An unmanned sub, mother boat system and its launching and recovery method

Abstract

This invention relates to an unmanned mother-and-child pod system and its deployment and recovery method, comprising a mother pod and multiple child pods mounted on the mother pod. The mother pod has an inclined deck at its stern, with multiple sets of longitudinal tracks on the deck. A winch is positioned above the center of the longitudinal tracks in the corresponding set on the mother pod deck, with a traction rope wound around it. The traction rope is controllably connected to the child pods for towing. The invention also includes multiple sets of parallel fixing devices positioned on both sides of the longitudinal tracks to secure the child pods. This invention provides an unmanned mother-and-child pod system and its deployment method, offering a novel solution for tasks requiring the simultaneous deployment of one mother pod and multiple child pods. It significantly reduces the deck space requirements for storing child pods on the mother pod and the number of deployment devices, greatly saving operational costs. Furthermore, deployment and recovery are simple and efficient, making it suitable for widespread application.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) technology, and in particular to an unmanned sub- and mother surface vessel system and its deployment and recovery method. Background Technology

[0002] Unmanned surface vessels (USVs) are water surface platforms that can autonomously navigate in marine or inland waterway environments and perform various measurement, detection, search and rescue tasks. Due to their advantages such as small size and high flexibility, they have developed rapidly in recent years.

[0003] Depending on the mission, size, and range of the unmanned surface vessels (USVs), current deployment methods both domestically and internationally are mainly divided into shore-based deployment and deployment aboard manned mother ships. Existing technologies for deploying USVs on mother ships include cage-type deployment, gantry-type deployment, slideway-type deployment, and dock-type deployment. All of these methods require crew members on the mother ship to operate the deployment devices or mechanisms via mechanical or remote control, which is essentially no different from existing mature methods for deploying manned small boats.

[0004] With the development of unmanned surface vessel (USV) technology of various sizes from small to large, depending on the characteristics of the mission, sometimes it is necessary to deploy one medium-to-large USV (generally about 10 meters or more in length) capable of performing multiple missions and multiple small USVs (generally less than 3 meters in length) capable of performing a single mission simultaneously to carry out complex tasks.

[0005] Based on current technology, one approach is to deploy multiple unmanned surface vessels (USVs) simultaneously at the dock. The drawback is that small USVs generally have limited range, and their operational radius is inevitably small in order to ensure they can autonomously navigate to the target waters to perform their missions and return. Another approach is to carry multiple USVs on a manned mother ship. After the mother ship sails to the target waters, it deploys the USVs one by one using its deployment device. The disadvantages are that this requires more deck space and deployment equipment on the mother ship, resulting in higher costs. Moreover, the recovery of the USVs mostly relies on manual handling, which is labor-intensive and inefficient.

[0006] To this end, we propose an unmanned mother and child submarine system and its deployment and recovery method. Summary of the Invention

[0007] In response to the shortcomings of the existing production technologies, the applicant provides an unmanned mother and child vessel system and its deployment and recovery method, which can simultaneously deploy one mother vessel and multiple child vessels to perform complex tasks, greatly reducing the requirements for deck space on the mother vessel for storing child vessels and the number of deployment devices. At the same time, deployment and recovery are simple and efficient, and suitable for widespread application.

[0008] The technical solution adopted in this invention is as follows:

[0009] An unmanned mother-daughter boat system includes: a mother boat; and multiple daughter boats mounted on the mother boat; the stern of the mother boat is provided with an inclined mother boat deck, the mother boat deck is provided with multiple sets of parallel longitudinal tracks that facilitate the movement of the daughter boats, and the bottom of the daughter boats is provided with bottom grooves corresponding to the longitudinal tracks; a winch is provided above the middle of the corresponding set of longitudinal tracks on the mother boat deck, the winch is wound with a traction rope, and the traction rope is controllably connected to the daughter boats to achieve traction and towing; the system also includes multiple sets of fixing devices that fix the mother boat deck on both sides of each set of longitudinal tracks and fix the daughter boats.

[0010] As a further improvement to the above technical solution:

[0011] The multiple sub-vessels are distributed in a matrix.

[0012] The deck of the mothership is tilted at an angle of approximately 5°-10°.

[0013] Each set of longitudinal tracks includes at least one longitudinal track. When there are multiple longitudinal tracks, the longitudinal tracks are arranged in parallel to each other, and multiple longitudinally rotating pulleys are equidistantly arranged on the longitudinal tracks.

[0014] The width of the bottom groove is greater than the spacing between multiple longitudinal tracks in the same group, and an upward-recessed rope groove is provided in the middle of the bottom groove to facilitate the towing of the sub-boats distributed below by the towing rope.

[0015] The bottom wall of the sub-boat is provided with an inclined structure at the front end, and the pulley at the lowest end of the longitudinal track extends out of the end of the mother boat deck.

[0016] The number of fixing devices in each group is at least two, and the two fixing devices are located on both sides of the sub-boat.

[0017] Both sides of the sub-boat are provided with fixing grooves for easy insertion and locking of fixing devices.

[0018] The fixing device includes a fixing bracket, which is fixedly installed on the deck of the mother boat. A linear electric push rod is connected to the fixing bracket and is distributed along the movement direction of the sub-boat. The drive end of the linear electric push rod is connected to a rotatable locking tongue. The locking tongue can engage with the fixing groove as the linear electric push rod is driven. The locking tongue is engaged in the fixing grooves on both sides of the sub-boat to stably fix the sub-boat. A row of roller components tangent to the sub-boat is also provided at the upper end of the fixing bracket. The fixing device is also equipped with a proximity switch, and the mother boat is equipped with a fixing system that can control each fixing device.

[0019] A method for deploying and recovering unmanned mother and child submarines includes the following steps:

[0020] The deployment method S1 includes: S1.1 The mother vessel autonomously navigates to the target waters and receives the deployment signal; S1.2 Upon receiving the deployment signal from the mother vessel, the locking devices on both sides of the last sub-boat at the rear of the mother vessel pull out of the locking groove on the sub-boat, thereby releasing the sub-boat from the mother vessel. Under the action of gravity, the sub-boat enters the water along the longitudinal track, thus completing the deployment of one sub-boat; S1.3 After the sub-boat at the rear is deployed, the proximity switch sends a signal that the sub-boat at that position has been deployed, and the subsequent sub-boats are deployed in sequence, thus completing the deployment requirements.

[0021] S2. The recovery method includes: S2.1 On the dock embankment or on the mother boat, the operator connects the hook on the towing rope to the sub-boat, and moves the sub-boat along two longitudinal tracks by starting the winch, while ensuring that the bottom groove of the sub-boat is engaged with the pulley of the longitudinal track; S2.2 When the sub-boat moves to the corresponding position, after receiving a signal through the proximity switch, the operator activates the linear electric push rod to insert the locking tongue into the fixed grooves on both sides of the sub-boat, thus locking one sub-boat; S2.3 This process is repeated until all sub-boats are recovered.

[0022] The beneficial effects of this invention are as follows:

[0023] This invention proposes an unmanned mother-daughter pod system and its deployment method, which provides a novel solution for the requirement to simultaneously deploy one mother-daughter pod and multiple daughter pods to perform complex tasks. It overcomes the shortcomings of limited endurance and small mission radius of daughter pods, and greatly reduces the requirements for deck space on the mother-daughter pod and the number of deployment devices, thus significantly saving the cost of the operation. At the same time, deployment and recovery are simple and efficient, making it suitable for widespread application.

[0024] In addition, the present invention also has the following advantages:

[0025] (1) It can accommodate multiple sub-boats on the mother boat and move multiple sub-boats to the target area by the mother boat, saving energy and facilitating the deployment and recovery of multiple sub-boats, which is highly practical.

[0026] (2) A winch is installed on the deck of the mother boat, located diagonally above the middle of the two longitudinal tracks in the same group. A traction rope is wound on the winch, and a hook is installed on the traction rope. A corresponding docking structure is installed on the sub-boat. The sub-boat can be pulled and fixed by the winch and the traction rope. Its main function is to pull the sub-boat back to the corresponding longitudinal track by the traction of the winch when recovering the sub-boat.

[0027] (3). In order to reduce collision damage to the mother boat and the daughter boat when the daughter boat is recovered, the bottom wall of the daughter boat is provided with an inclined structure, and the pulley at the bottom of the longitudinal track extends out of the end of the mother boat deck. This allows the daughter boat to make contact with the pulley first, thereby changing the sliding friction to rolling friction, reducing the collision and facilitating recovery.

[0028] (4) It can achieve efficient fixation and deployment of sub-boats; when the mother boat is sailing autonomously on the water surface, the sub-boat can be securely fixed to the mother boat through the fixing device; when the mother boat reaches the target water area for the mission, the sub-boat can be separated from the mother boat through the fixing device, and the sub-boat can smoothly enter the water along the longitudinal track on the inclined mother boat deck and rely on its own gravity, thereby completing the deployment of the sub-boat. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the present invention.

[0030] Figure 2 for Figure 1 Top view.

[0031] Figure 3 for Figure 1 Side view.

[0032] Figure 4 for Figure 2 A magnified view of part A in the middle.

[0033] Figure 5 for Figure 3 A magnified view of part B in the middle.

[0034] The components are: 1. Mother boat; 101. Mother boat deck; 2. Longitudinal track; 201. Pulley; 3. Sub-boat; 301. Bottom groove; 302. Fixing groove; 303. Rope groove; 4. Fixing device; 401. Fixing bracket; 402. Locking tongue; 403. Linear electric push rod; 404. Roller assembly; 5. Winch; 501. Traction rope. Detailed Implementation

[0035] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0036] Example 1

[0037] like Figures 1-2 As shown, this embodiment discloses an unmanned mother and child vessel system, including a medium-to-large mother vessel 1, on which multiple small child vessels 3 are carried, and the multiple child vessels 3 are distributed in a matrix.

[0038] The stern of the mothership 1 is an inclined mothership deck 101 with an inclination angle of about 5° to 10°. The inclined mothership deck 101 is provided with multiple sets of parallel longitudinal tracks 2. Each set of longitudinal tracks 2 includes at least one longitudinal track 2. When there are multiple longitudinal tracks 2, each longitudinal track 2 is arranged in parallel to each other. Multiple longitudinally rotating pulleys 201 are arranged at equal intervals on each longitudinal track 2 to facilitate the movement of the sub-boats 3 on the inclined mothership deck 101 via the pulleys 201, thereby realizing automatic deployment.

[0039] Each of the sub-boats 3 has a bottom groove 301. The width of the bottom groove 301 is slightly larger than the distance between the two longitudinal tracks 2 in the same group. The sub-boat 3 is mounted on the mother boat 1 by locking its bottom groove 301 above the pulleys 201 of the two longitudinal tracks 2.

[0040] Meanwhile, a winch 5 is installed diagonally above the middle of the two longitudinal tracks 2 in the same group on the mother boat deck 101. A traction rope 501 is wound on the winch 5, and a hook is installed on the traction rope 501. A corresponding docking structure is installed on the sub-boat 3. The sub-boat 3 can be towed and fixed by the winch 5 and the traction rope 501. The main function is to pull the sub-boat 3 back to the corresponding longitudinal track 2 by the traction of the winch 5 when recovering the sub-boat 3.

[0041] Additionally, a concave rope groove 303 is provided in the middle of the bottom groove 301 to facilitate the towing of the sub-boats 3 distributed below by the towing rope 501.

[0042] To facilitate the recovery of the sub-boat 3 and reduce collision damage to the mother boat 1 and the sub-boat 3, the bottom wall of the sub-boat 3 is provided with an inclined structure, and the pulley 201 at the lowest end of the longitudinal track 2 extends out of the end of the mother boat deck 101. Thus, when the sub-boat 3 can make contact with the pulley 201 first, the sliding friction is changed into rolling friction, reducing collision and facilitating recovery.

[0043] It can accommodate multiple sub-boats 3 on the mother boat 1, and use the mother boat 1 to move the multiple sub-boats 3 to the target area, saving energy and facilitating the deployment and recovery of multiple sub-boats 3, which is highly practical.

[0044] Example 2

[0045] In this embodiment, the fixing method between the unmanned sub-boat and the mother boat 1 includes multiple sets of fixing devices 4 arranged side by side on both sides of the longitudinal track 2 of the same group to fix the sub-boat 3. Each set of fixing devices 4 has at least two devices, and the two fixing devices 4 are located on both sides of the sub-boat 3.

[0046] The sub-boat 3 has a front and rear fixing groove 302 on both sides, and the fixing device 4 can be controlled to snap into the fixing groove 302 to complete the fixing of the sub-boat 3.

[0047] The fixing device 4 consists of a fixing bracket 401, a locking tongue 402, a linear electric push rod 403, a roller assembly 404, and a rotating shaft. The fixing bracket 401 is fixedly installed on the deck 101 of the mother boat. The linear electric push rod 403 is connected to the fixing bracket 401 and is distributed along the moving direction of the sub-boat 3, which can reduce the lateral space and improve the space utilization rate. In addition, a rotatable locking tongue 402 is connected to the drive end of the linear electric push rod 403. The locking tongue 402 can be engaged and fixed with the fixing groove 302 as the linear electric push rod 403 is driven. The locking tongue 402 is engaged in the fixing groove 302 on both sides of the sub-boat 3 to stably fix the sub-boat 3.

[0048] Meanwhile, a row of roller components 404 tangent to the sub-boat 3 is also provided at the upper end of the fixed support 401. This can limit the left and right movement of the sub-boat 3 to prevent it from colliding with the fixed support 401 when it slides down. Especially in a large wave environment, when the sub-boat 3 is undulating, it may detach from the longitudinal track 2. At this time, the sub-boat 3 can be used to limit the sub-boat 3, which has a good limiting effect during deployment and recovery.

[0049] The fixed device 4 is also equipped with a proximity switch, which can provide a status signal that the mother ship 1 has been deployed.

[0050] The functions of the fixing device 4 are as follows: when the mother boat 1 is sailing autonomously on the water surface, the fixing device 4 can securely fix the daughter boat 3 to the mother boat 1; when the mother boat 1 reaches the target water area for the mission, the fixing device 4 can detach the daughter boat 3 from the mother boat 1, and the daughter boat 3 can smoothly enter the water along the longitudinal track 2 on the inclined mother boat deck 101 and by its own weight, thereby completing the deployment of the daughter boat 3.

[0051] The fixed device 4 is integrated with an interface for remote control of the mother vessel 1, enabling the mother vessel 1 to automatically control the fixed device 4. The proximity switch installed on the fixed device 4 can provide the mother vessel 1 with the following status signals: the fixed device 4 has locked the daughter vessel 3, and the fixed device 4 has released the lock from the daughter vessel 3. Thus, the mother vessel 1 can issue corresponding action commands to the fixed device 4 according to the requirements of the operation task.

[0052] Example 3

[0053] The unmanned mother and child vessel system of this embodiment, which has multiple child vessels fixed on a mother vessel 1 and can automatically deploy each child vessel one by one, includes the following operation steps:

[0054] (a) The submersible is deployed into the water from the mother boat 1.

[0055] S1.1 The mothership 1 autonomously navigates to the target waters for the mission, and the autonomous control system of the mothership 1 determines that it is safe to deploy the daughtership 3.

[0056] S1.2 When the fixing devices 4 on both sides of the last sub-boat 3 of the mother boat 1 receive the deployment signal from the mother boat 1, the locking tongue 402 on the fixing device 4 is pulled out from the fixing groove 302 of the sub-boat 3, thereby releasing the sub-boat 3 from the mother boat 1. The sub-boat 3 smoothly enters the water along the longitudinal track 2 on the inclined mother boat deck 101 and by its own weight, thus completing the deployment of a sub-boat 3.

[0057] After the last sub-boat 3 at position S1.3 is deployed, the proximity switch sends a signal that the sub-boat 3 at that position has been deployed. At the same time, the sub-boats 3 at the rear are deployed in sequence to complete the deployment requirements.

[0058] (II) Sub-boat Recovery Method

[0059] S2.1 On the dock embankment or on the mother boat 1, the operator connects the hook on the towing rope 501 to the sub-boat 3, and starts the winch 5 to move the sub-boat 3 onto the two longitudinal rails 2, while ensuring that the bottom groove 301 of the bottom of the sub-boat 3 is engaged with the pulley 201 of the two longitudinal rails 2.

[0060] S2.2 When the sub-boat 3 moves to the corresponding position, after receiving a signal through the proximity switch, the linear electric push rod 403 is activated to insert the locking tongue 402 into the fixing grooves 302 on both sides of the sub-boat 3, thus completing the locking of one sub-boat 3;

[0061] S2.3 is completed sequentially until all items are recovered.

[0062] This invention proposes an unmanned mother-daughter boat system and its deployment method, which provides a novel solution to the requirement of simultaneously deploying one mother boat 1 and multiple daughter boats 3 to perform complex tasks. It solves the shortcomings of the daughter boats 3 having limited endurance and small mission radius, and greatly reduces the requirements for deck space and deployment equipment on the mother boat 1, significantly saving the cost of the operation. At the same time, deployment and recovery are simple and efficient, making it suitable for widespread application.

[0063] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. An unmanned mother-daughter submarine system, characterized in that, include: Mothership (1); And, multiple sub-boats (3) mounted on the mothership (1). The stern of the mother boat (1) is provided with an inclined mother boat deck (101). The mother boat deck (101) is provided with multiple sets of parallel longitudinal tracks (2) that facilitate the movement of the sub-boats (3). Each set of longitudinal tracks (2) includes at least one longitudinal track (2). When there are multiple longitudinal tracks (2), each longitudinal track (2) is arranged parallel to each other. Multiple longitudinally rotating pulleys (201) are equidistantly arranged on the longitudinal tracks (2). The bottom of the sub-boat (3) is provided with a bottom groove (301) corresponding to the longitudinal track (2). The width of the bottom groove (301) is greater than the spacing between the multiple longitudinal tracks (2) in the same set. The middle of the bottom groove (301) is provided with an upwardly recessed rope groove (303) to facilitate the towing rope (501) to tow the sub-boats (3) distributed below. The mother boat deck (101) is located above the middle of the longitudinal track (2) of the corresponding group, and a winch (5) is installed. A traction rope (501) is wound on the winch (5), and the traction rope (501) can be controllably connected to the daughter boat (3) to achieve towing. It also includes a fixing device (4) that fixes the mother boat deck (101) on both sides of each set of longitudinal rails (2) and fixes the daughter boat (3). The fixing device (4) includes a fixing bracket (401), which is fixedly installed on the deck (101) of the mother boat. A linear electric push rod (403) is connected to the fixing bracket (401), and the linear electric push rod (403) is distributed along the moving direction of the sub-boat (3). The driving end of the linear electric push rod (403) is connected to a rotatable locking tongue (402). The locking tongue (402) can be engaged and fixed with the fixing groove (302) as the linear electric push rod (403) is driven. The locking tongue (402) is engaged in the fixing groove (302) on both sides of the sub-boat (3) to stably fix the sub-boat (3). A row of roller components (404) tangent to the sub-boat (3) is also provided at the upper end of the fixing bracket (401). A proximity switch is also provided on the fixing device (4), and a fixing system capable of controlling each fixing device (4) is provided on the mother boat (1). During deployment, the locking tongue (402) on the fixing device (4) is pulled out from the fixing groove (302) of the sub-boat, thereby releasing the sub-boat (3) from the mother boat (1), and the sub-boat (3) enters the water backward along the longitudinal track (2) under the action of gravity.

2. The unmanned mother and daughter vessel system as described in claim 1, characterized in that: The multiple sub-vessels (3) are distributed in a matrix.

3. The unmanned mother and daughter vessel system as described in claim 1, characterized in that: The tilt angle of the mothership deck (101) is 5°-10°.

4. The unmanned mother and daughter vessel system as described in claim 1, characterized in that: The bottom wall of the sub-boat (3) is provided with an inclined structure, and the pulley (201) at the bottom of the longitudinal track (2) extends out of the end of the mother boat deck (101).

5. The unmanned mother and daughter vessel system as described in claim 1, characterized in that: The number of each set of fixing devices (4) is at least two, and the two fixing devices (4) are located on both sides of the sub-boat (3).

6. The unmanned mother and daughter vessel system as described in claim 1, characterized in that: Both sides of the sub-boat (3) are provided with a fixing groove (302) for easy fixing device (4) to be inserted and snapped.

7. A method for deploying and recovering an unmanned submersible / mother vessel system as described in claim 1, characterized in that, Includes the following steps: S1. Deployment methods include: S1.1 The mothership (1) autonomously navigates to the target waters. After receiving the deployment signal, the mothership (1)... S1.2 When the fixing devices (4) on both sides of the last sub-boat (3) of the mother boat (1) receive the deployment signal from the mother boat (1), the locking tongue (402) on the fixing device (4) is pulled out from the fixing groove (302) of the sub-boat, thereby releasing the sub-boat (3) from the mother boat (1). Under the action of gravity, the sub-boat (3) enters the water along the longitudinal track (2) to complete the deployment of a sub-boat (3). After the last sub-boat (3) at the end of S1.3 is deployed, the proximity switch sends a signal that the sub-boat (3) at that position has been deployed. At the same time, the sub-boats (3) at the rear are deployed in sequence to complete the deployment requirements. S2. Recycling methods include: S2.1 On the dock embankment or on the mother boat (1), the operator connects the hook on the towing rope (501) to the sub-boat (3), and moves the sub-boat (3) onto the two longitudinal rails (2) by starting the winch (5), while ensuring that the bottom groove (301) of the bottom of the sub-boat (3) is engaged with the pulley (201) of the longitudinal rail (2); S2.2 When the sub-boat (3) moves to the corresponding position, after receiving the signal through the proximity switch, the linear electric push rod (403) is activated, and the locking tongue (402) is inserted into the fixing groove (302) on both sides of the sub-boat (3) to complete the locking of one sub-boat (3); S2.3 is completed sequentially until all items are recovered.

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