An unmanned ship sea liquid cargo replenishment receiving device and method

Abstract

The application relates to the technical field of unmanned ship application, and discloses an unmanned ship offshore liquid cargo replenishment receiving device and method, which comprises an unmanned ship end equipment and a replenishment ship end equipment. The unmanned ship end equipment comprises a receiving hose for transmitting liquid cargo, a remote control automatic reel, a multi-roller cable guiding device and an unmanned ship central control system; the replenishment ship end equipment comprises a pipeline wear-reducing roller, a liquid cargo receiving hose fixing facility, a pumping device and a wire sweeping device. The liquid cargo replenishment operation on the unmanned ship is divided into the receiving and returning operation of the receiving hose remotely controlled at the unmanned ship end and the docking and releasing operation of the receiving hose at the replenishment ship end; the application fully considers the unmanned receiving and receiving hose pipe-receiving and pipe-releasing requirements of the liquid cargo, proposes a remote control automatic reel scheme, avoids the safety risks of the crew caused by the boarding operation under high sea conditions, and improves the liquid cargo replenishment efficiency of the unmanned ship.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) application technology, specifically to a USV marine liquid cargo replenishment receiving device and method. Background Technology

[0002] Unmanned surface vessel (USV) technology is developing rapidly, and its application capabilities in the maritime battlefield are gradually becoming more prominent. However, due to their generally small tonnage and limited endurance, the effective utilization of their combat capabilities is restricted. In the current situation, if at-sea replenishment of liquid cargo and necessary fuel could be carried out on USVs, it would significantly increase their sustained maritime capability. Currently, there are no dedicated replenishment ships developed for USVs, and most existing replenishment ships are designed for manned vessels. Replenishing USVs would require crew members on board to perform tasks such as receiving and returning liquid cargo pipelines, docking, and disconnecting them. Replenishment operations require personnel to board the USV, and boarding operations in high sea states pose safety risks to the crew. Summary of the Invention

[0003] To address the aforementioned deficiencies in existing technologies, an unmanned surface vessel (USV) maritime liquid cargo replenishment receiving device and method are provided, enabling unmanned operation at the USV maritime liquid cargo replenishment receiving end and automated control of the USV maritime liquid cargo replenishment receiving hose.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0005] A liquid cargo replenishment receiving device for an unmanned surface vessel (USV), characterized in that it includes equipment at the end of the USV and equipment at the end of the replenishment vessel.

[0006] The unmanned surface vessel (USV) end equipment includes a receiving hose for transferring liquid cargo, a remotely controlled automated reel controlled by the supply ship end equipment, a multi-roller cable guide device located between the remotely controlled automated reel and the stern, and a central control system for receiving signals from the supply ship end. One end of the receiving hose is located on the remotely controlled automated reel and connected to the liquid tank on the vessel. The middle of the receiving hose is located on the multi-roller cable guide device, and the other end of the receiving hose is suspended on the outer side of the sea surface. The receiving hose is retracted and released to the sea surface by the remotely controlled automated reel.

[0007] The equipment at the end of the supply vessel includes a pipeline friction-reducing roller located at the bow of the supply vessel, a liquid cargo receiving hose fixing facility that is detachably connected to the end of the receiving hose, a pumping device connected to the receiving hose, and a sweeping device for removing residual liquid cargo from the receiving hose; the central control system of the unmanned surface vessel detects its own remaining liquid cargo and sends a signal to the supply vessel. After the supply vessel reaches the predetermined position, it releases the receiving hose to the sea surface through a remotely controlled automated reel.

[0008] According to the above technical solution, the remote-controlled automated reel includes a reel body, a pipe laying mechanism, an electric drive, and a control unit. The pipe laying mechanism and the electric drive are both located on the reel body. One end of the receiving hose is connected to the liquid tank on the unmanned surface vessel (USV). The remaining part of the receiving hose is wound around the reel body and then passes through the pipe laying mechanism and the multi-roller cable guide device. The other end of the receiving hose is suspended on the sea surface. The control unit is connected to the USV's central control system and the electric drive. The USV's central control system indirectly realizes the receiving hose's retraction and release to the sea surface by controlling the electric drive.

[0009] According to the above technical solution, a liquid cargo interface is provided on the main body of the roll car to connect with the liquid tank on the ship. The liquid cargo interface is directly connected to the liquid tank and is used to connect with the liquid cargo receiving hose to receive the replenished liquid cargo.

[0010] According to the above technical solution, the receiving hose has a matching interface at one end on the remote-controlled automated reel, which is connected to the liquid cargo interface; the other end of the receiving hose has a counterweight and a float, and the specifications of the float must ensure that the end of the hose floats on the water surface.

[0011] A method for receiving unmanned surface vessel (USV) liquid cargo at sea, characterized by the following steps:

[0012] S1: The unmanned surface vessel sends a signal that the liquid cargo is low, and the supply ship moves to the preset position;

[0013] S2: At the supply ship end, the supply crew controls the unmanned surface vessel to release the suspension connector end of the receiving hose into the sea.

[0014] S3: Replenish the suspension connector end of the receiving hose for the crew salvaging the unmanned vessel, fix the receiving hose to the liquid cargo receiving hose fixing facility, and connect it to the pumping equipment.

[0015] S4: Use pumping equipment to pump liquid cargo to the unmanned surface vessel and use sweeping equipment to sweep the receiving hose.

[0016] S5: Release the receiving hose from the supply ship and throw it into the sea. Control the unmanned surface vessel at the end of the supply ship to retrieve the receiving hose.

[0017] According to the above technical solution, in step S1, the preset position refers to the unmanned surface vessel being in front and the supply vessel being behind, with the two vessels traveling forward in the same direction and at the same speed with a certain relative position.

[0018] According to the above technical solution, in step S2, at the supply ship end, the remotely controlled automated reel releases the receiving hose. Based on the distance between the end of the receiving hose that falls into the sea and the supply ship, the remotely controlled automated reel is controlled in small increments multiple times until the end of the receiving hose reaches the supply ship's position.

[0019] According to the above technical solution, in step S4, the sensor installed on the liquid tank of the unmanned surface vessel (USV) monitors the liquid level change and transmits the liquid level information of the liquid tank to the supply vessel. The supply vessel sets the amount of liquid cargo to be transported to the USV based on the liquid level change of the USV.

[0020] The present invention has the following beneficial effects:

[0021] By installing a remotely controlled automated reel and a receiving hose suspended above the sea surface at the end of the unmanned surface vessel (USV), the remotely controlled automated reel releases the receiving hose into the sea or retrieves it from the sea to the stern of the USV. After the USV releases the receiving hose into the sea, personnel at the supply ship retrieve the end of the receiving hose from the sea and bring it to the supply ship. It is then secured to the receiving hose fixing facility on the supply ship and connected to the pumping equipment. The pumping equipment then completes the liquid cargo replenishment operation for the USV and uses a sweeping device to remove any remaining liquid cargo from the receiving hose. After the liquid cargo replenishment for the USV is completed, the receiving hose is detached from the liquid cargo receiving hose fixing facility on the supply ship, and then the remotely controlled automated reel is used to retrieve the receiving hose from the sea to the stern of the USV.

[0022] Based on the above measures, the liquid cargo replenishment operation on the unmanned surface vessel (USV) is broken down into the receiving and return operations of the receiving hose remotely controlled at the USV end, and the docking and disconnection operations of the receiving hose at the replenishment vessel end. Compared with the prior art, which dispatches crew members to the USV for liquid cargo replenishment, this invention fully considers the requirements for unmanned liquid cargo reception and the unmanned retrieval and deployment of the liquid cargo receiving hose, and proposes a remotely controlled automated reel solution, which avoids the safety risks to crew members caused by boarding operations in high sea states and improves the efficiency of liquid cargo replenishment to USVs. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of an embodiment provided by the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of the remote-controlled automated winding vehicle provided in an embodiment of the present invention;

[0025] Figure 3 This is a flowchart of an embodiment of the present invention;

[0026] Figure 4 This is a flowchart illustrating the steps of an embodiment of the present invention;

[0027] In the diagram, A represents the equipment at the end of the unmanned surface vessel (USV); B represents the equipment at the end of the supply vessel; 1 represents the receiving hose; 2 represents the remotely controlled automated reel; 2-1 represents the main body of the reel; 2-2 represents the pipe laying mechanism; 2-3 represents the electric drive; 2-4 represents the control unit; 3 represents the stern; 4 represents the multi-roller cable guide equipment; 5 represents the pipeline friction-reducing roller; 6 represents the liquid cargo receiving hose fixing facility; 7 represents the pumping equipment; 8 represents the line sweeping equipment; 9 represents the onboard liquid tank connection port; and 10 represents the liquid cargo interface. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] Reference Figures 1-2 As shown, the present invention provides an unmanned surface vessel (USV) liquid cargo replenishment receiving device.

[0030] Example 1

[0031] This includes unmanned surface vessel (USV) equipment A and supply ship equipment B.

[0032] The unmanned surface vessel (USV) end equipment includes a receiving hose 1 for transferring liquid cargo, a remotely controlled automated reel 2 controlled by the supply ship end equipment, a multi-roller cable guide device 4 located between the remotely controlled automated reel 2 and the stern 3, and a central control system for receiving signals from the supply ship end. One end of the receiving hose is located on the remotely controlled automated reel 2 and connected to the liquid tank on the vessel (see embodiment in the figure, liquid tank connection port 10 on the vessel). The middle part of the receiving hose is located on the multi-roller cable guide device, and the other end of the receiving hose is suspended on the outer side of the sea surface. The receiving hose is retracted and released to the sea surface by the remotely controlled automated reel 2.

[0033] The equipment at the end of the supply vessel includes a pipeline abrasion-reducing roller 5 located at the bow, a liquid cargo receiving hose fixing device 6 detachably connected to the end of the receiving hose, a pumping device 7 connected to the receiving hose, and a sweeping device 8 for removing residual liquid cargo from the receiving hose. The unmanned surface vessel's central control system detects its own remaining liquid cargo level and sends a signal to the supply vessel. After the supply vessel reaches the predetermined position, it remotely controls an automated reel to release the receiving hose onto the sea surface. The sweeping device is connected to the receiving hose, and a multi-roller cable guide device is used to prevent pipeline abrasion during the supply operation.

[0034] In this embodiment, a remotely controlled automated reel and a receiving hose suspended above the sea surface are installed at the end of the unmanned surface vessel (USV). The remotely controlled automated reel releases the receiving hose into the sea or retrieves it from the sea to the stern of the USV. After the USV releases the receiving hose into the sea, personnel at the supply ship end retrieve the end of the receiving hose from the sea and bring it to the supply ship. It is then secured to the receiving hose fixing facility on the supply ship and connected to the pumping equipment. The pumping equipment then completes the liquid cargo replenishment operation for the USV and uses a sweeping device to clean up any remaining liquid cargo in the receiving hose. After the liquid cargo replenishment for the USV is completed, the receiving hose is detached from the liquid cargo receiving hose fixing facility on the supply ship, and then the remotely controlled automated reel is used to retrieve the receiving hose from the sea to the stern of the USV.

[0035] Based on the above measures, the liquid cargo replenishment operation on the unmanned surface vessel (USV) is broken down into the receiving and return operations of the receiving hose remotely controlled at the USV end, and the docking and disconnection operations of the receiving hose at the replenishment vessel end. Compared with the prior art, which dispatches crew members to the USV for liquid cargo replenishment, this invention fully considers the requirements for unmanned liquid cargo reception and the unmanned retrieval and deployment of the liquid cargo receiving hose, and proposes a remotely controlled automated reel solution, which avoids the safety risks to crew members caused by boarding operations in high sea states and improves the efficiency of liquid cargo replenishment to USVs.

[0036] Example 2

[0037] The structure and principle of Example 2 are similar to those of Example 1, except that a preferred structure of a remote-controlled automated winding vehicle is specifically provided.

[0038] Specifically, the remote-controlled automated reel includes a reel body 2-1, a pipe laying mechanism 2-2, an electric drive 2-3, and a control unit 2-4. The pipe laying mechanism and the electric drive are both located on the reel body. One end of the receiving hose is connected to the liquid tank on the unmanned surface vessel (USV). The remaining part of the receiving hose is wound around the reel body and then passes through the pipe laying mechanism and the multi-roller cable guide equipment. The other end of the receiving hose is suspended on the sea surface. The control unit is connected to the USV's central control system and the electric drive. The USV's central control system indirectly realizes the receiving hose's storage and release to the sea surface by controlling the electric drive.

[0039] Example 3

[0040] The structure and principle of Embodiment 3 are similar to those of Embodiment 2, except that the liquid cargo interface 10 is located on the main body of the roll carriage. The location of the liquid cargo interface can be set in other parts of the unmanned surface vessel (USV) as needed. Specifically, the main body of the roll carriage has a liquid cargo interface connected to the liquid tank on the USV. The liquid cargo interface leads directly to the liquid tank and is used to connect to the liquid cargo receiving hose to receive replenished liquid cargo.

[0041] Example 4

[0042] The structure and principle of Example 4 are similar to those of Example 3, except that the receiving hose has a matching interface at the end of the remote-controlled automated reel, which is connected to the liquid cargo interface; the other end of the receiving hose has a counterweight and a float. The counterweight helps the receiving hose to be lowered smoothly under its own weight, and the float is sized to ensure that the end of the hose floats on the water surface, which is convenient for the crew of the supply ship to retrieve the hose.

[0043] like Figure 3-4 As shown, the present invention also provides a method for receiving unmanned surface vessel (USV) liquid cargo at sea, comprising the following steps:

[0044] S1: The unmanned surface vessel sends a signal that the liquid cargo is low, and the supply ship moves to the preset position; the preset position means that the unmanned surface vessel is in front and the supply ship is behind, and the two ships are moving forward in the same direction and at the same speed with a certain relative position.

[0045] S2: At the supply ship end, the supply crew controls the unmanned surface vessel to release the suspension connector end of the receiving hose into the sea; at the supply ship end, the remote-controlled automated reel releases the receiving hose, and according to the distance between the end of the receiving hose that falls into the sea and the supply ship, the remote-controlled automated reel is controlled in small increments multiple times until the end of the receiving hose reaches the supply ship position.

[0046] S3: Replenish the suspension connector end of the receiving hose for the crew to salvage the unmanned surface vessel, fix the receiving hose to the liquid cargo receiving hose fixing facility, and connect it to the pumping equipment.

[0047] S4: Use pumping equipment to pump liquid cargo to the unmanned surface vessel (USV) and use sweeping equipment to sweep the receiving hose; use sensors installed on the USV's liquid tanks to monitor liquid level changes and transmit the liquid level information to the supply ship. The supply ship sets the amount of liquid cargo to be delivered to the USV based on the liquid level changes of the USV.

[0048] S5: Release the receiving hose from the supply ship and throw it into the sea. Control the unmanned surface vessel at the end of the supply ship to retrieve the receiving hose.

[0049] Working principle of the invention:

[0050] The liquid cargo replenishment and receiving operation begins with an unmanned surface vessel (USV) submitting a request. The supply vessel responds and positions itself, with the USV preceding the supply vessel, both vessels moving forward in the same direction and at the same speed, maintaining a specific relative position. The rear end of the receiving hose on the USV is positioned above the sea surface outside the multi-roller guide cable equipment. After the USV issues a release command for the receiving hose, the remotely controlled automated reel rotates forward, initiating the release of the receiving hose. The rear end of the receiving hose smoothly descends into the water under its own weight. When the receiving hose reaches the supply vessel's length afloat, the crew retrieves the hose. The receiving hose passes through the friction-reducing rollers on the supply vessel and is then connected to the supply vessel's liquid cargo pumping equipment. Simultaneously, the receiving hose is secured to the liquid cargo receiving pipe fixing facility. This establishes a liquid cargo replenishment and receiving channel between the USV and the supply vessel.

[0051] The supply vessel pumps liquid cargo to the unmanned surface vessel (USV) until the supply requirement is met. Then, the receiving hose connection and securing are disconnected, and the receiving hose is retracted by a remotely controlled automated reel. The hose is then neatly coiled by a pipe-laying mechanism. The supply vessel departs, and the supply mission is complete.

[0052] The above are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent changes made in accordance with the claims of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A liquid cargo replenishment receiving device for an unmanned surface vessel, characterized in that: This includes equipment on unmanned surface vessels and equipment on supply ships. The unmanned surface vessel (USV) end equipment includes a receiving hose for transferring liquid cargo, a remotely controlled automated reel controlled by the supply ship end equipment, a multi-roller cable guide device located between the remotely controlled automated reel and the stern, and a central control system for receiving signals from the supply ship end. One end of the receiving hose is located on the remotely controlled automated reel and connected to the liquid tank on the vessel. The middle of the receiving hose is located on the multi-roller cable guide device, and the other end of the receiving hose is suspended on the outer side of the sea surface. The receiving hose is retracted and released to the sea surface by the remotely controlled automated reel. The equipment at the end of the supply ship includes a pipeline anti-friction roller located at the bow of the supply ship, a liquid cargo receiving hose fixing facility that is detachably connected to the end of the receiving hose, a pumping device connected to the receiving hose, and a sweeping device for removing residual liquid cargo from the receiving hose; the central control system of the unmanned surface vessel detects its own liquid cargo balance and sends a signal to the supply ship. After the supply ship reaches the predetermined position, it releases the receiving hose to the sea surface through a remotely controlled automated reel. After the unmanned surface vessel (USV) releases the receiving hose into the sea, the crew at the supply ship retrieves the end of the receiving hose that is in the sea and brings it to the supply ship. The hose is then secured to the receiving hose fixing device on the supply ship and connected to the pumping equipment.

2. The unmanned surface vessel (USV) marine liquid cargo replenishment receiving device according to claim 1, characterized in that: The remote-controlled automated reel includes a main reel body, a pipe laying mechanism, an electric drive, and a control unit. The pipe laying mechanism and the electric drive are both located on the main reel body. One end of the receiving hose is connected to the liquid tank on the unmanned surface vessel (USV). The remaining part of the receiving hose is wound around the main reel body, then passes through the pipe laying mechanism and the multi-roller cable guide equipment. The other end of the receiving hose is suspended on the sea surface. The control unit is connected to the USV's central control system and the electric drive. The USV's central control system indirectly realizes the retraction and release of the receiving hose to the sea surface by controlling the electric drive.

3. The unmanned surface vessel (USV) marine liquid cargo replenishment receiving device according to claim 2, characterized in that: The main body of the roll car is equipped with a cargo interface that connects to the liquid tank on the ship. The cargo interface is directly connected to the liquid tank and is used to connect to the cargo receiving hose to receive replenished cargo.

4. The unmanned surface vessel (USV) marine liquid cargo replenishment receiving device according to any one of claims 3, characterized in that: The receiving hose has a matching interface at one end on the remotely controlled automated reel, which is connected to the liquid cargo interface; the other end of the receiving hose has a counterweight and a float, the size of which must ensure that the end of the hose floats on the water surface.

5. A method for receiving unmanned surface vessel (USV) liquid cargo at sea, characterized in that: Includes the following steps: S1: The unmanned surface vessel sends a signal that the liquid cargo is low, and the supply ship moves to the preset position; S2: At the supply ship end, the supply crew controls the unmanned surface vessel to release the suspension connector end of the receiving hose into the sea. S3: Replenish the suspension connector end of the receiving hose for the crew salvaging the unmanned vessel, fix the receiving hose to the liquid cargo receiving hose fixing facility, and connect it to the pumping equipment. S4: Use pumping equipment to pump liquid cargo to the unmanned surface vessel and use sweeping equipment to sweep the receiving hose. S5: Release the receiving hose from the supply ship and throw it into the sea. Control the unmanned surface vessel at the end of the supply ship to retrieve the receiving hose.

6. The method for receiving unmanned surface vessel (USV) liquid cargo replenishment at sea according to claim 5, characterized in that: In step S1, the preset position means that the unmanned surface vessel is in front and the supply ship is behind, and the two ships are traveling forward in the same direction and at the same speed with a certain relative position.

7. The method for receiving unmanned surface vessel (USV) liquid cargo replenishment at sea according to claim 5, characterized in that: In step S2, at the supply ship end, the remotely controlled automated reel releases the receiving hose. Based on the distance between the end of the receiving hose that falls into the sea and the supply ship, the remotely controlled automated reel is controlled in small increments multiple times until the end of the receiving hose reaches the supply ship's position.

8. The method for receiving unmanned surface vessel (USV) liquid cargo replenishment at sea according to claim 5, characterized in that: In step S4, sensors installed on the liquid tanks of the unmanned surface vessel (USV) are used to monitor changes in liquid level and transmit the liquid level information of the liquid tanks to the supply vessel. The supply vessel then sets the amount of liquid cargo to be delivered to the USV based on the changes in the liquid level of the USV's liquid cargo.

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