A multi-unmanned ship deployment and recovery device, a deployment and recovery method and system

Abstract

The application provides a multi-unmanned ship deployment and recovery device, which comprises a crane mechanism, a lifting mechanism, a posture adjusting mechanism, a floating bracket and a support frame. The crane mechanism adopts a double rocker mechanism, is simultaneously driven by electric push rods on both sides of a crane body, and is provided with two functions of folding and parallel unfolding. The device can be converted according to the working requirement, and the static placement of the unmanned ship and the deployment and recovery operation before and after the unmanned ship performs a task are realized respectively. The lifting mechanism is composed of a winding mechanism and a stepping motor, so that the lifting and lowering functions of the unmanned ship are realized. The posture adjusting mechanism is composed of a pair of double-layer scissors mechanisms and an electric push rod, and the posture control of the floating bracket on the water surface can be realized. The multi-unmanned ship deployment and recovery device designed in the application can realize the autonomous deployment and recovery of the multi-unmanned ship, avoids the complicated operation of manually deploying and recovering the multi-unmanned ship, and improves the working efficiency of the unmanned ship.

Description

Technical Field

[0001] This invention relates to the field of marine hull crane equipment technology, and in particular to a multi-unmanned surface vessel (USV) deployment and recovery device, deployment and recovery method and system. Background Technology

[0002] With the development of modern science and technology, unmanned platform technology has received widespread attention and in-depth research. Among them, unmanned surface vessels (USVs), due to their advantages of small size, high maneuverability, and stealthy operation, are increasingly used in marine exploration and surveying. However, many problems exist in the deployment and recovery of heavy objects such as USVs at sea. For example:

[0003] 1. During the deployment and retrieval of multiple unmanned surface vessels (USVs), the manual operation of cranes for repeated lifting and lowering is not only cumbersome but also consumes a lot of time, greatly reducing the working efficiency of the USVs.

[0004] 2. During the recovery of the unmanned surface vessel (USV), both the mother ship and the USV will sway due to wind, waves, and undercurrents. This not only increases the difficulty of manual operation, but also makes the USV prone to collision with the side of the mother ship, resulting in damage to the USV.

[0005] Therefore, there is an urgent need for a device that can automatically deploy and recover multiple unmanned surface vessels (USVs) to save on manual operation and preparation time costs, while ensuring the safety and reliability of USV deployment and recovery. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-unmanned surface vessel (USV) deployment and retrieval device for the deployment and retrieval process of unmanned surface vessels (USVs) at sea, so as to reduce the deployment and retrieval time of multiple USVs, improve the working efficiency of USVs, and ensure the safety of USV deployment and retrieval.

[0007] To achieve the above objectives,

[0008] On one hand, the present invention provides a multi-unmanned surface vessel (USV) deployment and recovery device, including a boom mechanism, a hoisting mechanism, and an attitude adjustment mechanism; the boom mechanism includes a square base frame, with a front rocker arm and a rear rocker arm hinged to each of the two long sides of the base frame, and a first electric push rod hinged to each of the two long sides of the base frame, the first electric push rod being located between the front rocker arm and the rear rocker arm; the upper ends of the front rocker arm and the upper ends of the rear rocker arm are hinged to the same square boom frame, and photoelectric limit switches are respectively provided on the front and rear sides of the lower end of the front rocker arm for positioning the forward or backward swing angle of the front rocker arm; the short side of the boom frame is parallel to the short side of the base frame, and multiple lifting tubes parallel to its short side are fixedly connected to the boom frame, each lifting tube having two hoisting mechanisms, and two hoisting mechanisms suspending... There is a floating bracket for carrying the unmanned surface vessel (USV). An attitude adjustment mechanism is provided between every two adjacent floating brackets to adjust the distance and angle between them. The attitude adjustment mechanism includes two symmetrically arranged scissor-type telescopic mechanisms. One of the scissor-type telescopic mechanisms has a second electric push rod hinged to both ends. The telescopic end of the second electric push rod is hinged to the hinge shaft on the outside of the other scissor-type telescopic mechanism. The two second electric push rods jointly control the extension and retraction of the two sets of scissor-type telescopic mechanisms. The two scissor-type telescopic mechanisms are equipped with parallel rods that link them together, forming a pair of double-layer scissor mechanisms. Each end of the double-layer scissor mechanism is hinged to a moving platform, and the two moving platforms are respectively hinged to the corresponding two floating brackets.

[0009] In some embodiments, the hoisting mechanism includes a housing, inside which is a winding turntable on which a cable is wound. A stepper motor is mounted on the housing and is driven by the winding turntable. A planetary reducer is driven between the stepper motor and the winding turntable.

[0010] In some embodiments, the upper end of the hoisting mechanism is provided with a hoisting block, which is connected to the housing via a pressure sensor 21. The hoisting block has a through hole, and the hoisting block is sleeved on the hoisting pipe through the through hole. Multiple hose clamps are fixedly connected to the hoisting pipe to limit the relative displacement between the hoisting block and the hoisting pipe.

[0011] In some embodiments, the housing is provided with four rollers located below the winding turntable. Each pair of rollers arranged side by side forms a group, and the two groups of rollers are arranged vertically. The cable passes through the two groups of rollers in sequence.

[0012] In some embodiments, a support frame is fixedly connected to the base frame, and the upper end of the support frame is stepped.

[0013] On the other hand, this invention discloses a method for deploying and recovering multiple unmanned surface vessels;

[0014] The method includes a multi-unmanned surface vessel (USV) deployment process: cable reeling raises the floating support frame until all floating support frames are raised to their highest limit, at which point the floating support frames separate from the support frame; the first electric push rod extends, pushing the front rocker arm to swing forward around its bottom hinge point, with the rear rocker arm following suit, causing the boom frame to move forward and unfold until the frame is horizontal; multiple lifting mechanisms simultaneously unwind, causing multiple floating support frames to descend in parallel and synchronously until they contact the water surface; the vessel deployment posture is selected, and two second electric push rods work together to adjust the position and angle of the floating support frames; the vessel then moves away from the floating support frames.

[0015] Multi-unmanned surface vessel (USV) recovery method: The vessel enters the floating support; both second electric push rods of the attitude adjustment mechanism retract to preset values, and the two sets of scissor telescopic mechanisms retract to their limit positions, making the multiple floating supports parallel; multiple hoisting mechanisms simultaneously rewind, raising the multiple floating supports to their highest limit positions; the first electric push rod retracts, and the front rocker arm swings backward to a preset angle; the cable is unwound, causing the multiple floating supports to fall onto the support frame in sequence.

[0016] Compared with existing known technologies, the present invention has the following significant advantages:

[0017] 1. A single operation can deploy and recover three unmanned surface vessels, enhancing the efficiency and significance of unmanned surface vessels in performing missions.

[0018] 2. It has good versatility and can be installed on multiple types of mother ships.

[0019] 3. The position and angle of the floating bracket can be adjusted through the attitude adjustment mechanism. Combined with the wave compensation algorithm, the position and angle of the floating bracket can be dynamically adjusted to adapt to complex sea conditions and improve the success rate and stability of unmanned surface vessel recovery. After combining the wave compensation algorithm, this invention can also avoid collisions and damage between the unmanned surface vessel and the mother ship.

[0020] 4. The attitude adjustment mechanism enables the floating bracket assembly to change to six main deployment and retrieval attitudes, reducing the mutual interference between the mother ship and the floating bracket when multiple unmanned surface vessels are deployed and retrieved, and effectively promoting the smooth recovery of multiple unmanned surface vessels. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 for Figure 1 The diagram shows the structure of the attitude adjustment mechanism.

[0023] Figure 3 for Figure 1 The diagram shows the structure of the hoisting mechanism.

[0024] Figure 4 for Figure 3 The diagram shows the internal structure of the hoisting mechanism.

[0025] Figure 5 This is a schematic diagram of the deployment and recycling device in a non-operational state.

[0026] Figure 6 This is a schematic diagram of the deployment and recovery device in a longitudinally deployed posture during operation.

[0027] Figure 7 This diagram illustrates six possible attitudes of the floating bracket assembly achieved by the attitude adjustment mechanism.

[0028] Figure 8 This is a control diagram illustrating the various subsystems of the deployment and recovery control system.

[0029] Figure 9 The control flow diagrams are for two modes of the deployment and recovery control system.

[0030] Explanation of the labels in the diagram:

[0031] 1. Photoelectric limit switch; 2. First electric push rod; 3. Base frame; 4. Support frame; 5. Front rocker arm; 6. Rear rocker arm; 7. Boom frame; 8. Joint hinge; 9. Lifting pipe; 10. Fixing block; 11. Winding turntable; 12. Stepper motor; 13. Cable; 14. Floating bracket; 15. Moving platform; 16. Connecting rod; 17. Parallel rod; 18. Second electric push rod; 19. Connecting hinge; 20. Motor frame; 21. Pressure sensor; 22. Lifting block; 23. Hose clamp; 24. Planetary reducer; 25. Roller. Detailed Implementation

[0032] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0033] See Figures 1-7 A multi-unmanned surface vessel (USV) deployment and recovery device includes a boom mechanism, a hoisting mechanism, and an attitude adjustment mechanism. The boom mechanism includes a square base frame 3, with a front rocker arm 5 and a rear rocker arm 6 hinged to each of the two long sides of the base frame 3. A first electric push rod 2 is connected to each of the two long sides of the base frame 3, and the first electric push rod 2 is located between the front rocker arm 5 and the rear rocker arm 6. The upper ends of the front rocker arm 5 and the rear rocker arm 6 are hinged to the same square boom frame 7. The base frame 3, the front rocker arm 5, the rear rocker arm 6, and the boom frame 7 are connected by joint hinges 8 to form a double rocker mechanism. The front rocker arm 5 is driven to swing by the first electric push rods 2 on both sides to realize the horizontal deployment and retraction of the boom frame 7. At the same time, a pair of photoelectric limit switches 1 limit the swing angle of the front rocker arm 5 to accurately position the deployment and retraction positions.

[0034] The short side of the boom 7 is parallel to the short side of the base frame 3. Three lifting pipes 9 parallel to its short side are fixedly connected to the boom 7. The lifting pipes 9 are installed on the boom 7 above each floating bracket 14 through fixing blocks 10.

[0035] In this example, three floating brackets 14 are set.

[0036] The base frame 3 is fixedly connected to the support frame 4. The upper end of the support frame 4 is stepped and is used to support the floating bracket 14.

[0037] When not in operation, the boom mechanism is in a retracted state, the hoisting mechanism releases cable 13, and the unmanned surface vessel, together with the floating bracket 14, is placed on the support frame 4 in a stepped manner.

[0038] Furthermore, each of the lifting pipes 9 is provided with two lifting mechanisms; a floating bracket 14 is suspended on the two lifting mechanisms. The floating bracket 14 is used to carry the unmanned surface vessel. An attitude adjustment mechanism is provided between every two adjacent floating brackets 14. The attitude adjustment mechanism is used to adjust the distance and angle between the two floating brackets 14.

[0039] When not in operation, the boom 7 is retracted at an angle, and the floating bracket 14 and the unmanned surface vessel are placed statically on the support frame 4 in a stepped manner.

[0040] In operation, the first electric push rod 2 drives the front rocker arm 5 to control the retraction and horizontal deployment of the boom mechanism; the stepper motor 12 drives the winding turntable 11 to control the hoisting mechanism to release and retract the cable 13 to hoist the floating bracket 14. A pair of second electric push rods 18 push the connecting rod 16 to control the folding and extension of the attitude adjustment mechanism to adjust the positional relationship of the floating bracket 14; the deployment and recovery control system automatically executes the action sequence of each mechanism according to the control mode set, thereby realizing the simultaneous deployment and recovery of three unmanned surface vessels.

[0041] The hoisting mechanism includes a housing, inside which is a winding turntable 11 on which a cable 13 is wound. A stepper motor 12 is mounted on the housing and is connected to the winding turntable 11 for controlling the winding and unwinding of the turntable.

[0042] A planetary reducer 24 is connected between the stepper motor 12 and the winding turntable 11. The stepper motor 12 increases its torque through the planetary reducer 24, thereby driving the winding turntable 11 to wind and unwind the cable 13, ultimately enabling each floating bracket 14 to be suspended by two cables 13.

[0043] The upper end of the hoisting mechanism is provided with a hoisting block 22, and the hoisting block 22 is connected to the housing through a pressure sensor 21.

[0044] The lifting block 22 has a through hole, and the lifting block 22 is sleeved on the lifting pipe 9 through the through hole. Multiple hose clamps 23 are fixedly connected to the lifting pipe 9 to limit the relative displacement between the lifting block 22 and the lifting pipe 9.

[0045] The housing contains four rollers 25 located below the winding turntable 11. Each pair of rollers 25 arranged side by side forms a group, and the two groups of rollers 25 are arranged vertically. The cable 13 passes through the two groups of rollers 25 in sequence. The vertically staggered arrangement of the two groups of rollers 25 is beneficial for the cable 13 to be stretched from all directions without affecting the winding turntable 11.

[0046] See Figures 3-4 During the overall hoisting and lowering of the three floating brackets 14, the tension of the cables 13 varies due to the different lifting heights of each floating bracket 14, resulting in significant differences in the actual tension of each hoisting mechanism. Therefore, pressure sensors 21 monitor the force on each hoisting mechanism and provide feedback to the control system. The control system uses an algorithm (which can be implemented with existing technology and will not be elaborated on here) to balance the tension of each hoisting mechanism and prevent excessive motor load.

[0047] See Figure 7 The attitude adjustment mechanism includes two sets of symmetrically arranged scissor-type telescopic mechanisms. One of the scissor-type telescopic mechanisms has a second electric push rod 18 hinged at both ends. The telescopic end of the second electric push rod 18 is hinged at the hinge shaft on the outside of the other scissor-type telescopic mechanism. The two second electric push rods 18 jointly control the extension and retraction of the two sets of scissor-type telescopic mechanisms, and the combination results in a pair of double-layer scissor mechanisms.

[0048] The two ends of the scissor-type telescopic mechanism are respectively hinged to a moving platform 15. The two moving platforms 15 are respectively hinged to two corresponding floating brackets 14. The floating brackets 14 are connected to the moving platforms 15 through connecting hinges 19, forming a semi-rigid connection between them.

[0049] Specifically, a double-layer scissor mechanism is folded or extended by two second electric push rods 18, and then moves synchronously to the second double-layer scissor mechanism through the parallelogram mechanism formed by the parallel rods 17, thereby realizing the control of the attitude of the floating bracket 14.

[0050] See Figure 5 , Figure 6 , Figure 8 and Figure 9 A method for deploying multiple unmanned surface vessels includes the following steps:

[0051] 1) The cable 13 is wound up to raise the floating bracket 14 until all three floating brackets 14 are raised to the highest limit point, and the floating brackets 14 are separated from the support frame 4.

[0052] 2) The first electric push rod 2 extends, pushing the front rocker arm 5 to swing forward with its bottom hinge as the axis, the rear rocker arm 6 follows, and the boom 7 moves forward and unfolds until the frame is horizontal;

[0053] 3) The six hoisting mechanisms release the rolls simultaneously, causing the six floating brackets 14 to descend in parallel and synchronously until they contact the water surface;

[0054] 4) Select the vessel deployment posture, and the two second electric push rods 18 work together to adjust the position and angle of the floating bracket 14;

[0055] 5) The vessel departs from the floating support 14;

[0056] The deployment work begins. The stepper motor 12 of the hoisting mechanism drives the winding turntable 11 to tighten the cable 13 and hoist the unmanned surface vessel to the highest point. The first electric push rod 2 extends, driving the boom mechanism to turn to a horizontally extended state. Then, the hoisting mechanism lowers the floating bracket 14 to the water surface to float automatically. The second electric push rod 18 then drives the attitude adjustment mechanism to unfold and control the overall attitude of the floating bracket 14. Finally, the unmanned surface vessel sails out to complete the deployment work.

[0057] See Figure 5 , Figure 6 , Figure 8 and Figure 9 A method for recovering unmanned surface vessels (USVs) after they have completed their missions includes the following steps:

[0058] 1) The vessel enters the floating support 14;

[0059] 2) Both second electric push rods 18 of the attitude adjustment mechanism retract to the preset value, and the two sets of scissor telescopic mechanisms retract to the limit position, so that the three floating brackets 14 are parallel;

[0060] 3) The six hoisting mechanisms simultaneously rewind, raising the three floating brackets 14 to their highest limit positions;

[0061] 4) The first electric push rod 2 retracts, and the front rocker arm 5 swings backward to the preset angle;

[0062] 5) The cable 13 is unwound, causing the three floating brackets 14 to fall onto the support frame 4 in sequence.

[0063] After completing their mission, the unmanned surface vessels (USVs) return to their respective floating brackets 14 and begin the recovery process. First, the attitude adjustment mechanism folds, and the hoisting mechanism uses the recovery cable 13 to lift the USV to its highest point. Then, the boom mechanism retracts, and finally, the hoisting mechanism lowers the USV onto the support frame 4, completing the recovery process.

[0064] See Figure 8 and Figure 9A multi-unmanned surface vessel (USV) recovery system is used to execute the deployment and recovery methods of USVs. It includes a boom control system for receiving active switch signals and stop signals fed back by photoelectric limit switches 1, and controlling the synchronous extension and retraction of two first electric push rods 2 to realize two action modes (motion control 1 and motion control 2).

[0065] The hoisting system controls the forward and reverse rotation of six stepper motors 12 (i.e., the raising and lowering of the cable 13), and can implement 5 sets of motion control commands, namely:

[0066] Action control 1 causes cables 1-6 to retract simultaneously by length h0;

[0067] Action control 2 means that cables 1 and 4 (13) do not move, cables 2 and 5 (13) retract to length h1, and cables 3 and 6 (13) retract to length h2.

[0068] Action control 3 extends cables 1-6 13 simultaneously. When all cables are below the preset value of the pressure sensor 21 of the hoisting mechanism, the extension stops.

[0069] Action control 4 shortens cables 1-6 13 simultaneously. When all cables exceed the preset value of pressure sensor 21, the shortening stops.

[0070] Action control 5 is as follows: cables 1 and 4 (13) do not move; cables 2 and 5 (13) extend by length h1; cables 3 and 6 (13) extend by length h2.

[0071] The attitude system is used to control the extension and retraction of the second electric push rod 18, and to regulate the extension and swing angle of the double-layer scissor mechanism. There are a total of six attitude control commands.

[0072] Attitude control 1 means that the second electric push rods 18 of numbers 1-4 are all retracted to their shortest length, corresponding to the initial attitude;

[0073] Attitude control 2 means that the second electric push rods 18 of numbers 1-4 are all extended to their longest corresponding longitudinal unfolding posture;

[0074] Attitude control 3 corresponds to the V-shaped unfolding posture when the second electric push rods 18 of No. 1 and No. 4 are extended to their longest length and the second electric push rods 18 of No. 2 and No. 3 are retracted to their shortest length.

[0075] Attitude control 4 extends the second electric push rods 18 of No. 2 and No. 3 to their longest length, and retracts the second electric push rods 18 of No. 1 and No. 4 to their shortest length, corresponding to the inverted V-shaped unfolding posture;

[0076] Attitude control 5 is to extend the second electric push rods 18 of No. 1 and No. 3 to their longest length, and retract the second electric push rods 18 of No. 2 and No. 4 to their shortest length, corresponding to the left oblique unfolding posture;

[0077] Attitude control 6 extends the second electric push rods 18 of No. 2 and No. 4 to their longest length, and retracts the second electric push rods 18 of No. 1 and No. 3 to their shortest length, corresponding to the right-angled unfolding attitude.

[0078] refer to Figure 7 By adjusting the attitude adjustment mechanism through the attitude system, the floating bracket 14 can achieve six attitudes, namely the initial attitude, longitudinal unfolding attitude, V-shaped unfolding attitude, inverted V-shaped unfolding attitude, left oblique unfolding attitude, and right oblique unfolding attitude.

[0079] In addition, the attitude system can also be combined with the wave compensation algorithm to dynamically adjust the position and angle of the floating bracket 14 to adapt to complex sea conditions, improve the success rate and stability of unmanned surface vessel recovery. After combining the wave compensation algorithm, this invention can also avoid collisions and damage between the unmanned surface vessel and the mother ship.

[0080] Combined with the above-mentioned deployment and recovery system, this multi-unmanned surface vessel deployment and recovery device can perform the following deployment modes:

[0081] First, the hoisting system controls cables 1-6 13 to retract simultaneously by length h0 (Action Control 1), causing the floating brackets 14 assembly to slide and rise, detaching from the support frame 4, with floating bracket 14 1 reaching its highest point. Then, cables 1 and 4 13 remain stationary, cables 2 and 5 retract by length h1, and cables 3 and 6 retract by length h2 (Action Control 2). At this point, all floating brackets 14 assemblies have reached their highest points, with their inclinations matching those of the boom 7. Next, the boom system controls the extension of the first electric push rod 2. When the current rocker arm 5 reaches the photoelectric limit switch 1, the boom system receives feedback to stop extending the first electric push rod 2 (Motion Control 1). The boom 7 has now extended to a state parallel to the water surface, and simultaneously, the floating brackets 14 assemblies change from a stepped configuration to a parallel configuration. Then, the hoisting system controls the simultaneous extension of cables 1-6 13. When the floating brackets 14 assemblies float on the water surface, and the pressure sensor 21 of the hoisting mechanism falls below a preset value, the extension stops (Action Control 3). Finally, select the deployment posture, such as the longitudinal unfolding posture. The posture system controls the second electric push rods 18 of numbers 1-4 to extend to their maximum length (posture control 2), thereby ending the deployment mode.

[0082] Combined with the above-mentioned deployment and recovery system, this multi-unmanned surface vessel deployment and recovery device can perform the following recovery modes:

[0083] First, the attitude system controls the second electric push rods 18 (numbers 1-4) to retract to their shortest length (attitude control 1). Then, the hoisting system controls cables 1-6 to shorten simultaneously. When the pressure sensor 21 is above the preset value, the shortening stops (action control 4). At this time, the cables 13 are at their shortest length, and the floating bracket 14 group is hoisted to its highest position. Then, the boom system controls the first electric push rod 2 to shorten. When the rocker arm reaches the photoelectric limit switch 1, the boom system receives feedback and stops shortening (motion control 2). At this time, the boom mechanism is in a retracted state. During this process, the floating bracket 14 group changes from a parallel state to a stepped state, with the slope consistent with the boom frame 7. Then, the hoisting system controls cables 1 and 4 to remain stationary, cables 2 and 5 to extend by length h1, and cables 3 and 6 to extend by length h2 (action control 5), so that the slope of the floating bracket 14 group is consistent with the floating bracket 14 support frame 4. Finally, the hoisting system controls the simultaneous extension of cables 1-6 13. When the floating bracket 14 group is placed on the floating bracket 14 support frame 4, the pressure sensors 21 of the hoisting mechanism are all below the preset value, stopping the extension (action control 3), thus ending the recovery mode.

Claims

1. A multi-unmanned surface vessel deployment and recovery device, characterized in that, Includes boom mechanism, lifting mechanism, and attitude adjustment mechanism; The boom mechanism includes a square base frame, with a front rocker arm and a rear rocker arm hinged to each of the two long sides of the base frame. A first electric push rod is also hinged to each of the two long sides of the base frame, and the first electric push rod is located between the front rocker arm and the rear rocker arm. The upper ends of the front rocker arm and the rear rocker arm are hinged to the same square boom frame. Photoelectric limit switches are provided on the front and rear sides of the lower end of the front rocker arm, respectively, for positioning the forward or backward swing angle of the front rocker arm. The short side of the boom is parallel to the short side of the base frame. Multiple lifting pipes parallel to its short side are fixedly connected to the boom. Each lifting pipe is equipped with two lifting mechanisms. A floating bracket is suspended from the two lifting mechanisms. The floating bracket is used to carry the unmanned surface vessel. An attitude adjustment mechanism is provided between every two adjacent floating brackets. The attitude adjustment mechanism is used to adjust the distance and angle between the two floating brackets. The attitude adjustment mechanism includes two sets of symmetrically arranged scissor-type telescopic mechanisms. One of the scissor-type telescopic mechanisms has a second electric push rod hinged to both ends. The telescopic end of the second electric push rod is hinged to the hinge shaft on the outside of the other scissor-type telescopic mechanism. The two second electric push rods jointly control the extension and retraction of the two sets of scissor-type telescopic mechanisms. The two scissor-type telescopic mechanisms are provided with parallel rods that link them together, forming a pair of double-layer scissor mechanisms. The two ends of the double-layer scissor mechanisms are respectively hinged to a moving platform, and the two moving platforms are respectively hinged to two corresponding floating brackets.

2. The multi-unmanned surface vessel deployment and recovery device according to claim 1, characterized in that: The hoisting mechanism includes a housing, inside which is a winding turntable on which a cable is wound. A stepper motor is mounted on the housing and is connected to the winding turntable. A planetary reducer is connected between the stepper motor and the winding turntable.

3. The multi-unmanned surface vessel deployment and recovery device according to claim 2, characterized in that: The upper end of the hoisting mechanism is equipped with a hoisting block, and the hoisting block is connected to the housing through a pressure sensor; The lifting block has a through hole, and the lifting block is sleeved on the lifting pipe through the through hole. Multiple hose clamps are fixedly connected to the lifting pipe to limit the relative displacement between the lifting block and the lifting pipe.

4. The multi-unmanned surface vessel deployment and recovery device according to claim 3, characterized in that: The housing contains four rollers located below the winding turntable. Each pair of rollers arranged side by side forms a group, and the two groups of rollers are arranged vertically. The cable passes through the two groups of rollers in sequence.

5. A multi-unmanned surface vessel deployment and recovery device according to claim 1, characterized in that: A support frame is fixedly connected to the base frame, and the upper end of the support frame is stepped.

6. A method for deploying multiple unmanned surface vessels (USVs), applied to the multi-USV deployment and recovery device according to any one of claims 1-5, characterized in that, Includes the following steps: The cable rewinding raises the floating brackets until all the floating brackets are raised to their highest limit points, at which point the floating brackets separate from the support frame. The first electric push rod extends, pushing the front rocker arm to swing forward with its bottom hinge as the axis, and the rear rocker arm follows, causing the boom to move forward and unfold until the frame is horizontal. Multiple hoisting mechanisms release the rolls simultaneously, causing multiple floating brackets to descend in parallel and synchronously until they contact the water surface; Select the vessel deployment posture, and the two second electric push rods work together to adjust the position and angle of the floating bracket; The ship sailed away from the floating support.

7. A method for recovering multiple unmanned surface vessels (USVs), applied to the deployment and recovery device for multiple USVs as described in any one of claims 1-5, characterized in that, Includes the following steps: The ship entered the floating support; Both second electric push rods of the attitude adjustment mechanism retract to the preset value, and the two sets of scissor telescopic mechanisms retract to the limit position, so that multiple floating brackets are parallel; Multiple hoisting mechanisms simultaneously rewind, raising multiple floating brackets to their maximum limit points; The first electric push rod retracts, and the front rocker arm swings backward to a preset angle; The cable is unwound, causing multiple floating brackets to fall sequentially onto the support frame.

8. A multi-unmanned surface vessel recovery system for performing the method of claim 6 or 7, characterized in that, It includes a boom control system, which receives active switch signals and stop signals from photoelectric limit switches, and controls the synchronous extension and retraction of the two first electric push rods; The hoisting system is used to control the forward and reverse rotation of the stepper motor and to control the winding and unwinding of the cable. The attitude system is used to control the extension and retraction of the second electric actuator, and to regulate the extension, retraction, and swing angles of the double-layer scissor mechanism.

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