An autonomous deployment and recovery system for unmanned marine systems

Abstract

The present invention discloses an autonomous deployment and recovery system for an unmanned marine system, comprising a mother ship platform, a lifting crane, a mooring cable, a lifting frame, and a surface mobile support; the lifting crane is mounted on the mother ship platform, and is connected to the surface mobile support via a mooring cable and a lifting frame; a U-shaped space for placing the unmanned marine system is formed on the surface mobile support, and an opening for the unmanned marine system to enter and exit the U-shaped space is left at the tail end of the surface mobile support; a positioning communication antenna and a control system are also provided on the surface mobile support, and an azimuth propeller for promoting its autonomous movement and dynamic positioning is provided at the bottom of the surface mobile support, and the azimuth propeller is connected to the control system. The system of the present invention deploys and recovers the unmanned marine system via a suspendable surface mobile support, and can adapt to the deployment and recovery requirements under higher speeds and more complex sea conditions of the mother ship, and has the advantages of fast deployment and recovery speed, high efficiency, and a high degree of autonomy.

Description

Technical Field

[0001] The present invention relates to the technical field of marine equipment, and in particular to a system for autonomous deployment and recovery of various unmanned systems at sea. Background Art

[0002] With the rapid development of science and technology and the deepening understanding of unmanned systems, ocean stereoscopic observation and exploration are increasingly based on maritime unmanned systems, such as unmanned boats and unmanned underwater vehicles. However, the deployment and recovery technology that matches these systems is relatively lagging behind.

[0003] Unmanned maritime system deployment and recovery technology involves deploying various unmanned systems (such as unmanned boats and underwater vehicles) from a surface carrier, ensuring they successfully complete their missions and enabling their timely and reliable recovery upon return. A key technical challenge is how to rapidly, efficiently, and autonomously deploy and recover unmanned maritime systems in dynamic environments.

[0004] Currently, offshore unmanned systems are typically deployed and recovered from mothership platforms, primarily using hoisting and slide methods. The hoisting method is currently the most widely used method for deploying and recovering unmanned systems. Cables are used to connect the unmanned system to the mothership, and then the system is lifted or lowered using a crane mounted on the mothership in conjunction with a gantry. The hoisting method has a high center of gravity, requiring the mothership platform to be stationary and sea conditions to be good during deployment. The unmanned system's attitude stability is difficult to control, making it prone to collisions with the mothership. The system also has a low degree of autonomy, requiring multiple personnel to assist, and manual unhooking, which is time-consuming and difficult. This reduces safety and efficiency, making it unsuitable for deploying and recovering unmanned systems in complex sea conditions.

[0005] The chute method involves installing a long, sloped chute at the stern of the mothership platform. During recovery, the UAV, guided by real-time guidance, selects the appropriate timing and enters the stern chute at a speed exceeding that of the mothership. Recovery is then automatically achieved by hooking the arresting cable at the front of the chute to the hook at the bow of the UAV. During deployment, the UAV's electronic control mechanism automatically opens the hook, separating the UAV from the arresting cable and allowing it to glide to the surface under its own weight. The chute method is commonly used on manned vessels and offers a certain level of automation and adaptability. However, during docking guidance, the chute method requires manual remote control to overcome the effects of wake and waves. In high seas, the mothership experiences significant motion, lifting the stern out of the water, making it difficult for the UAV to enter the chute, resulting in limited autonomy. Furthermore, the required opening at the stern of the mothership takes up space and complicates the mothership's design. Summary of the Invention

[0006] Based on the above technical problems, the present invention proposes an autonomous deployment and recovery system for unmanned marine systems.

[0007] The technical solution adopted by the present invention is:

[0008] An autonomous deployment and recovery system for an unmanned marine system, comprising a mother ship platform, a lifting crane, a mooring cable, a lifting frame, and a surface mobile support;

[0009] The lifting crane is installed on the mother ship platform, and the lifting crane is connected to the upper part of the lifting frame through a mooring cable, and the lower part of the lifting frame is connected to the mobile support body on the water surface;

[0010] The surface mobile support body includes a support body side and a ballast tank. The support body side is arranged on the upper part of the ballast tank. A front stop is provided at the front end of the support body side and the ballast tank. The support body side, the ballast tank and the front stop form a U-shaped space for placing the marine unmanned system. An opening is left at the rear end of the support body side and the ballast tank for the marine unmanned system to enter and exit the U-shaped space.

[0011] A positioning communication antenna and a control system are provided at the front stop, and an azimuth propeller for promoting its autonomous movement is provided at the bottom of the mobile support body on the water surface, and the azimuth propeller is connected to the control system.

[0012] Preferably, the lifting frame includes a support base and a connecting rod, the support base is X-shaped and arranged horizontally, and the support base is connected to the mooring cable;

[0013] There are four connecting rods in total, which are respectively connected to the four corners of the support base. The connecting rods are arranged vertically, and the bottom ends of the connecting rods are connected to the side of the support body of the water surface mobile support body.

[0014] Preferably, the lifting crane is a double lifting crane, comprising a first vertical support arm, a first transverse lifting arm, a second vertical support arm and a second transverse lifting arm, and a reinforcing rod is provided between the first vertical support arm and the second vertical support arm;

[0015] One end of the first transverse boom is fixedly connected to the top of the first vertical support arm, and one end of the second transverse boom is fixedly connected to the top of the second vertical support arm. The first transverse boom and the second transverse boom are arranged in parallel, and the other end of the first transverse boom and the other end of the second transverse boom both extend outward and exceed the edge position facing the mother ship platform.

[0016] There are two mooring cables, namely a first mooring cable and a second mooring cable. The ends of the first mooring cable are connected to the two corners of one side of the support base through two branch cables, and the ends of the second mooring cable are connected to the two corners of the other side of the support base through two other branch cables. The first mooring cable is connected to a first winch for controlling its retraction and extension, and the second mooring cable is connected to a second winch for controlling its retraction and extension.

[0017] A sliding block is arranged between the first transverse boom and the second transverse boom, the sliding block is perpendicular to the first transverse boom and the second transverse boom, and the sliding direction of the sliding block is parallel to the first transverse boom and the second transverse boom. Slide rails matching the sliding block are arranged on the first transverse boom and the second transverse boom, and the sliding block is connected to a driving device for driving it to move along the slide rails; the first winch and the second winch are respectively arranged at both ends of the sliding block.

[0018] Preferably, the surface mobile support body includes two half-hulls, which are symmetrically arranged; accordingly, the ballast tank includes a first cabin body and a second cabin body, and the front stopper includes a first stopper and a second stopper; the support body is provided with two side panels, one of which is connected to the first cabin body and the first stopper to form one half-hull, and the other side panel is connected to the second cabin body and the second stopper to form the other half-hull;

[0019] A connecting piece capable of adjusting the distance between the first cabin body and the second cabin body is provided between the first cabin body and the second cabin body.

[0020] Preferably, the connecting member is a connecting beam, which includes a beam body, end plates are provided at both ends of the beam body, and the surface area of the end plates is larger than the cross-sectional area of the beam body;

[0021] A vertical through hole is provided on both the first cabin and the second cabin, and a perforation is provided on the inner sides of the first cabin and the second cabin, which are facing each other, and the perforation is connected with the through hole; the beam body passes through the perforation, and the end plate is inserted into the through hole.

[0022] Preferably, the azimuth thrusters are provided in an even number and are divided into two groups, one group being arranged on one side of the bottom of the water surface moving support body, and the other group being symmetrically arranged on the other side of the bottom of the water surface moving support body.

[0023] Preferably, the full-rotation propeller includes a propeller body with blades arranged at the tail of the propeller body; the propeller body is also connected to a motor, the rotating shaft of the motor is arranged vertically, and a fixed plate is connected to the end of the rotating shaft of the motor, and the fixed plate is installed at the bottom of the mobile support body on the water surface.

[0024] Preferably, a magnet is provided on the inner side surface of the front stop, and a magnetically friendly metal block cooperating with the magnet is provided on the head of the unmanned marine system.

[0025] Preferably, a sensor module is further provided on the mobile support on the water surface, and the sensor module includes a wind speed sensor and a wave current sensor, and both the wind speed sensor and the wave current sensor are connected to the control system.

[0026] Preferably, laser radars for emitting laser beams are provided on both sides of the upper part of the mobile support body on the water surface, and the laser radars are connected to the control system; a light source is also provided on the mobile support body on the water surface for realizing long-distance docking and guidance with the unmanned system at sea.

[0027] The beneficial technical effects of the present invention are:

[0028] The present invention proposes an autonomous deployment and recovery system for unmanned maritime systems. The system deploys and recovers unmanned maritime systems through a mobile support that can be lowered onto the water surface. The system can adapt to the deployment and recovery requirements under higher speeds and more complex sea conditions of the mother ship, and has the advantages of fast deployment and recovery speed, high efficiency, high degree of autonomy, and no need for operator intervention.

[0029] The structure of the surface mobile support designed by the present invention is deformable and suitable for unmanned marine systems of different sizes and structures; and the surface mobile support is equipped with an omni-rotation propeller, has autonomous movement and dynamic positioning functions, and has strong maneuverability. Combined with the strong light source and laser radar on the surface mobile support, precise docking with high efficiency can be achieved.

[0030] The system of the present invention, by installing several azimuth thrusters on the bottom of the surface mobile support, not only enables the structural deformation of the surface mobile support, but also enables the surface mobile support to sail and dock autonomously, enabling autonomous two-way precise docking and stable attitude control. This invention enables the rapid, efficient, and autonomous deployment and recovery of unmanned systems at sea.

[0031] The present invention adopts a double-lifting crane and a lifting frame with a specific structure, so that the lifting and placing of the mobile support body on the water surface is more stable, reliable and safer.

[0032] The system of the present invention has high system integration and adopts modular design, basically does not need to improve the mother ship, has strong versatility, and can be installed on different ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0034] Figure 1 This is a structural diagram of the autonomous deployment and recovery system of the unmanned marine system of the present invention;

[0035] Figure 2 It is a structural schematic diagram of the lifting frame in the present invention;

[0036] Figure 3 Schematic diagram of the structure of the water surface mobile support in the present invention;

[0037] Figure 4 for Figure 3 lateral view of;

[0038] Figure 5 for Figure 3 rear side view;

[0039] Figure 6 for Figure 3 A top view of

[0040] Figure 7 This is a schematic structural diagram of the half hull constituting the surface mobile support in the present invention;

[0041] Figure 8 This is a schematic structural diagram of a connecting beam used to connect two half hulls in the present invention;

[0042] Figure 9 Schematic diagram of the arrangement of the azimuth propeller at the bottom of the mobile support body on the water surface in the present invention;

[0043] Figure 10 Schematic diagram of the structure of the azimuth propeller in the present invention;

[0044] Figure 11 Schematic diagram of the surface mobile support body of the present invention sinking and floating on the sea surface;

[0045] Figure 12 A top view of the initial state of the water surface mobile support in the present invention;

[0046] Figure 13 A top view of the deformed state of the water surface moving support in the present invention;

[0047] Figure 14 This is a schematic diagram of the deformation of the water surface moving support in the present invention, showing the bottom view structure of the water surface moving support;

[0048] Figure 15 This is a schematic diagram of the principle of the present invention when the surface mobile support body and the marine unmanned system are guided and precisely docked;

[0049] Figure 16 A state diagram for preparing the present invention for recovering an unmanned marine system;

[0050] Figure 17 This is a state diagram of the surface mobile support body of the present invention when it completes the recovery of the unmanned marine system;

[0051] Figure 18 This is a state diagram of the water surface mobile support body when it is lifted in the present invention;

[0052] Figure 19 This is a state diagram of the surface mobile support body being hoisted onto the mother ship platform in the present invention;

[0053] Figure 20 for Figure 19 Front view of

[0054] Figure 21 This is a state diagram of the water surface mobile support body after being hoisted to the water surface in the present invention;

[0055] Figure 22 This is a state diagram of the unmanned marine system after it is separated from the surface mobile support body in the present invention.

[0056] In the figure: 1-mother ship platform, 2-lifting crane, 3-mooring cable, 4-lifting frame, 5-surface mobile support, 6-support side, 7-ballast tank, 8-front stop, 9-unmanned marine system, 10-U-shaped space, 11-positioning communication antenna, 12-control system, 13-azimuth thruster, 14-magnet, 15-wind speed sensor, 16-wave current sensor, 17-lidar, 18-light source, 19-power module, 20-water surface, 21-laser beam;

[0057] 201-first vertical support arm, 202-first transverse boom, 203-second vertical support arm, 204-second transverse boom, 205-first winch, 206-second winch, 207-sliding block, 208-slide rail; 301-first mooring cable, 302-second mooring cable, 303-support cable; 401-support base, 402-connecting rod; 501-half hull; 701-first cabin, 702-second cabin, 703-through hole, 704-connecting beam, 7041-beam body, 7042-end plate, 705-through hole; 801-first stop block, 802-second stop block; 1301-propeller body, 1302-blade, 1303-motor, 1304-rotating shaft, 1305-fixed disk. DETAILED DESCRIPTION

[0058] In conjunction with the accompanying drawings, a system for autonomous deployment and recovery of an unmanned marine system includes a mother ship platform 1, a lifting crane 2, a mooring cable 3, a lifting frame 4, and a surface mobile support 5. The lifting crane 2 is installed on the mother ship platform 1. The lifting crane 2 is connected to the upper part of the lifting frame 4 through the mooring cable 3. The lower part of the lifting frame 4 is connected to the surface mobile support 5. The surface mobile support 5 includes a support body side 6 and a ballast tank 7. The support body side 6 is arranged on the upper part of the ballast tank 7. A front stop 8 is provided at the front end of the support body side 6 and the ballast tank 7. The support body side 6, the ballast tank 7, and the front stop 8 surround and form a U-shaped space 10 for placing the unmanned marine system 9. An opening is left at the rear end of the support body side 6 and the ballast tank 7 for the unmanned marine system 9 to enter and exit the U-shaped space 10. A positioning communication antenna 11 and a control system 12 are provided at the front stop 8. The positioning communication antenna 11 is mainly used to realize wireless communication, information transmission and GPS positioning. An azimuth propeller 13 for driving its autonomous movement is provided at the bottom of the mobile support body 5 on the water surface. The positioning communication antenna 11 and the azimuth propeller 13 are both connected to the control system 12 .

[0059] The system of the present invention deploys and recovers the unmanned marine system 9 through a descent mobile support 5 on the water surface. It can adapt to the deployment and recovery requirements under higher speeds of the mother ship and more complex sea conditions, and has the advantages of fast deployment and recovery speed, high efficiency, high degree of autonomy, and no need for operator intervention.

[0060] As a further design of the present invention, the lifting frame 4 includes a support base 401 and connecting rods 402. The support base 401 is X-shaped, specifically formed by two cross-connected support bars, and is arranged horizontally. The support base 401 is connected to the mooring cable 3. Four connecting rods 402 are provided, connected to the four corners of the support base 401 respectively. The connecting rods 402 are arranged vertically, and the bottom ends of the connecting rods 402 are connected to the side 6 of the water surface mobile support body 5.

[0061] The lifting crane 2 is a double-lift crane, comprising a first vertical support arm 201, a first transverse lifting arm 202, a second vertical support arm 203, and a second transverse lifting arm 204. A reinforcing rod is provided between the first vertical support arm 201 and the second vertical support arm 203. One end of the first transverse lifting arm 202 is fixedly connected to the top of the first vertical support arm 201, and one end of the second transverse lifting arm 204 is fixedly connected to the top of the second vertical support arm 203. The first transverse lifting arm 202 and the second transverse lifting arm 204 are arranged in parallel, and the other ends of the first transverse lifting arm 202 and the second transverse lifting arm 204 both extend outward and beyond the edge of the mother ship platform 1, that is, extend outboard of the mother ship platform 1.

[0062] Two mooring cables 3 are provided: a first mooring cable 301 and a second mooring cable 302. The ends of the first mooring cable 301 are connected to two corners on one side of the support base 401 via two branch cables 303. The ends of the second mooring cable 302 are connected to two corners on the other side of the support base 401 via two other branch cables. The first mooring cable 301 is connected to a first winch 205 for controlling its retraction and extension, while the second mooring cable 302 is connected to a second winch 206 for controlling its retraction and extension.

[0063] A sliding block 207 is disposed between the first and second transverse booms 202, 204. The sliding block 207 is perpendicular to the first and second transverse booms 202, 204, and its sliding direction is parallel to the first and second transverse booms 202, 204. Slide rails 208 are disposed on the first and second transverse booms 202, 204 to mate with the sliding block 207. The sliding block 207 is connected to a drive device for moving it along the slide rails 208. The first and second winches 205, 206 are disposed at either end of the sliding block 207.

[0064] The present invention adopts a double-lift crane and a lifting frame with a specific structure, which makes the lifting and placing of the surface mobile support more stable, reliable and safer. The double-lift crane is connected to the X-shaped lifting frame through a mooring cable, and plays the function of pulling and placing the surface mobile support 5. In addition, the double-lift crane adopts a parallel structure, which is stable and reliable, and plays a double insurance role, that is, if one mooring cable breaks, the other can also complete the work. The double-lift crane is equipped with a slide rail, which can make the sliding block 207 move along the slide rail 208 to ensure that when the surface mobile support is lifted, it is kept away from the mother ship platform to avoid collision. The mooring cable 3 is composed of a steel wire rope with a strong bearing capacity, and its length is variable, which is controlled by the winch on the double-lift crane. The X-shaped lifting frame, such as Figure 2 As shown, it is fixed to the surface mobile support 5 by a hard connection through a connecting rod 402, and four lifting points are used to ensure balance and stability when the surface mobile support is lifted or lowered; in addition, the four lifting points have a strong structure and high reliability, and the breakage of one point will not affect the operation of the entire system.

[0065] Further, such as Figure 3-7 As shown, the surface mobile support body 5 includes two half-hulls 501, which are arranged symmetrically. Correspondingly, the ballast tank 7 includes a first hull 701 and a second hull 702, and the front stop 8 includes a first stopper 801 and a second stopper 802. Two support body side panels 6 are provided, one of which is connected to the first hull 701 and the first stopper 801 to form one half-hull, and the other is connected to the second hull 702 and the second stopper 802 to form the other half-hull. A connector is provided between the first hull 701 and the second hull 702 to adjust the distance between the first hull 701 and the second hull 702.

[0066] Furthermore, the connecting member is a connecting beam 704, such as Figure 8 As shown, the connecting crossbeam 704 includes a crossbeam body 7041, with end plates 7042 disposed at both ends of the crossbeam body 7041. The surface area of the end plates 7042 is larger than the cross-sectional area of the crossbeam body 7041. Vertical through-holes 703 are provided on both the first and second compartments, connecting the top and bottom ends of the compartments. Through-holes 705 are provided on the facing inner sides of both the first and second compartments 701 and 702. Through-holes 705 are arranged horizontally and communicate with through-holes 703. The crossbeam body 7041 passes through through-holes 705, and the end plates 7042 at both ends engage with through-holes 703 in the first and second compartments, respectively.

[0067] The surface mobile support 5 of the present invention is a flexible structure that can accommodate unmanned marine systems of varying sizes and structures. The surface mobile support is a key component of the autonomous deployment and recovery system. Its primary function is to dock with the unmanned marine system and secure it within the U-shaped space 10, enabling efficient autonomous deployment and recovery without stopping the mother ship and in varying sea conditions.

[0068] Specifically, in order to meet the needs of different sizes of unmanned marine systems, the width of the U-shaped space 10 of the surface mobile support 5 is changeable, specifically by controlling the opening or closing of the full-rotation propeller. Figure 12 As shown in the figure, the two halves of the hull are tightly connected in the initial state to reduce resistance; during the docking process with the unmanned marine system, the deformation is selected according to the size of the unmanned marine system. Figure 13 After deformation, the width increases, the stability of the mobile support is enhanced, the left and right shaking is reduced, and the docking accuracy of the mobile support and the maritime unmanned system is increased, thereby improving work efficiency.

[0069] The principle of deformation of the mobile support on the water surface is as follows: Figure 16 As shown, four fully rotating propellers are installed at the bottom of the mobile support, each of which can rotate 360 degrees in a plane. When deformation is required, by controlling the rotation of the motor 1303, the axis of each propeller body 1301 is rotated to be parallel to the horizontal direction (Y axis) of the mobile support, and the thrust is all directed inward. At this time, after the propeller body is started, the blades 1302 rotate, which will generate thrust in the opposite direction, causing the two halves of the hull to slide laterally along the connecting beam 704, achieving deformation and increasing the width. When the width increases to the limit width of the connecting beam 704, it stops. Similarly, to restore the initial state, the four propeller axes are rotated to be parallel to the horizontal direction of the mobile support, and the thrust is all directed outward, and closing is achieved through thrust.

[0070] Furthermore, the azimuth propellers 13 may be provided in an even number, such as Figure 9 As shown, a total of 4 are provided, and are divided into two groups, with 2 in each group. One group is arranged on one side of the bottom of the surface mobile support, and the other group is symmetrically arranged on the other side of the bottom of the surface mobile support. That is, one group of azimuth propellers is arranged at the bottom of the first cabin 701, and the other group of azimuth propellers is arranged at the bottom of the second cabin 702. The surface mobile support 5 is equipped with azimuth propellers 13, and the structural deformable design of the surface mobile support 5 enables the surface mobile support 5 to have autonomous movement and dynamic positioning functions, strong maneuverability, and improve the deployment and recovery efficiency of the surface mobile support 5 for the unmanned marine system 9.

[0071] Furthermore, if Figure 10As shown, the azimuth propeller 13 includes a propeller body 1301, with blades 1302 disposed at the rear of the propeller body 1301. The propeller body 1301 is also connected to a motor 1303. The motor's rotating shaft 1304 is arranged vertically. The end of the motor's rotating shaft 1304 is connected to a fixed plate 1305, which is mounted on the bottom of the mobile support 5 on the water surface. The motor 1303 can be further connected to the control system 12 for control.

[0072] By properly arranging azimuth thrusters 13 on the bottom of the mobile support 5, the mobile support 5 is able to move autonomously, following a specific course and docking with the unmanned system at sea. This solution has the advantage of locating the actual deployment and recovery locations beyond the disturbance zone of the mother ship platform.

[0073] In addition, the surface mobile support is equipped with a ballast tank 7 and has the functions of sinking and floating. Figure 11 As shown. The surface mobile support body can use its own buoyancy and ballast tank 7 to achieve the correct waterline and flatness, that is, it can sink and float. The first cabin 701 and the second cabin 702 are arranged on both sides of the bottom of the surface mobile support body, and the first cabin 701 and the second cabin 702 together constitute a ballast tank. Vertical through holes 703 that pass through the first cabin 701 and the second cabin 702 are provided on both the first cabin 701 and the second cabin 702. When deploying an unmanned offshore system, the unmanned offshore system is placed in the U-shaped space of the mobile support body. When deployed on the sea surface, seawater enters the U-shaped space, the ballast tank is activated, and seawater enters the inside of the ballast tank. The weight of the mobile support body increases, causing the support body to sink. At this time, the unmanned offshore system relies on buoyancy to separate from the mobile support body.

[0074] During the recovery process, the mobile support will fluctuate due to the influence of wake currents and waves, making it more difficult for the UAS to enter the U-shaped space. Therefore, the mobile support must be lowered into the sea. The bottom of the U-shaped space is immersed in the water, overcoming the fluctuations caused by wake currents and waves, greatly improving the efficiency of the UAS entering the U-shaped space. After recovery is complete, the ballast tank 7 discharges the internal seawater to restore normal buoyancy.

[0075] Specifically, the ballast tank 7 controls water inflow to achieve the sinking of the mobile support on the surface. When the mobile support needs to float, the seawater inside the ballast tank 7 can be controlled to be discharged. The inlet and outlet of the ballast tank 7 can adopt conventional settings. For example, the external discharge of seawater can be achieved by separately configuring a submersible pump and an external drainage pipe in the first and second compartments 701, 702.

[0076] Furthermore, a magnet 14 is positioned on the inner side of the front stop 8, and a magnetically compatible metal block is positioned at the head of the UAS to mate with the magnet. Magnet 14 generates or eliminates magnetism depending on the power supply, thereby attracting or disconnecting the magnetically compatible metal block. This arrangement of magnet 14 ensures that when the UAS is placed or retrieved into the U-shaped space, it automatically and securely connects to the UAS, achieving a safe and secure connection without the need for human intervention.

[0077] During the autonomous recovery process, the impact of wind, waves and currents will cause unexpected offsets on the surface mobile support 5, seriously affecting the position and posture of the surface mobile support, making the docking between the unmanned system at sea and the surface mobile support more difficult and reducing work efficiency. Based on this, the present invention further provides a sensor module on the surface mobile support 5, wherein the sensor module includes a wind speed sensor 15 and a wave current sensor 16, and the wind speed sensor 15 and the wave current sensor 16 are both connected to the control system 12. The wind speed sensor 15 and the wave current sensor 16 are used to obtain the external environment of the surface mobile support 5 in real time and send the obtained information to the control system 12 in real time. At the same time, the positioning communication antenna 11 can feed back the current motion state (position, heading) of the surface mobile support 5 to the control system 12. After judgment, the control system 12 can further control the full-turn propeller 13 and other related actions to offset the unexpected offset interference caused by the impact of wind, waves and currents on the surface mobile support 5, thereby realizing dynamic positioning.

[0078] The above-mentioned full-rotation propeller 13 can exert a force of variable size at any angle to realize the free movement of the surface mobile support in any direction. The full-rotation propeller 13 can also realize the automatic dynamic positioning of the surface mobile support, that is, control the surface mobile support to gradually approach the docking target position, and then maintain the position and heading, with high control accuracy, and will not collide with the mother ship platform or unmanned system. According to the external environment and the current support motion state (position, heading) acquired in real time, the mobile support can be fixed at a certain point. The four full-rotation propellers are connected to the bottom of the support through a fixing plate and bolts.

[0079] The above dynamic positioning is achieved by adjusting the angle and rotation speed of each azimuth propeller 13 in real time. Figure 9 As shown in the figure, assuming dynamic positioning is to be achieved at point O, the positioning communication antenna and sensor module detect that the mobile support has deviated in the positive Y direction. In this case, the azimuth propeller axis should be rotated parallel to the Y axis, with the thrust direction in the positive Y direction. The corresponding blade speed should be set so that the mobile support is thrust in the negative Y direction, thus achieving dynamic positioning.

[0080] Furthermore, laser radars 17 for emitting laser beams are provided on both sides of the upper portion of the mobile support 5 on the water surface. Figure 15As shown, the laser radar 17 is connected to the control system 12. A light source 18 is also provided on the surface mobile support 5 for long-distance docking guidance with the unmanned marine system. A high-visibility light source is installed on the mobile support to achieve long-distance docking guidance between the support and the unmanned marine system, also meeting the requirements of nighttime operations. Laser radars 17 are also installed on both sides of the support to determine alignment in the lateral (left-right) direction, thereby achieving the purpose of correcting the position of the unmanned marine system at close range. Bidirectional adjustment and precise docking between the mobile support and the unmanned marine system can also be achieved through a control system, etc. When the laser beam hits the unmanned marine system, the mobile support is fine-tuned left and right based on the feedback signal to achieve precise docking at close range.

[0081] The surface mobile support 5 is also equipped with a power module 19 to provide energy. Sensor modules, such as the wind speed sensor 15 and wave current sensor 16, are used to obtain real-time information about the external environment and the current motion state of the surface mobile support. The ballast tank 7 is used to enable the mobile support to sink and float. The azimuth thruster 13 is used to enable autonomous movement, structural deformation, and dynamic positioning of the support. The control system 12 is primarily used to obtain information from the sensor modules and other information to control the movement of the mobile support and achieve precise docking.

[0082] The above-mentioned autonomous deployment and recovery system for unmanned offshore systems no longer ties cables directly to the unmanned offshore systems during deployment and recovery. Instead, the unmanned systems are first placed on a mobile support, and then the system is deployed and recovered autonomously by relying on the capabilities of the mobile support. The system has a fast deployment and recovery speed and high efficiency; the size and structure of the mobile support can be deformed to suit unmanned offshore systems of different sizes and structures; deployment and recovery can be carried out while the mother ship platform is moving, without stopping the ship; no operator intervention is required, the degree of autonomy is high, and the risk is low; the mobile support has autonomous movement and dynamic positioning functions, and is highly maneuverable. Combined with the strong light source and laser radar on the mobile support, docking is accurate and efficient, and it can also adapt to operations in high sea conditions. The overall structure of the system is simple and versatile, and it can be installed on different ships. Such as Figure 16-Figure 22 As shown, the deployment and recovery process is as follows:

[0083] (1) During deployment, the UAS is first placed on the mobile support to form a whole. Then, a double-lift crane lowers the mobile support and the UAS into the water. After entering the water, the mobile support and the UAS are naturally separated due to the different buoyancy and relative speeds. The UAS can move freely after leaving the support.

[0084] (2) During recovery, the mobile support is first placed on the water surface and the mobile support starts working; then, the maritime unmanned system drives into the position where the mobile support is submerged in the water to complete precise docking; after that, the dual lifting cranes are controlled to lift the mobile support carrying the maritime unmanned system; finally, the recovery is completed and the entire system is placed on the mother ship.

[0085] Parts not described in the above methods can be achieved by adopting or drawing on existing technologies.

[0086] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An autonomous deployment and recovery system for unmanned marine systems, characterized by: Including mother ship platform, lifting crane, mooring cable, lifting frame and surface mobile support; The lifting crane is installed on the mother ship platform, and the lifting crane is connected to the upper part of the lifting frame through a mooring cable, and the lower part of the lifting frame is connected to the mobile support body on the water surface; The surface mobile support body includes a support body side and a ballast tank. The support body side is arranged on the upper part of the ballast tank. A front stop is provided at the front end of the support body side and the ballast tank. The support body side, the ballast tank and the front stop form a U-shaped space for placing the marine unmanned system. An opening is left at the rear end of the support body side and the ballast tank for the marine unmanned system to enter and exit the U-shaped space. A positioning communication antenna and a control system are provided at the front stop, and an azimuth propeller for driving the autonomous movement of the mobile support body on the water surface is provided at the bottom, and the azimuth propeller is connected to the control system; The surface mobile support body includes two half-hulls, which are arranged symmetrically; accordingly, the ballast tank includes a first cabin body and a second cabin body, and the front stopper includes a first stopper and a second stopper; the support body is provided with two side panels, one of which is connected to the first cabin body and the first stopper to form one half-hull, and the other side panel is connected to the second cabin body and the second stopper to form the other half-hull; A connecting piece capable of adjusting the distance between the first cabin body and the second cabin body is provided between the first cabin body and the second cabin body.

2. The autonomous deployment and recovery system for unmanned marine systems according to claim 1, characterized in that: The lifting frame includes a support base and a connecting rod, the support base is X-shaped and arranged horizontally, and the support base is connected to the mooring cable; There are four connecting rods in total, which are respectively connected to the four corners of the support base. The connecting rods are arranged vertically, and the bottom ends of the connecting rods are connected to the side of the support body of the water surface mobile support body.

3. The autonomous deployment and recovery system for unmanned marine systems according to claim 2, characterized in that: The lifting crane is a double lifting crane, comprising a first vertical support arm, a first transverse lifting arm, a second vertical support arm and a second transverse lifting arm, wherein a reinforcing rod is provided between the first vertical support arm and the second vertical support arm; One end of the first transverse boom is fixedly connected to the top of the first vertical support arm, and one end of the second transverse boom is fixedly connected to the top of the second vertical support arm. The first transverse boom and the second transverse boom are arranged in parallel, and the other end of the first transverse boom and the other end of the second transverse boom both extend outward and exceed the edge position facing the mother ship platform. There are two mooring cables, namely a first mooring cable and a second mooring cable. The ends of the first mooring cable are connected to the two corners of one side of the support base through two branch cables, and the ends of the second mooring cable are connected to the two corners of the other side of the support base through two other branch cables. The first mooring cable is connected to a first winch for controlling its retraction and extension, and the second mooring cable is connected to a second winch for controlling its retraction and extension. A sliding block is arranged between the first transverse boom and the second transverse boom, the sliding block is perpendicular to the first transverse boom and the second transverse boom, and the sliding direction of the sliding block is parallel to the first transverse boom and the second transverse boom. Slide rails matching the sliding block are arranged on the first transverse boom and the second transverse boom, and the sliding block is connected to a driving device for driving it to move along the slide rails; the first winch and the second winch are respectively arranged at both ends of the sliding block.

4. The autonomous deployment and recovery system for unmanned marine systems according to claim 1, characterized in that: The connecting member is a connecting beam, which includes a beam body, and end plates are provided at both ends of the beam body, and the surface area of the end plates is larger than the cross-sectional area of the beam body; A vertical through hole is provided on both the first cabin and the second cabin, and a perforation is provided on the inner sides of the first cabin and the second cabin, which are facing each other, and the perforation is connected with the through hole; the beam body passes through the perforation, and the end plate is inserted into the through hole.

5. The autonomous deployment and recovery system for unmanned marine systems according to claim 1, characterized in that: The azimuth propellers are provided in an even number and are divided into two groups, one of which is arranged on one side of the bottom of the water surface moving support body, and the other group is symmetrically arranged on the other side of the bottom of the water surface moving support body.

6. The autonomous deployment and recovery system for unmanned marine systems according to claim 1, characterized in that: The full-rotation propeller includes a propeller body, and a propeller blade is arranged at the tail of the propeller body; the propeller body is also connected to a motor, the rotating shaft of the motor is arranged vertically, and a fixed plate is connected to the end of the rotating shaft of the motor, and the fixed plate is installed at the bottom of the mobile support body on the water surface.

7. The autonomous deployment and recovery system for unmanned marine systems according to claim 1, characterized in that: The inner side surface of the front stop is provided with a magnet, and the head of the unmanned marine system is provided with a magnetic metal block that matches the magnet.

8. The autonomous deployment and recovery system for unmanned marine systems according to claim 1, characterized in that: A sensor module is also provided on the mobile support body on the water surface. The sensor module includes a wind speed sensor and a wave current sensor. Both the wind speed sensor and the wave current sensor are connected to the control system.

9. The autonomous deployment and recovery system for unmanned marine systems according to claim 1, characterized in that: Laser radars for emitting laser beams are also provided on both sides of the upper part of the mobile support body on the water surface, and the laser radars are connected to the control system; a light source is also provided on the mobile support body on the water surface to achieve long-distance docking and guidance with the unmanned system at sea.

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