An unmanned monitoring vessel for marine environment

Abstract

The invention relates to an unmanned monitoring ship for marine environment in the field of unmanned monitoring ships. The unmanned ship comprises an unmanned ship body, monitoring equipment is installed on the unmanned ship body, a mounting box is connected to the bottom end of the unmanned ship body, the mounting box comprises a main box body, a plurality of receiving slots are opened at the lower end of the main box body, a plurality of distributed storage devices are suspended in the receiving slots; the distributed storage device comprises an outer frame, a storage unit is installed in the distributed storage device, the storage unit comprises a sealed shell sealedly connected to the outer frame, a sample storage tube and a chassis are installed in the sealed shell, a single chip microcomputer, a battery, a locator, a data storage device and a communication device are arranged in the chassis; monitoring samples and data are stored in the distributed storage device and are released after regional monitoring work, so as to reduce the load of the ship body so as to facilitate subsequent detection work; when releasing, an environmental safety area is set as the release area to ensure that the distributed storage device can be safely recovered.

Description

Technical Field

[0001] The present invention relates to an unmanned monitoring ship for marine environment, and in particular to an unmanned monitoring ship for marine environment applied in the field of unmanned monitoring ships. Background Art

[0002] Unmanned monitoring ships are highly automated marine platforms that can perform various marine monitoring tasks without crew members. Unmanned monitoring ships can serve as carriers and control centers for a variety of unmanned equipment, and can carry drones, unmanned boats, autonomous underwater submersibles and other equipment for marine scientific research and monitoring according to different mission requirements.

[0003] In order to solve the problem of data storage and transmission when the unmanned monitoring ship has insufficient memory, a certain unmanned monitoring ship in the market adopts a wireless data transmission design and has a certain market share.

[0004] The specification of Chinese invention patent CN116620491B discloses a walking type online hydrological information unmanned monitoring ship and a hydrological monitoring mobile method. The walking type online hydrological information unmanned monitoring ship is provided with a hull, and a control box for controlling the operation of the hull, a combined inertial navigation antenna, a millimeter wave radar, a high-definition camera, a pole bracket and a lithium battery pack are arranged inside the hull, an automatic steering gear and a propulsion motor are arranged at the tail, water quality detection and analysis equipment for detection is arranged on both sides of the middle of the hull, Doppler current meters and data transmission antennas for transmitting data are arranged on both sides of the rear of the hull, and temperature and humidity transmitters, wind direction transmitters, rain gauges, wind speed transmitters, rain and snow transmitters, solar panels and protective boxes are arranged on the pole bracket; the walking type online hydrological information unmanned monitoring ship can navigate in the water area with the optimal path through its own algorithm, and collect and record various hydrological information of the water area during the navigation process, so as to realize walking type and online real-time monitoring of the detection water area, with high efficiency, wide range of collected data and strong researchability.

[0005] Existing unmanned monitoring ships have inconvenience in transmitting monitoring samples and data. When an unmanned monitoring ship stores a large number of monitoring samples, the load is large and affects the operation of the unmanned monitoring ship. Summary of the invention

[0006] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the existing unmanned monitoring ships have inconvenience in transmitting monitoring samples and data. When the unmanned monitoring ships store a large number of monitoring samples, the load is large and affects the operation of the unmanned monitoring ships.

[0007] In order to solve the above problems, the present invention provides an unmanned monitoring ship for marine environment, comprising an unmanned ship body, a monitoring device is installed on the unmanned ship body, a mounting box is connected to the bottom end of the unmanned ship body, and the mounting box comprises a main box body, a plurality of receiving slots are opened at the lower end of the main box body, and a plurality of distributed storages are suspended in the receiving slots;

[0008] The distributed storage device comprises an outer frame, an inflatable airbag is connected to the outer end of the outer frame, an inflatable tube matching the inflatable airbag is connected to the main box body, an air pump matching the inflatable tube is installed in the main body of the unmanned boat, a storage unit is installed in the outer frame, the storage unit comprises a sealed shell sealedly connected to the outer frame, a sample storage tube and a chassis are installed in the sealed shell, a plurality of storage chambers and a liquid discharge channel are arranged in the sample storage tube, a one-way valve matching the sample storage tube is installed on the sealed shell, a conduit with a first solenoid valve is connected between the one-way valve and the liquid discharge channel and the plurality of storage chambers; an infusion tube connected to the one-way valve is installed in the receiving tank, and a liquid pump matching the infusion tube is installed in the main body of the unmanned boat;

[0009] The chassis is provided with a single chip microcomputer, a battery, a positioner, a data storage device and a communication device; a data line is connected and installed in the middle of the receiving slot, a docking seat is installed on the data line, and a docking connector matching the docking seat is installed on the upper end of the sealing shell;

[0010] A pair of electric push rods are installed in the accommodating groove, a hanging arm is installed at the movable end of the electric push rod, and a vertical frame matched with the hanging arm is connected to the upper end of the distributed storage device.

[0011] In the above-mentioned unmanned monitoring ship used for marine environment, the overall plan and effect are summarized in one sentence.

[0012] As a further improvement of the present application, an exhaust pipe and a one-way inflation connector are installed on the inflatable airbag, an electromagnetic opening and closing valve connected to the communication device is installed on the exhaust pipe, the inflation pipe includes a bellows, one end of the bellows extends into the main body of the unmanned boat, and the other end of the bellows is installed with an inflation plug matching the inflation connector.

[0013] As a further improvement of the present application, the input end and output end of the liquid pump are respectively connected to a sampling tube and a three-way output tube, the two output ends of the three-way output tube are respectively connected to a sample output tube and a drainage tube, a second solenoid valve is connected between the sample output tube and multiple infusion tubes, and an air supply pipe is connected between the air pump and the sample output tube.

[0014] As a further improvement of the present application, the distance between a pair of tail plates is greater than the outer diameter of the distributed storage device after the multiple inflatable airbags are inflated.

[0015] As another improvement of the present application, a pair of tail plates are installed at the rear end of the unmanned boat body, and the opposite ends of the pair of tail plates are connected to a clamping and recovery mechanism; the clamping and recovery mechanism includes a vertical guide rail, the movable end of the vertical guide rail is fixedly connected to a cylinder, the movable end of the cylinder is connected to a clamp, the upper end of the vertical guide rail is connected to an electric telescopic rod, and the power telescopic end of the electric telescopic rod is connected to a suspension arm matching the stand.

[0016] As another improved supplement of the present application, the stand is triangular in shape, and the top ends of the hanging arm and the suspension arm are both equipped with elliptical limit blocks matching the stand, and the diameter of the elliptical limit blocks is smaller than the width of the lower end of the stand.

[0017] As another improved supplement of the present application, a monitoring and control system is also included, the monitoring and control system includes a processor installed in the unmanned ship body, the processor is connected to a data management module, a data storage module, a positioning module, a communication module, a monitoring module, an equipment control module and a path planning module; the positioning module is used to locate the positioning position of the unmanned ship body and the distributed storage;

[0018] The data management module is used for monitoring data statistics and storage space allocation; the monitoring module is used to process the marine environment monitoring data monitored by the monitoring equipment; the path planning module plans the movement path of the monitoring ship according to the positioning module data; the liquid pump, mounting box and clamping recovery mechanism are all connected to the equipment control module signal, and the chassis communication device is connected to the communication module signal.

[0019] As another improvement of the present application, each distributed storage device is used to store monitoring data and monitoring samples of different areas. After the monitoring module completes the monitoring work of the set range area, the path planning module sets the delivery area of ​​the distributed storage device, and the monitoring data of the delivery area matches the preset safety area monitoring data.

[0020] As another improvement of the present application, after the distributed storage device is placed in the delivery area, the communication device continuously sends signals to the set contact. When the distributed storage device is recovered, the communication device sends a confirmation signal to the communication module. Before the distributed storage device is recovered, the unmanned ship body cruises and monitors within the set distance range of the delivery area. When the monitoring data changes to within the alarm monitoring value range and the distributed storage device has not been recovered, the unmanned ship body returns to the delivery area to recover the distributed storage device.

[0021] As another improvement of the present application, when the unmanned ship body continuously monitors the set range area, a distributed storage device is placed in a preset delivery area at set intervals. After multiple distributed storage devices are placed, the unmanned ship body stays in the preset delivery area and waits for recovery.

[0022] To summarize, monitoring samples and data are stored in distributed storage devices and released after regional monitoring work, reducing the hull load to facilitate subsequent detection work. When releasing, an environmentally safe area is set as the release area to ensure that the distributed storage devices can be safely recovered. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a front perspective view of the first embodiment of the present application;

[0024] Figure 2This is a bottom perspective view of the first embodiment of the present application;

[0025] Figure 3 This is a side sectional view of the first embodiment of the present application;

[0026] Figure 4 This is a schematic diagram of the connection between the distributed storage device, the liquid pump and the air pump according to the first embodiment of the present application;

[0027] Figure 5 for Figure 4 The structural diagram at A in the middle;

[0028] Figure 6 This is a schematic diagram of the structure of the distributed storage device when the first implementation mode of the present application is deployed;

[0029] Figure 7 for Figure 6 The structural diagram at B in the middle;

[0030] Figure 8 This is a system block diagram of the first and second implementation modes of this application;

[0031] Fig. 9 This is a schematic diagram of the situation after the distributed storage of the first and second implementation modes of the present application is deployed.

[0032] Description of the numbers in the figure:

[0033] 1 unmanned boat body, 11 liquid pump, 1101 sampling tube, 1102 data line 203, 12 air pump, 1 sampling tube, 1102 three-way output tube, 2 mounting box, 201 main box, 202 inflation tube, 203 data line, 204 hanging arm, 205 infusion tube, 3 clamping recovery mechanism, 301 vertical guide rail, 302 splint, 303 suspension arm, 4 distributed storage device, 401 outer frame, 402 inflation airbag, 403 sealing shell, 404 stand, 5 sample storage tube, 6 chassis. DETAILED DESCRIPTION

[0034] The following describes two implementation modes of the present application in detail with reference to the accompanying drawings.

[0035] The first implementation method:

[0036] Figure 1-7 It is shown that an unmanned monitoring ship for marine environment includes an unmanned ship body 1, on which monitoring equipment is installed, and a mounting box 2 is connected to the bottom of the unmanned ship body 1, and the mounting box 2 includes a main box body 201, and a plurality of receiving slots are opened at the lower end of the main box body 201, and a plurality of distributed storages 4 are suspended in the receiving slots; the monitoring equipment includes water body detection equipment, temperature and humidity sensors, image monitoring equipment, airflow monitoring equipment and other marine environment monitoring equipment;

[0037] The distributed storage 4 includes an outer frame 401, and the outer end of the outer frame 401 is connected to an inflatable airbag 402. When the distributed storage 4 is suspended, the inflatable airbag 402 is partially inflated; the main box 201 is connected to an inflatable tube 202 that matches the inflatable airbag 402, and the unmanned boat body 1 is equipped with an air pump 12 that matches the inflatable tube 202. A storage unit is installed in the outer frame 401, and the storage unit includes a sealed shell 403 that is sealed and connected to the outer frame 401. The outer frame 401 is used to connect The sealing shell and the inflatable airbag 402 are connected, and the outer frame 401 part extends to the outside of the inflatable airbag 402, and the inflatable airbag 402 contacts the outer frame 401 of this part only after it is inflated. The outer frame 401 part located outside the inflatable airbag 402 is used to limit the distributed storage 4, ensuring that the distributed storage 4 is not easy to be completely stuck in the receiving tank when floating with the sea water, and avoiding that the distributed storage 4 is not easy to be separated from the receiving tank after the inflatable tube 202, the infusion tube 205 and the data cable 203 fall off;

[0038] A sample storage tube 5 and a chassis 6 are installed in the sealed shell 403. A plurality of storage chambers and a drainage channel are provided in the sample storage tube 5. A one-way valve matching the sample storage tube 5 is installed on the sealed shell 403. A conduit with a first solenoid valve is connected between the one-way valve, the drainage channel and the plurality of storage chambers. A liquid infusion tube 205 connected to the one-way valve is installed in the receiving groove, and a liquid pump matching the liquid infusion tube is installed in the unmanned boat body 1.

[0039] The chassis 6 is provided with a single chip microcomputer, a battery, a positioner, a data storage device and a communication device; a data line 203 is connected and installed in the middle of the receiving slot, a docking seat is installed on the data line 203, and a docking connector matching the docking seat is installed on the upper end of the sealing shell 403. The data line 203 is used for data transmission and charging the battery;

[0040] A pair of electric push rods are installed in the accommodating groove, and a hanging arm 204 is installed on the movable end of the electric push rod. The upper end of the distributed storage device 4 is connected to a stand 404 matching the hanging arm 204, and the stand 404 is triangular in shape. The top ends of the hanging arm 204 and the suspension arm 303 are both equipped with elliptical limit blocks matching the stand 404, and the diameter of the elliptical limit blocks is smaller than the width of the lower end of the stand 404.

[0041] An exhaust pipe and a one-way inflatable joint are installed on the inflatable airbag 402. An electromagnetic opening and closing valve connected to the communication device is installed on the exhaust pipe. The inflatable pipe 202 includes a bellows, one end of which extends into the unmanned ship body 1, and the other end of the bellows is installed with an inflatable plug that matches the inflatable joint. The spacing between a pair of tail plates is greater than the outer diameter of the distributed storage 4 after the multiple inflatable airbags 402 are inflated.

[0042] The input end and output end of the liquid pump 11 are respectively connected to a sampling tube 1101 and a three-way output tube 1102. A liquid sampling device can be installed on the sampling tube 1101, and a suitable liquid sampling device is selected by a technician in this field for installation. The two output ends of the three-way output tube 1102 are respectively connected to a sample output tube and a drainage tube. A second solenoid valve is connected between the sample output tube and multiple infusion tubes 205, and an air supply pipe is connected between the air pump 12 and the sample output tube.

[0043] The liquid pump 11 of this embodiment is used to extract the sample fluid. When the sample fluid is output, it is input into the corresponding storage cavity of the designated sample storage tube 5 through the three-way output tube 1102, the sample output tube, the infusion tube 205 and the one-way valve;

[0044] Each time the storage chamber for sample fluid input is switched, the liquid pump and the sample storage tube 5 are first self-cleaned. During self-cleaning, the water quality is detected by the water detection equipment, and the water body whose quality meets the preset safety monitoring data range is selected for liquid extraction and cleaning. When the liquid pump 11 is pumping liquid for cleaning, the liquid pump 11 is first connected to the discharge pipe for cleaning for a set time, and then the liquid pump 11 is connected to the discharge channel to achieve cleaning of the pipeline at the sample storage tube 5;

[0045] After the cleaning setting time, the first solenoid valve on the storage chamber to be switched is opened, so that the one-way valve is connected to the storage chamber to be switched;

[0046] It also includes a monitoring and control system, which includes a processor installed in the unmanned ship body 1, and the processor is connected to a data management module, a data storage module, a positioning module, a communication module, a monitoring module, an equipment control module and a path planning module; the positioning module is used to locate the positioning position of the unmanned ship body 1 and the distributed memory 4;

[0047] The data management module is used for monitoring data statistics and storage space allocation, the monitoring module is used to process the marine environment monitoring data monitored by the monitoring equipment, the monitoring module has preset alarm monitoring value ranges and safety monitoring data ranges, and the path planning module plans the movement path of the monitoring ship according to the positioning module data; the liquid pump 11, the mounting box 2 and the clamping recovery mechanism 3 are all connected to the equipment control module signal, and the chassis 6 communication device is connected to the communication module signal.

[0048] When the distributed storage device 4 of this embodiment is not deployed, it is suspended on the mounting box 2 through the stand 404 and the hanging arm 204, and is connected with the inflation tube 202, the infusion tube 205 and the data cable 203. During the suspension of the distributed storage device 4, the marine environment monitoring data monitored by the monitoring equipment is counted by the data management module and then backed up to the data storage device through the data cable 203.

[0049] When the distributed storage 4 of the present scheme is deployed, the inflatable airbag 402 is first inflated through the inflation tube 202, and then a pair of hanging arms 204 are driven to shrink and separate from the stand 404. At this time, the distributed storage 4 falls due to its own weight and is separated from the containing tank. At this time, the inflation tube 202, the infusion tube 205 and the data cable 203 are disconnected from the distributed storage 4 to complete the deployment of the distributed storage 4.

[0050] Second implementation method:

[0051] Figure 2 , 3 and Figure 8-9 As shown, a pair of tail plates are installed at the tail end of the unmanned boat body 1, and the opposite ends of the pair of tail plates are connected to a clamping recovery mechanism 3; the clamping recovery mechanism 3 includes a vertical guide rail 301, the movable end of the vertical guide rail 301 is fixedly connected to a cylinder, the movable end of the cylinder is connected to a clamping plate 302, the upper end of the vertical guide rail 301 is connected to an electric telescopic rod, and the power telescopic end of the electric telescopic rod is connected to a suspension arm 303 matching the stand 404;

[0052] Each distributed storage device 4 is used to store monitoring data and monitoring samples of different areas. After the monitoring module completes the monitoring work of the set range area, the path planning module sets the delivery area of ​​the distributed storage device 4, and the monitoring data of the delivery area matches the preset safety area monitoring data.

[0053] After the distributed storage device 4 is placed in the placement area, the communication device continues to send signals to each set contact. When the distributed storage device 4 is recovered, the communication device sends a confirmation signal to the communication module; after the unmanned ship body 1 receives the confirmation signal, it performs subsequent monitoring work;

[0054] Before the distributed storage 4 is recovered, the unmanned boat body 1 cruises and monitors within the set distance range of the delivery area. When the monitoring data changes to the alarm monitoring value range, the alarm monitoring value range is the set environmental monitoring alarm data range, such as wind and airflow monitoring data and high temperature monitoring data with higher values ​​(strong wind can easily cause the distributed storage 4 to drift away from the delivery area, and high ambient temperature can easily cause the chassis 6 in the distributed storage 4 to overheat and malfunction); and when the distributed storage 4 is not recovered, the unmanned boat body 1 returns to the delivery area to recover the distributed storage 4;

[0055] When recovering the distributed storage 4, the unmanned boat body 1 moves to the distributed storage 4 and makes the distributed storage 4 enter between a pair of clamping and recovering mechanisms 3, then controls the cylinder to work so that the clamping plate 302 clamps the distributed storage 4, and then controls the vertical guide rail 301 to rise to the top, and finally controls the electric telescopic rod to extend so that the top of the boom 303 is inserted into the stand 404, so that the boom 303 supports the distributed storage 4. At this time, the recovery of the distributed storage 4 is completed, and then the unmanned boat body 1 moves to the next safe delivery area for delivery;

[0056] When the unmanned boat body 1 continuously monitors the set range area, the distributed storage device 4 is placed in the preset placement area at set intervals. After multiple distributed storage devices 4 are placed, the unmanned boat body 1 stays in the preset placement area and waits for recovery.

[0057] To summarize, monitoring samples and data are stored in distributed storage devices and released after regional monitoring work, reducing the hull load to facilitate subsequent detection work. When releasing, an environmentally safe area is set as the release area to ensure that the distributed storage devices can be safely recovered.

[0058] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An unmanned monitoring ship for marine environment, comprising an unmanned ship body (1), characterized in that: The unmanned ship body (1) is equipped with monitoring equipment, the bottom end of the unmanned ship body (1) is connected to a mounting box (2), the mounting box (2) comprises a main box body (201), a plurality of receiving slots are provided at the lower end of the main box body (201), and a plurality of distributed storage devices (4) are suspended in the receiving slots; The distributed storage device (4) comprises an outer frame (401), the outer end of the outer frame (401) is connected to an inflatable airbag (402), the main box (201) is connected to an inflatable tube (202) matching the inflatable airbag (402), the unmanned boat body (1) is installed with an air pump (12) matching the inflatable tube (202), the outer frame (401) is installed with a storage unit, and the storage unit comprises a sealed shell (403) sealedly connected to the outer frame (401). The sealed shell (403) is provided with a sample storage tube (5) and a chassis (6); the sample storage tube (5) is provided with a plurality of storage chambers and a liquid discharge channel; the sealed shell (403) is provided with a one-way valve matching the sample storage tube (5); a conduit with a first solenoid valve is connected between the one-way valve and the liquid discharge channel and the plurality of storage chambers; the receiving groove is provided with a liquid infusion tube (205) connected with the one-way valve, and the unmanned boat body (1) is provided with a liquid pump matching the liquid infusion tube; The chassis (6) is provided with a single-chip microcomputer, a battery, a positioner, a data storage device and a communication device; a data line (203) is connected and installed in the middle of the accommodating groove, a docking seat is installed on the data line (203), and a docking connector matching the docking seat is installed on the upper end of the sealing shell (403); A pair of electric push rods are installed in the receiving groove, and a hanging arm (204) is installed at the movable end of the electric push rod, and a stand (404) matching the hanging arm (204) is connected to the upper end of the distributed storage (4); A pair of tail plates are installed at the rear end of the unmanned boat body (1), and the opposite ends of the pair of tail plates are connected to a clamping and recovery mechanism (3); the clamping and recovery mechanism (3) comprises a vertical guide rail (301), the movable end of the vertical guide rail (301) is fixedly connected to a cylinder, the movable end of the cylinder is connected to a clamping plate (302), the upper end of the vertical guide rail (301) is connected to an electric telescopic rod, and the power telescopic end of the electric telescopic rod is connected to a suspension arm (303) matching the stand (404); The stand (404) is triangular in shape, and the top ends of the hanging arm (204) and the suspension arm (303) are both provided with elliptical stop blocks matching the stand (404), wherein the diameter of the elliptical stop blocks is smaller than the width of the lower end of the stand (404).

2. The unmanned monitoring ship for marine environment according to claim 1, characterized in that: An exhaust pipe and a one-way inflation connector are mounted on the inflatable airbag (402); an electromagnetic on-off valve connected to a communication device is mounted on the exhaust pipe; the inflation pipe (202) comprises a bellows, one end of the bellows extends into the unmanned boat body (1); and the other end of the bellows is mounted with an inflation plug matching the inflation connector.

3. The unmanned monitoring ship for marine environment according to claim 1, characterized in that: The input end and output end of the liquid pump (11) are respectively connected to a sampling tube (1101) and a three-way output tube (1102); the two output ends of the three-way output tube (1102) are respectively connected to a sample output tube and a liquid discharge tube; a second solenoid valve is connected between the sample output tube and the plurality of liquid delivery tubes (205); and an air delivery tube is connected between the air pump (12) and the sample output tube.

4. The unmanned monitoring ship for marine environment according to claim 1, characterized in that: The distance between the pair of tail plates is greater than the outer diameter of the distribution storage device (4) after the plurality of inflatable air bags (402) are inflated.

5. The unmanned monitoring ship for marine environment according to claim 3, characterized in that: The system also includes a monitoring and control system, the monitoring and control system including a processor installed in the unmanned ship body (1), the processor being connected to a data management module, a data storage module, a positioning module, a communication module, a monitoring module, an equipment control module and a path planning module; the positioning module being used to locate the location of the unmanned ship body (1) and the distributed memory (4); each of the distributed memories (4) being used to store monitoring data and monitoring samples of different areas; The data management module is used for monitoring data statistics and storage space allocation, the monitoring module is used for processing marine environment monitoring data monitored by the monitoring equipment, and the path planning module plans the movement path of the monitoring ship according to the positioning module data; the liquid pump (11), the mounting box (2) and the clamping recovery mechanism (3) are all connected to the equipment control module signal, and the chassis (6) communication device is connected to the communication module signal.

6. The unmanned monitoring ship for marine environment according to claim 5, characterized in that: After the monitoring module completes the monitoring work of the set range area, the path planning module sets the delivery area of ​​the distributed storage (4), and the monitoring data of the delivery area matches the preset safety area monitoring data.

7. The unmanned monitoring ship for marine environment according to claim 6, characterized in that: After the distributed memory (4) is placed in the placement area, the communication device continuously sends a signal to a set contact person. When the distributed memory (4) is recovered, the communication device sends a confirmation signal to the communication module. Before the distributed memory (4) is recovered, the unmanned boat body (1) cruises and monitors within a set distance range of the placement area. When the monitoring data changes to within the alarm monitoring value range and the distributed memory (4) has not been recovered, the unmanned boat body (1) returns to the placement area to recover the distributed memory (4).

8. The unmanned monitoring ship for marine environment according to claim 7, characterized in that: When the unmanned boat body (1) continuously monitors the set range area, the distributed storage device (4) is placed in the preset placement area at set intervals. After the plurality of distributed storage devices (4) are placed, the unmanned boat body (1) stays in the preset placement area and waits for recovery.

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