Automatic launching and recovery device, hang-off unmanned surface vehicle and automatic launching and recovery system

Abstract

The present application relates to unmanned ship technical field, disclose a kind of automatic deployment and recovery system of hang-off type unmanned ship. Including: mother ship hoisting device, including hoisting steel cable, cone and first steel cable pressing block, wherein the cone is cylindrical cone transition structure, central hole is provided, hoisting steel cable passes through the center of cone, and terminal is fixedly connected with cone by first steel cable pressing block;Unmanned ship, including boat body, radar visible light integrated equipment and lifting hook, wherein radar visible light integrated equipment is used for target identification and positioning in the process of unmanned ship recovery, and lifting hook is used as the lifting point of unmanned ship, and is fixedly connected with unmanned ship;Automatic take-up device is set on unmanned ship, is connected with lifting hook, and is used for automatically capturing or releasing mother ship hoisting device.The system equipment is simple, and the universality is strong, and through the cooperation of automatic take-up device and mother ship hoisting device, the automatic unhooking problem of unmanned ship and lifting arm cable is solved, and the autonomy of unmanned ship deployment and recovery is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned ships, and in particular to an automatic launching and recovering device, a hoisting and launching unmanned ship and an automatic launching and recovering system. BACKGROUND

[0002] Due to the small size and limited energy of an unmanned ship, the unmanned ship generally needs to be carried to a task sea area by a large ship as a mother ship during sea operation, which faces the problems of launching the unmanned ship from the mother ship before operation and recovering the unmanned ship from the sea to the mother ship after operation. How to more safely and efficiently realize launching and recovering of the unmanned ship under the premise of unmanned operation of the sea and even in high sea conditions has been a common problem that is generally concerned at home and abroad.

[0003] The hoisting and launching unmanned ship is the main way currently used in the industry, and the hoisting arm cable is generally connected or separated from the hook on the unmanned ship through artificial auxiliary means, so as to hoist the unmanned ship from the mother ship to the sea surface or from the sea surface to the mother ship. This way not only has poor autonomy, but also has great risk hidden dangers for the operating personnel. At present, how to overcome the difficulty of automatic unhooking on the basis of the general hoisting and launching of the unmanned ship and transform the launching and recovering of the unmanned ship into an efficient and safe automatic form still lacks effective means. SUMMARY

[0004] The present application provides an automatic launching and recovering device, a hoisting and launching unmanned ship and an automatic launching and recovering system, which aims to overcome the shortcomings of the prior art and solve the difficulty of automatic unhooking on the basis of the general hoisting and launching of the unmanned ship.

[0005] In a first aspect, an automatic launching and recovering device is provided, which is used for being fixed on a ship body, and is provided with a hoisting opening for accommodating a hoisting and launching device.

[0006] The automatic launching and recovering device further comprises symmetrically arranged first and second rotating shaft mechanisms, the first rotating shaft mechanism comprises a first rotating shaft and a first guide rod, the second rotating shaft mechanism comprises a second rotating shaft and a second guide rod, the first and second rotating shafts are arranged on both sides of the hoisting opening, the first guide rod is rotatable relative to the first rotating shaft, the second guide rod is rotatable relative to the second rotating shaft, and the first and second guide rods rotate towards each other to push the hoisting and launching device into the hoisting opening.

[0007] With reference to the first aspect, in some implementations of the first aspect, the automatic retractable device further comprises a first hoisting positioning device, the first hoisting positioning device being configured to detect the position of the hoisting device relative to the automatic retractable device, so as to rotate the first guide rod and the second guide rod towards each other when the distance between the hoisting device and the hoisting opening is less than or equal to a preset distance.

[0008] With reference to the first aspect, in some implementations of the first aspect, the first hoisting positioning device is arranged on each of the first guide rod and the second guide rod, and the detection direction of the first hoisting positioning device is directed towards the inside of the automatic retractable device, and the angle between the detection direction of the first hoisting positioning device and the guide rod is less than 90°.

[0009] With reference to the first aspect, in some implementations of the first aspect, in the case where the first hoisting positioning devices are arranged oppositely on the first guide rod and the second guide rod, the distance H1 between the first hoisting positioning device and the hoisting opening in the direction in which the hoisting device moves towards the hoisting opening satisfies:

[0010]

[0011] L1 is the distance between the first hoisting positioning device on the first guide rod and the first rotating shaft, α is the deflection angle of the first guide rod, L2 is the length of the first guide rod, and A is the distance between the first rotating shaft and the second rotating shaft.

[0012] With reference to the first aspect, in some implementations of the first aspect, the automatic retractable device further comprises:

[0013] a shroud arranged around the hoisting opening, an inner side of the shroud being provided with a second hoisting positioning device, the second hoisting positioning device being configured to check whether the hoisting device enters the hoisting opening.

[0014] With reference to the first aspect, in some implementations of the first aspect, the automatic retractable device further comprises a base, a bottom plate, a stand, a top plate and a U-shaped steel cable;

[0015] the bottom plate is carried on the base, the base being configured to be fixed on a boat body, the top plate is arranged on the bottom plate through the stand, the first rotating shaft and the second rotating shaft are arranged between the bottom plate and the top plate, the hoisting opening is arranged on the top plate, the bottom plate further has a U-shaped opening, the U-shaped steel cable passes through the U-shaped opening and is fixed on both sides of the hoisting opening on the top plate, the U-shaped steel cable is configured to be connected with a hook on the boat body, and the inner diameter of the U-shaped opening is greater than the inner diameter of the hoisting opening.

[0016] In some implementations of the first aspect, two proximity switches are further arranged on the base plate, and are arranged on one side of the first rotating shaft and one side of the second rotating shaft respectively, and are used to limit the forward and reverse rotation of the first guide rod and the second guide rod.

[0017] In some implementations of the first aspect, the automatic launching and recovering device further comprises a third launching and positioning device, which is used to detect the position of the launching device relative to the automatic launching and recovering device, so as to guide the automatic launching and recovering device and the launching device to approach each other.

[0018] In some implementations of the first aspect, the connection height of the first guide rod and the first rotating shaft is different from the connection height of the second guide rod and the second rotating shaft.

[0019] The second aspect provides a launching type unmanned ship, which comprises the automatic launching and recovering device in any one of the implementations of the first aspect.

[0020] The third aspect provides an automatic launching and recovering system, which comprises the launching type unmanned ship and the launching device in any one of the implementations of the second aspect, and the automatic launching and recovering device on the launching type unmanned ship is used to automatically launch and recover the launching device.

[0021] The fourth aspect provides an unmanned ship automatic recovering method, which comprises the following steps.

[0022] According to the positioning information captured by the third launching and positioning device, the launching type unmanned ship in any one of the implementations of the second aspect is guided to approach the launching device, the third launching and positioning device is used to detect the position of the launching device relative to the automatic launching and recovering device, and the first guide rod and the second guide rod are in an open state;

[0023] After the first launching and positioning device on the first guide rod and the second guide rod detects the launching device, the launching device reaches the capturing range of the automatic launching and recovering device, the first guide rod and the second guide rod are driven to rotate towards each other, so as to push the launching device towards the hoisting opening;

[0024] After the first guide rod and the second guide rod rotate to a parallel position, according to the positioning information captured by the second launching and positioning device on the shroud, it is judged whether the launching device successfully enters the hoisting opening, the shroud is arranged around the hoisting opening, and the second launching and positioning device is used to check whether the launching device enters the hoisting opening.

[0025] Compared with the prior art, the scheme provided by the application has at least the following beneficial technical effects:

[0026] Through cooperation of the automatic take-up and pay-off device and the mother ship hoisting device, the automatic unhooking problem of the unmanned ship and the hoisting arm cable is solved, and the autonomy of the unmanned ship deployment and recovery is improved; the automatic capture problem of the hook during the unmanned ship recovery is solved by using rotation control of the two rotating shaft mechanisms of the take-up and pay-off device; on the basis of using the original hook equipment of the unmanned ship, only the automatic take-up and pay-off device needs to be simply added, and the equipment is simple and has strong universality; through identification and positioning of the radar and the three-camera, the entire process of the unmanned ship recovery can be realized autonomously, and the intelligence is higher. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a perspective view of the hoisting type unmanned ship automatic deployment and recovery system provided by the embodiment of the application.

[0028] Figure 2 is Figure 1 a structural schematic view of the mother ship hoisting device in the embodiment.

[0029] Figure 3 is Figure 1 a connection schematic view of the unmanned ship and the automatic take-up and pay-off device in the embodiment.

[0030] Figure 4 is Figure 3 a structural schematic view of the radar and visible light integrated equipment in the embodiment.

[0031] Figure 5 is Figure 1 a structural schematic view of the automatic take-up and pay-off device in one perspective.

[0032] Figure 6 is Figure 1 a structural schematic view of the automatic take-up and pay-off device in another perspective.

[0033] Figure 7 is Figure 5 a connection schematic view of the bottom plate and the top plate in the embodiment.

[0034] Figure 8 is Figure 5 a structural schematic view of the first rotating shaft mechanism and the second rotating shaft mechanism in the embodiment.

[0035] Figure 9 is Figure 1 a perspective view of the automatic take-up and pay-off device capturing the mother ship hoisting device.

[0036] Figure 10 is Figure 1 a state schematic view of the automatic take-up and pay-off device locking the mother ship hoisting device.

[0037] Figure 11 isFigure 1 The principle diagram of the automatic take-up and pay-off device locking the mother ship's pay-off device.

[0038] The reference signs in the drawings are as follows:

[0039] 100-mother ship pay-off device, 200-unmanned boat, 300-automatic take-up and pay-off device; 110-pull-in steel cable, 120-conical body, 130-first steel cable pressing block; 210-boat body, 220-radar and visible light integrated device, 230-hanging hook; 221-laser radar, 222-three-eyed camera; 223-camera base;

[0040] 1-base, 2-bottom plate, 3-stand, 4-top plate, 5-first rotating shaft mechanism, 6-second rotating shaft mechanism, 7-first motor, 8-second motor, 9-shield, 10-U-shaped steel cable, 11-second steel cable pressing block, 12-groove type proximity switch, 13-close distance photoelectric sensor, 14-first rotating shaft, 15-first guide rod, 16-first pipe fixing plug, 17-first upper bearing, 18-first lower bearing, 19-first sensor baffle, 20-second rotating shaft, 21-second guide rod, 22-second pipe fixing plug, 23-second upper bearing, 24-second lower bearing, 25-second sensor baffle, 26-far distance photoelectric sensor. DETAILED DESCRIPTION

[0041] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects clearer and more apparent, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application.

[0042] 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. It should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application, and therefore cannot be understood as indicating that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating relative importance or indicating the number of technical features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0043] The specific implementation of the present application will be described in more detail in combination with the specific drawings and examples as follows:

[0044] Figure 1 A three-dimensional schematic view of an automatic launching and recovering system of a hang-off unmanned surface vehicle according to an embodiment of the present application is shown in FIG. 1. The automatic launching and recovering system of the hang-off unmanned surface vehicle includes a mother ship hang-off device 100, an unmanned surface vehicle 200, and an automatic launching and recovering device 300. The unmanned surface vehicle 200 is automatically locked and released with the mother ship hang-off device 100 by installing the automatic launching and recovering device 300, so as to complete the automatic launching and recovering of the unmanned surface vehicle 200. Figure 1

[0045] Figure 2 FIG. 2 is a structural schematic view of the mother ship hang-off device 100 according to an embodiment. The mother ship hang-off device 100 can be arranged on a crane of a recovering mother ship or a recovering shore base. The mother ship hang-off device 100 includes a hang-off steel cable 110, a conical body 120, and a first steel cable pressing block 130. One end of the hang-off steel cable 110 is connected to the crane of the recovering mother ship or the recovering shore base, and the other end is connected to the first steel cable pressing block 130 through a central through hole of the conical body 120. The outer diameter of the first steel cable pressing block 130 can be greater than the inner diameter of the central through hole.

[0046] The conical body 120 is a cylindrical conical transition structure. The conical body 120 can include a cylindrical part and a conical part, which can be coaxially arranged. The conical part is located on the side of the cylindrical part away from the first steel cable pressing block 130 (i.e., above the cylindrical part), and the upper end of the conical part is smaller in size than the lower end of the conical part. The outer diameter of the cylindrical part can be greater than the outer diameter of the conical part, so that the end surface of the cylindrical part connected to the conical part can be a horizontal ring. The ring-shaped end surface can be used to abut against the automatic launching and recovering device 300 on the unmanned surface vehicle 200.

[0047] The automatic launching and recovering device 300 is provided with a hoisting opening, and the hang-off steel cable 110 of the mother ship hang-off device 100 can freely enter the hoisting opening. Then, the hang-off steel cable 110 is pulled upward, so that the end surface of the cylindrical part of the conical body 120 connected to the conical part can abut against the lower side of the hoisting opening. The inner diameter of the hoisting opening can be smaller than the outer diameter of the cylindrical part and greater than the outer diameter of the lower end of the conical part. The upper side of the cylindrical part is the conical part, so that the conical body 120 and the hoisting opening can be smoothly transitioned and adapted, so that when the conical body 120 abuts against the lower side of the hoisting opening, the conical body 120 can be located in the area opposite to the center of the hoisting opening. The following will be described in detail in combination with FIG. 3. Figures 3 to 10

[0048] Figure 3 FIG. 4 is a connection schematic view of the unmanned surface vehicle 200 and the automatic launching and recovering device 300 according to an embodiment. The unmanned surface vehicle 200 includes a hull 210, a radar and visible light integrated device 220, and a hook 230. The radar and visible light integrated device 220 and the hook 230 can be arranged on the hull 210.​​

[0049] The radar-visible light integrated device 220 serves as the environmental perception device for the unmanned surface vessel 200, enabling precise identification and positioning of the mother ship launching device 100. This is used for target identification and positioning during the recovery process of the unmanned surface vessel 200. When the automatic launch and recovery device 300 captures the mother ship launching device 100, the sensing direction of the radar-visible light integrated device 220 can be as consistent as possible with the moving direction of the mother ship launching device 100.

[0050] The hook 230 serves as the lifting point for the unmanned surface vessel (USV) 200 and is fixedly connected to the USV 200. In this embodiment, it is considered an inherent device of the USV 200. The automatic deployment and retrieval device 300 is mounted on the USV 200 and connected to the hook 230, used to capture or release the mother ship deployment device 100. After capturing the mother ship deployment device 100, the mother ship deployment device 100 is locked by the automatic deployment and retrieval device 300, thereby lifting the USV 200 via the hook 230.

[0051] Figure 4 This is a schematic diagram of the structure of an integrated radar and visible light device according to one embodiment, such as... Figure 4 As shown, the radar-visible light integrated device 220 includes a lidar 221, a trinocular camera 222, and a camera base 223. The lidar 221 is fixed at the center of the camera base 223 and can provide precise relative position and direction information of the target. The camera base 223 is a cylindrical hollow structure with three through holes at one end, arranged at equal intervals of 60°. The three cameras of the trinocular camera 222 are respectively installed in the three through holes of the camera base 223, which can acquire images within a 180° angle range in front and can accurately identify target information based on target characteristics.

[0052] Specifically, the trinocular camera 222 can acquire images from the front. When the mother ship launching device 100 appears in front of the trinocular camera 222, the image captured by the trinocular camera 222 can reflect the distance between the mother ship launching device 100 and the trinocular camera 222, and thus the distance between the mother ship launching device 100 and the automatic launching and retrieval device 300. Therefore, when the mother ship launching device 100 and the automatic launching and retrieval device 300 are sufficiently close, the automatic launching and retrieval device 300 can perform target acquisition. In addition, the cooperation between the lidar 221 and the trinocular camera 222 not only improves the accuracy of target recognition but also improves the precision of target positioning.

[0053] Figure 5 and Figure 6 This is a structural schematic diagram of an automatic take-up and take-down device 300 from two different perspectives, as shown in one embodiment. Figure 5 and Figure 6As shown, the automatic take-up and take-down device 300 includes a base 1, a bottom plate 2, a column 3, a top plate 4, a first rotating shaft mechanism 5, a second rotating shaft mechanism 6, a first motor 7, a second motor 8, a protective cover 9, a U-shaped steel cable 10, and a second steel cable clamping block 11.

[0054] The base 1, serving as the support structure for the automatic deployment and retraction device 300, is assembled from profiles. The base 1 can, for example, be fixed to a deck. The bottom plate 2 is mounted on the base 1. The top plate 4 is mounted on the bottom plate 2 via columns 3, meaning the top plate 4 is located on the side of the bottom plate 2 furthest from the base 1. The thickness of the top plate 4 can be slightly greater than the thickness of the bottom plate 2 to ensure sufficient load-bearing capacity, while the thickness of the bottom plate 2 is relatively small to facilitate weight reduction.

[0055] The first rotating shaft mechanism 5 and the second rotating shaft mechanism 6, serving as the motion mechanism of the automatic launching and recovering device 300, are disposed between the base plate 2 and the top plate 4, respectively corresponding to the left and right sides of the top plate 4. Taking the first rotating shaft mechanism 5 as an example, the first rotating shaft mechanism 5 can rotate around an axis within the space between the base plate 2 and the top plate 4. When capturing the mother ship launching device 100, the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 can rotate towards each other to facilitate capturing the mother ship launching device 100; when releasing the mother ship launching device 100, the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 can rotate away from each other to facilitate releasing the mother ship launching device 100. The first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 can be staggered to reduce interference between them. The first motor 7 and the second motor 8 drive the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 to rotate, respectively. Figure 5 and Figure 6 In the embodiment shown, the first motor 7 and the second motor 8 can be mounted on the top plate 4.

[0056] The top plate 4 is provided with the lifting opening described above. When the mother ship launching device 100 is being captured, the mother ship launching device 100 can enter the lifting opening of the top plate 4. A protective cover 9 can be provided on the upper side of the lifting opening, that is, the protective cover 9 is installed on the top plate 4.

[0057] A U-shaped steel cable 10 is also fixed below the top plate 4. Its U-shaped bottom connects to the hook 230. As a connecting device between the automatic deployment / retraction device 300 and the hook 230, the length of the base 1 can be greater than the length of the U-shaped steel cable 10. Figure 5 and Figure 6In the illustrated embodiment, a second steel cable clamping block 11 may be provided above the top plate 4. The two ends of the U-shaped steel cable 10 can pass through two through holes in the top plate 4 respectively, and are fixedly connected to the two second steel cable clamping blocks 11 respectively, thus fixing the U-shaped steel cable 10 to the top plate 4. When the mother ship launching device 100 is locked inside the protective cover 9, i.e., locked in the lifting opening of the top plate 4, the lifting force borne by the mother ship launching device 100 can be transmitted to the hook 230 through the top plate 4 and the U-shaped steel cable 10.

[0058] Figure 7 This is a schematic diagram of the connection between the base plate and the top plate in one embodiment. One end of the base plate 2 has a U-shaped opening along its center, which can accommodate a U-shaped steel cable 10. Two slotted proximity switches 12 are installed on the left and right sides above the base plate 2, respectively. These two slotted proximity switches 12 are respectively located on one side of the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6, and are used to limit the forward and reverse rotation of the first motor 7 and the second motor 8.

[0059] The top plate 4 also features a U-shaped opening at one end along its center. The opening width is smaller than that of the bottom plate 2's U-shaped opening, and its bottom structure matches the top structure of the cone 120 to accommodate it. The two sides of the U-shaped opening in the top plate 4 can be used to fix the U-shaped steel cable 10. The protective cover 9 also features a U-shaped opening. A short-range photoelectric sensor 13 can be installed on each of the left and right sides and at the bottom of the U-shape of the protective cover 9. The short-range photoelectric sensors 13 all point inward towards the protective cover 9 to detect whether the suspended steel cable 110 has entered the hoisting opening channel of the top plate 4.

[0060] The motion mechanism of the entire automatic take-up and take-down device 300 consists of the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6, which are controlled by the first motor 7 and the second motor 8. Figure 8 This is a schematic diagram of the structure of the first and second rotating shaft mechanisms in one embodiment.

[0061] The first rotating shaft mechanism 5 includes a first rotating shaft 14, a first guide rod 15, a first tubular fixing plug 16, a first upper bearing 17, a first lower bearing 18, and a first sensor baffle 19. The first rotating shaft 14 is driven by a first motor 7 and contacts the top plate 4 and the bottom plate 2 respectively through the first upper bearing 17 and the first lower bearing 18. The first guide rod 15 can be a hollow aluminum alloy tube, with one end fixedly connected to the first rotating shaft 14 through the first tubular fixing plug 16; the first sensor baffle 19 is fixedly connected to the first rotating shaft 14 and cooperates with the slotted proximity switch 12 for limiting the forward and reverse rotation of the first rotating shaft 14.

[0062] The second rotating shaft mechanism 6 includes a second rotating shaft 20, a second guide rod 21, a second tubular fixing plug 22, a second upper bearing 23, a second lower bearing 24, and a second sensor baffle 25. The connection height between the second rotating shaft 20 and the second guide rod 21 is higher or lower than the connection height between the first rotating shaft 14 and the first guide rod 15 to ensure that the two guide rods do not collide when they rotate to the intersecting position. Apart from this, the other structures of the second rotating shaft mechanism 6 can be substantially the same as or symmetrically designed with respect to the structure of the first rotating shaft mechanism 5.

[0063] A long-range photoelectric sensor 26 is installed at the end of both the first guide rod 15 and the end of the second guide rod 21. The detection direction of the long-range photoelectric sensor 26 is towards the inside of the automatic deployment and recovery device 300, and is used to detect whether the mother ship launching device 100 has entered the capture range of the automatic deployment and recovery device 300. The detection direction of the long-range photoelectric sensor 26 does not have to be perpendicular to the guide rod it is located on; the angle between the specific detection direction and the guide rod can be less than 90°.

[0064] Figure 9 and Figure 10 This is a perspective view of the automatic deployment and recovery device capturing the mother ship hoisting device in different states according to one embodiment, as shown below. Figure 9 and Figure 10 As shown, the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 have at least a first state of locking the mother ship hoisting device 100 and a second state of releasing the mother ship hoisting device.

[0065] At the initial moment of the first state, the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 are in a V-shaped open state. After the long-range photoelectric sensor 26 detects the passing of the mother ship launching device 100, the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 rotate in opposite directions respectively, forming a cross-contraction state to restrict the mother ship launching device 100 within the cross range, until they rotate to the parallel position of the first guide rod 15 and the second guide rod 21. At this time, the slotted proximity switch 12 detects the passing of the first sensor baffle 19 and the second sensor baffle 25, and the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 immediately stop rotating. If the short-range photoelectric sensor 13 detects the passing of the launching steel cable 110 at this time, it means that the mother ship launching device 100 has been locked, and the first state is completed.

[0066] At the initial moment of the second state, the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 are in a parallel locked state, and then rotate in opposite directions to gradually release the mother ship launching device 100 in a cross-expansion state until the first guide rod 15 and the second guide rod 21 are in a V-shaped 45° open state. At this time, the slotted proximity switch 12 detects the passage of the first sensor baffle 19 and the second sensor baffle 25, and the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 immediately stop rotating. The mother ship launching device 100 is disengaged from the automatic launching and retrieving device 300, and the second state is completed.

[0067] Figure 10 (a) shows two opening and closing states of the first guide rod 15 and the second guide rod 21.

[0068] When the detection directions of the long-range photoelectric sensors 26 on the first guide rod 15 and the second guide rod 21 are parallel and opposite, in the direction of movement of the mother ship launching device 100 directly opposite the protective cover 9, the distance from the long-range photoelectric sensor 26 to the protective cover 9 can be H1, where H1 = L1 * cosα, and L1 is the distance from the long-range photoelectric sensor 26 on the first guide rod 15 to the first rotating shaft 14, or the distance from the long-range photoelectric sensor 26 on the second guide rod 21 to the second rotating shaft 20, and α is the deflection angle of the first guide rod 15 or the second guide rod 21. Furthermore, the detection range of the long-range photoelectric sensor 26 can be greater than or equal to L1 * sinα.

[0069] When the first guide rod 15 and the second guide rod 21 intersect, the movable range of the mother ship launching device 100 can be constrained by the first guide rod 15 and the second guide rod 21. Therefore, the information captured by the radar-visible light integrated device 220 can guide the unmanned surface vessel 200 to gradually approach the mother ship launching device 100, so that the distance between the mother ship launching device 100 and the protective cover 9 can be less than or equal to... To ensure that the first guide rod 15 and the second guide rod 21 constrain the mother ship launching device 100, where L2 is the length of the first guide rod 15 or the second guide rod 21, and A is the distance between the first rotating shaft 14 and the second rotating shaft 20.

[0070] In addition, when the long-distance photoelectric sensor 26 detects the mother ship launching device 100, it means that the distance from the mother ship launching device 100 to the protective cover 9 can be H1, H1≤H2, so as to ensure that the first guide rod 15 and the second guide rod 21 constrain the mother ship launching device 100.

[0071] This embodiment also provides an automatic deployment and recovery method for unmanned surface vessels (USVs), applied to the aforementioned automatic deployment and recovery system for sling-launched USVs, as detailed below:

[0072] Unmanned Surface Vessel 200 Automatic Deployment Process:

[0073] With the mother ship's launching device 100 locked, after the unmanned surface vessel (USV) 200 is deployed into the water, its onboard electrical equipment is turned on, and the control equipment on the USV 200 awaits an unlocking command from the USV 200's shore-based system. Upon receiving the unlocking command, the USV 200's control equipment controls the first motor 7 and the second motor 8 to rotate in opposite directions. The first motor 7 and the second motor 8 drive the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 to rotate outward. When the rotation reaches the V-shaped 45° open position, the corresponding slotted proximity switch 12 senses the signal, and the controller controls the first motor 7 and the second motor 8 to stop rotating. The mother ship's launching device 100 disengages from the automatic deployment and recovery device 300, and the USV 200 departs from the mother ship's launching device 100, completing the deployment.

[0074] Unmanned Surface Vessel 200 Automatic Recovery Process:

[0075] The unmanned surface vessel (USV) 200 travels at a low speed to prepare for recovery to the mother ship. The first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 are in a V-shaped open state. The radar-visible light integrated device 220 identifies the mother ship's launching device 100 and provides its relative position and direction information, guiding the USV 200 to gradually approach the mother ship's launching device 100 until the mother ship's launching device 100 enters the capture range of the automatic launch and recovery device 300. At this time, the long-range photoelectric sensor 26 detects that the mother ship's launching device 100 has passed by. The control equipment of the USV 200 controls the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 to rotate in opposite directions, forming a cross-contraction state to restrict the mother ship's launching device 100 within the cross range, until it rotates to the parallel position of the first guide rod 15 and the second guide rod 21. At this time, the slotted proximity switch 12 detects a signal, and the first rotating shaft mechanism 5 and the second rotating shaft mechanism 6 immediately stop rotating. If the short-range photoelectric sensor 13 detects a signal at this time, it means that the mother ship's launching device 100 has been locked, the automatic hooking operation is completed, and it is waiting to be lifted.

[0076] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope defined in the claims of the present invention.

Claims

1. An automatic take-up and take-down device (300), characterized in that, The automatic deployment and retraction device (300) is used to fix it to the hull (210). The automatic deployment and retraction device (300) is provided with a hoisting opening, which is used to accommodate the hoisting and retraction device (100). The automatic launching and retracting device (300) further includes a first rotating shaft mechanism (5) and a second rotating shaft mechanism (6) symmetrically arranged. The first rotating shaft mechanism (5) includes a first rotating shaft (14) and a first guide rod (15). The second rotating shaft mechanism (6) includes a second rotating shaft (20) and a second guide rod (21). The first rotating shaft (14) and the second rotating shaft (20) are arranged on both sides of the hoisting opening. The first guide rod (15) can rotate relative to the first rotating shaft (14), and the second guide rod (21) can rotate relative to the second rotating shaft (20). The first guide rod (15) and the second guide rod (21) rotate towards each other to push the launching and retracting device (100) into the hoisting opening. The automatic take-up and take-down device (300) further includes a first lifting and positioning device, which is used to detect the position of the lifting and take-down device (100) relative to the automatic take-up and take-down device (300) so that when the distance from the lifting and take-down device (100) to the lifting opening is less than or equal to a preset distance, the first guide rod (15) and the second guide rod (21) rotate towards each other. The first guide rod (15) and the second guide rod (21) are each provided with the first hoisting and positioning device. The detection direction of the first hoisting and positioning device is towards the inside of the automatic take-up and take-down device (300), and the angle between the detection direction of the first hoisting and positioning device and the guide rod is less than 90°. When the first lifting and positioning devices on the first guide rod (15) and the second guide rod (21) are opposite each other, in the direction in which the lifting device (100) moves directly opposite the lifting opening, the distance H1 from the first lifting and positioning device to the lifting opening satisfies: L1 is the distance from the first lifting and positioning device on the first guide rod (15) to the first rotating shaft (14), α is the deflection angle of the first guide rod (15), L2 is the length of the first guide rod (15), and A is the distance between the first rotating shaft (14) and the second rotating shaft (20).

2. The automatic take-up and take-down device (300) according to claim 1, characterized in that, The automatic take-up and take-down device (300) also includes: A protective cover (9) is provided around the hoisting opening. A second hoisting positioning device is provided on the inner side of the protective cover (9). The second hoisting positioning device is used to check whether the hoisting device (100) enters the hoisting opening.

3. The automatic take-up and take-down device (300) according to claim 1, characterized in that, The automatic take-up and take-down device (300) also includes a base (1), a bottom plate (2), a column (3), a top plate (4), and a U-shaped steel cable (10); The base plate (2) is supported on the base (1), which is used to fix it on the hull (210). The top plate (4) is set on the base plate (2) through the column (3). The first rotating shaft (14) and the second rotating shaft (20) are set between the base plate (2) and the top plate (4). The hoisting opening is set on the top plate (4). The base plate (2) also has a U-shaped opening. The U-shaped steel cable (10) passes through the U-shaped opening and is fixed on both sides of the hoisting opening on the top plate (4). The U-shaped steel cable (10) is used to connect with the hook on the hull (210). The inner diameter of the U-shaped opening is larger than the inner diameter of the hoisting opening.

4. The automatic take-up and take-down device (300) according to claim 3, characterized in that, The base plate (2) is also provided with two proximity switches (12), which are respectively located on one side of the first rotating shaft (14) and one side of the second rotating shaft (20) for limiting the forward and reverse rotation of the first guide rod (15) and the second guide rod (21).

5. The automatic take-up and take-down device (300) according to claim 1, characterized in that, The automatic take-up and take-down device (300) further includes a third lifting and positioning device, which is used to detect the position of the lifting and take-down device (100) relative to the automatic take-up and take-down device (300) so as to guide the automatic take-up and take-down device (300) and the lifting and take-down device (100) to move closer to each other.

6. The automatic take-up and take-down device (300) according to claim 1, characterized in that, The connection height between the first guide rod (15) and the first rotating shaft (14) is different from the connection height between the second guide rod (21) and the second rotating shaft (20).

7. A type of suspended unmanned surface vessel, characterized in that, The sling-launched unmanned surface vessel includes an automatic launch and recovery device (300) as described in any one of claims 1 to 6.

8. An automated deployment and recycling system, characterized in that, The automatic deployment and recovery system includes a sling-launched unmanned surface vessel and a sling-launching device (100) as described in claim 7, wherein the automatic deployment and recovery device (300) on the sling-launched unmanned surface vessel is used to automatically deploy and recover the sling-launching device (100).

9. A method for automatic recovery of unmanned surface vessels, characterized in that, include: Based on the positioning information captured by the third launching and positioning device, the launching unmanned surface vessel as described in claim 7 is guided to approach the launching device (100). The third launching and positioning device is used to detect the position of the launching device (100) relative to the automatic launching and retracting device (300). The first guide rod (15) and the second guide rod (21) are in an open state. After the first lifting and positioning device on the first guide rod (15) and the second guide rod (21) detects the lifting device (100), the lifting device (100) reaches the capture range of the automatic take-up and take-down device (300), driving the first guide rod (15) and the second guide rod (21) to rotate in opposite directions to push the lifting device (100) toward the lifting opening; After the first guide rod (15) and the second guide rod (21) are rotated to a parallel position, the positioning information captured by the second hoisting positioning device on the cover (9) is used to determine whether the hoisting device (100) has successfully entered the hoisting opening. The cover (9) is set around the hoisting opening. The second hoisting positioning device is used to check whether the hoisting device (100) has entered the hoisting opening.

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