A launch and recovery apparatus and method for an unmanned surface vehicle

Abstract

This invention discloses a deployment and retrieval device and method for unmanned surface vessels (USVs), belonging to the field of USV technology. The device includes a rope thrower, a tow rope, a rotating drum reversing mechanism, a first rotating drum, a second rotating drum, a first clamping mechanism, a second clamping mechanism, a davit docking device, an automatic rope reeling device, and a towed load. The rope thrower is mounted obliquely on the USV. The rotating drum reversing mechanism drives the first and second rotating drums to swing in opposite directions. The first and second rotating drums rotate synchronously to retrieve the tow rope. One end of the tow rope is fixedly connected to the automatic rope reeling device, and the other end passes through a sub-docking device, then sequentially through the first and second clamping mechanisms to connect with the towed load. The towed load, under the action of the throwing device, throws the rope towards the mother ship. This invention not only enables multiple rope throws, reducing the difficulty of rope throwing, but also overcomes the problem of unmanned surface vessel attitude being difficult to control and unable to dock quickly and accurately in high sea states, avoiding the need for personnel to personally board the vessel for docking, effectively improving operational safety.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) technology, and more specifically to a deployment and recovery device and method for USVs. Background Technology

[0002] In recent years, governments and enterprises around the world have devoted tremendous human and material resources to the development of marine resources. my country has also timely put forward the strategy of becoming a maritime power, elevating the development of shipbuilding technology and the exploitation of marine resources to the level of national strategy.

[0003] Unmanned surface vehicles (USVs) are unmanned surface platforms integrating environmental perception, path planning, and navigation control. By carrying appropriate payloads, they can perform various tasks, making them particularly suitable for dangerous, repetitive, and other mission scenarios unsuitable for manned vessels. They are an important means for nations to manage their maritime affairs. However, due to their small size and limited energy capacity, they are typically carried by a mother ship and deployed to specific sea areas using a launch and recovery system. After completing their mission, the system usually needs to be recovered to the onboard platform for energy replenishment, data download, maintenance, and mission resetting. Their mission adaptability is very strong, and related research continues to deepen.

[0004] Currently, the deployment and recovery of unmanned surface vessels (USVs) are generally carried out manually at slow speeds and in low sea states, which poses significant risks and is inefficient. Developing an efficient, safe, and reliable autonomous deployment and recovery system for USVs is a crucial bottleneck that needs to be overcome for their widespread adoption.

[0005] Patent CN 108163149 B discloses an unmanned surface vessel (USV) deployment and recovery system. This system includes a docking head connected to a mother ship via slings, and a catapult mechanism, catapult head, gimbal mechanism, docking mechanism, and traction line mounted on the USV. This system can reduce the difficulty of deploying and recovering USVs in rough seas. However, this catapult mechanism can only achieve a single launch. If the USV platform encounters sudden wind or waves during launch, the launching line may fail, rendering the device ineffective.

[0006] Therefore, it is urgent to solve the problem of recovering the unmanned surface vessel platform after a failed rope throwing operation. Summary of the Invention

[0007] This invention proposes a deployment and recovery device and method for unmanned surface vessels (USVs). The purpose is to solve the problem of deployment and recovery of USVs during mission execution, and to enable efficient and accurate deployment and recovery of USVs from the mother ship even in harsh sea conditions. This greatly saves the time and cost of recovering USVs and the potential mission failure caused by failure to recover them.

[0008] To achieve the above objectives, the technical solution of the present invention is: a deployment and recovery device for unmanned surface vessels, the deployment and recovery device comprising a rope thrower, a traction rope, a rotating drum reversing mechanism, a first rotating drum, a second rotating drum, a first clamping mechanism, a second clamping mechanism, a davit docking device, an automatic rope recovery device, and a traction weight;

[0009] The rotating drum reversing mechanism is installed inside the rope thrower; the connecting ends of the first and second rotating drums are respectively connected to the rotating drum reversing mechanism, and the rope thrower is obliquely mounted on the unmanned surface vessel with the side where the rotating drum reversing mechanism is installed facing downwards; driven by the rotating drum reversing mechanism, the first and second rotating drums swing in opposite directions around their connecting ends; when the first and second rotating drums clamp the traction rope, the traction rope can be retrieved by synchronously rotating in the direction of the traction rope; the first clamping mechanism is installed in the upper part of the rope thrower, located on the side opposite to the rotating drum reversing mechanism; the second clamping mechanism is installed in the bottom of the rope thrower; the rope thrower has an opening at the top;

[0010] The davit docking device includes a sub-dock device and a mother docking device; the sub-dock device is fixed on the unmanned surface vessel platform, and the rope thrower and the automatic rope reeling device are located near the sub-dock device; the mother docking device is fixed on the hook of the lifting device on the mother ship; after the sub-dock device is connected to the mother docking device, the unmanned surface vessel is lifted by the lifting device for deployment and recovery.

[0011] The automatic rope retrieval device is installed on the unmanned surface vessel (USV). One end of the towing rope is fixedly connected to the automatic rope retrieval device, and the other end first passes through the sub-docking device and then enters the rope thrower through the opening above the rope thrower. It then passes through the first clamping mechanism and the second clamping mechanism in sequence and is connected to the towing weight. When the USV is deployed, the towing weight is placed at the opening. When the USV is retrieved, the towing weight throws the rope towards the mother ship under the action of the launching device.

[0012] Furthermore, the rope thrower includes an outer wall and an inner sleeve of the rope thrower that are spaced apart; the inner sleeve of the rope thrower is composed of an upper part and a lower part that are spaced apart, and the upper part and the lower part are respectively fixed inside the outer wall of the rope thrower.

[0013] The first clamping mechanism is located at the upper part of the inner sleeve of the rope thrower, and the second clamping mechanism is located at the bottom end of the inner sleeve of the rope thrower;

[0014] The rotating drum reversing mechanism is installed inside the outer wall of the rope thrower between the upper and lower parts of the inner sleeve of the rope thrower; the first rotating drum and the second rotating drum are symmetrically matched on both sides of the gap between the upper and lower parts of the inner sleeve of the rope thrower, and the first rotating drum and the second rotating drum enter and exit the inner sleeve of the rope thrower through the gap when they swing and reverse direction; the traction rope is stored in the inner sleeve of the rope thrower.

[0015] Furthermore, the deployment and retrieval device also includes a servo mechanism pin; the servo mechanism pin is located below the sub-dating device; the female docking device has a pin hole below it; the female docking device is inserted into the sub-dating device, and the pin hole passes through the bottom end of the sub-dating device, and the servo mechanism pin connects the sub-dating device and the female docking device through the pin hole.

[0016] Furthermore, the deployment and retrieval device also includes a control system; the control system is signal-connected to the rotary drum reversing mechanism, the first rotary drum, the second rotary drum, the first clamping mechanism, the second clamping mechanism, the servo mechanism pin, and the automatic rope winding device, respectively.

[0017] Furthermore, the davit docking device has an overall conical structure that gradually tapers from top to bottom.

[0018] Furthermore, a metal ring is provided below the female docking device for binding the traction rope during retrieval.

[0019] Furthermore, the rotary drum reversing mechanism includes a motor, a driving gear, and two driven gears; the two driven gears are meshed and connected to the first rotary drum and the second rotary drum respectively; the driving gear is meshed with one of the driven gears; the motor is used to drive the driving gear to rotate.

[0020] The present invention also discloses a method for recovering an unmanned surface vessel (USV) using the deployment and recovery device for USVs according to any one of the above-mentioned methods, comprising the following steps:

[0021] S1. When the unmanned surface vessel reaches the set recovery area and meets the preset launching conditions, the rotating drum reversing mechanism controls the first and second rotating drums to open and exit the inner sleeve of the rope thrower. Under the action of the launching device, the traction weight is pulled by the traction rope and thrown towards the mother ship.

[0022] When the traction rope fails to be thrown onto the mother ship, the rotating drum reversing mechanism drives the first rotating drum and the second rotating drum to come together and clamp the traction rope. The first rotating drum and the second rotating drum rotate simultaneously in the direction of the traction rope, and the traction rope is drawn into the inner sleeve of the rope thrower. The traction weight returns to its position. The rotating drum reversing mechanism drives the first rotating drum and the second rotating drum to open and move out of the inner sleeve of the rope thrower, ready to throw the rope again, until the rope is successfully thrown.

[0023] S2. After the traction rope is thrown onto the mother ship, it is bound to the metal ring at the bottom of the mother docking device.

[0024] S3. The first clamping mechanism and the second clamping mechanism release the constraint on the traction rope, and the automatic rope retraction device starts to retract the traction rope. The traction rope pulls the female docking device close to the female docking device on the unmanned surface vessel until the female docking device is fully inserted into the female docking device. The automatic rope retraction device finishes retracting the rope, and the servo mechanism pin fixes the female docking device and the female docking device. The lifting device on the mother ship lifts the unmanned surface vessel to the mother ship.

[0025] The beneficial effects of this invention are:

[0026] This invention has a simple structure, is easy to implement, and has low requirements for processes and technologies. It can achieve multiple rope throws during the recovery of unmanned surface vessels (USVs), and the rope throwing difficulty is low. This not only avoids the problem of personnel having to personally board the USV to dock after a failed rope throw, effectively improving the safety of operation, but also overcomes the problem of unmanned surface vessel attitude being difficult to control and unable to dock quickly and accurately in high sea states. This effectively improves the efficiency of unmanned surface vessel missions, promotes the development of my country's unmanned surface vessel field, and is expected to be applied in many mission scenarios such as rescue, transportation, surveying, and exploration, with a wide range of applications.

[0027] This invention controls the swing of the first and second rotating drums through a rotating drum reversing mechanism. When the rope throwing fails, the two rotating drums can clamp the traction rope. Under the action of the first and second rotating drums rotating inward synchronously, the traction rope is driven to be orderly retrieved into the inner sleeve of the rope thrower.

[0028] The rope thrower of the present invention is mounted obliquely on the unmanned surface vessel, with the side where the rotating drum reversing mechanism is installed facing downwards, ensuring that when the traction rope is retrieved, the traction rope enters between the first and second rotating drums, ensuring that the traction rope is in contact with the rotating drums.

[0029] The clamping mechanism provided in this invention ensures that the traction rope extends in a predetermined direction after entering the inner sleeve of the rope thrower.

[0030] This invention enables remote-controlled recovery of unmanned surface vessels (USVs) from the mother ship via a control system, avoiding the need for manual intervention such as staff boarding the vessel for docking, and effectively improving operational safety. Attached Figure Description

[0031] The advantages of the above and / or additional aspects of the present invention will become apparent and readily understood in the description of the embodiments taken in conjunction with the following drawings, wherein:

[0032] Figure 1 This is a schematic diagram of the deployment and recovery device for unmanned surface vessels according to the present invention;

[0033] Figure 2 This is a schematic diagram of the rope throwing device in this invention;

[0034] Figure 3 This is a schematic diagram of the working principle of the rotary drum reversing mechanism and the rotary drum in this invention;

[0035] Figure 4 This is a schematic diagram illustrating the process of deploying an unmanned surface vessel according to the present invention;

[0036] Figure 5 This is a schematic diagram of the return of the hook and mother docking device to the mother ship after deployment in this invention;

[0037] Figure 6 This is a schematic diagram of the connection between the traction rope and the docking device when the traction rope is thrown to the mother ship in this invention;

[0038] Figure 7 This is a schematic diagram illustrating the release of the constraint between the rope thrower and the traction rope during continuous automatic rope retraction in this invention.

[0039] Figure 8 This is a schematic diagram of the docking process of the davit docking device in this invention.

[0040] In the attached diagram: 1. Rope thrower; 101. Outer wall of the rope thrower; 102. Inner sleeve of the rope thrower; 2. Traction rope; 3. Rotary drum reversing mechanism; 4. First rotary drum; 5. Second rotary drum; 6. First clamping mechanism; 7. Second clamping mechanism; 8. Gondola docking device; 801. Sub-dock docking device; 802. Female docking device; 9. Servo mechanism pin; 10. Automatic rope reeling device; 11. Traction load. Detailed Implementation

[0041] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0042] In the following description, many specific details are set forth in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0043] This application provides a deployment and recovery device and recovery method for unmanned surface vessels (USVs), which can be applied to any equipment and USV platform that needs to be deployed and recovered.

[0044] like Figure 1 As shown, the device includes: a rope thrower 1, a traction rope 2, a rotating drum reversing mechanism 3, a first rotating drum 4, a second rotating drum 5, a first clamping mechanism 6, a second clamping mechanism 7, a davit docking device 8, a servo mechanism pin 9, an automatic rope winding device 10, and a traction weight 11.

[0045] The davit docking device 8 mainly includes a sub-dock device 801 and a female docking device 802. The sub-dock device 801 is fixed to the unmanned surface vessel (USV) platform to be launched and recovered, while the female docking device 802 is fixed to the hook of the lifting device on the mother vessel. The female docking device 802 has a pin hole and a metal ring at its bottom; the metal ring is used to secure the towing rope 2 during recovery. When the female docking device 802 is inserted into the sub-dock device 801, the pin hole and metal ring pass through the bottom of the sub-dock device 801. A servo mechanism pin 9 is located below the sub-dock device 801, and the sub-dock device 801 and female docking device 802 are fixedly connected by controlling the pin to insert into the pin hole. Preferably, the davit docking device 8 has an overall conical structure that gradually tapers from top to bottom, which facilitates the coaxial installation of the sub-dock device 801 and female docking device 802. Additionally, guide structures can be provided on the sub-dock device 801 and female docking device 802 to reduce the docking process between the servo mechanism pin 9 and the pin hole.

[0046] Rope launcher 1 and automatic rope retrieving device 10 are respectively installed on the boat platform and located near sub-docking device 801. Rope launcher 1 is used to launch tow rope 2, and automatic rope retrieving device 10 is used to retrieve tow rope 2. One end of tow rope 2 is connected to automatic rope retrieving device 10, and the other end passes through the guide hole on servo mechanism pin 9 and sub-docking device 801 in sequence before connecting to rope launcher 1.

[0047] like Figure 2 As shown, the rope thrower 1 mainly consists of an outer wall 101 and an inner sleeve 102. The inner sleeve 102 is fixed inside the outer wall 101, and there is a gap between them. The traction rope 2 is stored in the inner sleeve 102. A first clamping mechanism 6 is provided on the upper part of one side of the inner sleeve 102, and a second clamping mechanism 7 is provided on the bottom.

[0048] When the traction rope 2 enters the inner sleeve 102 of the rope thrower, it passes through the first clamping mechanism 6 on one side, then through the second clamping mechanism 7 at the bottom, and extends out of the upper opening of the inner sleeve 102 from the other side of the rope thrower to be fixedly connected to the traction weight 11. The second clamping mechanism 7 is set to guide the traction rope 2 to extend to the other side of the inner sleeve 102 of the rope thrower. Except when the constraint on the traction rope 2 is disengaged when the rope is successfully thrown, the first clamping mechanism 6 and the second clamping mechanism 7 remain closed at all times, ensuring that the traction rope 2 near the automatic rope reeling device 10 can be tightly attached to the inner sleeve 102 of the rope thrower, so that when the traction rope 2 is retrieved, this section of the traction rope 2 is not between the first rotating drum 4 and the second rotating drum 5. The first clamping mechanism 6 and the second clamping mechanism 7 are driven by a motor to open and close the upper and lower jaws. When the traction rope 2 is placed in the closed jaws, the traction rope 2 can be constrained and guided to extend in a predetermined direction.

[0049] The rotating drum reversing mechanism 3 is fixed inside the outer wall 101 of the rope thrower, such as... Figure 3 As shown, the rotary drum reversing mechanism 3 has one driving gear and two driven gears. The two driven gears are rigidly connected to the connecting ends of the first rotary drum 4 and the second rotary drum 5, respectively, and the two driven gears are meshed together. The driving gear is meshed with one of the driven gears. The rotary drum reversing mechanism 3 is equipped with a motor to drive the driving gear to rotate. The motor drives the two driven gears to rotate in opposite directions through the driving gear, so that the first rotary drum 4 and the second rotary drum 5 swing in opposite directions with the connecting end as the center, that is, the two rotary drums open or close in a fan shape.

[0050] The inner sleeve 102 of the rope thrower is divided into upper and lower parts, which are fixed to the outer wall 101 of the rope thrower respectively. A gap matching the diameter of the first rotating drum 4 and the second rotating drum 5 is left between the upper and lower parts. The rotating drum reversing mechanism 3 is located outside the gap of the inner sleeve 102 of the rope thrower. The first rotating drum 4 and the second rotating drum 5 are located on both sides of the gap of the inner sleeve 102 of the rope thrower, so that the first rotating drum 4 and the second rotating drum 5 can pass through the gap when reversing under the control of the rotating drum reversing mechanism 3. Thus, when the traction rope 2 is retrieved, the first rotating drum 4 and the second rotating drum 5 enter the inner sleeve 102 of the rope thrower through the gap to clamp the traction rope 2. When the rope is thrown, the first rotating drum 4 and the second rotating drum 5 move out of the inner space of the inner sleeve 102 of the rope thrower, which will not affect the throwing of the traction rope 2. In this embodiment, the lengths of the first rotating drum 4 and the second rotating drum 5 are less than the inner diameter of the inner sleeve 102 of the rope thrower, so that when they clamp the traction rope 2, they can only clamp the section of the traction rope 2 closest to the rotating drum reversing mechanism 3.

[0051] The rope thrower 1 is tilted towards the rotating drum reversing mechanism 3 and is mounted obliquely on the unmanned surface vessel. That is, the rotating drum reversing mechanism 3 is facing downwards, and the first rotating drum 4 and the second rotating drum 5 can make oblique contact with the traction rope 2, which increases the contact area between the first rotating drum 4 and the second rotating drum 5 and the traction rope 2, ensuring that the traction rope 2 can be clamped by the first rotating drum 4 and the second rotating drum 5.

[0052] When the unmanned surface vessel (USV) is deployed from the mother ship, the towing weight 11 is positioned at the upper opening of the rope launcher 1, and serves to seal the rope launcher 1. When the rope is launched, the towing weight 11, under the action of the launching device, pulls the towing rope 2 and throws it toward the mother ship. If the rope launch fails, the first rotating drum 4 and the second rotating drum 5 rotate synchronously under the action of their respective drive motors, using friction to recover the towing rope 2. The towing weight 11 returns to its position at the upper opening of the rope launcher 1 under the traction of the towing rope 2.

[0053] In addition, the device also includes a control system, which is connected to the rotary drum reversing mechanism 3, the first rotary drum 4, the second rotary drum 5, the first clamping mechanism 6, the second clamping mechanism 7, the servo mechanism pin 9, and the automatic rope winding device 10. The operator can remotely control the operation of each component from the mother ship through the control system, avoiding the need for the operator to go on the ship and effectively improving the safety during operation.

[0054] When the mother ship deploys unmanned surface vessels:

[0055] Step 1: As Figure 4 As shown, when deploying the unmanned surface vessel (USV), the crew on the mother ship first connects the mother docking device 802 on the mother ship's hook with the daughter docking device 801 on the USV, and locks them into a stable unit through the servo mechanism pin 9. The towing weight 11 is placed at the upper opening of the rope thrower 1, and then the mother ship's lifting device lifts the USV docking device 8 and lowers the USV into the water.

[0056] Step 2: After the unmanned surface vessel (USV) is hoisted into the water and stabilized, the control system controls the servo mechanism to release pin 9, separating the sub-docking device 801 from the mother docking device 802. The mother ship then uses a lifting device to carry the mother docking device 802 back to the mother ship, preparing for the deployment of the next USV. Figure 5 As shown.

[0057] When the mother ship recovers the unmanned surface vessel:

[0058] Step 1: When the unmanned surface vessel (USV) reaches the designated recovery area and meets the preset launching conditions (such as launching distance, sea conditions, etc.), the rotating drum reversing mechanism 3 controls the first rotating drum 4 and the second rotating drum 5 to open and exit into the inner sleeve 102 of the rope thrower, without obstructing the rope throwing. Then... Figure 6 As shown, the traction weight 11, under the action of the projectile device, pulls the traction rope 2 and throws it toward the mother ship.

[0059] If, for any reason, the end of the towing rope 2 fails to be thrown onto the mother ship, the first rotating drum 4 and the second rotating drum 5 gradually approach each other under the action of the rotating drum reversing mechanism 3 until they clamp the towing rope 2. The first rotating drum 4 and the second rotating drum 5 rotate inward simultaneously under the action of their own drive motors, that is, the two rotating drums rotate in the direction of the towing rope 2. The rotating drums use the friction with the towing rope 2 to orderly retract the towing rope 2 into the inner sleeve 102 of the rope thrower. The towing weight 11 returns to the opening at the top of the inner sleeve 102 of the rope thrower. After the recovery is completed, the first rotating drum 4 and the second rotating drum 5 gradually open under the action of the rotating drum reversing mechanism 3 until they move out of the inner sleeve 102 of the rope thrower, leaving enough space for the rope to be thrown again, until the rope is successfully thrown.

[0060] Step 2: After the rope thrower 1 throws the towing rope 2 onto the mother ship, the staff on the mother ship tie the towing rope 2 to the lower metal ring of the mother docking device 802 under the hook of the mother ship's lifting device.

[0061] Step 3: The first clamping mechanism 6 and the second clamping mechanism 7 in the rope thrower 1 open, releasing the constraint on the traction rope 2, as follows. Figure 7 As shown. The automatic rope retraction device 10 is activated, gradually retracting the tow rope 2. The tow rope 2 pulls the female docking device 802 closer to the female docking device 801 on the unmanned surface vessel, and gradually inserts into the female docking device 801. When the automatic rope retraction device 10 finishes retracting the rope, as shown... Figure 8 As shown, the mother docking device 802 with the mother ship hook is docked with the daughter docking device 801 on the unmanned surface vessel. The control system controls the servo mechanism to insert the pin 9 into the pin hole to fix the daughter docking device 801 and the mother docking device 802. Finally, the unmanned surface vessel is lifted to the mother ship by the lifting device on the mother ship.

[0062] It is worth noting that the projectile device used for projecting and traction of the heavy object 11 in this invention can be a pneumatic projectile structure located inside the rope launcher, or a catapult device located on the outer wall of the rope launcher.

[0063] The structures in the device of this invention can be combined, divided, or reduced according to actual needs.

[0064] Although the invention has been disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are merely exemplary and not intended to limit the application of the invention. The scope of protection of the invention is defined by the appended claims and may include various modifications, alterations, and equivalents made to the invention without departing from the scope and spirit of the invention.

Claims

1. A deployment and recovery device for unmanned surface vessels, characterized in that, The deployment and retrieval device includes a rope thrower (1), a traction rope (2), a rotating drum reversing mechanism (3), a first rotating drum (4), a second rotating drum (5), a first clamping mechanism (6), a second clamping mechanism (7), a davit docking device (8), an automatic rope retraction device (10), and a traction weight (11). The rope thrower (1) includes an outer wall (101) and an inner sleeve (102) of the rope thrower, which are spaced apart. The inner sleeve (102) of the rope thrower is composed of an upper part and a lower part that are spaced apart, and the upper part and the lower part are respectively fixed inside the outer wall (101) of the rope thrower. The rotating drum reversing mechanism (3) is installed inside the outer wall (101) of the rope thrower between the upper and lower parts of the inner sleeve (102) of the rope thrower; the first rotating drum (4) and the second rotating drum (5) are symmetrically matched on both sides of the gap between the upper and lower parts of the inner sleeve (102) of the rope thrower, and the connecting ends of the first rotating drum (4) and the second rotating drum (5) are respectively connected to the rotating drum reversing mechanism (3), and the rope thrower (1) is obliquely mounted on the unmanned surface vessel, with the side on which the rotating drum reversing mechanism (3) is installed facing down; under the drive of the rotating drum reversing mechanism (3), the first rotating drum (4) and the second rotating drum (5) swing in opposite directions with the connecting end as the center, and when swinging to reverse direction... The first rotating drum (4) and the second rotating drum (5) pass through the gap into and out of the inner sleeve (102) of the rope thrower; when the first rotating drum (4) and the second rotating drum (5) clamp the traction rope (2), the traction rope (2) can be retrieved by rotating synchronously in the direction of the traction rope (2), and the traction rope (2) is stored in the inner sleeve (102) of the rope thrower; the first clamping mechanism (6) is installed in the upper part of the inner sleeve (102) of the rope thrower, located on the side opposite to the rotating drum reversing mechanism (3); the second clamping mechanism (7) is provided at the bottom end of the inner sleeve (102) of the rope thrower; the rope thrower (1) has an opening at the top; The davit docking device (8) includes a sub-dock device (801) and a mother docking device (802); the sub-dock device (801) is fixed on the unmanned surface vessel platform, and the rope thrower (1) and the automatic rope reeling device (10) are located near the sub-dock device (801); the mother docking device (802) is fixed on the hook of the lifting device on the mother ship; after the sub-dock device (801) and the mother docking device (802) are connected, the unmanned surface vessel is lifted by the lifting device for deployment and recovery; The automatic rope reeling device (10) is installed on the unmanned boat; one end of the traction rope (2) is fixedly connected to the automatic rope reeling device (10), and the other end first passes through the sub-docking device (801) and then enters the rope thrower (1) through the opening above the rope thrower (1), and is connected to the traction weight (11) in sequence through the first clamping mechanism (6) and the second clamping mechanism (7); when the unmanned boat is deployed, the traction weight (11) is placed at the opening, and when the unmanned boat is retrieved, the traction weight (11) throws the rope towards the mother ship under the action of the throwing device.

2. The deployment and recovery device for unmanned surface vessels according to claim 1, characterized in that, The deployment and retrieval device also includes a servo mechanism pin (9); the servo mechanism pin (9) is located below the sub-dating device (801); the female docking device (802) has a pin hole below it; the female docking device (802) is inserted into the sub-dating device (801), and the pin hole passes through the bottom end of the sub-dating device (801), and the servo mechanism pin (9) connects the sub-dating device (801) and the female docking device (802) through the pin hole.

3. The deployment and recovery device for unmanned surface vessels according to claim 2, characterized in that, The deployment and recovery device also includes a control system; the control system is signal-connected to the rotary drum reversing mechanism (3), the first rotary drum (4), the second rotary drum (5), the first clamping mechanism (6), the second clamping mechanism (7), the servo mechanism pin (9), and the automatic rope winding device (10), respectively.

4. The deployment and recovery device for unmanned surface vessels according to claim 1, characterized in that, The davit docking device (8) has an overall conical structure that gradually tapers from top to bottom.

5. The deployment and recovery device for unmanned surface vessels according to claim 1, characterized in that, The female docking device (802) is provided with a metal ring below it for binding the traction rope (2) during retrieval.

6. The deployment and recovery device for unmanned surface vessels according to claim 1, characterized in that, The rotary drum reversing mechanism (3) includes a motor, a driving gear, and two driven gears; the two driven gears are meshed and connected to the first rotary drum (4) and the second rotary drum (5) respectively; the driving gear is meshed and connected to one of the driven gears. The motor is used to drive the drive gear to rotate.

7. A method for recovering an unmanned surface vessel (USV) using a deployment and recovery device according to any one of claims 1 to 6, characterized in that, The method for recovering an unmanned surface vessel from a mother ship includes the following steps: S1. When the unmanned boat reaches the set recovery area and meets the preset launching conditions, the rotating drum reversing mechanism (3) controls the first rotating drum (4) and the second rotating drum (5) to open and exit the inner sleeve (102) of the rope thrower. The traction weight (11) is pulled by the traction rope (2) and thrown towards the mother ship under the action of the launching device. When the traction rope (2) fails to be thrown onto the mother ship, the rotating drum reversing mechanism (3) drives the first rotating drum (4) and the second rotating drum (5) to come together and clamp the traction rope (2). The first rotating drum (4) and the second rotating drum (5) rotate simultaneously in the direction of the traction rope (2) to retrieve the traction rope (2) into the inner sleeve (102) of the rope thrower. The traction weight (11) returns to its position. The rotating drum reversing mechanism (3) drives the first rotating drum (4) and the second rotating drum (5) to open and move out of the inner sleeve (102) of the rope thrower to prepare for throwing the rope again until the rope is successfully thrown. S2. After the traction rope (2) is thrown onto the mother ship, it is bound to the metal ring at the bottom of the mother docking device (802); S3. The first clamping mechanism (6) and the second clamping mechanism (7) release the constraint on the traction rope (2), and the automatic rope reeling device (10) starts to reel in the traction rope (2). The traction rope (2) pulls the female docking device (802) close to the female docking device (801) on the unmanned surface vessel until the female docking device (802) is completely inserted into the female docking device (801). The automatic rope reeling device (10) finishes reeling in the rope, and the servo mechanism pin (9) fixes the female docking device (801) and the female docking device (802) together. The lifting device on the mother ship lifts the unmanned surface vessel onto the mother ship.

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