A smart unmanned surface vessel (USV) launch and recovery system

Abstract

The application discloses an intelligent receiving and releasing unmanned ship system, which comprises a compensation winch mechanism, a boom mechanism, a luffing mechanism, an armored cable, an armored cable embedded link device, an intelligent interface mechanism, a first hydraulic power unit and an electro-hydraulic control system, the intelligent interface mechanism comprises a support, a second hydraulic power unit, a manipulator, a buffer damping device, an intelligent interface I, a safety oil cylinder, a safety device, an intelligent interface II and a rubber buffer ring, the electro-hydraulic control system is connected with the compensation winch mechanism, the boom mechanism, the luffing mechanism and the first hydraulic power unit, the armored cable is connected with the intelligent interface mechanism through the armored cable embedded link device, the second hydraulic power unit, the intelligent interface I, the safety oil cylinder, the safety device, the intelligent interface II and the rubber buffer ring are sequentially arranged in the support from top to bottom, the manipulator is arranged outside the support, the rubber buffer ring is arranged at the bottom of the intelligent interface mechanism, and the unmanned ship is provided with a safety lifting hook, a supporting rod, a connecting interface and a counterposition interface.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessels (USVs), and more specifically, to an intelligent system for launching and retrieving USVs. Background Technology

[0002] Unmanned surface vessels (USVs), as a rapidly developing type of maritime equipment in recent years, have attracted increasing attention. However, there has been no substantial breakthrough in the technology, both domestically and internationally, to safely and reliably deploy USVs from their motherships to the surface and detach them from the mothership to perform missions in complex sea conditions, while simultaneously recovering them back to the mothership after the mission is completed. Summary of the Invention

[0003] This invention provides an intelligent unmanned surface vessel (USV) launching and recovery system to solve the technical problems existing in the prior art.

[0004] To achieve the above objectives, the present invention provides an intelligent unmanned surface vessel (USV) launching and recovering system, comprising: a compensating winch mechanism, a boom mechanism, a luffing mechanism, an armored cable, an armored cable embedded connection device, an intelligent interface mechanism, a first hydraulic power unit, and an electro-hydraulic control system. The intelligent interface mechanism includes a bracket, a second hydraulic power unit, a robotic arm, a shock absorber, an intelligent interface one, a safety cylinder, a safety device, an intelligent interface two, and rubber buffer washers.

[0005] The electro-hydraulic control system is connected to the compensating winch mechanism, boom mechanism, luffing mechanism, and first hydraulic power unit.

[0006] The armored cable is connected to the intelligent interface mechanism via an embedded armored cable link device.

[0007] The second hydraulic power unit, intelligent interface one, safety cylinder, safety device, intelligent interface two, and rubber buffer gasket are arranged sequentially from top to bottom inside the bracket.

[0008] The second hydraulic power unit is connected to the buffer and shock absorption device and the safety cylinder.

[0009] The shock absorption device is installed on the inner wall of the lower half of the support.

[0010] The robotic arm is mounted on the outside of the support frame.

[0011] A rubber buffer gasket is located at the bottom of the intelligent interface mechanism.

[0012] The unmanned surface vessel is equipped with a safety hook, a handlebar, a connection interface, and a positioning interface. The connection interface is located above the positioning interface, and the handlebar is for the robotic arm to grasp.

[0013] In one embodiment of the present invention, the electro-hydraulic control system is a PLC electro-hydraulic control system.

[0014] In one embodiment of the present invention, there are multiple robotic arms.

[0015] In one embodiment of the present invention, the compensation winch mechanism is provided with a wave compensation circuit. The wave compensation circuit includes a first overflow valve, a second overflow valve, a first solenoid valve, a second solenoid valve, a motor, a reducer, a drum, and an encoder. The motor, reducer, drum, and encoder are connected in sequence. The encoder is connected to the davit cable. The motor is further connected to the first solenoid valve and the second solenoid valve. The first solenoid valve and the second solenoid valve are both connected to the first overflow valve and the second overflow valve.

[0016] In one embodiment of the present invention, the buffer and shock absorption device has a telescopic cylinder, which has a rod chamber and a rodless chamber. The telescopic cylinder is connected to the accumulator through an electromagnetic reversing valve and an accumulator safety valve group. The accumulator and the rodless chamber of the telescopic cylinder form a buffer oil circuit.

[0017] In one embodiment of the present invention, the intelligent interface mechanism has a locking cylinder, which extends and locks itself in alignment with the interior of the unmanned surface vessel.

[0018] In one embodiment of the present invention, there are three locking cylinders.

[0019] The intelligent unmanned surface vessel (USV) retrieval and deployment system provided by this invention adopts a new intelligent structure combination and control system, enabling the retrieval and deployment system to achieve intelligent, precise and rapid connection to the USV on high sea state waters. It also has a safety guarantee self-locking measure to ensure the connection with the USV. Safety measures to prevent collisions or crashes are designed throughout the entire process of retrieval and deployment of the USV, meeting the needs of safe, reliable, rapid and stable attitude recovery or deployment of USVs in sea states of level 4 and above. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of an intelligent unmanned surface vessel (USV) system according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of an intelligent interface mechanism according to an embodiment of the present invention;

[0023] Figure 3 This is a circuit diagram of a wave compensation circuit according to an embodiment of the present invention;

[0024] Figure 4 This is a hydraulic schematic diagram of an intelligent interface mechanism according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram illustrating the alignment and locking of a locking cylinder with the interior of an unmanned surface vessel according to an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the landing area of ​​the intelligent interface 2 of an embodiment of the present invention as it falls onto the deck of an unmanned surface vessel.

[0027] Figure 7 This is a schematic diagram of a smart interface two-shift bonding alignment interface according to an embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of a smart interface—a locking connection interface—according to an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached drawings: 1-Compensating winch mechanism; 2-Boom mechanism; 3-Luffing mechanism; 4-Armored cable; 5-Armored cable embedded connection device; 6-Intelligent interface mechanism; 7-First hydraulic power unit; 8-Electro-hydraulic control system; 9-Unmanned surface vessel; 61-Support; 62-Second hydraulic power unit; 63-Manipulator; 64-Buffer and shock absorption device; 65-Intelligent interface one; 66-Safety cylinder; 67-Safety device; 68-Intelligent interface two; 69-Rubber buffer washer; 10-Safety hook; 11-Handrail; 12-Connection interface; 13-Alignment interface; 21-First relief valve; 22-Second relief valve; 23-First electric... 24-Second solenoid valve; 25-Motor; 26-Reducer; 27-Windmill drum; 28-Encoder; 01-Motor; 02-Bell housing + coupling; 03-Hydraulic pump; 04-Return oil filter; 05-Temperature sensor; 06-Level control relay; 07-Air filter; 08-Level and temperature gauge; 09-Oil tank; 010-Check valve; 011-Relief valve; 012-Pressure gauge; 013-Solenoid directional valve; 014-Solenoid directional valve; 015-Telescopic cylinder; 016-Accumulator safety valve assembly; 017-Accumulator; 018-Pressure relay; 019-Solenoid directional valve; 020-Locking cylinder. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Figure 1 This is a schematic diagram of an intelligent unmanned surface vessel (USV) system according to an embodiment of the present invention. Figure 2 This is a schematic diagram of an intelligent interface mechanism according to an embodiment of the present invention, as shown below. Figure 1 , Figure 2 As shown, the intelligent unmanned surface vessel (USV) launching and recovering system provided by this invention includes: a compensating winch mechanism 1, a boom mechanism 2, a luffing mechanism 3, an armored cable 4, an armored cable embedded connection device 5, an intelligent interface mechanism 6, a first hydraulic power unit 7, and an electro-hydraulic control system 8. The intelligent interface mechanism 6 includes a bracket 61, a second hydraulic power unit 62, a robotic arm 63, a buffer and shock absorption device 64, an intelligent interface one 65, a safety cylinder 66, a safety device 67, an intelligent interface two 68, and a rubber buffer washer 69.

[0032] The electro-hydraulic control system 8 is connected to the compensating winch mechanism 1, the boom mechanism 2, the luffing mechanism 3, and the first hydraulic power unit 7. In this embodiment, the electro-hydraulic control system can be, for example, a PLC electro-hydraulic control system.

[0033] The armored cable 4 is connected to the intelligent interface mechanism 6 via the armored cable embedded link device 5.

[0034] The second hydraulic power unit 62, intelligent interface one 65, safety cylinder 66, safety device 67, intelligent interface two 68, and rubber buffer washer 69 are arranged sequentially from top to bottom inside the bracket 61.

[0035] The second hydraulic power unit 62 is connected to the buffer and shock absorption device 64 and the safety cylinder 66.

[0036] The shock absorption device 64 is installed on the inner wall of the lower half of the bracket 61.

[0037] The robotic arm 63 is mounted on the outside of the support 61, such as Figure 1 As shown in this embodiment, there are two robotic arms. The number of robotic arms can be determined according to actual needs, and the present invention does not limit the number.

[0038] Rubber buffer gasket 69 is located at the bottom of the intelligent interface mechanism 6.

[0039] The unmanned surface vessel 9 is equipped with a safety hook 10, a handle bar 11, a connection interface 12, and a positioning interface 13. The connection interface 12 is located above the positioning interface 13, and the handle bar 11 is used by the robotic arm 63 for gripping.

[0040] The working principle of the intelligent unmanned surface vessel (USV) launch and recovery system provided by this invention is as follows:

[0041] When deploying the unmanned surface vessel 9, the first hydraulic power unit 7 provides power, and the boom of the boom mechanism 2 is swung to the outside of the hull via the luffing mechanism 3. The compensation winch mechanism 1 releases the armored cable 4, so that the unmanned surface vessel 9 is lowered to the water surface. At the same time, the wave compensation function (detailed below) is activated to counteract the effect of waves and ensure the tension of the davit cable. The intelligent interface 2 68 automatically opens to release the unmanned surface vessel 9.

[0042] When the unmanned surface vessel 9 needs to be recovered, the intelligent interface 268 intelligently docks with the connection interface 12 of the unmanned surface vessel and locks it securely. Then, the unmanned surface vessel 9 is safely and reliably recovered to the mother ship through the compensation winch mechanism 1 and the luffing mechanism 3.

[0043] In one embodiment of the present invention, the compensating winch mechanism 1 is provided with a wave compensation circuit to realize the wave compensation function. Figure 3 This is a circuit diagram of a wave compensation circuit according to an embodiment of the present invention. The wave compensation circuit includes a first overflow valve 21, a second overflow valve 22, a first solenoid valve 23, a second solenoid valve 24, a motor 25, a reducer 26, a winch drum 27, and an encoder 28. The motor 25, reducer 26, winch drum 27, and encoder 28 are connected sequentially. The encoder 28 is connected to the davit cable (not shown in the figure). The motor 25 is further connected to the first solenoid valve 23 and the second solenoid valve 24. The first solenoid valve 23 and the second solenoid valve 24 are both connected to the first overflow valve 21 and the second overflow valve 22. The present invention has a preset tension T. When the tension sensor senses a change in the tension of the davit cable, the intelligent interface mechanism automatically activates to the heave compensation state to perform wave compensation, thereby keeping the tension of the davit cable constant. Specifically, when the tension sensor detects that the tension of the davit cable is greater than the tension T, the first solenoid valve 23 and the second solenoid valve 24 are energized. Under the drag of gravity, the winch drum 27 rotates in the reverse direction to lower the davit cable. The motor oil circuit returns to the oil tank through the pressure set by the first overflow valve 21, and the pump oil circuit returns to the oil tank through the second overflow valve 22. When the tension sensor detects that the tension of the davit cable is less than the tension T, the first solenoid valve 23 and the second solenoid valve 24 are energized. The main pump oil circuit drives the motor 25 to drive the winch drum 27 to rotate in the forward direction to tighten the davit cable. The pressure is limited by the second overflow valve 22 to achieve the purpose of constant tension of the davit cable.

[0044] Figure 4 This is a hydraulic schematic diagram of an intelligent interface mechanism according to an embodiment of the present invention. Figure 4 The main hydraulically related components inside the intelligent interface mechanism are shown, such as... Figure 4 As shown, in one embodiment of the present invention, the buffer shock absorption device has a telescopic cylinder 015, which has a rod chamber and a rodless chamber. The telescopic cylinder 015 is connected to the accumulator 017 through an electromagnetic reversing valve 013 and an accumulator safety valve group 016. The accumulator 017 and the rodless chamber of the telescopic cylinder form a buffer oil circuit.

[0045] In one embodiment of the present invention, such as Figure 4 As shown, the intelligent interface mechanism has a locking cylinder 020, such as Figure 5 , Figure 8 As shown, after the locking cylinder 020 extends, it aligns and locks with the interior of the unmanned surface vessel 9, as... Figure 4 As shown, in this embodiment, there are three locking cylinders 020.

[0046] In the intelligent interface mechanism 6 of this invention, all the cylinders are powered by the second hydraulic power unit 62, and the power supply for the second hydraulic power unit 62 and the manipulator 63 is transmitted by the armored cable 4.

[0047] The recovery process of the unmanned surface vessel in this invention is as follows:

[0048] The second hydraulic power unit 62 is activated, and the telescopic cylinder 015 in the buffer and shock absorption device 64 is extended. Then, the circuit switches to an accumulator buffer circuit. The accumulator 017 and the rodless chamber of the telescopic cylinder 015 form a buffer circuit, ensuring that the intelligent interface 68 does not collide hard with the deck surface of the unmanned surface vessel 9 upon landing. The intelligent interface mechanism 6 is lowered via the compensating winch mechanism 1, causing the intelligent interface 68 to fall onto the landing area on the deck surface of the unmanned surface vessel 9. Figure 6 The diagram shows a schematic of the landing area of ​​the intelligent interface 2 on the deck of an unmanned surface vessel (USV) according to an embodiment of the present invention. The USV immediately attaches to the rubber buffer gasket 69 on the lower plane of the intelligent interface 2 68, and simultaneously activates the wave compensation function to ensure that the intelligent interface 2 68 is attached to the deck of the USV and moves up and down synchronously with the waves to a relatively stable state. At this time, the robotic arm 63 grabs the handle 11 on the USV and moves the intelligent interface 2 68 through the force of the robotic arm 63, so that the intelligent interface 2 68 is moved to attach to the alignment interface 13 of the USV. Figure 7 The diagram shown is a schematic of the intelligent interface two shifting and fitting alignment interface according to an embodiment of the present invention. The second hydraulic power unit 62 is activated, controlling the retraction cylinder 015 of the buffer and shock absorption device 64 to retract, and the compensating winch is lowered synchronously, causing the intelligent interface one 65 to fit against the connecting interface 12. The locking cylinder 020 extends and locks. After the monitoring system confirms that the intelligent interface one 65 is locked to the cone at the connecting interface 12, the safety cylinder 66 retracts, engaging the safety device 67 to ensure the reliability of the connection and hoisting. Figure 8 The diagram shown is a schematic of a locking connection interface of an embodiment of the present invention. The first hydraulic power unit 7 is activated to control the compensating winch mechanism 1 and the luffing mechanism 3 to safely recover the unmanned surface vessel to the mother ship.

[0049] The deployment process of the unmanned surface vessel in this invention is as follows:

[0050] Start the first hydraulic power unit 7 to control the compensation winch mechanism 1 and the luffing mechanism 3 to safely lower the unmanned boat to the water surface; start the second hydraulic power unit 62 to control the safety cylinder 66 to extend, so that the safety device 67 is opened. After the monitoring system confirms that the safety device 67 is opened, control the locking cylinder 020 to open, and open the manipulator 63 to release the unmanned boat.

[0051] The intelligent unmanned surface vessel (USV) retrieval and deployment system provided by this invention adopts a new intelligent structure combination and control system, enabling the retrieval and deployment system to achieve intelligent, precise and rapid connection to USVs on high sea states. It also has a safety guarantee self-locking measure to ensure the connection with the USV. Safety measures to prevent collisions or crashes are designed throughout the entire process of retrieval and deployment. It can be applied to USVs with a single lifting point load not exceeding 80kN and a double lifting point load of 80kN to 300kN, meeting the needs of safe, reliable, rapid and stable attitude recovery or deployment of USVs in sea states of level 4 and above.

[0052] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention.

[0053] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent launch and recovery unmanned surface vehicle system, characterized by, The compensation winch mechanism, the boom mechanism, the luffing mechanism, the armored cable, the armored cable embedded link device, the intelligent interface mechanism, the first hydraulic power unit, and the electro-hydraulic control system are connected. The electro-hydraulic control system is connected with the compensation winch mechanism, the boom mechanism, the luffing mechanism, and the first hydraulic power unit. The armored cable is connected with the intelligent interface mechanism through the armored cable embedded link device. The second hydraulic power unit, the intelligent interface one, the safety oil cylinder, the safety device, the intelligent interface two, and the rubber buffer washer are sequentially arranged in the bracket from top to bottom. The second hydraulic power unit is connected with the buffer damping device and the safety oil cylinder. The buffer damping device is arranged on the inner wall of the lower half of the bracket. The mechanical hand is arranged outside the bracket. The rubber buffer washer is arranged at the bottom of the intelligent interface mechanism. The unmanned boat is provided with a safety hook, a supporting rod, a connection interface, and a positioning interface. The connection interface is arranged above the positioning interface, and the supporting rod is used for the mechanical hand to grab. The electro-hydraulic control system is a PLC electro-hydraulic control system. The mechanical hand is a plurality of.

2. The intelligent launch and recovery unmanned surface vehicle system of claim 1, wherein, The compensation winch mechanism is internally provided with a wave compensation circuit, which includes a first overflow valve, a second overflow valve, a first electromagnetic valve, a second electromagnetic valve, a motor, a speed reducer, a winding drum, and an encoder.

3. The intelligent launch and recovery unmanned surface vehicle system of claim 1, wherein, The motor, the speed reducer, the winding drum, and the encoder are sequentially connected.

4. The intelligent launch and recovery unmanned surface vehicle system of claim 1, wherein, The encoder is connected with the boat cable.

5. The intelligent launch and recovery unmanned surface vehicle system of claim 4, wherein, The motor is further connected with the first electromagnetic valve and the second electromagnetic valve. The first electromagnetic valve and the second electromagnetic valve are connected with the first overflow valve and the second overflow valve. The buffer damping device has a telescopic oil cylinder. The telescopic oil cylinder has a rod cavity and a rodless cavity. The telescopic oil cylinder is connected with the accumulator through an electromagnetic reversing valve and an accumulator safety valve group. The accumulator and the telescopic oil rod rodless cavity form a buffer oil circuit. The intelligent interface mechanism has a locking oil cylinder. The locking oil cylinder is locked with the inside of the unmanned boat after being extended. There are three locking oil cylinders.

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