Deployment and Recovery System, Navigation Equipment and Method for Deploying and Recovering Towing Equipment

Abstract

The present application provides a deployment and recovery system, navigation equipment and a deployment and recovery method for towing equipment, wherein the deployment and recovery system comprises: a fixed frame, used to be fixed on the navigation equipment; a pitch frame, rotatably connected to the fixed frame; a driving device, transmission-connected to the pitch frame, used to drive the pitch frame to rotate in a direction away from or close to the fixed frame, so that the pitch frame switches between a deployment state and a recovery state; an anti-sway device, rotatably connected to one end of the pitch frame away from the fixed frame, used to adjust the recovery angle of the towing equipment; a towing device, whose towing end is telescopically arranged on the anti-sway device, used to connect with the towing equipment; a lifting device, fixedly arranged at one end of the pitch frame close to the fixed frame, the lifting device rotates with the pitch frame, and the lifting device can support the towing equipment in the recovery state; by adopting the above technical scheme, the recovery efficiency of the towing equipment is improved and the risk of damage to the towing equipment is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of navigation equipment, and more specifically, to a deployment and recovery system, navigation equipment, and a deployment and recovery method for towing equipment. Background Art

[0002] The existing deployment and recovery system is used to deploy and recover towed equipment, such as the deployment, towing and recovery of towed side-scan sonars or profile temperature chains. Users can automatically deploy and retract towed equipment through remote control.

[0003] However, when the current deployment and recovery system recovers the towing equipment, due to the poor sea conditions on the sea surface, the towing equipment is prone to shaking, causing recovery difficulties and reducing the recovery efficiency. At the same time, the towing equipment is only fixed to the towing equipment by a lifting device, which has poor stability and also reduces the recovery efficiency, increasing the possibility of collision between the towing equipment and the navigation equipment. Summary of the invention

[0004] The purpose of the present application is to provide a deployment and recovery system, navigation equipment and a deployment and recovery method for towing equipment, so as to solve the technical problems existing in the prior art of low recovery efficiency and high risk of damage of towing equipment.

[0005] To achieve the above purpose, the technical solution adopted in this application is a deployment and recovery system, including:

[0006] Fixed frame, used to support the pitch frame and connect with the navigation equipment;

[0007] A pitch frame, rotatably connected to the fixed frame;

[0008] A driving device, which is in driving connection with the pitch frame and is used to drive the pitch frame to rotate in a direction away from or close to the fixed frame, so that the pitch frame switches between a deployed state and a recovered state;

[0009] An anti-sway device, rotatably connected to an end of the pitch frame away from the fixed frame, and used for adjusting the recovery angle of the towing equipment;

[0010] a towing device, the towing end of which is telescopically arranged on the anti-sway device and is used to connect with the towing equipment;

[0011] A lifting device is fixedly arranged at one end of the pitch frame close to the fixed frame, and the lifting device rotates with the pitch frame. The lifting device can support the towing equipment in a recovery state.

[0012] By adopting the above technical solution:

[0013] First, the pitching frame is rotatably connected to the fixed frame, and the driving device can switch the pitching frame between the deployment state and the recovery state, facilitating the recovery of the towing device onto the navigation device and enabling the towing device to be transferred after completing the detection operation; it also facilitates the deployment of the towing device into the sea to perform the towing detection task.

[0014] Second, an anti-sway device is rotatably connected to one end of the pitching frame facing away from the fixed frame. When deploying and recovering the towing device, the sway amplitude of the towing device is reduced, thereby reducing the possibility of the towing device colliding with the navigation device and improving the recovery efficiency of the towing device at the same time.

[0015] Finally, when the pitching frame of the lifting device is in the recovery state, it supports the towing device, increasing the stability of the towing device and reducing the risk of the towing device falling.

[0016] In one embodiment, the lifting device includes a bracket and a bracket seat. The bracket seat is fixedly connected to the pitching frame, and the bracket is telescopically arranged on the bracket seat so that the bracket can support towing devices of different sizes in the recovery state.

[0017] In one embodiment, the towing device includes a lifting device for mounting on the navigation device, a towing end telescopically arranged on the lifting device, and a pulley device. The pulley device is arranged on one end of the pitching frame facing away from the fixed frame, and the towing end is wound around the pulley device and extends to the anti-sway device.

[0018] In one embodiment, the deployment and recovery system further includes a force measuring device and a length sensing device. The force measuring device and the length sensing device are arranged between the towing device and the pulley device for measuring the tension and length of the towing end.

[0019] This embodiment also provides a navigation device, which is characterized by including a hull and the above-mentioned deployment and recovery system, and the deployment and recovery system is installed on the hull.

[0020] This embodiment also provides a method for deploying and recovering a towing device, which is applied to the above-mentioned navigation device. The deployment and recovery system further includes a control module and an information transceiver module. The information transceiver module is electrically connected to the control module, and the control module is electrically connected to the driving device and the towing device, and is electrically connected to one of the first detection position structure, the second detection position structure, the force measuring device, and the length sensing device;

[0021] After the control module obtains at least one of the position information, the pitching angle information, the tension information, and the length information, it outputs control information to the driving device and the towing device;

[0022] The information transceiver module is used for communicating with the client. The information transceiver module receives the control information sent by the client, processes it, and then outputs the control information to the driving device and the dragging device. The information transceiver module sends at least one of the position information, the pitch angle information, the tensile force information, and the length information to the client.

[0023] In one embodiment, the control module is electrically connected to the first detection position structure;

[0024] The control module is used to obtain the position information of the dragging device sensed by the first detection position structure;

[0025] After obtaining the position information, the control module outputs control information to the driving device and the dragging device;

[0026] The information transceiver module is used for communicating with the client. The information transceiver module receives the control information sent by the client, processes it, and then outputs the control information to the driving device and the dragging device. The information transceiver module sends the position information to the client.

[0027] In one embodiment, the control module is electrically connected to the second detection position structure;

[0028] The control module is used to obtain the pitch angle information of the pitching frame sensed by the second detection position structure;

[0029] After obtaining the pitch angle information, the control module outputs control information to the driving device and the dragging device;

[0030] The information transceiver module is used for communicating with the client. The information transceiver module receives the control information sent by the client, processes it, and then outputs the control information to the driving device and the dragging device. The information transceiver module sends the pitch angle information to the client.

[0031] In one embodiment, the control module is electrically connected to the force measuring device;

[0032] The control module is used to obtain the tensile force information of the dragging end sensed by the force measuring device;

[0033] After obtaining the tensile force information, the control module outputs control information to the driving device and the dragging device;

[0034] The information transceiver module is used for communicating with the client. The information transceiver module receives the control information sent by the client, processes it, and then outputs the control information to the driving device and the dragging device. The information transceiver module sends the tensile force information to the client.

[0035] In one embodiment, the control module is electrically connected to the length sensing device;

[0036] The control module is configured to obtain the length information of the towing end sensed by the length sensing device;

[0037] After obtaining the length information, the control module outputs control information to the driving device and the towing device;

[0038] The information transceiver module is used for communicating with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it, and then outputs the control information to the driving device and the towing device. The information transceiver module sends the length information to the user terminal. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0040] Figure 1 is a three-dimensional structure diagram of the laying and recovery system provided by the embodiment of the present application;

[0041] Figure 2 is a three-dimensional structure diagram of the navigation device provided by the embodiment of the present application;

[0042] Figure 3 is a front view of the recovery state of the laying and recovery system provided by the embodiment of the present application;

[0043] Figure 4 is a front view of the laying state of the laying and recovery system provided by the embodiment of the present application;

[0044] Figure 5 is a front view of the towing state of the laying and recovery system provided by the embodiment of the present application;

[0045] Figure 6 is a three-dimensional structure diagram of the anti-sway device provided by the embodiment of the present application;

[0046] Figure 7 is an exploded view of the anti-sway device provided by the embodiment of the present application;

[0047] Figure 8 is an exploded view of the first guiding structure provided by the embodiment of the present application;

[0048] Figure 9 is a three-dimensional structure diagram of the lifting device provided by the embodiment of the present application;

[0049] Figure 10 is a three-dimensional structure diagram of the driving device provided by an embodiment of the present application.

[0050] In the figure, each reference numeral is as follows:

[0051] 100 - Deployment and recovery system; 200 - Navigation equipment;

[0052] 1 - Fixed frame; 2 - Pitching frame; 3 - Driving device; 4 - Anti-sway device; 5 - Towing device; 6 - Lifting device; 7 - Towing equipment; 8 - Shelf; 9 - Force measuring device;

[0053] 21 - Limit structure; 31 - Driving rod; 32 - First connecting rod; 33 - Second connecting rod; 41 - Anti-sway seat; 42 - First guiding structure; 43 - Buffer structure; 44 - Guide wheel; 45 - Limit block; 46 - First detection position structure; 47 - Anti-rotation cylinder; 48 - Sliding rod; 49 - Trigger piece; 51 - Towing end; 52 - Lifting device; 53 - Pulley device; 61 - Bracket; 62 - Bracket seat;

[0054] 422 - Lower connecting part; 611 - Second guiding structure. Specific embodiments

[0055] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] It should be noted that when an element is referred to as being "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 being "connected to" another element, it can be directly connected or indirectly connected to the other element.

[0057] 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 accompanying drawings, and is only for the convenience of describing the present application, rather than indicating that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present application.

[0058] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating relative importance or indicating the number of technical features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined. The following describes the specific implementation of the present application in more detail with reference to specific embodiments:

[0059] As Figure 1 and Figure 2 shown, existing towing equipment is mainly used for manned vessels, with large volume and low intelligence level, and cannot meet the needs of unmanned vessels. This solution provides an intelligent A-frame intelligent winch system, which can realize remote control, automatic deployment and recovery, and towing of underwater equipment.

[0060] The purpose of this application is to provide a deployment and recovery system and navigation equipment with light weight, intelligence, high safety and reliability.

[0061] A deployment and recovery system 100 provided by an embodiment of this application includes: a fixed frame 1, a pitching frame 2, a driving device 3, an anti-sway device 4, a towing device 5, and a lifting device 6; the fixed frame 1 is used to be fixed on a navigation device 200; the pitching frame 2 is rotatably connected to the fixed frame 1; the driving device 3 is in transmission connection with the pitching frame 2 and is used to drive the pitching frame 2 to rotate in a direction away from or close to the fixed frame 1, so that the pitching frame 2 switches between a deployment state and a recovery state; the anti-sway device 4 is rotatably connected to one end of the pitching frame 2 away from the fixed frame 1 and is used to adjust the recovery angle of the towing equipment 7; the towing device 5, its towing end is telescopically arranged on the anti-sway device 4 and is used to be connected to the towing equipment 7; the lifting device 6 is fixedly arranged at one end of the pitching frame 2 close to the fixed frame 1, the lifting device 6 rotates with the pitching frame 2, and the lifting device 6 can support the towing equipment 7 in the recovery state.

[0062] As Figures 3 to 5 shown, the working principle of the deployment and recovery system 100 provided by this embodiment is as follows:

[0063] The deployment and recovery system 100 of this embodiment is installed on the navigation device 200 and is used for deploying, towing, and recovering the towing equipment 7, such as a towed side-scan sonar or a profiling temperature chain device;

[0064] The fixed frame 1 is fixed on the navigation device 200, the pitching frame 2 is rotatably connected to the fixed frame 1, and the driving device 3 is used to be in transmission connection with the pitching frame 2 to drive the pitching frame 2 to rotate. When the pitching frame 2 is in the deployment state, the pitching frame 2 can rotate towards the outside of the navigation device 200, so that the anti-sway device 4 and the towing end 51 are located outside the navigation device 200, which is beneficial to deploying the towing equipment 7; when the pitching frame 2 is in the recovery state, the pitching frame 2 can rotate towards the inside of the navigation device 200, so that the anti-sway device 4 and the towing device 5 are located inside the navigation device 200, which is beneficial to recovering the towing equipment 7 into the navigation device 200.

[0065] Specifically, when deploying the towing device 7, the towing end 51 of the towing device 5 is connected to the towing device 7 placed on the navigation device 200, and the driving device 3 drives the pitching frame 2 to rotate from the inside to the outside of the navigation device 200, driving the towing device 7 to rotate to the outside of the navigation device 200, and then extends the towing end 51, so that the towing device 7 sinks under the sea surface to perform detection operations;

[0066] When recovering the towing device 7, the towing end 51 of the towing device 5 retracts, driving the towing device 7 to approach the anti-sway device 4, and the anti-sway device 4 adjusts the recovery angle of the towing device 7 to reduce the sway amplitude of the towing device 7. After waiting for the towing device 7 to stop swaying, the driving device 3 drives the pitch frame 2 to rotate from the outside of the navigation equipment 200 to the inside, driving the towing device 7 to rotate to the inside of the navigation equipment 200. At this time, the lifting device 6 rotates with the pitch frame 2. When the pitch frame 2 is in the recovery state, it just rests on the bottom of the towing device 7, supporting the towing device 7 to complete the recovery operation of the towing device 7.

[0067] By adopting the above technical solution:

[0068] First, the pitch frame 2 is rotatably connected to the fixed frame 1, and the driving device 3 can switch the pitch frame 2 between the deployment state and the recovery state, so as to facilitate the recovery of the towing device 7 on the navigation device 200, and facilitate the transfer of the towing device 7 after completing the detection operation; and also facilitate the deployment of the towing device 7 in the sea to perform the towing detection task;

[0069] Secondly, the end of the pitch frame 2 that is away from the fixed frame 1 is rotatably connected with a sway-stopping device 4, which reduces the swaying amplitude of the towing device 7 when deploying and recovering the towing device 7, thereby reducing the possibility of collision between the towing device 7 and the navigation device 200, and improving the recovery efficiency of the towing device 7;

[0070] Finally, the lifting device 6 supports the towing device 7 when the pitch frame 2 is in the retracted state, thereby increasing the stability of the towing device 7 and reducing the risk of the towing device 7 falling.

[0071] like Figure 6 As shown, in one embodiment, the anti-sway device 4 includes an anti-sway seat 41 and two first guide structures 42 fixedly connected to the anti-sway seat 41, the anti-sway seat 41 is rotatably connected to the end of the pitch frame 2 facing away from the fixed frame 1, and the two first guide structures 42 extend from the anti-sway seat 41 in a direction away from the anti-sway seat 41.

[0072] Specifically, the two first guide structures 42 may be an integrally formed part, and the maximum distance between the two first guide structures 42 is greater than the width of the towing device 7 , so that the towing device 7 can smoothly enter from the opening formed by the two first guide structures 42 .

[0073] By adopting the above-mentioned technical solution, optionally, the distance between the two first guide structures 42 gradually increases from the anti-sway seat 41 toward the direction away from the anti-sway seat 41, so that the recovery angle of the towing device 7 can be gradually adjusted by the first guide structure 42, thereby reducing the swing amplitude of the towing device 7 and improving the recovery efficiency of the towing device 7; in addition, the shape of the first guide structure 42 can be adapted to the shape of the towing device 7, so that different first guide structures 42 can be replaced according to different models of towing devices 7, making the applicability of the anti-sway device 4 higher.

[0074] like Figure 3 , Figure 5 and Figure 6 In one embodiment, the anti-sway seat 41 is detachably connected to the end of the pitch frame 2 facing away from the fixed frame 1, and the first guide structure 42 is detachably connected to the anti-sway seat 41; in other embodiments, the anti-sway seat 41 is detachably connected to the end of the pitch frame 2 facing away from the fixed frame 1, or the first guide structure 42 is detachably connected to the anti-sway seat 41.

[0075] By adopting the above-mentioned technical solution, the anti-sway seat 41 adopts a detachable design, so that it can be suitable for different types of towing equipment 7, thereby improving the loading performance of the anti-sway seat 41; in addition, the first guide structure 42 also adopts a detachable design with the anti-sway seat 41, and can be adaptively replaced according to the shape of the towing equipment 7, thereby improving applicability.

[0076] In one embodiment, a plurality of guide wheels 44 are sequentially arranged on the anti-sway seat 41 along the bending direction of the cable, and a limit block 45 is provided at the connecting end of the anti-sway seat 41 and the pitch frame 2, and a limit structure 21 is provided on the pitch frame 2 for abutting against the limit block 45 to limit the movement of the anti-sway seat 41; in other embodiments, a plurality of guide wheels 44 are sequentially arranged on the anti-sway seat 41 along the bending direction of the cable, or a limit block 45 is provided at the connecting end of the anti-sway seat 41 and the pitch frame 2, and a limit structure 21 is provided on the pitch frame 2 for abutting against the limit block 45 to limit the movement of the anti-sway seat 41.

[0077] By adopting the above-mentioned technical scheme, a guide wheel 44 is provided on the anti-sway seat 41, which can increase the bending radius of the cable against the anti-sway seat 41 to prevent the cable from being broken due to the bending radius being too small; in addition, a limit block 45 is also provided on the anti-sway seat 41 to cooperate with the limit structure 21 on the pitch frame 2. Specifically, there are at least two limit blocks 45 on the anti-sway seat 41, which are used to limit the towing state and the recovery state of the anti-sway seat 41.

[0078] Specifically, the buffer structure 43 can be selected as a spring, and a position sensor is integrated at the position of the buffer structure 43 on the anti-sway seat 41. When the towing device 7 abuts against the first guiding structure 42 during recovery, it pushes the first guiding structure 42 to compress the buffer structure 43 until it reaches the fully compressed state. At this time, the position sensor on the anti-sway seat 41 obtains that the towing device 7 is already in the recovery state. Therefore, the technical effects of the buffer structure 43 and the position sensor are as follows: 1. It plays a role in anti-sway when recovering the towing device 7; 2. It has the functions of detecting the in-place of the towing device and in-place buffering, specifically used to buffer the force generated by the towing device 7 on the anti-sway seat 41 and the first guiding structure 42 during recovery, reducing the risk of damage when recovering the towing device 7 to the anti-sway device 4; 3. Both the buffer structure 43 and the first guiding structure 42 can be adaptively replaced according to the shape of the towing device 7.

[0079] Please refer to Figure 6 、 Figure 7 and Figure 8 simultaneously. In one embodiment, the anti-sway device 4 further includes a first detection position structure 46 for detecting the position of the towing device 7, a non-rotating cylinder 47, a sliding rod 48, a trigger piece 49, and a buffer structure 43. The first detection position structure 46 is provided at the bottom of the anti-sway seat 41. The non-rotating cylinder 47 is vertically penetrated through the anti-sway seat 41. The sliding rod 48 is slidably penetrated through the non-rotating cylinder 47, and both ends thereof protrude outside the non-rotating cylinder 47. The upper connecting portion and the lower connecting portion 422 of the first guiding structure 42 are respectively connected corresponding to the upper and lower ends of the sliding rod 48. The trigger piece 49 is sleeved on the sliding rod 48 and is located between the lower connecting portion 422 and the first detection position structure 46. The buffer structure 43 is sleeved on the sliding rod 48 and is located between the lower connecting portion 422 and the trigger piece 49;

[0080] In other embodiments, the sliding rod 48 is provided with a guiding groove, and the non-rotating cylinder 47 is provided with a guiding block slidably connected to the guiding groove;

[0081] In other embodiments, a second detection position structure for detecting the pitching angle is provided on the pitching frame 2 or the fixed frame 1.

[0082] Specifically, the buffer structure 43 can be optionally a spring. When the towing device 7 abuts against the first guiding structure 42 during recovery, it pushes the first guiding structure 42, and then drives the buffer structure 43 to drive the trigger piece 49 to move towards the first detection position structure 46 until the trigger piece 49 abuts against the first detection position structure 46. At this time, the first detection position structure 46 obtains that the towing device 7 is already in the recovery state. At the same time, due to inertia, the first guiding structure 42 will compress the buffer structure 43, and the buffer structure 43 reduces the acting force of the towing device 7. Therefore, the technical effects of the buffer structure 43 and the first detection position structure 46 are as follows: 1. It plays a role in preventing sway when recovering the towing device 7; 2. It has the functions of in-place detection and in-place buffering of the towing device 7, specifically used to buffer the acting force generated by the towing device 7 on the anti-sway seat 41 and the first guiding structure 42 during recovery, and reduce the risk of damage when recovering the towing device 7 to the anti-sway device 4; 3. Both the buffer structure 43 and the first guiding structure 42 can be adaptively replaced according to the shape of the towing device 7.

[0083] By adopting the above technical solution, the anti-sway seat 41 is provided with the first detection position structure 46, which can be used for in-place detection of the towing device 7 to control the equipment to stop running;

[0084] The anti-rotation cooperation between the anti-rotation cylinder 47 and the sliding rod 48 enables the first guiding structure 42 to only move along the vertical direction, avoiding the risk of collision caused by the rotation of the towing device 7 during recovery;

[0085] The buffer structure 43 slows down the acting force exerted on the anti-sway seat 41 when the towing device 7 arrives, reducing the risk of damaging the anti-sway seat 41. At the same time, the trigger piece 49 is located between the anti-sway seat 41 and the buffer structure 43, which also slows down the acting force of the trigger piece 49 on the first detection position structure 46 and reduces the risk of damage;

[0086] In addition, the fixing frame 1 or the pitching frame 2 is provided with a second detection position structure, and the second detection position structure can detect the pitching angle of the pitching frame 2 to meet the different position requirements of the pitching frame 2.

[0087] Furthermore, the anti-sway device 4 includes at least two groups of first guiding structures 42, and the two groups of first guiding structures 42 are arranged in sequence along the length direction of the anti-sway seat 41.

[0088] By adopting the above technical solution, the two groups of first guiding structures 42 are respectively used to adjust the front end and the rear end of the towing device 7, so that the whole towing device 7 can adjust the recovery angle faster and improve the recovery efficiency.

[0089] In one embodiment, the towing end 51 of the towing device 5 is located between the two first guiding structures 42.

[0090] Specifically, the towing end 51 is located at the position of the minimum distance between the two first guiding structures 42.

[0091] By adopting the above technical solution, the towing end 51 pulls the towing device 7 to move towards the anti-sway device 4 until it enters between the two first guiding structures 42, and then continues to move towards the anti-sway seat 41 under the guidance of the first guiding structure 42 until the towing end 51 pulls the towing device 7 to the position of the minimum distance between the two first guiding structures 42, that is, the towing device 7 has completely stopped swaying at this time, and the pitching frame 2 can rotate towards the inside of the navigation device 200 to recover the towing device 7.

[0092] As Figure 9 shown, in one embodiment, the lifting device 6 includes a bracket 61 and a bracket seat 62. The bracket seat 62 is fixedly connected to the pitching frame 2, and the bracket 61 is telescopically arranged on the bracket seat 62 so that the bracket 61 can support towing devices 7 of different sizes in the retracted state.

[0093] Specifically, the lifting device 6 rotates together with the pitching frame 2. When the pitching frame 2 is in the retracted state, the lifting device 6 can just support the bottom of the towing device 7. Among them, the lifting device 6 includes a bracket 61 and a bracket seat 62, and the bracket 61 is telescopically arranged on the bracket seat 62. When the pitching frame 2 is in the retracted state, the telescopic direction of the bracket 61 is parallel to the vertical direction, that is, the bracket 61 can adjust its own height to adapt to towing devices 7 of different sizes.

[0094] By adopting the above technical solution, the applicability of the lifting device 6 is improved, so that it can be applied to towing devices 7 of different sizes.

[0095] In one embodiment, two second guiding structures 611 are provided on the bracket 61. The two second guiding structures 611 extend from the bracket 61 in a direction away from the bracket 61, and the distance between the two second guiding structures 611 gradually increases in a direction away from the bracket 61.

[0096] Specifically, the two second guiding structures 611 can be integrally formed parts.

[0097] By adopting the above technical solution, the second guiding structure 611 of the bracket 61, like the first guiding structure 42, can be used to guide the recovery angle of the towing device 7, so that the towing device 7 can be placed on the bracket 61 at a suitable angle, improving the recovery efficiency of the towing device 7.

[0098] In one embodiment, the laying and recovery system 100 further includes a storage rack 8. The storage rack 8 is fixed to the fixed frame 1, and the storage rack 8 is provided with a storage groove for fixing the towing device 7. In the retracted state, the head of the towing device 7 is placed in the storage groove, and the tail of the towing device 7 is supported by the bracket 61.

[0099] By adopting the above technical solution, when the towing device 7 is in the retracted state, it is supported by the bracket 61 and the wall of the placing groove together, improving the stability of the towing device 7 during transfer.

[0100] As Figure 10 shown, in one embodiment, the driving device 3 includes a driving rod 31, a first connecting rod 32 and a second connecting rod 33. One end of the first connecting rod 32 is rotatably connected to the main body portion of the pitching frame 2, the other end of the first connecting rod 32 is rotatably connected to the driving rod 31, one end of the second connecting rod 33 is rotatably connected to the main body portion of the fixing frame 1, the other end of the second connecting rod 33 is rotatably connected to the driving rod 31, one end of the driving rod 31 is rotatably connected to the end of the fixing frame 1 away from the pitching frame 2, and the telescopic end of the driving rod 31 is used to pull the first connecting rod 32 and the second connecting rod 33, so that the pitching frame 2 rotates in a direction away from or close to the fixing frame 1, and the pitching frame 2 is switched between the deploying state and the retracting state.

[0101] By adopting the above technical solution, the lever arm for the driving rod 31 to drive the pitching frame 2 to rotate is reduced, the telescopic distance of the driving is shortened, and the occupied space of the driving device 3 is reduced.

[0102] Please refer to Figure 2 and Figure 3 simultaneously. In one embodiment, the towing device 5 includes a lifting device 52 for being installed on the navigation device 200, a towing end 51 telescopically arranged on the lifting device 52, and a pulley device 53. The pulley device 53 is arranged at the end of the pitching frame 2 away from the fixing frame 1, and the towing end 51 is wound around the pulley device 53 and extends to the anti-sway device 4.

[0103] Specifically, the lifting device 52 can be selected as a winch.

[0104] By adopting the above technical solution, a cable is wound on the lifting device 52, and the lifting device 52 rotates to retract or release the cable. The towing end 51 is formed at the end of the cable, thereby realizing the telescoping of the towing end 51, and thus realizing the deployment, towing and retraction of the towing device 7.

[0105] In one embodiment, the deployment and retraction system 100 further includes a force measuring device 9 and a length sensing device. The force measuring device 9 and the length sensing device are arranged between the towing device 5 and the pulley device 53 for testing the pulling force and the telescopic length of the towing end 51.

[0106] By adopting the above technical solution, the force measuring device 9 is used to sense the force on the towing end 51, thereby obtaining the weight of the towing device 7 and the resistance value of the towing device 7 in the sea, and the user outputs different control information according to the obtained weight value and resistance value.

[0107] This embodiment also provides a navigation device 200, which includes a hull and the above-mentioned deployment and recovery system 100. The deployment and recovery system 100 is installed on the hull.

[0108] By adopting the above technical solution, the navigation device 200 equipped with the above-mentioned deployment and recovery system 100 has the advantages of convenient switching between the deployment state and the recovery state, which is beneficial to the recovery and deployment of the towing device 7. In addition, it also improves the efficiency of the recovery and deployment of the towing device 7 and reduces the risk of damage to the towing device 7.

[0109] This embodiment also provides a method for deploying and recovering a towing device, which is applied to the above-mentioned deployment and recovery system 100. The deployment and recovery system 100 further includes a control module and an information transceiver module. The information transceiver module is electrically connected to the control module, and the control module is electrically connected to one of the driving device 3, the towing device 5, the first detection position structure, the second detection position structure, the force measuring device 9, and the length sensing device;

[0110] The control module is used to obtain the position information of the towing device 7 sensed by the first detection position structure, the control module is used to obtain the pitching angle information of the pitching frame 2 sensed by the second detection position structure, the control module is used to obtain the pulling force information of the towing end sensed by the force measuring device 9, and the control module is used to obtain the length information of the towing end sensed by the length sensing device;

[0111] After the control module obtains at least one of the position information, the pitching angle information, the pulling force information, and the length information, it outputs control information to the driving device 3 and the towing device 5;

[0112] The information transceiver module is used to communicate with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it, and then outputs the control information to the driving device 3 and the towing device 5. The information transceiver module sends at least one of the position information, the pitching angle information, the pulling force information, and the length information to the user terminal. Specifically, the user terminal can be selected as a personal mobile terminal such as a mobile phone, a computer, or a mobile control device. The user issues control information at the user terminal. The information transceiver module receives the control information, transmits it to the control module, and then the control module transmits it to the driving device 3 and the towing device 5 to perform corresponding operations of deploying, towing, and recovering the towing device 7;

[0113] For example, in the deployment operation of the towing device 7, the information transceiver module receives the control information and transfers it to the control module. The control module outputs the control information to the driving device 3 to drive the pitching frame 2 to rotate until the second detection position structure detects that the pitching frame 2 rotates to the deployment position and assumes the deployment pitching angle. At this time, the control module obtains the pitching angle information sent by the second detection position structure, and then sends the control information to the driving device 3, and the driving device 3 stops the rotation of the pitching frame 2. The pitching frame 2 stops at the deployment angle, and the control module then sends the control information to the towing device 5 to extend the towing end 51 and thus deploy the towing device 7. During the deployment of the towing device 7, the force measuring device 9 and the length sensing device sense the tension and length of the towing end 51 and feedback them to the control module.

[0114] For the recovery operation of the towing device, the information transceiver module receives the control information and transfers it to the control module. The control module sends the control information to the towing device 5 to drive the towing end 51 to retract to recover the towing device 7. Until the first detection position structure detects that the towing device 7 abuts against the anti-sway seat 41, the first detection position structure sends the position information to the control module. After processing, the control module sends the control information to the towing device 5 to stop the retraction of the towing end 51. The control module simultaneously sends the control information to the driving device 3 to drive the pitching frame 2 to rotate to the recovery position and assume the recovery pitching angle. At this time, the control module obtains the pitching angle information sent by the second detection position structure, and then sends the control information to the driving device 3, and the driving device 3 stops the rotation of the pitching frame 2, and the pitching frame 2 stops at the recovery angle.

[0115] By adopting the above technical solution, after the control module obtains the position information, pitching angle information, tension information and length information, it outputs the control information to the driving device 3 and the towing device 5. The user can realize the automatic retraction and deployment of the towing device 7 through remote control, improving the intelligent and unmanned level of the deployment and recovery system.

[0116] In one embodiment, the control module is electrically connected to the first detection position structure;

[0117] The control module is used to obtain the position information of the towing device sensed by the first detection position structure;

[0118] After the control module obtains the position information, it outputs the control information to the driving device 3 and the towing device 5;

[0119] The information transceiver module is used to communicate with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it and then outputs the control information to the driving device 3 and the towing device 5. The information transceiver module sends the position information to the user terminal.

[0120] In one embodiment, the control module is electrically connected to the second detection position structure;

[0121] The control module is used to obtain the pitch angle information of the pitch frame sensed by the second detection position structure;

[0122] After the control module obtains the pitch angle information, it outputs control information to the driving device 3 and the towing device 5;

[0123] The information transceiver module is used for communicating with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it, and then outputs the control information to the driving device 3 and the towing device 5. The information transceiver module sends the pitch angle information to the user terminal.

[0124] In one embodiment, the control module is electrically connected to the force measuring device 9;

[0125] The control module is used to obtain the pulling force information of the towing end sensed by the force measuring device 9;

[0126] After the control module obtains the pulling force information, it outputs control information to the driving device 3 and the towing device 5;

[0127] The information transceiver module is used for communicating with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it, and then outputs the control information to the driving device 3 and the towing device 5. The information transceiver module sends the pulling force information to the user terminal.

[0128] In one embodiment, the control module is electrically connected to the length sensing device;

[0129] The control module is used to obtain the length information of the towing end sensed by the length sensing device;

[0130] After the control module obtains the length information, it outputs control information to the driving device 3 and the towing device 5;

[0131] The information transceiver module is used for communicating with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it, and then outputs the control information to the driving device 3 and the towing device 5. The information transceiver module sends the length information to the user terminal.

[0132] 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 in the protection scope of the present application.

Claims

1. A laying and recycling system (100), characterized in that, Comprising: A fixing bracket (1) for being fixed on a navigation device (200); A pitching bracket (2) rotatably connected to the fixing bracket (1); A driving device (3) drivingly connected to the pitching bracket (2) for driving the pitching bracket (2) to rotate in a direction away from or towards the fixing bracket (1) so as to switch the pitching bracket (2) between a deploying state and a retrieving state; An anti-sway device (4) rotatably connected to one end of the pitching bracket (2) away from the fixing bracket (1) for adjusting the retrieving angle of the towing device (7); A towing device (5) with its towing end (51) telescopically arranged on the anti-sway device (4) for connecting with the towing device (7); A lifting device (6) fixedly arranged at one end of the pitching bracket (2) close to the fixing bracket (1), the lifting device (6) rotating following the pitching bracket (2), the lifting device (6) being capable of supporting the towing device (7) in the retrieving state, the lifting device (6) being capable of rotating together with the pitching bracket (2) and just abutting against the bottom of the towing device (7) when the pitching bracket (2) is in the retrieving state; The anti-sway device (4) further includes a first detecting position structure (46) for detecting the position of the towing device (7), a non-rotating cylinder (47), a sliding rod (48), a trigger piece (49) and a buffer structure (43), the first detecting position structure (46) being arranged at the bottom of the anti-sway seat (41), the non-rotating cylinder (47) vertically penetrating through the anti-sway seat (41), the sliding rod (48) slidably penetrating through the non-rotating cylinder (47) with both ends thereof exposed outside the non-rotating cylinder (47), the upper connecting part and the lower connecting part (422) of the first guiding structure (42) being correspondingly connected to the upper and lower ends of the sliding rod (48) respectively, the trigger piece (49) being sleeved on the sliding rod (48) and located between the lower connecting part (422) and the first detecting position structure (46), the buffer structure (43) being sleeved on the sliding rod (48) and located between the lower connecting part (422) and the trigger piece (49).

2. The laying and recycling system (100) according to claim 1, characterized in that, The lifting device (6) includes a bracket (61) and a bracket seat (62), the bracket seat (62) being fixedly connected to the pitching bracket (2), the bracket (61) being telescopically arranged on the bracket seat (62) so that the bracket (61) can support the towing devices (7) of different sizes in the retrieving state.

3. The placement and recovery system (100) according to claim 1, characterized in that, The towing device (5) includes a lifting device (52) for being installed on the navigation device (200), the towing end (51) telescopically arranged on the lifting device (52), and a pulley device (53), the pulley device (53) being arranged at one end of the pitching bracket (2) away from the fixing bracket (1), the towing end (51) being wound around the pulley device (53) and extending to the anti-sway device (4).

4. The laying and recycling system (100) according to claim 3, wherein, The laying and recovery system (100) further includes a force measuring device (9) and a length sensing device. The force measuring device (9) and the length sensing device are arranged between the towing device (5) and the pulley device (53) for measuring the tension and length of the towing end (51).

5. A navigation device (200), characterized in that, It includes a hull and the laying and recovery system (100) according to any one of claims 1 to 4, and the laying and recovery system (100) is installed on the hull.

6. A method for deploying and retrieving a towing device, which is applied to the navigation device as described in claim 5, and is characterized in that, The laying and recovery system (100) further includes a control module and an information transceiver module. The information transceiver module is electrically connected to the control module, and the control module is electrically connected to the driving device (3) and the towing device (5), and is electrically connected to one of the first detection position structure, the second detection position structure, the force measuring device (9) and the length sensing device; After the control module obtains at least one of the position information, the pitch angle information, the tension information and the length information, it outputs control information to the driving device (3) and the towing device (5); The information transceiver module is used for communicating with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it and then outputs control information to the driving device (3) and the towing device (5). The information transceiver module sends at least one of the position information, the pitch angle information, the tension information and the length information to the user terminal.

7. The method for laying and recovering a towing device according to claim 6, wherein: The control module is electrically connected to the first detection position structure; The control module is used for obtaining the position information of the towing device (7) sensed by the first detection position structure; After the control module obtains the position information, it outputs control information to the driving device (3) and the towing device (5); The information transceiver module is used for communicating with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it and then outputs control information to the driving device (3) and the towing device (5). The information transceiver module sends the position information to the user terminal.

8. The method for laying and recovering a towing device according to claim 6, wherein: The control module is electrically connected to the second detection position structure; The control module is used for obtaining the pitch angle information of the pitching frame (2) sensed by the second detection position structure; After the control module obtains the pitch angle information, it outputs control information to the driving device (3) and the towing device (5); The information transceiver module is used for communicating with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it and then outputs control information to the driving device (3) and the towing device (5). The information transceiver module sends the pitch angle information to the user terminal.

9. The method for laying and recovering a towing device according to claim 6, wherein: The control module is electrically connected to the force measuring device (9); The control module is used for obtaining the tension information of the towing end sensed by the force measuring device (9); After obtaining the pulling force information, the control module outputs control information to the driving device (3) and the dragging device (5); The information transceiver module is used for communicating with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it and then outputs control information to the driving device (3) and the dragging device (5). The information transceiver module sends the pulling force information to the user terminal.

10. The method for deploying and recovering a dragging device according to claim 6, wherein: The control module is electrically connected to the length sensing device; The control module is used to obtain the length information of the dragging end sensed by the length sensing device; After obtaining the length information, the control module outputs control information to the driving device (3) and the dragging device (5); The information transceiver module is used for communicating with the user terminal. The information transceiver module receives the control information sent by the user terminal, processes it and then outputs control information to the driving device (3) and the dragging device (5). The information transceiver module sends the length information to the user terminal.

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