A hook, a mother ship and an unmanned ship deployment and recovery system

Abstract

The present invention provides a hook, a mother ship, an unmanned ship deployment and recovery system, and an unmanned ship deployment and recovery method. The hook includes: a hook body provided with a bearing groove, a guiding hole, and an unlocking hole, the bearing groove communicating with the unlocking hole, and the guiding hole and the unlocking hole being arranged at intervals; a safety catch connected to the hook body, and the safety catch resetting and locking the bearing groove without external force; a guiding cable movably passing through the guiding hole, the connecting end of the guiding cable being used for connecting with an unmanned ship, and the operating end of the guiding cable being used for being fixed on the mother ship; an unlocking cable movably passing through the unlocking hole, the connecting end of the unlocking cable being connected to the safety catch, and the operating end of the unlocking cable being connected to an operator. The operator pulls the unlocking cable to drive the safety catch to unlock the bearing groove. By adopting the above technical solution, the operation efficiency of recovering an unmanned ship is improved, the operation risk of the operator is reduced, the modification difficulty is reduced, the problem of frequent replacement of lifting appliances is avoided, and the operation is safe and convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation equipment, and more specifically, to a hook, a mother ship and an unmanned ship deployment and recovery system. Background Art

[0002] At present, with the vigorous development of marine application equipment, unmanned ships and other equipment have taken on important tasks in marine exploration, etc. How to achieve safe deployment and recovery of unmanned ships more efficiently under the premise of unmanned operation in marine operations, even in high sea conditions, has always been a common problem that has attracted widespread attention at home and abroad.

[0003] There are currently two ways to deploy and recover unmanned ships:

[0004] 1. Use a frogman to go to the sea to help the mother ship's crane hook dock with the lifting point on the unmanned boat, then start the crane and lift the unmanned boat to the mother ship's deck to complete the recovery of the unmanned boat. When performing this operation in severe sea conditions, due to the strong winds and waves on the sea, the ups and downs and swings of the unmanned boat itself, and the squeezing of the unmanned boat and the mother ship, it will bring huge risks to the frogman. Furthermore, if the unmanned boat cannot be recovered in time, it may also cause the loss and damage of the unmanned boat. Such recovery operations are inefficient and risky.

[0005] 2. It is difficult and expensive to make large-scale modifications to the mother ship's cranes, adding anti-sway bells and wave compensation mechanisms, and not all cranes can be modified. In addition, different hoists are required to deploy and recover unmanned boats, which will bring about the problem of frequent replacement of hoists, resulting in cumbersome operations. Summary of the invention

[0006] The purpose of the present invention is to provide a hook, a mother ship and an unmanned boat deployment and recovery system to solve the technical problems existing in the prior art of low operating efficiency, high risk, difficulty in modification and complicated operation of the mother ship deploying and recovering the unmanned boat.

[0007] To achieve the above object, the technical solution adopted by the present invention is a hook, comprising:

[0008] The hook body is provided with a bearing groove, a guide hole and the unlocking hole, the bearing groove is communicated with the unlocking hole, and the guide hole and the unlocking hole are arranged at intervals;

[0009] A safety buckle connected to the hook body, wherein the safety buckle resets and locks the bearing groove when no external force is applied;

[0010] A guide cable is movably arranged in the guide hole, the connecting end of the guide cable is used to connect with the unmanned ship, and the operating end of the guide cable is controlled by an operator on the mother ship;

[0011] The unlocking cable is movably threaded through the unlocking hole. The connecting end of the unlocking cable is connected to the safety buckle, and the operating end of the unlocking cable is connected to the operator. After the unmanned boat enters the water, the operator pulls the unlocking cable to drive the safety buckle to unlock the carrying slot.

[0012] By adopting the above technical solutions, the operation efficiency of recovering the unmanned boat is improved. The hook body can quickly dock with the unmanned boat along the guiding cable, reducing the time-consuming of docking; the operation risk of the operator is reduced. The operator can complete the operations of deploying and recovering the unmanned boat on the mother ship, avoiding underwater operations and improving operation safety; the modification difficulty of the mother ship is reduced. The hook body can be directly installed on the crane of the mother ship without significantly modifying the mother ship, reducing the modification cost; the complexity of the operation is reduced. The hook body is applicable to various unmanned boats, avoiding the problem of frequently replacing lifting tools. At the same time, the operator on the mother ship can operate the unlocking of the safety buckle through the unlocking cable, and the operation is safe and convenient.

[0013] In one embodiment, the hook further includes an elastic member connecting the hook body and the safety buckle. The elastic member drives the safety buckle to move out of the carrying slot to lock the carrying slot, and the operator pulls the unlocking cable to drive the safety buckle to move into the carrying slot to unlock the carrying slot.

[0014] By adopting the above technical solutions, the operation convenience of the hook is improved. The connecting rod on the unmanned boat enters the carrying slot from outside the carrying slot, and the safety buckle automatically resets to lock the carrying slot without the operator locking the carrying slot, with high convenience; the operator can operate the unlocking cable to release the unmanned boat, and the operation is also highly convenient.

[0015] This embodiment also provides a mother ship, including a mother ship main body and the above hook. The mother ship main body drives the hook to dock with the unmanned boat.

[0016] By adopting the above technical solutions, the operation efficiency of the mother ship in recovering the unmanned boat is improved, the time-consuming of docking is reduced, the operation risk of the operator is reduced, the modification difficulty of the mother ship is reduced, the complexity of the operation is reduced, the problem of frequently replacing lifting tools is avoided, and the operation is safe and convenient.

[0017] This embodiment also provides an unmanned boat deployment and recovery system, including an unmanned boat and the above mother ship. The mother ship is used to deploy the unmanned boat. A connecting device cooperating with the hook is provided on the unmanned boat. The connecting device includes a connecting seat and a connecting rod provided on the connecting seat. The connecting seat is fixed on the unmanned boat, and the connecting rod can enter the carrying slot to connect the unmanned boat and the hook.

[0018] In one embodiment, the connecting device further includes a first cable winding mechanism for winding and unwinding the guiding cable.

[0019] After the step of "deploying the unmanned boat", there is also a step of "releasing the guiding cable". The operator separates the operating end of the guiding cable from the mother ship, and the first cable winding mechanism rotates in a preset direction to wind back the guiding cable. This design realizes the storage of the guiding cable and avoids the messy guiding cable from affecting the driving safety of the unmanned boat.

[0020] In the step of "connecting the guiding cable", specifically, the first cable winding mechanism rotates in a preset direction to apply a pulling force to the guiding cable to tighten the guiding cable between the unmanned boat and the mother ship. This design ensures the stability of the movement of the hook body on the guiding cable, and at the same time avoids the guiding cable from being too loose and falling into the water, resulting in the inability of the hook body to move smoothly.

[0021] In one embodiment, a swing cable and a second cable winding mechanism for winding and unwinding the swing cable are further provided on the unmanned boat.

[0022] By adopting the above technical solutions, the stability of the unmanned boat during hoisting is improved.

[0023] In one embodiment, the connecting device further includes a first cable winding mechanism for winding and unwinding the guiding cable. A swing cable and a second cable winding mechanism for winding and unwinding the swing cable are further provided on the unmanned boat. The guiding cable is detachably connected to the swing cable.

[0024] By adopting the above technical solutions, the setting of the swing cable facilitates the operator to capture the guiding cable with tools, making the operation more convenient.

[0025] This embodiment further provides an unmanned boat deployment and recovery method, which is applied to the above unmanned boat deployment and recovery system, and includes:

[0026] Unmanned boat deployment step;

[0027] Hoist the unmanned boat. Place the unmanned boat on the mother ship. The operator connects the unlocking cable to the safety buckle and passes the operating end of the unlocking cable through the unlocking hole of the hook. Drive the hook to move on the mother ship so that the connecting rod on the unmanned boat enters the bearing groove to connect the unmanned boat and the hook. The operator drives the hook to move and drop it onto the water surface of the target water area. At this time, the operator holds the operating end of the unlocking cable connected to the safety buckle on the mother ship;

[0028] Deploy the unmanned boat. Move the unmanned boat to the target water area through the hook. After the unmanned boat enters the water, the operator pulls the operating end of the unlocking cable on the mother ship to drive the safety buckle to unlock the bearing groove. The operator drives the hook to separate from the connecting rod and release the unmanned boat;

[0029] Steps for recovering an unmanned boat:

[0030] Connect the guiding cable. The operator on the mother ship deck uses a tool to hook the anti-sway cable on the side of the unmanned boat, along with the guiding cable. The connecting end of the guiding cable is connected to the connecting seat of the unmanned boat, and the operating end of the guiding cable is controlled by the operator on the mother ship deck;

[0031] Connect the hook to the unmanned boat. Two operators tow the anti-sway cable to control the attitude of the unmanned boat. The deck operator tightens the guiding cable, and the main body of the hook moves along the guiding cable to the connecting rod. The connecting rod pushes open the safety buckle into the bearing groove under the moving inertia of the main body of the hook;

[0032] Recover the unmanned boat. The mother ship drives the main body of the hook to drive the unmanned boat to move from the water surface of the target water area to the mother ship;

[0033] After the hook is separated from the unmanned boat, the first cable winding mechanism and the second cable winding mechanism will automatically recover the pulled-out anti-sway cable and guiding cable, and then the operator connects the guiding cable and the anti-sway cable. This design realizes the storage of the guiding cable and the anti-sway cable, and avoids the messy cables from affecting the driving safety of the unmanned boat.

[0034] By adopting the above technical solutions, the operation efficiency of recovering the unmanned boat is improved. The main body of the hook can quickly dock with the unmanned boat along the guiding cable, reducing the docking time; the operation risk of the operator is reduced. The operator can complete the operations of deploying and recovering the unmanned boat on the mother ship, avoiding underwater operations and improving operation safety; the modification difficulty of the mother ship is reduced. The main body of the hook can be directly installed on the crane of the mother ship without significantly modifying the mother ship, reducing the modification cost; the complexity of the operation is reduced. The main body of the hook is applicable to various unmanned boats, avoiding the problem of frequent replacement of lifting tools. At the same time, the operator on the mother ship can unlock the safety buckle by unlocking the cable, and the operation is safe and convenient.

[0035] In another embodiment, after the step of "deploying the unmanned boat", there is also a step of "releasing the guiding cable". The operator separates the operating end of the guiding cable from the mother ship, and the first cable winding mechanism rotates in a preset direction to recover the guiding cable.

[0036] This design realizes the storage of the guiding cable, and avoids the messy guiding cable from affecting the driving safety of the unmanned boat.

[0037] In another embodiment, in the "connecting the guiding cable" step, the operator captures the anti-sway cable with a tool on the mother ship, pulls the operating end of the guiding cable towards the mother ship. After the operating end of the guiding cable lands on the mother ship, the connection between the guiding cable and the anti-sway cable is released, and then the hook body is threaded through the guiding cable, and the operator tightens and controls the guiding cable.

[0038] By adopting the above technical solution, the setting of the anti-sway cable facilitates the operator to capture the guiding cable with a tool, making the operation more convenient. Brief Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 It is a three-dimensional structure diagram of a perspective of the hook provided by the embodiment of the present invention;

[0041] Figure 2 It is a three-dimensional structure diagram of another perspective of the hook provided by the embodiment of the present invention.

[0042] Figure 3 It is a schematic diagram of the unmanned ship deployment and recovery system provided by the embodiment of the present invention in the "lifting the unmanned ship";

[0043] Figure 4 It is an enlarged schematic diagram of the unmanned ship deployment and recovery system provided by the embodiment of the present invention in the "lifting the unmanned ship";

[0044] Figure 5 It is a schematic diagram of the unmanned ship deployment and recovery system provided by the embodiment of the present invention in the "deploying the unmanned ship";

[0045] Figure 6 It is a schematic diagram of the hook provided by the embodiment of the present invention in the "deploying the unmanned ship";

[0046] Figure 7 It is a schematic diagram of the unmanned ship deployment and recovery system provided by the embodiment of the present invention in the "connecting the guiding cable";

[0047] Figure 8 It is a schematic diagram of the "connecting the hook and the unmanned ship" of the unmanned ship deployment and recovery system provided by the embodiment of the present invention;

[0048] Figure 9 It is Figure 8 An enlarged view of "A";

[0049] Figure 10 It is a three-dimensional structure diagram of an unmanned ship provided by an embodiment of the present invention;

[0050] Figure 11 It is a schematic diagram of the unmanned ship deployment and recovery system provided by an embodiment of the present invention in the "connecting guiding cable";

[0051] Figure 12 is Figure 11 an enlarged view of the position "B" in

[0052] Figure 13 It is a schematic diagram of the unmanned ship deployment and recovery system provided by an embodiment of the present invention in the "connecting guiding cable";

[0053] Figure 14 Figure 13 an enlarged view of the position "C" in.

[0054] The reference numerals in the figure are as follows:

[0055] 100 - lifting hook; 200 - unmanned ship; 300 - mother ship; 500 - tool;

[0056] 1 - lifting hook body; 2 - safety catch; 3 - guiding cable; 4 - unlocking cable; 5 - elastic member; 6 - connecting device; 7 - anti - sway cable; 8 - second cable winding mechanism;

[0057] 11 - bearing groove; 12 - guiding hole; 13 - unlocking hole; 14 - limiting part; 61 - connecting rod; 62 - connecting seat. 63 - first cable winding mechanism;. Detailed implementation manners

[0058] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0059] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected or indirectly connected to the other element.

[0060] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0061] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating relative importance or the number of technical features. In the description of the present invention, the meaning of "a plurality" is two or more, unless otherwise specifically defined. The following provides a more detailed description of the specific implementation of the present invention in conjunction with specific embodiments:

[0062] As Figure 1 and Figure 2 shown, a lifting hook 100 provided by an embodiment of the present invention includes: a hook body 1, a safety catch 2, a guiding cable 3, and an unlocking cable 4; the hook body 1 is provided with a bearing groove 11, a guiding hole 12, and an unlocking hole 13, the bearing groove 11 communicates with the unlocking hole 13, and the guiding hole 12 and the unlocking hole 13 are arranged at intervals; the safety catch 2 is connected to the hook body 1, and the safety catch 2 is reset to lock the bearing groove 11 without external force; the guiding cable 3 is movably threaded through the guiding hole 12, the connecting end of the guiding cable 3 is used to connect to the unmanned ship 200, and the operating end of the guiding cable 3 is controlled by an operator on the mother ship 300; the unlocking cable 4 is movably threaded through the unlocking hole 13, the connecting end of the unlocking cable 4 is connected to the safety catch 2, and the operating end of the unlocking cable 4 is connected to the operator, and the operator pulls the unlocking cable 4 to drive the safety catch 2 to unlock the bearing groove 11.

[0063] The working principle of the lifting hook 100 provided in this embodiment is as follows:

[0064] The lifting hook 100 is used to be installed on the mother ship 300, and the mother ship 300 is provided with a crane for driving the lifting hook 100 to move, including but not limited to moving the lifting hook 100 from the mother ship 300 to the water surface of the target water area, or moving the lifting hook 100 from the water surface of the target water area to the mother ship 300, and the lifting hook 100 is used to release and recover the unmanned ship 200;

[0065] As Figure 3 and Figure 4 shown, the deployment steps of the unmanned ship 200 are as follows:

[0066] Lift the unmanned ship 200, place the unmanned ship 200 on the mother ship 300, the operator is on the mother ship 300, drive the lifting hook 100 to move, so that the connecting rod 61 on the unmanned ship 200 enters the bearing groove 11 to connect the unmanned ship 200 and the lifting hook 100, the operator drives the lifting hook 100 to move and place it on the water surface of the target water area. At this time, the connecting end of the unlocking cable 4 is connected to the safety catch 2, and the operator holds the operating end of the unlocking cable 4 connected to the safety catch 2 on the mother ship 300;

[0067] Deploy the unmanned ship 200, as Figure 5 and Figure 6As shown, the unmanned boat 200 is moved to the target water area by the lifting hook 100. The operator pulls the operating end of the unlocking cable 4 on the mother ship 300 to drive the safety buckle 2 to unlock the bearing groove 11. The operator drives the lifting hook 100 to separate from the connecting rod 61 and releases the unmanned boat 200;

[0068] Steps for recovering the unmanned boat 200:

[0069] Connect the guiding cable 3. As Figures 7 to 9 shown, the connecting end of the guiding cable 3 is connected to the connecting seat of the unmanned boat 200, and the operating end of the guiding cable 3 is controlled by the operator on the deck of the mother ship 300;

[0070] Connect the lifting hook 100 to the unmanned boat 200. The lifting hook body 1 moves along the guiding cable 3 to the connecting rod 61. The connecting rod 61 pushes open the safety buckle 2 under the moving inertia of the lifting hook body 1 and enters the bearing groove 11;

[0071] Recover the unmanned boat 200. The mother ship 300 drives the lifting hook body 1 to drive the unmanned boat 200 to move from the water surface of the target water area to the mother ship 300.

[0072] It should be further explained that in the step of connecting the guiding cable 3 for recovering the unmanned boat 200, there are various specific implementation methods. The first one: The guiding cable 3 is placed on the unmanned boat 200, and the connecting end of the guiding cable 3 is fixedly connected to the unmanned boat 200. The operator on the mother ship 300 uses a tool 500 such as a hooked pole to capture the operating end of the guiding cable 3, then moves the operating end of the guiding cable 3 to the mother ship 300, and then passes the guiding cable 3 through the guiding hole 12 of the lifting hook body 1. The operating end of the guiding cable 3 is controlled by the operator on the deck of the mother ship 300;

[0073] The second one: The guiding cable 3 is placed on the unmanned boat 200, and the connecting end of the guiding cable 3 is fixedly connected to the unmanned boat 200. The operating end of the guiding cable 3 descends from the unmanned boat 200 to the mother ship 300 in a projective manner. Specifically, the operating end of the guiding cable 3 can be projected by a projector provided on the unmanned boat 200. The projector is controlled by the operator on the mother ship 300, and its projection direction and projection distance are adjustable to ensure that the operating end of the guiding cable 3 successfully lands on the mother ship 300. Then, the guiding cable 3 is passed through the guiding hole 12 of the lifting hook body 1, and finally the operating end of the guiding cable 3 is fixed on the mother ship 300.

[0074] By adopting the above technical scheme, the operational efficiency of recovering the unmanned boat 200 is improved, and the hook body 1 can be quickly docked with the unmanned boat 200 along the guide cable 3, reducing the time consumption of docking; reducing the operational risk of the operator, and the operator can complete the operation of deploying and recovering the unmanned boat 200 on the mother ship 300, avoiding launching operations and improving operational safety; reducing the difficulty of modifying the mother ship 300, and the hook body 1 can be directly installed on the crane of the mother ship 300, without the need for major modifications to the mother ship 300, reducing the modification cost; reducing the cumbersomeness of operation, and the hook body 1 can be applicable to a variety of unmanned boats 200, avoiding the problem of frequent replacement of lifting equipment, and the operator on the mother ship 300 can unlock the safety buckle 2 through the unlocking cable 4, and the operation is safe and convenient.

[0075] In one embodiment, please refer again to Figure 1 The hook 100 also includes an elastic member 5 connecting the hook body 1 and the safety buckle 2. The elastic member 5 drives the safety buckle 2 to move out of the bearing slot 11 to lock the bearing slot 11. The operator pulls the unlocking cable 4 to drive the safety buckle 2 to move into the bearing slot 11 to unlock the bearing slot 11.

[0076] like Figure 10 As shown, specifically, the elastic force of the elastic member 5 drives the safety buckle 2 to lock the load-bearing slot 11. The unmanned boat 200 is provided with a connecting device 6 that is docked with the hook 100. The connecting device 6 includes a connecting rod 61. The connecting rod 61 can push the safety buckle 2 from the outside of the load-bearing slot 11 to enter the load-bearing slot 11. When the connecting rod 61 enters the load-bearing slot 11, the safety buckle 2 locks the load-bearing slot 11 under the elastic force of the elastic member 5, and the connecting rod 61 cannot be detached from the load-bearing slot 11. At this time, the unmanned boat 200 is successfully connected to the hook 100; conversely, when the unmanned boat 200 needs to be detached from the hook 100, the operator pulls the unlocking cable 4 to drive the safety buckle 2 to move into the load-bearing slot 11, unlock the load-bearing slot 11, and the connecting rod 61 can leave the load-bearing slot 11, thereby releasing the unmanned boat 200.

[0077] By adopting the above technical solution, the operational convenience of the hook 100 is improved, the connecting rod 61 on the unmanned boat 200 enters the load-bearing slot 11 from outside the load-bearing slot 11, and the safety buckle 2 automatically resets and locks the load-bearing slot 11, without the operator having to lock the load-bearing slot 11, which is highly convenient; the operator can operate the unlocking cable 4 to release the unmanned boat 200, which is also highly convenient to operate.

[0078] In one embodiment, the safety buckle 2 is rotatably connected to the hook body 1 , the elastic member 5 drives the safety buckle 2 to rotate outward of the bearing slot 11 , and the operator pulls the unlocking cable 4 to drive the safety buckle 2 to rotate inward of the bearing slot 11 .

[0079] Specifically, the safety buckle 2 is connected to the hook body 1 via a rotating pin.

[0080] By adopting the above technical solution, the connection structure between the safety buckle 2 and the hook body 1 is simplified, making the assembly operation of the hook 100 more convenient.

[0081] In one embodiment, a limiting portion 14 is provided on the hook body 1, and the limiting portion 14 limits the rotation of the safety buckle 2 within a preset rotation angle range.

[0082] Optionally, the limiting portion 14 is formed at the end portion of the hook body 1. When the safety buckle 2 rotates from the inside of the bearing groove 11 to the outside of the bearing groove 11 and the movable end of the safety buckle 2 abuts against the inner side of the limiting portion 14, the limiting portion 14 restricts the safety buckle 2 from continuing to rotate, that is, maintains the safety buckle 2 in a state of locking the bearing groove 11.

[0083] By adopting the above technical solution, it is possible to prevent the safety buckle 2 from rotating beyond the preset range, and avoid the unmanned ship 200 from falling off the bearing groove 11.

[0084] In one embodiment, the guiding hole 12 is located above the center of gravity of the hook body 1.

[0085] Specifically, the hook body 1 moves along the guiding cable 3. In the case of high sea conditions, the guiding cable 3 may vibrate greatly, causing the hook body 1 to swing on the guiding cable 3.

[0086] By adopting the above technical solution, the stability of the hook body 1 when moving along the guiding cable 3 is improved. The guiding cable 3 is always kept above the center of gravity of the hook body 1, and the hook body 1 remains stable during movement under the action of its own gravity, which is beneficial to the docking of the hook body 1 and the connecting rod 61.

[0087] As Figure 7 shown, this embodiment also provides a mother ship 300, which includes a mother ship body and the above-mentioned hook 100. The mother ship body drives the hook 100 to dock with the unmanned ship 200.

[0088] By adopting the above technical solution, the operation efficiency of the mother ship 300 for recovering the unmanned ship 200 is improved, the docking time is reduced, the operation risk of the operator is reduced, the modification difficulty of the mother ship 300 is reduced, the operation complexity is reduced, the problem of frequent replacement of the lifting appliance is avoided, and the operation is safe and convenient.

[0089] This embodiment also provides an unmanned ship deployment and recovery system, which includes an unmanned ship 200 and the above-mentioned mother ship 300. The mother ship 300 is used to deploy the unmanned ship 200. A connecting device 6 is provided on the unmanned ship 200. The connecting device 6 includes a connecting seat 62 and a connecting rod 61 provided on the connecting seat 62. The connecting seat 62 is fixed on the unmanned ship 200, and the connecting rod 61 can enter the bearing groove 11 to connect the unmanned ship 200 and the hook 100.

[0090] The working principle of the unmanned ship deployment and recovery system provided in this embodiment is as follows:

[0091] The hook 100 is used to be installed on the mother ship 300. There is a crane on the mother ship 300 for driving the hook 100 to move, including but not limited to moving the hook 100 from the mother ship 300 to the water surface of the target water area, or moving the hook 100 from the water surface of the target water area to the mother ship 300. The hook 100 is used to release and recover the unmanned ship 200;

[0092] Steps for deploying the unmanned ship 200:

[0093] Please refer to Figure 3 and Figure 4 again. Lift the unmanned ship 200. The unmanned ship 200 is placed on the mother ship 300. The operator drives the hook 100 to move so that the connecting rod 61 on the unmanned ship 200 enters the bearing groove 11 to connect the unmanned ship 200 and the hook 100. The operator drives the hook 100 to move and drops it on the water surface of the target water area. At this time, the connecting end of the unlocking cable 4 is connected to the safety buckle 2, and the operator holds the operating end of the unlocking cable 4 connected to the safety buckle 2 on the mother ship 300;

[0094] Please refer to Figure 5 and Figure 6 again. Deploy the unmanned ship 200. The operator pulls the operating end of the unlocking cable 4 on the mother ship 300 to drive the safety buckle 2 to unlock the bearing groove 11. The operator drives the hook 100 to separate from the connecting rod 61 and releases the unmanned ship 200;

[0095] After the step of "deploying the unmanned ship 200", it also includes disconnecting the connection between the unlocking cable 4 and the safety buckle 2.

[0096] Steps for recovering the unmanned ship 200:

[0097] Please refer to Figures 7 to 9 again. Connect the guiding cable 3. The connecting end of the guiding cable 3 is connected to the connecting seat 62 of the unmanned ship 200, and the operating end of the guiding cable 3 is connected to the mother ship 300;

[0098] Connect the hook 100 to the unmanned ship 200. The hook body 1 moves along the guiding cable 3 to the connecting rod 61. The connecting rod 61 pushes open the safety buckle 2 under the moving inertia of the hook body 1 and enters the bearing groove 11;

[0099] Recover the unmanned ship 200. The mother ship 300 drives the hook body 1 to drive the unmanned ship 200 to move from the water surface of the target water area to the mother ship 300.

[0100] As Figure 10 shown, in one embodiment, the connecting device 6 further includes a first cable winding mechanism 63 for taking in and paying out the guiding cable 3.

[0101] Specifically, the guiding cable 3 is wound around the first cable winding mechanism 63. When the first cable winding mechanism 63 rotates in a preset direction, the guiding cable 3 is retracted. When the first cable winding mechanism 63 rotates in a preset reverse direction, the guiding cable 3 is released.

[0102] After the step of "deploying the unmanned boat 200", there is also a step of "releasing the guiding cable 3". The operator separates the operating end of the guiding cable 3 from the mother ship 300, and the first cable winding mechanism 63 rotates in a preset direction to retract the guiding cable 3. This design realizes the storage of the guiding cable 3 and avoids the disorder of the guiding cable 3 affecting the driving safety of the unmanned boat 200.

[0103] In the step of "connecting the guiding cable 3", specifically, the first cable winding mechanism 63 rotates in a preset direction, applying a pulling force to the guiding cable 3 to tighten the guiding cable 3 between the unmanned boat 200 and the mother ship 300. This design ensures the stability of the hook body 1 moving on the guiding cable 3, and at the same time avoids the guiding cable 3 being too loose and falling into the water, causing the hook body 1 to be unable to move smoothly.

[0104] In one embodiment, the unmanned boat 200 is also provided with a damping cable 7 and a second cable winding mechanism 8 for retracting and releasing the damping cable 7.

[0105] Specifically, the unmanned boat 200 is provided with at least two second cable winding mechanisms 8 distributed at intervals. The damping cable 7 connects the two second cable winding mechanisms 8. The damping cable 7 is wound around the second cable winding mechanism 8. When the second cable winding mechanism 8 rotates in a preset direction, the damping cable 7 is retracted. When the second cable winding mechanism 8 rotates in a preset reverse direction, the damping cable 7 is released. The operator hooks the damping cable 7 of the unmanned boat 200 on the water surface with a hooked pole on the mother ship 300 to prevent the unmanned boat 200 from swinging too much when it is lifted.

[0106] It should be further explained that both ends of the damping cable 7 are respectively wound around the two cable winding mechanisms 8, and the guiding cable 3 is connected to the middle section of the damping cable 7. The operator hooks the damping cable 7 of the unmanned boat 200 on the water surface with a hooked pole on the mother ship 300, and pulls the guiding cable 3 to the mother ship 300 together. After disassembling the guiding cable 3, the damping cable 7 is controlled by two operators to play a damping role for the unmanned boat 200 during the entire recovery process.

[0107] By adopting the above technical solutions, the stability of the unmanned boat 200 during the hoisting process is improved.

[0108] In one embodiment, the connecting device 6 further includes a first cable winding mechanism 63 for retracting and releasing the guiding cable 3. The unmanned boat 200 is also provided with a damping cable 7 and a second cable winding mechanism 8 for retracting and releasing the damping cable 7. The guiding cable 3 is detachably connected to the damping cable 7.

[0109] Such asFigures 11 to 14 As shown in Figures 11 to 14 , in the step of "connecting the guiding cable 3", specifically, the operator uses a tool 500 such as a hooked pole on the mother ship 300 to hook the anti-sway cable 7, drive the operating end of the guiding cable 3 towards the mother ship 300. When the operating end of the guiding cable 3 lands on the mother ship 300, disconnect the connection between the guiding cable 3 and the anti-sway cable 7, then thread the hook body 1 through the guiding cable 3, and the operating end of the guiding cable 3 is controlled by the operator on the mother ship 300.

[0110] By adopting the above technical solution, the setting of the anti-sway cable 7 facilitates the operator to capture the guiding cable 3 using the tool 500, making the operation more convenient.

[0111] This embodiment also provides an unmanned boat deployment and recovery method, which is applied to the above-mentioned unmanned boat deployment and recovery system, and includes:

[0112] Unmanned boat 200 deployment step;

[0113] Lift the unmanned boat 200, place the unmanned boat 200 on the mother ship 300, and the operator drives the hook 100 to move on the mother ship 300, so that the connecting rod 61 on the unmanned boat 200 enters the bearing groove 11 to connect the unmanned boat 200 and the hook 100. The operator drives the hook 100 to move and drops it on the water surface of the target water area. At this time, the connecting end of the unlocking cable 4 is connected to the safety buckle 2, and the operator holds the operating end of the unlocking cable 4 connected to the safety buckle 2 on the mother ship 300;

[0114] Deploy the unmanned boat 200, move the unmanned boat 200 to the target water area through the hook 100. The operator pulls the operating end of the unlocking cable 4 on the mother ship 300 to drive the safety buckle 2 to unlock the bearing groove 11. The operator drives the hook 100 to separate from the connecting rod 61 and releases the unmanned boat 200;

[0115] Unmanned boat 200 recovery step:

[0116] Connect the guiding cable 3, the connecting end of the guiding cable 3 is connected to the connecting seat 62 of the unmanned boat 200, and the operating end of the guiding cable 3 is connected to the mother ship 300;

[0117] Connect the hook 100 to the unmanned boat 200, and the hook body 1 moves along the guiding cable 3 to the connecting rod 61. The connecting rod 61 pushes open the safety buckle 2 and enters the bearing groove 11 under the moving inertia of the hook body 1;

[0118] Recover the unmanned boat 200, and the mother ship 300 drives the hook body 1 to drive the unmanned boat 200 to move from the water surface of the target water area to the mother ship 300.

[0119] By adopting the above technical solutions, the operation efficiency of the unmanned vessel 200 is improved. The hook body 1 can quickly dock with the unmanned vessel 200 along the guiding cable 3, reducing the time-consuming for docking; the operation risk of the operator is reduced. The operator can complete the operations of deploying and retrieving the unmanned vessel 200 on the mother ship 300, avoiding underwater operations and improving operation safety; the refitting difficulty of the mother ship 300 is reduced. The hook body 1 can be directly installed on the crane of the mother ship 300 without significantly modifying the mother ship 300, reducing the refitting cost; the complexity of the operation is reduced. The hook body 1 is applicable to various unmanned vessels 200, avoiding the problem of frequently replacing lifting tools. At the same time, the operator on the mother ship 300 can unlock the safety buckle 2 by operating the unlocking cable 4, and the operation is safe and convenient.

[0120] In one embodiment, after the step of "deploying the unmanned vessel 200", there is also a step of "releasing the guiding cable 3". The operator separates the operating end of the guiding cable 3 from the mother ship 300, and the first cable winding mechanism 63 rotates in a preset direction to wind up the guiding cable 3.

[0121] Such a design realizes the storage of the guiding cable 3, avoiding the disorder of the guiding cable 3 from affecting the driving safety of the unmanned vessel 200.

[0122] In another embodiment, in the step of "connecting the guiding cable 3", the operator captures the anti-sway cable 7 with the tool 500 on the mother ship 300, drives the operating end of the guiding cable 3 towards the mother ship 300. After the operating end of the guiding cable 3 lands on the mother ship 300, the connection between the guiding cable 3 and the anti-sway cable 7 is released, and then the hook body 1 is passed through the guiding cable 3. The operating end of the guiding cable 3 is controlled by the operator on the mother ship 300.

[0123] By adopting the above technical solutions, the setting of the anti-sway cable 7 facilitates the operator to capture the guiding cable 3 with the tool 500, making the operation more convenient.

[0124] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An unmanned ship deployment and recovery method, characterized in that, Applied to the unmanned boat deployment and recovery system: The unmanned boat deployment and recovery system includes: An unmanned boat (200) and a mother ship (300). The mother ship (300) is used to deploy the unmanned boat (200). A connecting device (6) cooperating with a hook (100) is provided on the unmanned boat (200); The hook (100) includes: A hook body (1) provided with a bearing groove (11), a guide hole (12) and an unlocking hole (13). The bearing groove (11) communicates with the unlocking hole (13), and the guide hole (12) is arranged at an interval from the unlocking hole (13); A safety catch (2) connected to the hook body (1). Without external force, the safety catch (2) resets to lock the bearing groove (11); A guide cable (3) movably threaded through the guide hole (12). The connecting end of the guide cable (3) is used to connect to the unmanned boat (200), and the operating end of the guide cable (3) is controlled by an operator on the mother ship (300); An unlocking cable (4) movably threaded through the unlocking hole (13). The connecting end of the unlocking cable (4) is connected to the safety catch (2), and the operating end of the unlocking cable (4) is connected to the operator. The operator pulls the unlocking cable (4) to drive the safety catch (2) to unlock the bearing groove (11); The connecting device (6) includes a connecting seat (62) and a connecting rod (61) provided on the connecting seat (62). The connecting seat (62) is fixed to the unmanned boat (200), and the connecting rod (61) can enter the bearing groove (11) to connect the unmanned boat (200) and the hook (100). The unmanned boat deployment and recovery method includes: The step of deploying the unmanned boat (200); Lifting the unmanned boat (200), placing the unmanned boat (200) on the mother ship (300). The operator on the mother ship (300) drives the hook (100) to move, so that the connecting rod (61) on the unmanned boat (200) enters the bearing groove (11) to connect the unmanned boat (200) and the hook (100). The operator drives the hook (100) to move and drops it onto the water surface of the target water area. At this time, the connecting end of the unlocking cable (4) is connected to the safety catch (2), and the operator on the mother ship (300) holds the operating end of the unlocking cable (4) connected to the safety catch (2); Deploying the unmanned boat (200), moving the unmanned boat (200) to the target water area through the hook (100). The operator on the mother ship (300) pulls the operating end of the unlocking cable (4) to drive the safety catch (2) to unlock the bearing groove (11). The operator drives the hook (100) to separate from the connecting rod (61) and releases the unmanned boat (200); The step of recovering the unmanned boat (200): Connecting the guide cable (3), connecting the connecting end of the guide cable (3) to the connecting seat (62) of the unmanned boat (200), and connecting the operating end of the guide cable (3) to the mother ship (300); Connect the lifting hook (100) to the unmanned boat (200). The lifting hook body (1) moves along the guiding cable (3) to the connecting rod (61). Under the moving inertia of the lifting hook body (1), the connecting rod (61) pushes open the safety catch (2) and enters the bearing groove (11). Recover the unmanned boat (200). The mother ship (300) drives the lifting hook body (1) to drive the unmanned boat (200) to move from the water surface of the target water area to the mother ship (300).

2. The method for deploying and recovering an unmanned boat according to claim 1, wherein The connecting device (6) further includes a first cable winding mechanism (63) for winding and unwinding the guiding cable (3); after the step of "deploying the unmanned boat (200)", there is also a step of "releasing the unlocking cable (4)". The operator separates the operating end of the guiding cable (3) from the mother ship (300), and the first cable winding mechanism (63) rotates in a preset direction to wind back the guiding cable (3).

3. The method for deploying and recovering an unmanned boat according to claim 1, wherein In the step of "connecting the guiding cable (3)", the operator captures the anti-sway cable (7) on the mother ship (300) with a tool (500), drives the operating end of the guiding cable (3) towards the mother ship (300). After the operating end of the guiding cable (3) lands on the mother ship (300), the connection between the guiding cable (3) and the anti-sway cable (7) is released, and then the lifting hook body (1) is threaded through the guiding cable (3). Then, the operating end of the guiding cable (3) is controlled by the operator on the mother ship (300).

4. The method for deploying and recovering an unmanned ship according to claim 1, characterized in that The connecting device (6) further includes a first cable winding mechanism (63) for winding and unwinding the guiding cable (3). The unmanned boat (200) is also provided with an anti-sway cable (7) and a second cable winding mechanism (8) for winding and unwinding the anti-sway cable (7). The guiding cable (3) is detachably connected to the anti-sway cable (7).

5. The method for deploying and retrieving an unmanned ship according to claim 1, wherein, The lifting hook (100) further includes an elastic member (5) connecting the lifting hook body (1) and the safety catch (2). The elastic member (5) drives the safety catch (2) to move out of the bearing groove (11) to lock the bearing groove (11). The operator pulls the unlocking cable (4) to drive the safety catch (2) to move into the bearing groove (11) to unlock the bearing groove (11).

6. A mother ship (300), applied to the method for deploying and recovering an unmanned ship according to any one of claims 1 to 5, characterized in that, It includes a mother ship (300) body and a lifting hook (100). The mother ship (300) body drives the lifting hook (100) to dock with the unmanned boat (200).

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