An AUV Automatic Lifting, Docking, Deployment and Recovery System

Abstract

The present invention provides an AUV automatic lifting, docking, deploying and retrieving system, which relates to the technical field of marine technology engineering. The AUV automatic lifting, docking, deploying and retrieving system includes a shipboard, a bottom plate is fixedly connected to the top of the shipboard, a storage cabin is fixedly connected to the top of the bottom plate, a retrieving assembly is arranged on the top of the bottom plate, side plates are fixedly connected to both ends of both sides inside the storage cabin, inclined plates and baffles are fixedly connected to one side of a plurality of the side plates, brackets are fixedly connected to both sides of the top of the bottom plate, a push plate is fixedly connected to the front side of the fixing plate, and lowering assemblies are arranged on both sides inside the shipboard. The AUV automatic lifting, docking, deploying and retrieving system lowers the UAV body step by step in an orderly manner, has a simple structure, is convenient to operate, has a low cost, the lowering position is close to the water surface, reduces the impact on the UAV body, improves safety, and is convenient to retrieve the UAV body, thereby improving stability.

Description

Technical Field

[0001] The present invention relates to an AUV deployment and recovery system, specifically an AUV automatic lifting and docking deployment and recovery system, belonging to the technical field of marine technology engineering. Background Art

[0002] An AUV is an underwater engineering device and a type of underwater robot. It is commonly referred to as an autonomous underwater vehicle. Underwater robots are mainly divided into two categories: one is a cable-connected underwater robot, commonly referred to as a remotely operated vehicle; the other is a cable-free underwater robot, commonly referred to as an autonomous underwater vehicle. Autonomous underwater robots are a new generation of underwater robots, with advantages such as a large operating range, good mobility, safety, and intelligence, and have become an important tool for completing various underwater tasks.

[0003] Underwater robots can only achieve unmanned detection underwater, but the operation of the platform body requires medium and small-sized support mother ships and a relatively large operation team. The deployment and recovery of unmanned ships and underwater robots are inseparable from manual operations.

[0004] The published document CN114872841A, an autonomous underwater detection system, method, and method for automatically recovering and deploying an AUV, includes: an AUV for performing autonomous underwater detection according to the assigned underwater detection subtasks; an unmanned ship support platform, including an unmanned ship and a platform controller and a deployment and recovery system carried on the unmanned ship, and the deployment and recovery system is used to automatically deploy and recover the AUV according to the deployment and recovery instructions of the platform controller.

[0005] When the above solution is used, the recovery and deployment of the AUV are both controlled by a manipulator, but its control position is single, which is prone to conflicts between the recovery and deployment of the AUV. The efficiency of the manipulator to complete the deployment is low, the time consumed for recovery is long, and when the AUV is deployed, the AUV is grabbed to the side of the ship by the manipulator, and at this time, it is relatively high from the water surface and directly dropped into the water, which is easy to damage the AUV during the drop and affect its use. Summary of the Invention

[0006] (I) Technical Problems to be Solved

[0007] The purpose of the present invention is to provide an AUV automatic lifting and docking deployment and recovery system to solve the problems in the prior art, such as the low efficiency of the manipulator to complete the deployment, the long time consumed for recovery, and the easy damage to the AUV during the drop when the manipulator directly drops the AUV into the water, which affects its use.

[0008] (II) Technical Solutions

[0009] To achieve the above object, the present invention is realized by the following technical solutions: An AUV automatic lifting, docking, deploying and retrieving system, comprising a shipboard, a bottom plate is fixedly connected to the top of the shipboard, a storage compartment is fixedly connected to the top of the bottom plate, a retrieving assembly is arranged on the top of the bottom plate, side plates are fixedly connected to both ends of both sides inside the storage compartment, inclined plates and baffle plates are fixedly connected to one side of a plurality of the side plates, a plurality of UAV bodies are arranged between the inclined plates and the baffle plates, brackets are fixedly connected to both sides of the top of the bottom plate, electric push rods are fixedly connected to the inside of both of the brackets, the output end of the electric push rod penetrates through the side wall of the storage compartment and its front end is fixedly connected to a fixing plate, a pushing plate is fixedly connected to the front side of the fixing plate, a cross plate is fixedly connected to the top of the pushing plate, support rods are fixedly connected to both sides of the top of the cross plate, a partition plate is fixedly connected to the top ends of both of the support rods, and deploying assemblies are arranged on both sides inside the shipboard.

[0010] Preferably, a plurality of the inclined plates and a plurality of the baffle plates are arranged oppositely, a downward sliding plate is integrally formed on one side of the bottom end of the inclined plate, the heights of the pushing plate and the support rods are both adapted to the UAV body, the width of the partition plate is adapted to the UAV body, the rear end cross section of the partition plate is trapezoidal, which is convenient for supporting the UAV body and lifting the UAV body upward. Through grooves are opened on both the inner and outer side walls of the storage compartment, the cross plate and the partition plate are respectively adapted to the two through grooves, fixing blocks are fixedly connected to both sides of the top of the bottom plate, cover plates are fixedly connected to one side of both of the fixing blocks, one side of the cover plate is fixedly connected to the outer wall of the storage compartment, and deploying grooves are opened on both sides inside the shipboard, which is convenient for deploying the UAV body. The two cover plates are respectively arranged on the tops of the two deploying grooves, which is beneficial to protecting the UAV body.

[0011] Preferably, the deploying assembly comprises two guide rails, two threaded rods, two sliders, two rotating plates and two arc-shaped support plates. The two guide rails are respectively embedded inside the shipboard and located at both ends of the deploying groove, the threaded rod is rotatably connected to the inside of the guide rail, the slider is slidably connected to the inside of the threaded rod and sleeved on the outer side of the threaded rod, the rotating plate is rotatably connected to the front side of the slider, and the arc-shaped support plate is fixedly connected to one side of the rotating plate, so that the arc-shaped support plate supports the UAV body, and the arc-shaped support plate and the rotating plate drive the slider to slide downward.

[0012] Preferably, a threaded block is slidably connected inside the guide rail, the threaded rod passes through the threaded block and is threadedly connected to the threaded block, a spring is fixedly connected between the threaded block and the slider, the spring is sleeved outside the threaded rod, an elastic sheet is fixedly connected to the front side of the slider, a limiting block is fixedly connected to one side of the rotating plate, one end of the elastic sheet is fixedly connected to the limiting block, positioning blocks are fixedly connected to both sides inside the lower placing groove where the ship board is located, the positioning blocks correspond to the limiting blocks, when the rotating plate descends, the positioning blocks limit the limiting blocks, so that the limiting blocks drive the rotating plate to flip, thereby placing the UAV body into the water.

[0013] Preferably, the recovery assembly includes a winch, a steel cable and a docking head. The winch is fixedly connected to one side of the top of the bottom plate. One end of the steel cable is connected to the output end of the winch. A guide plate is fixedly connected to one side inside the bottom plate. A support block is fixedly connected to one side of the top of the guide plate. A connecting plate is fixedly connected to the bottom end of the guide plate. A magnetic plate is arranged at the front end of the UAV body. The connecting plate corresponds to the magnetic plate. The docking head is fixedly connected to the bottom end of the steel cable. A magnet is fixedly connected to the bottom of the docking head. A turntable is rotatably connected inside the docking head. A guide disk is rotatably connected inside the docking head. The turntable is fixedly connected to the guide disk. A plurality of arc grooves are formed inside the guide disk, so that the turntable drives the guide disk to rotate.

[0014] Preferably, a plurality of sliding sleeves are fixedly connected in an annular array inside the docking head. Slide rods are slidably connected inside the plurality of sliding sleeves. Guide rods are fixedly connected to the bottom ends of the plurality of slide rods. The guide rods penetrate through the side walls of the sliding sleeves and are slidably connected to the sliding sleeves. The plurality of guide rods respectively penetrate through the plurality of arc grooves and are slidably connected to the plurality of arc grooves. Claws are fixedly connected to one ends of the plurality of slide rods. A gear ring is fixedly connected to the outside of the turntable. A motor is fixedly connected inside the docking head. A rotating rod is fixedly connected to the output end of the motor. A gear is fixedly connected to the top end of the rotating rod. The gear is meshed with the gear ring, so that the rotating rod drives the gear to rotate, thereby driving the gear ring to rotate. When the gear ring rotates, it drives the turntable to rotate.

[0015] Preferably, a multi-axis robotic arm is fixedly connected to one side of the top of the bottom plate. A solar panel is fixedly connected to the top of the storage compartment. A storage battery is fixedly connected inside the storage compartment. The solar panel is electrically connected to the storage battery. A camera is fixedly connected to the top end inside the storage compartment, which is beneficial to real-time monitoring of the UAV body and convenient for docking and transfer.

[0016] Preferably, it includes a central control system, an AUV drive module, a Beidou positioning module, a visual monitoring module, and a manipulator drive module. The AUV drive module, the Beidou positioning module, the visual monitoring module, the manipulator drive module, and the AUV docking module are all connected to the output end of the central control system. The manipulator drive module is connected to the output end of the visual monitoring module. The AUV docking module is connected to the output end of the visual monitoring module. The AUV drive module is connected to the output end of the Beidou positioning module.

[0017] Preferably, the Beidou positioning module includes a positioning unit and whether it reaches a specified position. The output end of the positioning unit is connected to whether it reaches a specified position. The output end of whether it reaches a specified position is connected to "has reached the specified position" and "has not reached the specified position". The AUV drive module includes a driver. The output end of the driver is connected to "stop" and "run". The output end of "has reached the specified position" is connected to "stop". The output end of "has not reached the specified position" is connected to "run". The position of the UAV body is monitored by the Beidou positioning module, and the movement of the UAV body is controlled.

[0018] Preferably, the visual monitoring module includes "AUV enters the docking area" and "AUV enters the recovery area". The AUV docking module includes "docking mechanism motor start". The output end of "docking mechanism motor start" is connected to "forward rotation" and "reverse rotation". The output end of "AUV enters the docking area" is connected to "docking mechanism motor start". The manipulator drive module includes "manipulator start". The output end of "manipulator start" is connected to "AUV recovery" and "AUV deployment". The output end of "AUV enters the recovery area" is connected to "manipulator start". The UAV body is monitored in real time, and the docking and multi-axis manipulator are controlled.

[0019] The present invention provides an AUV automatic lifting docking deployment and recovery system, and its beneficial effects are as follows:

[0020] The AUV automatic lifting, docking, deploying and recovering system starts the electric push rod to drive the fixed plate to contract, and the fixed plate pulls the push plate to move back. When the push plate moves, it drives the cross plate to move. The cross plate moves to one side of the inclined plate and drives the support rod and the partition plate to move to one side. The partition plate pushes up the second UAV body from bottom to top and separates the UAV body located on top of the cross plate from the cross plate, so that the UAV body slides down along the push plate. When the UAV body descends, it lands on the top of the sliding plate and moves outward along the sliding plate to distribute and lower multiple UAV bodies. Then the electric push rod starts again, pushing the fixed plate to move outward and driving the push plate to move. When the push plate moves, it drives the cross plate to move, making the cross plate return to between the inclined plate and the baffle again, and the multiple UAV bodies on top of the partition plate fall back to the top of the cross plate, facilitating subsequent lowering. The UAV bodies are gradually and orderly lowered through simple reciprocating movement, with a simple structure, convenient operation and low cost.

[0021] The AUV automatic lifting, docking, deploying and recovering system ejects the UAV body from the sliding plate, causing the UAV body to slide down along the lowering groove, and the lowering groove lands on top of two arc-shaped support plates, causing the UAV body to press down on the arc-shaped support plates, driving the rotating plate to descend, and the rotating plate drives the slider to slide inside the guide rail, causing the threaded rod to squeeze the spring. Thus, when the rotating plate descends, it drives the limit block to descend. When the limit block descends, it moves to one side of the positioning block, and the positioning block limits the limit block, causing the limit block to drive the rotating plate to flip, so that the UAV body slides from the top of the arc-shaped support plate into the water, which is beneficial for deploying the UAV body. The lowering position is close to the water surface, reducing the impact on the UAV body and improving safety.

[0022] The AUV automatic lifting, docking, deploying and recovering system drives the sliding rod to move inside the sliding sleeve through the guide rod. The sliding rod drives the claw to move, causing the claw to contract and clamp the front end of the UAV body. Then, by starting to drive the steel cable to wind up, the UAV body is pulled to slide along the connecting plate, enabling the UAV body to pass through the support block and slide upward from the guide plate. Then the multi-axis robotic arm starts to grab the pulled-up UAV body and place the UAV body inside the storage cabin, facilitating recovery. It is beneficial for quickly docking the UAV body returning from the water and conveniently recovering the UAV body, improving stability. Description of the Drawings

[0023] Figure 1 is the overall structural schematic diagram of the present invention;

[0024] Figure 2 is the internal structural schematic diagram of the storage cabin of the present invention;

[0025] Figure 3 is the side view of the present invention;

[0026] Figure 4 This is a schematic structural view of the bottom plate of the present invention.

[0027] Figure 5 This is a schematic structural view of the ship plate of the present invention;

[0028] Figure 6 This is a schematic structural view of the partition plate of the present invention;

[0029] Figure 7 This is a schematic structural view of the inclined plate and the baffle of the present invention;

[0030] Figure 8 This is a schematic structural view of the arc-shaped support plate of the present invention;

[0031] Figure 9 This is a schematic structural view of the guide rail of the present invention;

[0032] Figure 10 This is a schematic structural view of the turntable of the present invention;

[0033] Figure 11 This is a schematic structural view of the docking head of the present invention;

[0034] Figure 12 This is a schematic structural view of the guide disk of the present invention;

[0035] Figure 13 This is a schematic structural view of the sliding sleeve of the present invention;

[0036] Figure 14 This is a schematic view of the recovery system of the present invention;

[0037] Figure 15 This is a schematic view of the Beidou positioning module and the AUV drive module of the present invention;

[0038] Figure 16 This is a schematic view of the vision monitoring module, the robotic arm drive module and the AUV docking module of the present invention.

[0039] In the figure: 1, ship plate; 2, bottom plate; 3, storage compartment; 4, UAV body; 5, side plate; 6, inclined plate; 7, baffle; 8, bracket; 9, electric push rod; 10, fixed plate; 11, push plate; 12, cross plate; 13, support rod; 14, partition; 15, through groove; 16, sliding plate; 17, fixed block; 18, cover plate; 19, lower slot; 20, guide rail; 21, threaded rod; 22, slider; 23, spring; 24, rotating plate; 25, arc-shaped support plate; 26, threaded block; 27, limit block; 28, positioning block; 29, elastic sheet; 30, winch; 31, steel cable; 32, guide plate; 33, support block; 34, connecting plate; 35, docking head; 36, turntable; 37, guiding disk; 38, arc-shaped groove; 39, sliding sleeve; 40, sliding rod; 41, guiding rod; 42, clamping jaw; 43, magnet; 44, gear ring; 45, rotating rod; 46, gear; 47, multi-axis robotic arm; 48, solar panel; 49, storage battery; 50, camera;

[0040] 51, central control system;

[0041] 52, AUV drive module; 521, driver; 5211, stop; 5212, run;

[0042] 53, Beidou positioning module; 5301, positioning unit; 5302, whether reaching the designated position; 5303, having reached the designated position; 5304, not having reached the designated position;

[0043] 54, visual monitoring module; 5401, AUV entering the docking area; 5402, AUV entering the recovery area;

[0044] 55, robotic arm drive module; 551, robotic arm start; 5511, AUV recovery; 5512, AUV deployment;

[0045] 56, AUV docking module; 561, docking mechanism motor start; 5611, forward rotation; 5612, reverse rotation. Specific implementation mode

[0046] An embodiment of the present invention provides an AUV automatic lifting docking deployment and recovery system.

[0047] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7, including a ship board 1, a bottom board 2 is fixedly connected to the top of the ship board 1, a storage cabin 3 is fixedly connected to the top of the bottom board 2, a recycling component is arranged on the top of the bottom board 2, side plates 5 are fixedly connected to both ends of both sides inside the storage cabin 3, inclined plates 6 and baffles 7 are fixedly connected to one side of a plurality of side plates 5, a plurality of UAV bodies 4 are arranged between the inclined plates 6 and the baffles 7, brackets 8 are fixedly connected to both sides of the top of the bottom board 2, electric push rods 9 are fixedly connected to the inside of the two brackets 8, the output end of the electric push rod 9 penetrates through the side wall of the storage cabin 3 and its front end is fixedly connected to a fixing plate 10, a push plate 11 is fixedly connected to the front side of the fixing plate 10, a cross plate 12 is fixedly connected to the top of the push plate 11, support rods 13 are fixedly connected to both sides of the top of the cross plate 12, a partition plate 14 is fixedly connected to the top ends of the two support rods 13, and lowering components are arranged on both sides inside the ship board 1.

[0048] A plurality of inclined plates 6 and a plurality of baffles 7 are arranged oppositely. A downward sliding plate 16 is integrally formed on one side of the bottom end of the inclined plate 6. The heights of the push plate 11 and the support rods 13 are both adapted to the UAV body 4. The width of the partition plate 14 is adapted to the UAV body 4. The rear end cross section of the partition plate 14 is trapezoidal, which is convenient for supporting the UAV body 4 and lifting the UAV body 4 upward. Through grooves 15 are formed in both the inner and outer side walls of the storage cabin 3. The cross plate 12 and the partition plate 14 are respectively adapted to the two through grooves 15. Fixed blocks 17 are fixedly connected to both sides of the top of the bottom board 2. Covers 18 are fixedly connected to one side of the two fixed blocks 17. One side of the cover 18 is fixedly connected to the outer wall of the storage cabin 3. Lowering grooves 19 are formed in both sides inside the ship board 1, which is convenient for deploying the UAV body 4. The two covers 18 are respectively arranged on the tops of the two lowering grooves 19, which is beneficial to protecting the UAV body 4.

[0049] Specifically, multiple UAV bodies 4 are arranged on both sides of the storage compartment 3, and the bottom UAV body 4 is placed on the top of the horizontal plate 12. The electric push rod 9 is started to drive the fixed plate 10 to retract, and the fixed plate 10 pulls the push plate 11 to move back. When the push plate 11 moves, it drives the horizontal plate 12 to move. The horizontal plate 12 moves to the side of the inclined plate 6, and drives the support rod 13 and the partition 14 to move to one side. The partition 14 pushes the second UAV body 4 from bottom to top upward, and the bottom UAV body 4 located on the top of the horizontal plate 12 is separated from the horizontal plate 12, so that the UAV body 4 slides downward along the push plate 11 When the UAV body 4 descends, it falls to the top of the lower slide plate 16 and moves outward along the lower slide plate 16 to distribute and lower multiple UAV bodies 4. Then the electric push rod 9 is started again, so that the electric push rod 9 pushes the fixed plate 10 to move outward and drives the push plate 11 to move. When the push plate 11 moves, it drives the cross plate 12 to move, so that the cross plate 12 returns to between the inclined plate 6 and the baffle 7, and the multiple UAV bodies 4 on the top of the partition 14 fall back to the top of the cross plate 12, which is convenient for subsequent lowering. The UAV bodies 4 are gradually and orderly lowered through simple reciprocating movements. The structure is simple, the operation is convenient, and the cost is low.

[0050] Please refer again Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 The lowering assembly includes two guide rails 20, two threaded rods 21, two sliders 22, two rotating plates 24 and two arc-shaped support plates 25. The two guide rails 20 are respectively embedded in the shipboard 1 and located at both ends of the lowering groove 19. The threaded rod 21 is rotatably connected to the inside of the guide rails 20. The slider 22 is slidably connected to the inside of the threaded rod 21 and sleeved on the outside of the threaded rod 21. The rotating plate 24 is rotatably connected to the front side of the slider 22. The arc-shaped support plate 25 is fixedly connected to one side of the rotating plate 24, so that the arc-shaped support plate 25 supports the UAV body 4, and the arc-shaped support plate 25 and the rotating plate 24 drive the slider 22 to slide down.

[0051] A threaded block 26 is slidably connected inside the guide rail 20. The threaded rod 21 passes through the threaded block 26 and is threadedly connected to the threaded block 26. A spring 23 is fixedly connected between the threaded block 26 and the slider 22. The spring 23 is sleeved outside the threaded rod 21. A shrapnel 29 is fixedly connected to the front side of the slider 22. A limiting block 27 is fixedly connected to one side of the rotating plate 24. One end of the shrapnel 29 is fixedly connected to the limiting block 27. Positioning blocks 28 are fixedly connected to both sides inside the lowering groove 19 where the ship board 1 is located. The positioning blocks 28 correspond to the limiting blocks 27. When the rotating plate 24 descends, the positioning blocks 28 limit the limiting blocks 27, so that the limiting blocks 27 drive the rotating plate 24 to flip, thereby lowering the UAV body 4 into the water.

[0052] Specifically, the UAV body 4 is pushed out of the sliding plate 16, so that the UAV body 4 slides down along the lowering groove 19, and the lowering groove 19 lands on the tops of the two arc-shaped support plates 25, so that the UAV body 4 presses down on the arc-shaped support plates 25, causing the arc-shaped support plates 25 to drive the rotating plate 24 to descend, and the rotating plate 24 drives the slider 22 to slide inside the guide rail 20, so that the threaded rod 21 squeezes the spring 23. Thus, when the rotating plate 24 descends, it drives the limiting block 27 to descend. When the limiting block 27 descends, it moves to one side of the positioning block 28, and the positioning block 28 limits the limiting block 27, causing the limiting block 27 to drive the rotating plate 24 to flip, so that the UAV body 4 slides from the top of the arc-shaped support plate 25 into the water, which is beneficial for deploying the UAV body 4. The lowering position is close to the water surface, reducing the impact on the UAV body 4 and improving safety.

[0053] By rotating the threaded rod 21 to drive the threaded block 26 to rise, the threaded block 26 drives the spring 23 to rise, and the spring 23 pushes the slider 22 to slide inside the guide rail 20, so that the slider 22 drives the rotating plate 24 and the arc-shaped support plate 25 to rise, thereby blocking the lowering groove 19 to prevent the UAV body 4 from falling, which is convenient for maintenance.

[0054] Please refer to again Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 10 、 Figure 11 、 Figure 12 and Figure 13, the recovery component includes a winch 30, a steel cable 31 and a docking head 35. The winch 30 is fixedly connected to one side of the top of the bottom plate 2. One end of the steel cable 31 is connected to the output end of the winch 30. One side of the inside of the bottom plate 2 is fixedly connected with a guide plate 32. One side of the top of the guide plate 32 is fixedly connected with a support block 33. The bottom end of the guide plate 32 is fixedly connected with a connecting plate 34. A magnetic plate is arranged at the front end of the UAV body 4. The connecting plate 34 corresponds to the magnetic plate. The docking head 35 is fixedly connected to the bottom end of the steel cable 31. A magnet 43 is fixedly connected to the bottom of the docking head 35. A turntable 36 is rotatably connected to the inside of the docking head 35. A guide disk 37 is rotatably connected to the inside of the docking head 35. The turntable 36 is fixedly connected to the guide disk 37. A plurality of arc-shaped grooves 38 are formed in the inside of the guide disk 37, so that the turntable 36 drives the guide disk 37 to rotate.

[0055] A plurality of sliding sleeves 39 are fixedly connected to the inside of the docking head 35 in an annular array. A sliding rod 40 is slidably connected to the inside of each of the plurality of sliding sleeves 39. The bottom ends of the plurality of sliding rods 40 are all fixedly connected with a guide rod 41. The guide rod 41 penetrates through the side wall of the sliding sleeve 39 and is slidably connected with the sliding sleeve 39. The plurality of guide rods 41 respectively penetrate through the plurality of arc-shaped grooves 38 and are slidably connected with the plurality of arc-shaped grooves 38. One ends of the plurality of sliding rods 40 are all fixedly connected with a clamping jaw 42. A toothed ring 44 is fixedly connected to the outside of the turntable 36. A motor is fixedly connected to the inside of the docking head 35. A rotating rod 45 is fixedly connected to the output end of the motor. A gear 46 is fixedly connected to the top end of the rotating rod 45. The gear 46 is meshed with the toothed ring 44, so that the rotating rod 45 drives the gear 46 to rotate, thereby driving the toothed ring 44 to rotate. When the toothed ring 44 rotates, it drives the turntable 36 to rotate. A multi-axis robotic arm 47 is fixedly connected to one side of the top of the bottom plate 2. A solar panel 48 is fixedly connected to the top of the storage cabin 3. A storage battery 49 is fixedly connected to the inside of the storage cabin 3. The solar panel 48 is electrically connected to the storage battery 49. A camera 50 is fixedly connected to the top end inside the storage cabin 3, which is beneficial to the real-time monitoring of the UAV body 4 and facilitates docking and transfer.

[0056] Specifically, the position of the UAV body 4 is monitored in real time by the camera 50, and the winch 30 is operated to lower the cable 31, so that the cable 31 drives the docking head 35 to lower. When the UAV body 4 moves to the bottom of the docking head 35, the magnet 43 adsorbs to the front end of the UAV body 4, thereby performing a preliminary positioning of the UAV body 4. Then, the rotating rod 45 is activated to drive the gear 46 to rotate. The rotation of the gear 46 drives the gear ring 44 to rotate. When the gear ring 44 rotates, it drives the turntable 36 to rotate. The rotation of the turntable 36 drives the guide plate 37 to rotate, so that the plurality of arc-shaped grooves 38 limit the plurality of guide rods 41, driving the plurality of guide rods 41 to slide simultaneously along the arc-shaped grooves 38 inside the sliding sleeve 39. The guide rod 41 drives the sliding rod 40 to move inside the sliding sleeve 39, and the sliding rod 40 drives the clamping jaw 42 to move, so that the clamping jaw 42 contracts to clamp the front end of the UAV body 4. Then, the winch 30 is activated to drive the cable 31 to wind up, pulling the UAV body 4 to slide along the connecting plate 34, so that the UAV body 4 passes through the support block 33 and slides upward from the guide plate 32. Then, the multi-axis robotic arm 47 is activated to grab the pulled-up UAV body 4 and place the UAV body 4 into the storage compartment 3 for easy recovery. This is beneficial for quickly docking the UAV body 4 returning in water and facilitating the recovery of the UAV body 4, improving stability.

[0057] Please refer again to Figure 1 、 Figure 14 、 Figure 15 and Figure 16, including a central control system 51, an AUV drive module 52, a Beidou positioning module 53, a visual monitoring module 54, and a robotic arm drive module 55. The AUV drive module 52, the Beidou positioning module 53, the visual monitoring module 54, the robotic arm drive module 55, and the AUV docking module 56 are all connected to the output end of the central control system 51. The robotic arm drive module 55 is connected to the output end of the visual monitoring module 54. The AUV docking module 56 is connected to the output end of the visual monitoring module 54. The AUV drive module 52 is connected to the output end of the Beidou positioning module 53. The Beidou positioning module 53 includes a positioning unit 5301 and a whether-reached-designated-position unit 5302. The output end of the positioning unit 5301 is connected to the whether-reached-designated-position unit 5302. The output end of the whether-reached-designated-position unit 5302 is connected to a reached-designated-position unit 5303 and a not-reached-designated-position unit 5304. The AUV drive module 52 includes a driver 521. The output end of the driver 521 is connected to a stop 5211 and a run 5212. The output end of the reached-designated-position unit 5303 is connected to the stop 5211. The output end of the not-reached-designated-position unit 5304 is connected to the run 5212. The position of the UAV body 4 is monitored by the Beidou positioning module 53, and the movement of the UAV body 4 is controlled. The visual monitoring module 54 includes an AUV-entering-docking-area unit 5401 and an AUV-entering-recovery-area unit 5402. The AUV docking module 56 includes a docking-mechanism-motor-start unit 561. The output end of the docking-mechanism-motor-start unit 561 is connected to a forward rotation 5611 and a reverse rotation 5612. The output end of the AUV-entering-docking-area unit 5401 is connected to the docking-mechanism-motor-start unit 561. The robotic arm drive module 55 includes a robotic-arm-start unit 551. The output end of the robotic-arm-start unit 551 is connected to an AUV-recovery unit 5511 and an AUV-deployment unit 5512. The output end of the AUV-entering-recovery-area unit 5402 is connected to the robotic-arm-start unit 551. The UAV body 4 is monitored in real time, and the docking and the multi-axis robotic arm 47 are controlled.

[0058] Specifically, the central control system 51 controls the Beidou positioning module 53 to send a signal to the positioning unit 5301, so that the whether-reached-designated-position unit 5302 judges the position of the UAV body 4. If it is within the designated area of the ship board 1, a signal is sent to the reached-designated-position unit 5303, and the reached-designated-position unit 5303 sends a signal to the stop 5211, so that the stop 5211 controls the driver 521 of the UAV body 4 to turn off. If it does not reach the designated area of the ship board 1, a signal is sent to the not-reached-designated-position unit 5304, and the not-reached-designated-position unit 5304 sends a signal to the run 5212 to control the driver 521 to keep working until the UAV body 4 reaches the area.

[0059] When arriving at the area, the visual monitoring module 54 controls the real-time monitoring of the position of the UAV body 4. When the UAV body 4 moves to the docking position, a signal is sent to the AUV to enter the docking area 5401, causing the AUV to enter the docking area 5401 and send a signal to start the docking mechanism motor 561, which in turn sends a signal for the forward rotation 5611 to clamp the UAV body 4. When the UAV body 4 moves to the recovery position after docking, a signal is sent to the AUV to enter the recovery area 5402, causing the AUV to enter the recovery area 5402 and send a signal to start the manipulator 551 to recover the UAV body 4 and place the UAV body 4 inside the storage compartment 3 for storage.

[0060] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An AUV automatic lifting, docking, deploying and retrieving system, comprising a shipboard (1), characterized in that: A bottom plate (2) is fixedly connected to the top of the ship plate (1). A storage compartment (3) is fixedly connected to the top of the bottom plate (2). A recycling assembly is arranged on the top of the bottom plate (2). Side plates (5) are fixedly connected to both ends of both sides inside the storage compartment (3). A plurality of inclined plates (6) and baffles (7) are fixedly connected to one side of each of the plurality of side plates (5). A plurality of UAV bodies (4) are arranged between the inclined plates (6) and the baffles (7). Brackets (8) are fixedly connected to both sides of the top of the bottom plate (2). Electric push rods (9) are fixedly connected to the inside of both of the two brackets (8). The output end of the electric push rod (9) penetrates through the side wall of the storage compartment (3) and a fixing plate (10) is fixedly connected to the front end thereof. A push plate (11) is fixedly connected to the front side of the fixing plate (10). A cross plate (12) is fixedly connected to the top of the push plate (11). Support rods (13) are fixedly connected to both sides of the top of the cross plate (12). A partition plate (14) is fixedly connected to the top ends of the two support rods (13). Lowering assemblies are arranged on both sides inside the ship plate (1). The recycling assembly includes a winch (30), a steel cable (31) and a docking head (35). The winch (30) is fixedly connected to one side of the top of the bottom plate (2). One end of the steel cable (31) is connected to the output end of the winch (30). A guide plate (32) is fixedly connected to one side inside the bottom plate (2). A support block (33) is fixedly connected to one side of the top of the guide plate (32). A connecting plate (34) is fixedly connected to the bottom end of the guide plate (32). A magnetic plate is arranged at the front end of the UAV body (4). The connecting plate (34) corresponds to the magnetic plate. The docking head (35) is fixedly connected to the bottom end of the steel cable (31). A magnet (43) is fixedly connected to the bottom of the docking head (35). A turntable (36) is rotatably connected to the inside of the docking head (35). A guide disk (37) is rotatably connected to the inside of the docking head (35). The turntable (36) is fixedly connected to the guide disk (37). A plurality of arc-shaped grooves (38) are formed inside the guide disk (37). A plurality of sliding sleeves (39) are fixedly connected to the inside of the docking head (35) in an annular array. Slide rods (40) are slidably connected to the inside of the plurality of sliding sleeves (39). The bottom ends of the plurality of slide rods (40) are fixedly connected to guide rods (41). The guide rods (41) penetrate through the side walls of the sliding sleeves (39) and are slidably connected to the sliding sleeves (39). The plurality of guide rods (41) respectively penetrate through the plurality of arc-shaped grooves (38) and are slidably connected to the plurality of arc-shaped grooves (38). Claw jaws (42) are fixedly connected to one ends of the plurality of slide rods (40). A gear ring (44) is fixedly connected to the outside of the turntable (36). A motor is fixedly connected to the inside of the docking head (35). A rotating rod (45) is fixedly connected to the output end of the motor. A gear (46) is fixedly connected to the top end of the rotating rod (45). The gear (46) is meshed with the gear ring (44).

2. The AUV automatic lifting, docking, deploying and retrieving system according to claim 1, wherein: A plurality of the inclined plates (6) and a plurality of baffles (7) are arranged oppositely. A downward sliding plate (16) is integrally formed on one side of the bottom end of the inclined plate (6). The heights of the push plate (11) and the support rod (13) are both adapted to the UAV body (4). The width of the partition plate (14) is adapted to the UAV body (4). The rear end cross-section of the partition plate (14) is trapezoidal. Through grooves (15) are formed in the inner and outer side walls of the storage compartment (3). The cross plate (12) and the partition plate (14) are respectively adapted to the two through grooves (15). Fixed blocks (17) are fixedly connected to both sides of the top of the bottom plate (2). A cover plate (18) is fixedly connected to one side of each of the two fixed blocks (17). One side of the cover plate (18) is fixedly connected to the outer wall of the storage compartment (3). Lowering grooves (19) are formed in both sides of the inside of the ship plate (1). The two cover plates (18) are respectively arranged on the tops of the two lowering grooves (19).

3. An AUV automatic lifting, docking, deploying and retrieving system according to claim 1, characterized in that: The lowering assembly includes two guide rails (20), two threaded rods (21), two sliders (22), two rotating plates (24) and two arc-shaped support plates (25). The two guide rails (20) are respectively embedded in the ship plate (1) and located at both ends of the lowering groove (19). The threaded rod (21) is rotatably connected inside the guide rail (20). The slider (22) is slidably connected inside the threaded rod (21) and sleeved outside the threaded rod (21). The rotating plate (24) is rotatably connected to the front side of the slider (22). The arc-shaped support plate (25) is fixedly connected to one side of the rotating plate (24).

4. An AUV automatic lifting, docking, deploying and retrieving system according to claim 3, characterized in that: A threaded block (26) is slidably connected inside the guide rail (20). The threaded rod (21) penetrates through the threaded block (26) and is threadedly connected to the threaded block (26). A spring (23) is fixedly connected between the threaded block (26) and the slider (22). The spring (23) is sleeved outside the threaded rod (21). A elastic sheet (29) is fixedly connected to the front side of the slider (22). A limiting block (27) is fixedly connected to one side of the rotating plate (24). One end of the elastic sheet (29) is fixedly connected to the limiting block (27). Positioning blocks (28) are fixedly connected to both sides of the inside of the ship plate (1) where the lowering groove (19) is located. The positioning block (28) corresponds to the limiting block (27).

5. An AUV automatic lifting, docking, deploying and retrieving system according to claim 1, characterized in that: A multi-axis robotic arm (47) is fixedly connected to one side of the top of the bottom plate (2). A solar panel (48) is fixedly connected to the top of the storage compartment (3). A storage battery (49) is fixedly connected to the inside of the storage compartment (3). The solar panel (48) is electrically connected to the storage battery (49). A camera (50) is fixedly connected to the top end inside the storage compartment (3).

6. The AUV automatic lifting, docking, deploying and retrieving system according to claim 1, characterized in that: It includes a central control system (51), an AUV drive module (52), a Beidou positioning module (53), a visual monitoring module (54), and a robotic arm drive module (55). The AUV drive module (52), the Beidou positioning module (53), the visual monitoring module (54), the robotic arm drive module (55), and the AUV docking module (56) are all connected to the output end of the central control system (51). The robotic arm drive module (55) is connected to the output end of the visual monitoring module (54). The AUV docking module (56) is connected to the output end of the visual monitoring module (54). The AUV drive module (52) is connected to the output end of the Beidou positioning module (53).

7. An AUV automatic lifting, docking, deploying and retrieving system according to claim 6, characterized in that: The Beidou positioning module (53) includes a positioning unit (5301) and whether it has reached the designated position (5302). The output end of the positioning unit (5301) is connected to whether it has reached the designated position (5302). The output end of whether it has reached the designated position (5302) is connected to the "has reached the designated position" (5303) and the "has not reached the designated position" (5304). The AUV drive module (52) includes a driver (521). The output end of the driver (521) is connected to "stop" (5211) and "run" (5212). The output end of the "has reached the designated position" (5303) is connected to "stop" (5211). The output end of the "has not reached the designated position" (5304) is connected to "run" (5212).

8. An AUV automatic lifting, docking, deploying and retrieving system according to claim 7, characterized in that: The visual monitoring module (54) includes the AUV entering the docking area (5401) and the AUV entering the recovery area (5402). The AUV docking module (56) includes the docking mechanism motor start (561). The output end of the docking mechanism motor start (561) is connected to "forward rotation" (5611) and "reverse rotation" (5612). The output end of the AUV entering the docking area (5401) is connected to the docking mechanism motor start (561). The robotic arm drive module (55) includes the robotic arm start (551). The output end of the robotic arm start (551) is connected to "AUV recovery" (5511) and "AUV deployment" (5512). The output end of the AUV entering the recovery area (5402) is connected to the robotic arm start (551).

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