the button condition word.

[0032] In this optional embodiment, the stern slide condition word has 16 bits, and the update of the stern slide condition word includes: Based on the stern slide condition feedback signal and the condition determination conditions of each component of the stern slide, the values ​​of the corresponding bits of the stern slide condition word are determined to update the stern slide condition word.

[0033] In this optional embodiment, the step of performing state transitions of the stern slide state machine based on the current state and condition word of the stern slide state machine includes: The stern slide state machine, based on its current state and the values ​​of the stern slide condition word and the button condition word, can switch to the corresponding state or keep the current state unchanged, thus completing the state switching control of the stern slide state machine.

[0034] In this optional embodiment, the stern slide state machine executes the corresponding action program when in the departure state and the entry state, including: When the stern slide state machine enters a state, it executes the corresponding button enable program and starts the corresponding start program; when the stern slide state machine leaves a state, it executes the corresponding stop program.

[0035] In this optional embodiment, the button enable program updates the button enable word and the button light control word according to the current state, wherein the button enable word has 16 bits and the button light control word has 32 bits.

[0036] In this optional embodiment, the button enable program is further used to decode the button light control word, wherein the decoding step includes: Construct a temporary variable with a preset number of valid bits, extract the corresponding bits of the button light control word and copy them to the temporary variable, and control the indicator light of the corresponding button to be in a constant off, constant on, or flashing state according to the value of the temporary variable, thus completing the decoding of the button light control word.

[0037] To facilitate understanding of the above technical solutions of the present invention, the following further explains the above technical solutions of the present invention from the perspective of architecture and principle, as follows: This invention aims to at least solve the technical problems existing in the prior art, and proposes a control method for an automatic launch and retrieval device for a stern-slide unmanned surface vessel (USV). This method realizes both automatic and manual control of USV launch and retrieval, as well as seamless switching between automatic and manual control. It also provides prompts for available operations in each state, making the operation of the stern-slide USV launch and retrieval device more convenient and efficient. Simultaneously, it constrains the button control enablement for each state, reducing the risk of human error and improving the safety of the stern-slide USV launch and retrieval device.

[0038] like Figure 1 As shown ( Figure 1 The middle circle represents the separation and rendezvous points of state transitions. A control method for a stern-slide type unmanned surface vessel (USV) deployment and retrieval device includes the following steps: A stern slide state machine is established, and the states of the stern slide state machine include: automatically opening the left / right stern doors, automatically unlocking the main / sub-rail frame, automatically deploying the main / sub-rail frame, automatically deploying the sub-rail with a bend, automatically retracting the sub-rail with a bend, automatically retracting the main / sub-rail frame, automatically locking the main / sub-rail frame, automatically closing the left / right stern doors, manually opening the left / right stern doors, manually unlocking the main / sub-rail frame, manually deploying the main / sub-rail frame, manually deploying the sub-rail with a bend, manually retracting the sub-rail with a bend, manually retracting the main / sub-rail frame, manually locking the main / sub-rail frame, manually closing the left / right stern doors, unmanned surface vessel retraction completed, unmanned surface vessel deployment completed, first waiting operation state, second waiting operation state, third waiting operation state, fourth waiting operation state, fifth waiting operation state, sixth waiting operation state, and seventh waiting operation state. Among them, the stern slide state machine is a state machine programming paradigm used in the control system of the stern slide type unmanned surface vessel (USV) deployment and retrieval device. By defining different states, events, transitions, and actions, it realizes functions such as automatic deployment and retrieval. The following text introduces the various states, events (such as the condition words generated based on button signals and sensor feedback signals, and the judgment of the condition words is also an event), transitions (the process of the generated event triggering a state change is a transition), and actions (i.e., executing functions) within the state machine.

[0039] The required input signals are acquired in real time, including control panel button signals and stern slide status feedback signals of the stern slide type unmanned surface vessel launch and recovery device; The condition words are updated based on the real-time input signals, and the condition words include button condition word EW1 and stern slide condition word EW2. The stern slide state machine transitions between states based on its current state and condition words. When leaving or entering a state, the stern slide state machine executes corresponding actions (i.e., it executes corresponding action programs after entering different states; for example, entering "automatically open left / right stern doors" executes the program to open the left and right stern doors; the execution time depends on the feedback signal that the stern doors are in position. Upon receiving feedback that the stern doors are in position, the condition word changes accordingly, and the state machine determines whether to perform a state transition. After transitioning to other states, other action programs are executed), thus achieving control over the deployment and retrieval of the unmanned surface vessel.

[0040] As a further preferred embodiment, the control panel buttons include: a button to manually open the left / right stern door, a button to manually close the left / right stern door, a button to manually unlock the main / sub-rail frame, a button to manually lock the main / sub-rail frame, a button to manually release the main / sub-rail frame, a button to manually retract the main / sub-rail frame, a button to manually release the sub-rail frame (bend), a button to manually retract the sub-rail frame (bend), a button to automatically release the unmanned surface vessel (USV), and a button to automatically retract the USV. These buttons include a switch signal, an indicator light control signal, and an indicator light. The switch signal indicates that the button is currently pressed, and the indicator light control signal controls the state of the button indicator light. In a preferred embodiment of the present invention, the button indicator light is defined to have three states: Always Off: This button is not enabled in the current state. Always on: In the current state, this button is enabled and pressed; Flashing: In the current state, this button is enabled and has not been pressed.

[0041] As a further preferred embodiment, button condition word EW1 (16 bits), button enable word EW3 (16 bits), and button light control word EW4 (32 bits) are established. The bit definitions of button condition word EW1, button enable word EW3, and button light control word EW4 are shown in Table 1.

[0042] Table 1. Bit definitions of button condition word EW1, button enable word EW3, and button light control word EW4 ; As a further preferred embodiment, the condition word is updated based on the real-time acquired input signal. The steps for updating the button condition word EW1 are as follows: S100, Read the button enable word EW3 for the current state; S101. If the button to manually open the left / right stern door is pressed and the 0th bit of the button enable word EW3 is 1, then the 0th bit of the button condition word EW1 is 1; otherwise, the 0th bit of the button condition word EW1 is 0. S102. If the manual unlock main / sub rail rack button is pressed and the first bit of the button enable word EW3 is 1, then the first bit of the button condition word EW1 is 1; otherwise, the first bit of the button condition word EW1 is 0. S103. If the manual release main / auxiliary rail frame button is pressed and the second bit of the button enable word EW3 is 1, then the second bit of the button condition word EW1 is 1; otherwise, the second bit of the button condition word EW1 is 0. S104. If the manual release of the subrail frame bend button is pressed and the third bit of the button enable word EW3 is 1, then the third bit of the button condition word EW1 is 1; otherwise, the third bit of the button condition word EW1 is 0. S105. If the manual retraction subrail frame bending button is pressed and the fourth bit of the button enable word EW3 is 1, then the fourth bit of the button condition word EW1 is 1; otherwise, the fourth bit of the button condition word EW1 is 0. S106. If the manual retraction main / auxiliary rail frame button is pressed and the 5th bit of the button enable word EW3 is 1, then the 5th bit of the button condition word EW1 is 1; otherwise, the 5th bit of the button condition word EW1 is 0. S107. If the manual locking main / auxiliary rail frame button is pressed and the 6th bit of the button enable word EW3 is 1, then the 6th bit of the button condition word EW1 is 1; otherwise, the 6th bit of the button condition word EW1 is 0. S108. If the button to manually close the left / right stern door is pressed and the 7th bit of the button enable word EW3 is 1, then the 7th bit of the button condition word EW1 is 1; otherwise, the 7th bit of the button condition word EW1 is 0. S109. If the button to automatically deploy the unmanned surface vessel is pressed and the 8th bit of the button enable word EW3 is 1, then the 8th bit of the button condition word EW1 is 1; otherwise, the 8th bit of the button condition word EW1 is 0. S110. If the button for automatically retracting the unmanned surface vessel is pressed and the 9th bit of the button enable word EW3 is 1, then the 9th bit of the button condition word EW1 is 1; otherwise, the 9th bit of the button condition word EW1 is 0.

[0043] As a further preferred embodiment, the steps for updating the button enable word EW3 and the button light control word EW4 according to the current state are as follows: S300. Determine the next step based on the current state. If the current state is "Unmanned surface vessel retraction completed," execute step S301; if the current state is "first waiting operation state," execute step S302; if the current state is "second waiting operation state," execute step S303; if the current state is "third waiting operation state," execute step S304; if the current state is "fourth waiting operation state," execute step S305; if the current state is "fifth waiting operation state," execute step S306; if the current state is "sixth waiting operation state," execute step S307; if the current state is "seventh waiting operation state," execute step S308; if the current state is "Unmanned surface vessel deployment completed," execute step S309; ​​if the current state is "automatically open left / right stern doors," execute step S311; if the current state is "automatically unlock main / auxiliary rail frame," execute step S312; if the current state is "automatically deploy main / auxiliary rail frame," execute step S313; if the current state is "automatically deploy auxiliary rail frame with zigzag," execute step S314. If the current state is automatic retraction of the auxiliary rail (bent state), proceed to step S315; if the current state is automatic retraction of the main / auxiliary rail frame, proceed to step S316; if the current state is automatic locking of the main / auxiliary rail frame, proceed to step S317; if the current state is automatic closing of the left / right stern doors, proceed to step S318; if the current state is manual opening of the left / right stern doors, proceed to step S321; if the current state is manual unlocking of the main / auxiliary rail frame, proceed to step S322; if the current state is manual release... If the current state is "Main / Auxiliary rail frame status", proceed to step S323; if the current state is "Manually extend auxiliary rail zigzag state", proceed to step S324; if the current state is "Manually retract auxiliary rail zigzag state", proceed to step S325; if the current state is "Manually retract main / auxiliary rail frame status", proceed to step S326; if the current state is "Manually lock main / auxiliary rail frame status", proceed to step S327; if the current state is "Manually close left / right stern door status", proceed to step S328; if the current state is not one of the above, proceed to step S330. S301, Button enable word EW3=0x0101, Button light control word EW4=0x00020002; S302, Button enable word EW3=0x0381, Button light control word EW4=0x000A8002; S303, Button enable word EW3=0x0382, Button light control word EW4=0x000A8008; S304, Button enable word EW3=0x0342, Button light control word EW4=0x000A2008; S305, Button enable word EW3=0x0344, Button light control word EW4=0x000A2020; S306, Button enable word EW3=0x0324, Button light control word EW4=0x000A0820; S307, Button enable word EW3=0x0328, Button light control word EW4=0x000A0880; S308, Button enable word EW3=0x0318, Button light control word EW4=0x000A0280; S309, Button enable word EW3=0x0210, Button light control word EW4=0x00080200; S311, Button enable word EW3=0x0100, Button light control word EW4=0x00010000; S312, Button enable word EW3=0x0100, Button light control word EW4=0x00010000; S313, Button enable word EW3=0x0100, Button light control word EW4=0x00010000; S314, Button enable word EW3=0x0100, Button light control word EW4=0x00010000; S315, Button enable word EW3=0x0200, Button light control word EW4=0x00040000; S316, Button enable word EW3=0x0200, Button light control word EW4=0x00040000; S317, Button enable word EW3=0x0200, Button light control word EW4=0x00040000; S318, Button enable word EW3=0x0200, Button light control word EW4=0x00040000; S321, Button enable word EW3=0x0001, Button light control word EW4=0x00000001; S322, Button enable word EW3=0x0002, Button light control word EW4=0x00000004; S323, Button enable word EW3=0x0004, Button light control word EW4=0x00000010; S324, Button enable word EW3=0x0008, Button light control word EW4=0x00000040; S325, Button enable word EW3=0x0010, Button light control word EW4=0x00000100; S326, Button enable word EW3=0x0020, Button light control word EW4=0x00000400; S327, Button enable word EW3=0x0040, Button light control word EW4=0x00001000; S328, Button enable word EW3=0x0080, Button light control word EW4=0x00004000; S330, Button enable word EW3=0x0000, Button light control word EW4=0x00000000.

[0044] As a further preferred embodiment, the decoding steps of the button light control word EW4 are as follows: S400. Construct a temporary variable EWx, with the first and 0th significant bits.

[0045] S401. Extract the first and 0th bits of the button light control word EW4 and copy them to the temporary variable EWx. If the temporary variable EWx=0, the indicator light of the left / right stern door button will remain off. If the temporary variable EWx=1, the indicator light of the left / right stern door button will remain on. If the temporary variable EWx=2, the indicator light of the left / right stern door button will flash. Proceed to step S402. S402. Extract the 3rd and 2nd bits of the button light control word EW4 and copy them to the temporary variable EWx. If the temporary variable EWx=0, the indicator light of the manual unlock main / auxiliary rail rack button will be off. If the temporary variable EWx=1, the indicator light of the manual unlock main / auxiliary rail rack button will be on. If the temporary variable EWx=2, the indicator light of the manual unlock main / auxiliary rail rack button will flash. Proceed to step S403. S403. Extract the 5th and 4th bits of the button light control word EW4 and copy them to the temporary variable EWx. If the temporary variable EWx=0, manually release the indicator light of the main / auxiliary rail frame button to be constantly off. If the temporary variable EWx=1, manually release the indicator light of the main / auxiliary rail frame button to be constantly on. If the temporary variable EWx=2, manually release the indicator light of the main / auxiliary rail frame button to flash. Execute step S404. S404. Extract the 7th and 6th bits of the button light control word EW4 and copy them to the temporary variable EWx. If the temporary variable EWx=0, manually release the indicator light of the secondary rail frame zigzag button to be constantly off. If the temporary variable EWx=1, manually release the indicator light of the secondary rail frame zigzag button to be constantly on. If the temporary variable EWx=2, manually release the indicator light of the secondary rail frame zigzag button to flash. Execute step S405. S405. Extract the 9th and 8th bits of the button light control word EW4 and copy them to the temporary variable EWx. If the temporary variable EWx=0, the indicator light of the manual retraction of the secondary rail frame bend button will remain off. If the temporary variable EWx=1, the indicator light of the manual retraction of the secondary rail frame bend button will remain on. If the temporary variable EWx=2, the indicator light of the manual retraction of the secondary rail frame bend button will flash. Proceed to step S406. S406. Extract the 11th and 10th bits of the button light control word EW4 and copy them to the temporary variable EWx. If the temporary variable EWx=0, the indicator light of the main / auxiliary rail frame button will remain off. If the temporary variable EWx=1, the indicator light of the main / auxiliary rail frame button will remain on. If the temporary variable EWx=2, the indicator light of the main / auxiliary rail frame button will flash. Proceed to step S407. S407. Extract the 13th and 12th bits of the button light control word EW4 and copy them to the temporary variable EWx. If the temporary variable EWx=0, the indicator light of the manual locking main / auxiliary rail frame button will be off. If the temporary variable EWx=1, the indicator light of the manual locking main / auxiliary rail frame button will be on. If the temporary variable EWx=2, the indicator light of the manual locking main / auxiliary rail frame button will flash. Proceed to step S408. S408. Extract the 15th and 14th bits of the button light control word EW4 and copy them to the temporary variable EWx. If the temporary variable EWx=0, manually turn off the indicator lights of the left / right stern door buttons. If the temporary variable EWx=1, manually turn off the indicator lights of the left / right stern door buttons. If the temporary variable EWx=2, manually turn off the indicator lights of the left / right stern door buttons. Proceed to step S409. S409. Extract the 17th and 16th bits of the button light control word EW4 and copy them to the temporary variable EWx. If the temporary variable EWx=0, the indicator light of the unmanned surface vessel button will be constantly off. If the temporary variable EWx=1, the indicator light of the unmanned surface vessel button will be constantly on. If the temporary variable EWx=2, the indicator light of the unmanned surface vessel button will flash. Execute step S410. S410. Extract the 17th and 16th bits of the button light control word EW4 and copy them to the temporary variable EWx. If the temporary variable EWx=0, the indicator light of the retractable UAV button will be off. If the temporary variable EWx=1, the indicator light of the retractable UAV button will be on. If the temporary variable EWx=2, the indicator light of the retractable UAV button will flash.

[0046] As a further preferred embodiment, the stern slide status feedback signals are all proximity switch signals, including: left stern door open to position proximity switch signal, left stern door closed to position proximity switch signal, right stern door open to position proximity switch signal, right stern door closed to position proximity switch signal, main rail frame left lock locked to position proximity switch signal, main rail frame right lock locked to position proximity switch signal, auxiliary rail frame left lock locked to position proximity switch signal, auxiliary rail frame right lock locked to position proximity switch signal, main rail frame left lock unlocked to position proximity switch signal, main rail frame right lock unlocked to position proximity switch signal, auxiliary rail frame left lock unlocked to position proximity switch signal, auxiliary rail frame right lock unlocked to position proximity switch signal, main / auxiliary rail frame reaching bottom position proximity switch signal, main / auxiliary rail frame reaching top position proximity switch signal, auxiliary rail zigzag reaching top position proximity switch signal, and auxiliary rail zigzag reaching bottom position proximity switch signal.

[0047] As a further preferred embodiment, the left stern door open-to-position proximity switch and the left stern door closed-to-position proximity switch are installed on the left stern door opening / closing hydraulic cylinder. The left stern door open-to-position signal is triggered only when the left stern door opening / closing hydraulic cylinder is fully extended, and the left stern door closed-to-position signal is triggered only when the left stern door opening / closing hydraulic cylinder is fully retracted.

[0048] As a further preferred embodiment, the right stern door open-to-position proximity switch and the right stern door closed-to-position proximity switch are installed on the right stern door opening / closing hydraulic cylinder. The right stern door open-to-position signal is triggered only when the right stern door opening / closing hydraulic cylinder is fully extended, and the right stern door closed-to-position signal is triggered only when the right stern door opening / closing hydraulic cylinder is fully retracted.

[0049] As a further preferred embodiment, the main rail frame left lock locking position proximity switch and the main rail frame left lock unlocking position proximity switch are installed on the main rail frame left lock unlocking / locking hydraulic cylinder. The main rail frame left lock unlocking position signal is triggered only when the main rail frame left lock unlocking / locking hydraulic cylinder is fully extended, and the main rail frame left lock locking position signal is triggered only when the main rail frame left lock unlocking / locking hydraulic cylinder is fully retracted.

[0050] As a further preferred embodiment, the main rail frame right lock locking position proximity switch and the main rail frame right lock unlocking position proximity switch are installed on the main rail frame right lock unlocking / locking hydraulic cylinder. The main rail frame right lock unlocking position signal is triggered only when the main rail frame right lock unlocking / locking hydraulic cylinder is fully extended, and the main rail frame right lock locking position signal is triggered only when the main rail frame right lock unlocking / locking hydraulic cylinder is fully retracted.

[0051] As a further preferred embodiment, the auxiliary rail frame left lock locking position proximity switch and the auxiliary rail frame left lock unlocking position proximity switch are installed on the auxiliary rail frame left lock unlocking / locking hydraulic cylinder. The auxiliary rail frame left lock unlocking position signal is triggered only when the auxiliary rail frame left lock unlocking / locking hydraulic cylinder is fully extended, and the auxiliary rail frame left lock locking position signal is triggered only when the auxiliary rail frame left lock unlocking / locking hydraulic cylinder is fully retracted.

[0052] As a further preferred embodiment, the right lock locking proximity switch and the right lock unlocking proximity switch of the subrail frame are installed on the right lock unlocking / locking hydraulic cylinder of the subrail frame. The right lock unlocking signal of the subrail frame is triggered only when the right lock unlocking / locking hydraulic cylinder of the subrail frame is fully extended, and the right lock locking signal of the subrail frame is triggered only when the right lock unlocking / locking hydraulic cylinder of the subrail frame is fully retracted.

[0053] As a further preferred embodiment, the main / sub-rail frame bottom proximity switch and the main / sub-rail frame top proximity switch are installed on the main / sub-rail frame. The main / sub-rail frame bottom proximity signal is triggered only when the main / sub-rail frame is fully extended, and the main / sub-rail frame top proximity signal is triggered only when the main / sub-rail frame is fully retracted.

[0054] As a further preferred embodiment, the secondary rail bending to the top proximity switch and the secondary rail bending to the bottom proximity switch are installed on the secondary rail bending release / retraction hydraulic cylinder. The secondary rail bending to the bottom signal is triggered only when the secondary rail bending release / retraction hydraulic cylinder is fully released, and the secondary rail bending to the top signal is triggered only when the secondary rail bending release / retraction hydraulic cylinder is fully retracted.

[0055] As a further preferred embodiment, a stern slide condition word EW2 (16 bits) is established, and the bit definition of the stern slide condition word EW2 is shown in Table 2.

[0056] Table 2 Bit Definitions of Stern Slide Condition Word EW2 ; As a further preferred embodiment, the update steps for the stern slide condition word EW2 are as follows: S201. According to the stern slide condition feedback signal, if the following conditions are met simultaneously: the left stern door is closed and the right stern door is closed, then the 0th position of the stern slide condition word EW2 is 1; otherwise, the 0th position of the stern slide condition word EW2 is 0. S202. According to the stern slide condition feedback signal, if the following conditions are met simultaneously: the left stern door is fully open and the right stern door is fully open, then the first position of the stern slide condition word EW2 is 1; otherwise, the first position of the stern slide condition word EW2 is 0. S203. According to the stern slide rail status feedback signal, if the following conditions are met simultaneously: the main rail frame left lock is unlocked, the main rail frame right lock is unlocked, the auxiliary rail frame left lock is unlocked, and the auxiliary rail frame right lock is unlocked, then the 4th position of the stern slide rail condition word EW2 is 1; otherwise, the 4th position of the stern slide rail condition word EW2 is 0. S204. According to the stern slide rail status feedback signal, if the following conditions are met simultaneously: the main rail frame left lock is locked in place, the main rail frame right lock is locked in place, the auxiliary rail frame left lock is locked in place, and the auxiliary rail frame right lock is locked in place, then the 5th position of the stern slide rail condition word EW2 is 1; otherwise, the 5th position of the stern slide rail condition word EW2 is 0. S205. According to the stern slide rail status feedback signal, if the following conditions are met: the main / auxiliary rail frame reaches the bottom, then the 8th position of the stern slide rail condition word EW2 is 1; otherwise, the 8th position of the stern slide rail condition word EW2 is 0. S206. According to the stern slide rail status feedback signal, if the following conditions are met: the main / auxiliary rail frame reaches the top, then the 9th position of the stern slide rail condition word EW2 is 1; otherwise, the 9th position of the stern slide rail condition word EW2 is 0. S207. According to the stern slideway status feedback signal, if the following conditions are met: the auxiliary rail bends to the bottom, then the 12th position of the stern slideway condition word EW2 is 1; otherwise, the 12th position of the stern slideway condition word EW2 is 0. S208. According to the stern slideway status feedback signal, if the following conditions are met: the auxiliary rail bends to the top, then the 13th position of the stern slideway condition word EW2 is 1; otherwise, the 13th position of the stern slideway condition word EW2 is 0.

[0057] like Figure 2 As shown, the stern slide state machine is in its initial state, and the state transition process is as follows: S1. If the stern slide condition word EW2=0x2222, the stern slide state machine jumps to the unmanned surface vessel recovery completed state; otherwise, execute step S2. S2. If the stern slide condition word EW2=0x2220, the stern slide state machine jumps to the first waiting operation state; otherwise, execute step S3. S3. If the stern slide condition word EW2=0x2221, the stern slide state machine jumps to the second waiting operation state; otherwise, execute step S4. S4. If the stern slide condition word EW2=0x2201, the stern slide state machine jumps to the third waiting operation state; otherwise, execute step S5. S5. If the stern slide condition word EW2=0x2211, the stern slide state machine jumps to the fourth waiting operation state; otherwise, execute step S6. S6. If the stern slide condition word EW2=0x2011, the stern slide state machine jumps to the fifth waiting operation state; otherwise, execute step S7. S7. If the stern slide condition word EW2=0x2111, the stern slide state machine jumps to the sixth waiting operation state; otherwise, execute step S8. S8. If the stern slide condition word EW2=0x0111, the stern slide state machine jumps to the seventh waiting operation state; otherwise, execute step S9. S9. If the stern slide condition word EW2=0x1111, the stern slide state machine jumps to the unmanned surface vessel deployment completion state; otherwise, the stern slide state machine does not jump.

[0058] like Figure 3 As shown, the stern slide state machine is in the unmanned surface vessel recovery completed state, and the state transition process is as follows: S11. If the button condition word EW1=0x0001, the stern slide state machine jumps to the manual opening of the left / right stern door state; otherwise, execute step S12. S12. If the button condition word EW1=0x0100, the stern slide state machine jumps to the automatic opening of the left / right stern door state; otherwise, the stern slide state machine does not jump. like Figure 4 As shown, the stern slide state machine is in the first waiting operation state, and the state transition process is as follows: S13. If the button condition word EW1=0x0001, the stern slide state machine jumps to the manual opening of the left / right stern door state; otherwise, execute step S14. S14. If the button condition word EW1=0x0080, the stern slide state machine jumps to the manual closing of the left / right stern door state; otherwise, execute step S15. S15. If the button condition word EW1=0x0100, the stern slide state machine jumps to the automatic opening of the left / right stern door state; otherwise, execute step S16. S16. If the button condition word EW1=0x0200, the stern slide state machine jumps to the state of automatically closing the left / right stern doors; otherwise, the stern slide state machine does not jump. like Figure 5 As shown, the stern slide state machine is in the second waiting operation state, and the state transition process is as follows: S17. If the button condition word EW1=0x0002, the stern slide state machine jumps to the manual unlocking main / auxiliary rail frame state; otherwise, execute step S18. S18. If the button condition word EW1=0x0080, the stern slide state machine jumps to the manual closing of the left / right stern door state; otherwise, execute step S19. S19. If the button condition word EW1=0x0100, the stern slide state machine jumps to the automatic unlocking main / sub-rail frame state; otherwise, execute step S20. S20. If the button condition word EW1=0x0200, the stern slide state machine jumps to the state of automatically closing the left / right stern doors; otherwise, the stern slide state machine does not jump. like Figure 6 As shown, the stern slide state machine is in the third waiting operation state, and the state transition process is as follows: S21. If the button condition word EW1=0x0002, the stern slide state machine jumps to the manual unlocking main / auxiliary rail frame state; otherwise, execute step S22. S22. If the button condition word EW1=0x0040, the stern slide state machine jumps to the manual locking main / auxiliary rail frame state; otherwise, proceed to step S23. S23. If the button condition word EW1=0x0100, the stern slide state machine jumps to the automatic unlocking main / auxiliary rail frame state; otherwise, proceed to step S24. S24. If the button condition word EW1=0x0200, the stern slide state machine jumps to the automatic locking main / auxiliary rail frame state; otherwise, the stern slide state machine does not jump. like Figure 7 As shown, the stern slide state machine is in the fourth waiting operation state, and the state transition process is as follows: S25. If the button condition word EW1=0x0004, the stern slide state machine jumps to the manual release of the main / auxiliary rail frame state; otherwise, execute step S26. S26. If the button condition word EW1=0x0040, the stern slide state machine jumps to the manual locking main / auxiliary rail frame state; otherwise, execute step S27. S27. If the button condition word EW1=0x0100, the stern slide state machine jumps to the automatic release of the main / auxiliary rail frame state; otherwise, execute step S28. S28. If the button condition word EW1=0x0200, the stern slide state machine jumps to the automatic locking main / auxiliary rail frame state; otherwise, the stern slide state machine does not jump. like Figure 8 As shown, the stern slide state machine is in the fifth waiting operation state, and the state transition process is as follows: S29. If the button condition word EW1=0x0004, the stern slide state machine jumps to the manual release of the main / auxiliary rail frame state; otherwise, execute step S30. S30. If the button condition word EW1=0x0020, the stern slide state machine jumps to the manual retraction of the main / auxiliary rail frame; otherwise, execute step S31. S31. If the button condition word EW1=0x0100, the stern slide state machine jumps to the automatic release of the main / auxiliary rail frame state; otherwise, execute step S32. S32. If the button condition word EW1=0x0200, the stern slide state machine jumps to the automatic retraction of the main / auxiliary rail frame; otherwise, the stern slide state machine does not jump. like Figure 9 As shown, the stern slide state machine is in the sixth waiting operation state, and the state transition process is as follows: S33. If the button condition word EW1=0x0008, the stern slide state machine jumps to the manual release of the secondary rail zigzag state; otherwise, execute step S34. S34. If the button condition word EW1=0x0020, the stern slide state machine jumps to the manual retraction of the main / auxiliary rail frame; otherwise, execute step S35. S35. If the button condition word EW1=0x0100, the stern slide state machine jumps to the automatic release of the secondary rail zigzag state; otherwise, execute step S36. S36. If the button condition word EW1=0x0200, the stern slide state machine jumps to the automatic retraction of the main / auxiliary rail frame; otherwise, the stern slide state machine does not jump. like Figure 10 As shown, the stern slide state machine is in the seventh waiting operation state, and the state transition process is as follows: S37. If the button condition word EW1=0x0008, the stern slide state machine jumps to the manual release of the secondary rail zigzag state; otherwise, execute step S38. S38. If the button condition word EW1=0x0010, the stern slide state machine jumps to the manual retraction of the auxiliary rail zigzag state; otherwise, execute step S39. S39. If the button condition word EW1=0x0100, the stern slide state machine jumps to the automatic release of the secondary rail zigzag state; otherwise, execute step S40. S40. If the button condition word EW1=0x0200, the stern slide state machine jumps to the automatic retraction of the auxiliary rail zigzag state; otherwise, the stern slide state machine does not jump. like Figure 11 As shown, the stern slide state machine is in the unmanned surface vessel deployment completed state, and the state transition process is as follows: S41. If the button condition word EW1=0x0010, the stern slide state machine jumps to the manual retraction of the auxiliary rail zigzag state; otherwise, execute step S42. S42. If the button condition word EW1=0x0200, the stern slide state machine jumps to the automatic retraction of the auxiliary rail zigzag state; otherwise, the stern slide state machine does not jump. like Figure 12As shown, the stern slide state machine is in the automatic opening of the left / right stern doors state, and the state transition process is as follows: S43. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S44. S44. If the stern slide condition word EW2=0x2221, the stern slide state machine jumps to the automatic unlocking main / auxiliary rail frame state; otherwise, the stern slide state machine does not jump. like Figure 13 As shown, the stern slide state machine is in the automatic unlocking main / auxiliary rail frame state, and the state transition process is as follows: S45. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S46. S46. If the stern slide condition word EW2=0x2211, the stern slide state machine jumps to the automatic release of the main / auxiliary rail frame state; otherwise, the stern slide state machine does not jump. like Figure 14 As shown, the stern slide state machine is in the automatic release of the main / auxiliary rail frame state, and the state transition process is as follows: S47. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S48. S48. If the stern slide condition word EW2=0x2111, the stern slide state machine jumps to the automatic release of the secondary rail zigzag state; otherwise, the stern slide state machine does not jump. like Figure 15 As shown, the stern slide state machine is in the automatic release of the auxiliary rail zigzag state, and the state transition process is as follows: S49. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S50. S50. If the stern slide condition word EW2=0x1111, execute step S1; otherwise, the stern slide state machine does not jump. like Figure 16 As shown, the stern slide state machine is in the automatic retraction of the auxiliary rail zigzag state, and the state transition process is as follows: S51. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S52. S52. If the stern slide condition word EW2=0x2111, the stern slide state machine jumps to the automatic retraction of the main / auxiliary rail frame state; otherwise, the stern slide state machine does not jump. like Figure 17 As shown, the stern slide state machine is in the automatic retraction of the main / auxiliary rail frame state, and the state transition process is as follows: S53. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S54. S54. If the stern slide condition word EW2=0x2211, the stern slide state machine jumps to the automatic locking main / auxiliary rail frame state; otherwise, the stern slide state machine does not jump. like Figure 18 As shown, the stern slide state machine is in the automatic locking main / auxiliary rail frame state, and the state transition process is as follows: S55. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S56. S56. If the stern slide condition word EW2=0x2221, the stern slide state machine jumps to the state of automatically closing the left / right stern doors; otherwise, the stern slide state machine does not jump. like Figure 9 As shown, the stern slide state machine is in the automatic closing left / right stern door state, and the state transition process is as follows: S57. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S58. S58. If the stern slide condition word EW2=0x2222, execute step S1; otherwise, the stern slide state machine does not jump. like Figure 20 As shown, when the stern slide state machine is in the manual opening state of the left / right stern doors, the state transition process is as follows: S59. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S60. S60. If the stern slide condition word EW2=0x2221, execute step S1; otherwise, the stern slide state machine does not jump. like Figure 21 As shown, the stern slide state machine is in the manually unlocked main / auxiliary rail frame state, and the state transition process is as follows: S61. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S62. S62. If the stern slide condition word EW2=0x2211, execute step S1; otherwise, the stern slide state machine does not jump. like Figure 22 As shown, the stern slide state machine is in the manual release of the main / auxiliary rail frame state, and the state transition process is as follows: S63. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S64. S64. If the stern slide condition word EW2=0x2111, execute step S1; otherwise, the stern slide state machine does not jump. like Figure 23 As shown, the stern slide state machine is in the manually released secondary rail zigzag state, and the state transition process is as follows: S65. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S66. S66. If the stern slide condition word EW2=0x1111, execute step S1; otherwise, the stern slide state machine does not jump. like Figure 24 As shown, the stern slide state machine is in the manually retracted auxiliary rail zigzag state, and the state transition process is as follows: S67. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S68. S68. If the stern slide condition word EW2=0x2111, execute step S1; otherwise, the stern slide state machine does not jump. like Figure 25 As shown, the stern slide state machine is in the manual retraction of the main / auxiliary rail frame state, and the state transition process is as follows: S69. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S70. S70. If the stern slide condition word EW2=0x2211, execute step S1; otherwise, the stern slide state machine does not jump. like Figure 26 As shown, the stern slide state machine is in the manual locking main / auxiliary rail frame state, and the state transition process is as follows: S71. If the button condition word EW1=0x0000, execute step S1; otherwise, execute step S72. S72. If the stern slide condition word EW2=0x2221, execute step S1; otherwise, the stern slide state machine does not jump. like Figure 27 As shown, when the stern slide state machine is in the manually closed left / right stern door state, the state transition process is as follows: S73. If the button condition word EW1 = 0x0000, execute step S1; otherwise, execute step S74. S74. If the stern slide condition word EW2=0x2222, execute step S1; otherwise, the stern slide state machine does not jump.

[0059] As a further preferred embodiment, the stern slide state machine performs corresponding actions during the departure and entry states, including: The automatic opening of the left / right stern doors includes the following actions: when entering the state, executing the button enable program and the left / right stern door opening start program; when leaving the state, executing the left / right stern door opening stop program. The manual opening of the left / right stern doors includes the following actions: when entering the state, executing the button enable procedure and the left / right stern door opening start procedure; when leaving the state, executing the left / right stern door opening stop procedure. The automatic unlocking of the main / secondary rail rack includes the following actions: when entering the state, the button enable procedure and the main / secondary rail rack unlocking start procedure are executed; when leaving the state, the main / secondary rail rack unlocking stop procedure is executed. The manual unlocking of the main / secondary rail frame includes the following actions: when entering the state, the button enable procedure and the main / secondary rail frame unlocking start procedure are executed; when leaving the state, the main / secondary rail frame unlocking stop procedure is executed. The automatic release of the main / secondary rail frame includes the following actions: when entering the state, the button enable procedure and the main / secondary rail frame release start procedure are executed; when leaving the state, the main / secondary rail frame release stop procedure is executed. The manual release of the main / auxiliary rail frame includes the following actions: when entering the state, the button enable procedure and the main / auxiliary rail frame release start procedure are executed; when leaving the state, the main / auxiliary rail frame release stop procedure is executed. The automatic release of the secondary rail zigzag state includes the following actions: when entering the state, the button enable program and the secondary rail zigzag release start program are executed; when leaving the state, the secondary rail zigzag release stop program is executed. The manual release of the secondary rail zigzag state includes the following actions: when entering the state, the button enable program and the secondary rail zigzag release start program are executed; when leaving the state, the secondary rail zigzag release stop program is executed. The automatic retraction of the secondary rail in the zigzag state includes the following actions: when entering the state, the button enable procedure and the secondary rail retraction zigzag start procedure are executed; when leaving the state, the secondary rail retraction zigzag stop procedure is executed. The manual retraction of the secondary rail zigzag state includes the following actions: when entering the state, the button enable procedure and the secondary rail retraction zigzag start procedure are executed; when leaving the state, the secondary rail retraction zigzag stop procedure is executed. The automatic retraction of the main / auxiliary rail frame includes the following actions: when entering the state, the button enable procedure and the main / auxiliary rail frame retraction start procedure are executed; when leaving the state, the main / auxiliary rail frame retraction stop procedure is executed. The manual retraction of the main / auxiliary rail frame includes the following actions: when entering the state, the button enable procedure and the main / auxiliary rail frame retraction start procedure are executed; when leaving the state, the main / auxiliary rail frame retraction stop procedure is executed. The automatic locking main / auxiliary rail frame state includes the following actions: when entering the state, the button enable program and the locking main / auxiliary rail frame start program are executed; when leaving the state, the locking main / auxiliary rail frame stop program is executed. The manual locking main / auxiliary rail frame state includes the following actions: when entering the state, the button enable procedure and the locking main / auxiliary rail frame start procedure are executed; when leaving the state, the locking main / auxiliary rail frame stop procedure is executed. The automatic closing of the left / right stern doors includes the following actions: when entering the state, executing the button enable procedure and the left / right stern door closing start procedure; when leaving the state, executing the left / right stern door closing stop procedure. The manual closing of the left / right stern doors includes the following actions: when entering the state, executing the button enable procedure and the left / right stern door closing start procedure; when leaving the state, executing the left / right stern door closing stop procedure. The unmanned surface vessel recovery completion state includes the following actions: upon entering the state, executing the button enable procedure; The first waiting operation state includes the following actions: upon entering the state, the button enable procedure is executed; The second waiting operation state includes the following actions: upon entering the state, the button enable procedure is executed; The third waiting operation state includes the following actions: upon entering the state, the button enable procedure is executed; The fourth waiting operation state includes the following actions: upon entering the state, the button enable procedure is executed; The fifth waiting operation state includes the following actions: upon entering the state, the button enable procedure is executed; The sixth waiting operation state includes the following actions: upon entering the state, the button enable procedure is executed; The seventh waiting operation state includes the following actions: upon entering the state, the button enable procedure is executed; The unmanned surface vessel (USV) deployment completion state includes the following actions: upon entering the state, the button enable procedure is executed.

[0060] As a further preferred embodiment, the button enable program updates the button enable word EW3 and the button light control word EW4 according to the current state, and then decodes the button light control word EW4. The button enable word EW3 is used to update the button condition word EW1 for state transitions in the stern slide state machine, while also constraining the operation of each button, reducing the chance of human error and greatly improving the safety of the stern slide-type unmanned surface vessel launch and recovery device. The button light control word EW4 visually displays the enable status of each button through the button lights, thereby prompting the user about the available operations in the current state, making operation simpler and faster.

[0061] As a further preferred embodiment, the left / right stern door opening procedure controls the left stern door opening / closing hydraulic cylinder and the right stern door opening / closing hydraulic cylinder, causing the left stern door opening / closing hydraulic cylinder to move in the left stern door opening direction and the right stern door opening / closing hydraulic cylinder to move in the right stern door opening direction.

[0062] As a further preferred embodiment, the left / right stern door opening stop procedure controls the left stern door opening / closing hydraulic cylinder and the right stern door opening / closing hydraulic cylinder, causing the left stern door opening / closing hydraulic cylinder to stop moving in the direction of opening the left stern door, and causing the right stern door opening / closing hydraulic cylinder to stop moving in the direction of opening the right stern door.

[0063] As a further preferred embodiment, the left / right stern door closing start procedure controls the left stern door opening / closing hydraulic cylinder and the right stern door opening / closing hydraulic cylinder, causing the left stern door opening / closing hydraulic cylinder to move in the left stern door closing direction and the right stern door opening / closing hydraulic cylinder to move in the right stern door closing direction.

[0064] As a further preferred embodiment, the left / right stern door closing stop procedure controls the left stern door opening / closing hydraulic cylinder and the right stern door opening / closing hydraulic cylinder, causing the left stern door opening / closing hydraulic cylinder to stop moving in the left stern door closing direction, and causing the right stern door opening / closing hydraulic cylinder to stop moving in the right stern door closing direction.

[0065] As a further preferred embodiment, the unlocking main / sub-rail frame start-up procedure controls the main rail frame left lock unlocking / locking hydraulic cylinder, the main rail frame right lock unlocking / locking hydraulic cylinder, the sub-rail frame left lock unlocking / locking hydraulic cylinder, and the sub-rail frame right lock unlocking / locking hydraulic cylinder to move in the unlocking direction.

[0066] As a further preferred embodiment, the unlocking main / sub-rail frame stop procedure controls the main rail frame left lock unlocking / locking hydraulic cylinder, the main rail frame right lock unlocking / locking hydraulic cylinder, the sub-rail frame left lock unlocking / locking hydraulic cylinder, and the sub-rail frame right lock unlocking / locking hydraulic cylinder to terminate their movement in the unlocking direction.

[0067] As a further preferred embodiment, the locking main / sub-rail frame start-up procedure controls the main rail frame left locking / unlocking / locking hydraulic cylinder, the main rail frame right locking / unlocking / locking hydraulic cylinder, the sub-rail frame left locking / unlocking / locking hydraulic cylinder, and the sub-rail frame right locking / unlocking / locking hydraulic cylinder to move in the locking direction.

[0068] As a further preferred embodiment, the locking main / sub-rail frame stop procedure controls the main rail frame left locking / unlocking / locking hydraulic cylinder, the main rail frame right locking / unlocking / locking hydraulic cylinder, the sub-rail frame left locking / unlocking / locking hydraulic cylinder, and the sub-rail frame right locking / unlocking / locking hydraulic cylinder to terminate their movement in the locking direction.

[0069] As a further preferred embodiment, the main / auxiliary rail frame release start-up program controls the main / auxiliary rail frame release / retraction hydraulic cylinders to make the main / auxiliary rail frame move in the release direction.

[0070] As a further preferred embodiment, the main / auxiliary rail frame release stop procedure controls the main / auxiliary rail frame release / retraction hydraulic cylinders to stop the main / auxiliary rail frame from moving in the release direction.

[0071] As a further preferred embodiment, the main / auxiliary rail frame retraction start procedure controls the main / auxiliary rail frame release / retraction hydraulic cylinders to cause the main / auxiliary rail frame to move in the retraction direction.

[0072] As a further preferred embodiment, the main / auxiliary rail frame retraction stop procedure controls the main / auxiliary rail frame release / retraction hydraulic cylinders to stop the main / auxiliary rail frame from moving in the retraction direction.

[0073] As a further preferred embodiment, the secondary rail release zigzag start procedure controls the secondary rail zigzag release / retraction hydraulic cylinder to cause the main / secondary rail frame to move in the release direction.

[0074] As a further preferred embodiment, the secondary rail release and deflection stop procedure controls the secondary rail deflection release / retraction hydraulic cylinder to stop the main / secondary rail frame from moving in the release direction.

[0075] As a further preferred embodiment, the retraction subrail bending start procedure controls the subrail bending release / retraction hydraulic cylinder to cause the main / subrail frame to move in the retraction direction.

[0076] As a further preferred embodiment, the retraction subrail bending stop procedure controls the subrail bending release / retraction hydraulic cylinder to stop the main / subrail frame from moving in the retraction direction.

[0077] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 28 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores static and dynamic information data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements the steps in the above method embodiments.

[0078] Those skilled in the art will understand that Figure 28 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device to which the present invention is applied. A specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0079] In addition, the present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0080] In addition, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0081] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0082] This invention is not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this invention is limited only by the appended claims.

Claims

1. A control method for a stern-slide type unmanned surface vessel (USV) launch and recovery device, characterized in that, include: Construct the stern slide state machine and condition word encoding, where the condition words include button condition words and stern slide condition words; Real-time acquisition of control panel button signals and stern slide status feedback signals from the stern slide type unmanned surface vessel launch and recovery device; The condition words are updated based on the control panel button signals and the stern slide status feedback signals; The stern slide state machine is transitioned based on its current state and the updated condition word. When leaving or entering a state, the corresponding action program is executed to control the deployment and retrieval of the unmanned surface vessel.

2. The control method for the stern-mounted unmanned surface vessel (USV) launch and recovery device according to claim 1, characterized in that, The states of the stern slide state machine include: automatically opening the left / right stern doors, automatically unlocking the main / auxiliary rail frame, automatically deploying the main / auxiliary rail frame, automatically deploying the auxiliary rail (bend), automatically retracting the auxiliary rail (bend), automatically retracting the main / auxiliary rail frame, automatically locking the main / auxiliary rail frame, automatically closing the left / right stern doors, manually opening the left / right stern doors, manually unlocking the main / auxiliary rail frame, manually deploying the main / auxiliary rail frame, manually deploying the auxiliary rail (bend), manually retracting the auxiliary rail (bend), manually retracting the main / auxiliary rail frame, manually locking the main / auxiliary rail frame, manually closing the left / right stern doors, unmanned surface vessel (USV) retraction complete, USV deployment complete, first waiting operation state, second waiting operation state, third waiting operation state, fourth waiting operation state, fifth waiting operation state, sixth waiting operation state, and seventh waiting operation state.

3. The control method for the stern-mounted unmanned surface vessel (USV) launch and recovery device according to claim 1, characterized in that, The control panel button signals of the stern slide-type unmanned surface vessel (USV) deployment and retrieval device include: manually open left / right stern door button signal, manually close left / right stern door button signal, manually unlock main / auxiliary rail frame button signal, manually lock main / auxiliary rail frame button signal, manually release main / auxiliary rail frame button signal, manually retract main / auxiliary rail frame button signal, manually release auxiliary rail frame zigzag button signal, manually retract auxiliary rail frame zigzag button signal, automatically release USV button signal, and automatically retract USV button signal. The stern slide status feedback signals include the following signals: left stern door open to position signal, left stern door closed to position signal, right stern door open to position signal, right stern door closed to position signal, main rail frame left lock locked to position signal, main rail frame right lock locked to position signal, auxiliary rail frame left lock locked to position signal, auxiliary rail frame right lock locked to position signal, main rail frame left lock unlocked to position signal, main rail frame right lock unlocked to position signal, auxiliary rail frame left lock unlocked to position signal, auxiliary rail frame right lock unlocked to position signal, main / auxiliary rail frame reaching bottom end signal, main / auxiliary rail frame reaching top end signal, auxiliary rail zigzag reaching top end signal, and auxiliary rail zigzag reaching bottom end signal.

4. The control method for the stern-mounted unmanned surface vessel (USV) launch and recovery device according to claim 1, characterized in that, The button condition word is 16 bits, and updating the button condition word includes: Read the button enable word of the current state, and based on the pressed state of the button signal on the control panel, combined with the enable state of the corresponding bit of the button enable word, determine the value of the corresponding bit of the button condition word, and update the button condition word.

5. The control method for the stern-mounted unmanned surface vessel (USV) launch and recovery device according to claim 1, characterized in that, The stern slide condition word has 16 bits, and the update of the stern slide condition word includes: Based on the stern slide condition feedback signal and the condition determination conditions of each component of the stern slide, the values ​​of the corresponding bits of the stern slide condition word are determined to update the stern slide condition word.

6. The control method for the stern-mounted unmanned surface vessel (USV) launch and recovery device according to claim 1, characterized in that, The process of transitioning the stern slide state machine based on its current state and condition word includes: The stern slide state machine, based on its current state and the values ​​of the stern slide condition word and the button condition word, can switch to the corresponding state or keep the current state unchanged, thus completing the state switching control of the stern slide state machine.

7. The control method for the stern-mounted unmanned surface vessel (USV) launch and recovery device according to claim 1, characterized in that, The stern slide state machine executes the following action programs during the departure and entry states: When the stern slide state machine enters a state, it executes the corresponding button enable program and starts the corresponding start program; when the stern slide state machine leaves a state, it executes the corresponding stop program.

8. The control method for the stern-mounted unmanned surface vessel launch and recovery device according to claim 7, characterized in that, The button enable program updates the button enable word and the button light control word according to the current state. The button enable word is 16 bits and the button light control word is 32 bits.

9. The control method for the stern-mounted unmanned surface vessel launch and recovery device according to claim 7, characterized in that, The button enable program is also used to decode the button light control word, wherein the decoding steps include: Construct a temporary variable with a preset number of valid bits, extract the corresponding bits of the button light control word and copy them to the temporary variable, and control the indicator light of the corresponding button to be in a constant off, constant on, or flashing state according to the value of the temporary variable, thus completing the decoding of the button light control word.

Images