A device and method for launching and recovering ocean survey instruments based on unmanned ships

Abstract

The invention relates to the technical field of unmanned ships, and discloses an unmanned ship-based ocean survey instrument delivery and recovery device and method, comprising an unmanned ship, wherein the unmanned ship is provided with an ocean surface delivery mechanism, which can deliver survey instruments on the ocean surface, and can deliver multiple survey instruments, can utilize the movement of the unmanned ship to deliver instruments at different positions, and can stably place the ocean survey instruments on the ocean surface during delivery; can deliver survey instruments on the bottom of the ocean, and can insert the survey instruments into the mud and sand on the seabed during delivery, fix the position of the survey instruments, and pull out and collect the survey instruments inserted into the mud and sand during recovery; can recover the ocean survey instruments, and can place and recover the recovered ocean survey instruments to their original positions after recovery.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned ships, and specifically relates to a device and method for launching and recovering ocean survey instruments based on unmanned ships. Background Art

[0002] An unmanned boat is a fully automatic surface robot that can navigate on the water according to preset tasks without remote control, relying on precise satellite positioning and its own sensors.

[0003] Marine survey refers to the investigation of the distribution and change patterns of hydrology, meteorology, physics, chemistry, biology and bottom sediments in a specific sea area. The survey observation methods include large-scale survey, cross-sectional survey, continuous observation and auxiliary observation. The observation methods used include shore-based observation, buoy observation, ship observation, marine remote sensing, submerged buoy observation, seabed-based observation, etc.

[0004] At present, when using unmanned ships to deploy ocean survey instruments, it is possible to deploy ocean survey instruments on the sea surface, but it is not possible to recover the deployed instruments. In addition, it is only possible to deploy survey instruments on the sea surface, but not on the seabed. Moreover, when deploying on the sea surface, they are basically deployed in a discarded manner, and the posture of the observation equipment entering the water cannot be corrected, which affects the quality of the acquired data. Summary of the invention

[0005] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a marine survey instrument deployment and recovery device and method based on an unmanned ship, which effectively solves the problems mentioned in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned ship-based ocean survey instrument delivery and recovery device, comprising an unmanned ship, wherein the unmanned ship is provided with an ocean surface delivery mechanism, wherein the ocean surface delivery mechanism comprises a delivery slot which is processed through the unmanned ship, wherein a delivery rack is symmetrically and fixedly connected to the delivery slot, wherein a delivery chute is processed on the end wall of the delivery slot, wherein the delivery chute extends to the delivery rack, wherein a delivery screw is rotatably connected between the end walls of the delivery chute, wherein the delivery screw is connected to a lifting motor power, wherein the lifting motor is fixedly installed in the unmanned ship, wherein a delivery nut block is threadedly connected to the outer surface of the delivery screw ... The launching nut block is slidably connected between the end walls of the launching chute, and a vertical plate is fixedly connected to the end wall of the launching nut block, and a horizontal frame is fixedly connected to the vertical plate at evenly spaced intervals, and a pushing chute is provided on the horizontal frame, and a pushing screw is rotatably connected to the end wall of the pushing chute, and the pushing screw is connected to the power of the pushing motor, and the pushing motor is fixedly installed in the horizontal frame, and a nut plate is threadedly connected to the outer surface of the pushing screw, and the nut plate is slidably installed between the end walls of the pushing chute, and a launching plate is fixedly connected between the nut plates, and an annular through hole is penetrated by the launching plate, and the end wall of the annular through hole is connected to a sea surface survey instrument through a clamping mechanism.

[0007] Preferably, the clamping mechanism includes a clamping cavity arranged in the cross frame, a clamping shaft is rotatably connected on the end wall of the clamping cavity, the clamping shaft is connected to the power of the clamping motor, the clamping motor is fixedly installed in the cross frame, a clamping driving gear is fixedly connected to the end of the clamping shaft, the clamping driving gear is meshed with the upper part of the clamping annular rack, the clamping annular rack is rotatably installed between the end walls of the clamping cavity, the lower part of the clamping annular rack is meshed with a plurality of clamping driven gears, the clamping driven gear is fixedly installed on the outer surface of the clamping screw, the clamping screw is rotatably installed between the end walls of the clamping cavity, the clamping screw is threadedly connected to the clamping threaded cylinder, the clamping threaded cylinder is slidably installed on the end wall of the clamping cavity, and the clamping threaded cylinder extends into the annular through hole, and the end of the clamping threaded cylinder in the annular through hole is fixedly connected with a clamping plate.

[0008] Preferably, a moving mechanism is provided at the front of the unmanned boat, and the moving mechanism includes a fixed frame symmetrically fixedly connected to the front of the unmanned boat, a moving slide groove is provided on the fixed frame, a moving screw rod is rotatably connected between the end walls of the moving slide groove, the moving screw rod is connected to the power output shaft of the moving motor arranged in the fixed frame, the moving screw rod is threadedly connected to the moving nut block, the moving nut block is slidably installed between the end walls of the moving slide groove, a fixed rod is fixedly connected to the upper part of the moving nut block, and the moving frame is fixedly connected to the upper end of the fixed rod.

[0009] Preferably, the mobile frame is provided with a lifting mechanism, and the lifting mechanism includes a lifting slide groove provided at the lower part of the mobile frame, a screw rod is rotatably connected between the end walls of the lifting slide groove, the screw rod is connected to the height adjustment motor power, the height adjustment motor is fixedly installed in the mobile frame, the screw rod is threadedly connected to the nut block, the nut block is slidably installed between the end walls of the screw rod, a lifting electric push rod is fixedly connected to the lower part of the nut block, a connecting block is fixedly connected to the lower end of the lifting electric push rod, and a launching grid is rotatably connected to the lower part of the connecting block.

[0010] Preferably, the launching grid is connected to a launching mechanism below the sea surface, the launching mechanism below the sea surface includes an underwater survey robot parked in the launching grid, a fixed disk is fixedly connected to the end wall of the underwater survey robot, through grooves are evenly penetrated on the fixed disk, a clamping electric push rod is fixedly connected to a circular array on the end wall of the through groove, an underwater survey instrument is clamped between the clamping electric push rods, an insertion cone is fixedly connected to the lower portion of the underwater survey instrument, a reinforcement cone is fixedly connected to the lower portion of the underwater survey instrument outside the insertion cone, an electric turntable is rotatably connected to the upper portion of the underwater survey robot, a launching electric telescopic shaft is fixedly connected to the upper portion of the electric turntable, a launching electric telescopic plate is fixedly connected to the upper end of the launching electric telescopic shaft, a launching electric push rod is fixedly connected to the side of the launching electric telescopic plate away from the launching electric telescopic shaft, and a launching electric clamp is fixedly connected to the lower portion of the launching electric push rod.

[0011] Preferably, a direction adjustment mechanism is provided in the connecting block, and the direction adjustment mechanism includes a gear cavity provided in the connecting block, a driving gear shaft is rotatably connected between the end walls of the gear cavity, the driving gear shaft is connected to the power output shaft of the direction adjustment motor, the direction adjustment motor is fixedly installed in the connecting block, a driving gear is fixedly installed on the outer surface of the driving gear shaft, the driving gear is meshed with a driven gear, the driven gear is fixedly installed on the outer surface of the driven gear shaft, the driven gear is rotatably installed between the end walls of the gear cavity, the driven gear shaft extends to the bottom of the connecting block, a delivery grid is fixedly connected to the outer surface of the driven gear shaft at the bottom of the connecting block, and a stabilizing ring is connected between the delivery grid and the connecting block.

[0012] Preferably, a wire supply mechanism is provided in the launching grid, and the wire supply mechanism includes a wire supply cavity provided in the launching grid, a wire supply shaft is rotatably connected between the end walls of the wire supply cavity, a connecting wire is wound around the outer surface of the wire supply shaft, the end of the connecting wire is fixedly connected to the upper part of the connecting column, the connecting column is fixedly installed on the upper part of the underwater investigation robot, the wire supply shaft is connected to the power of the wire supply motor, the wire supply motor is fixedly installed in the launching grid, a wire lead screw is rotatably connected between the end walls of the wire supply cavity, the wire lead screw is connected to the power of the wire bundling motor, the wire bundling motor is fixedly installed in the launching grid, a recovery nut block is threadedly connected to the outer surface of the wire lead screw, the recovery nut block is slidably connected to the end wall of the wire supply cavity, a wire ring is fixedly connected to the surface of the recovery nut block, and the connecting wire passes through the wire ring.

[0013] Preferably, the unmanned ship is provided with a recovery mechanism, which includes a recovery mounting plate symmetrically fixedly connected on the unmanned ship, a recovery electric push rod fixedly connected to the lower part of the recovery mounting plate, a recovery grid fixedly connected to the lower part of the recovery electric push rod, a recovery electric telescopic shaft symmetrically rotatably connected to the upper part of the unmanned ship, a recovery fixing plate fixedly connected to the upper end of the recovery electric telescopic shaft, a recovery clamping electric push rod fixedly connected to the lower surface of the recovery fixing plate away from the recovery electric telescopic shaft, and a recovery electric clamping claw fixedly connected to the lower end of the recovery clamping electric push rod.

[0014] Preferably, a battery is fixedly connected to the upper part of the unmanned boat, an antenna is fixedly connected to the upper part of the unmanned boat, the antenna is signal-connected to a control processor, and the control processor is fixedly installed in the unmanned boat.

[0015] The present invention provides a method for using an unmanned ship-based ocean survey instrument delivery and recovery device. Based on the unmanned ship-based ocean survey instrument delivery and recovery device described above, the steps include:

[0016] Step 1: moving the unmanned boat to a corresponding position;

[0017] Step 2: After moving to the corresponding position, when launching on the sea surface, the ocean surface launching mechanism moves, so as to launch the sea surface survey instrument. When launching, the sea surface survey instrument on the launching plate at the lower side is launched first, and the launching is realized from bottom to top in sequence;

[0018] Step 3: When launching, the clamping mechanism moves, thereby releasing the clamping of the sea surface survey instrument, thereby launching the sea surface survey instrument;

[0019] Step 4: When the delivery is performed below the sea surface, the moving mechanism moves, thereby driving the delivery grid to move, so that the delivery grid moves out of the unmanned ship;

[0020] Step 5: After the delivery grid moves out of the unmanned boat, the lifting mechanism moves, thereby driving the delivery grid to move downward into the seawater;

[0021] Step 6: After the delivery grid enters the corresponding position in the seawater, the direction adjustment mechanism moves to adjust the direction of the delivery grid;

[0022] Step 7: After adjusting to the corresponding direction, the lower sea surface launching mechanism moves, thereby launching the underwater survey instrument below the sea surface and inserting the underwater survey instrument into the mud and sand on the seabed;

[0023] Step 8: When the underwater survey robot is deployed on the seabed, the line supply mechanism moves, thereby supplying the line to the underwater survey robot when it moves, facilitating the movement of the underwater survey robot;

[0024] Step nine: When recovering the sea surface survey instrument, the recovery mechanism moves, thereby realizing the salvage and recovery of the sea surface survey instrument.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention provides an unmanned ship-based ocean survey instrument deployment and recovery device, which can deploy survey instruments on the ocean surface, and can deploy multiple survey instruments. The movement of the unmanned ship can be used to achieve deployment at different locations, and the ocean survey instruments can be stably placed on the ocean surface during deployment.

[0027] 2. The present invention provides an unmanned ship-based marine survey instrument deployment and recovery device, which can be used to deploy survey instruments to the bottom of the ocean. During deployment, the survey instruments can be inserted into the mud and sand on the seabed to fix the position of the survey instruments. During recovery, the survey instruments inserted into the mud and sand can be pulled out and recovered.

[0028] 3. The present invention provides an unmanned ship-based ocean survey instrument deployment and recovery device, which can realize the recovery of ocean survey instruments and can place the recovered ocean survey instruments back to their original positions after recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0030] In the attached picture:

[0031] Figure 1 It is a schematic diagram of the first direction structure of a marine survey instrument launching and recovery device based on an unmanned ship in the present invention;

[0032] Figure 2 It is a schematic diagram of the second direction structure of a marine survey instrument launching and recovery device based on an unmanned ship in the present invention;

[0033] Figure 3 It is a schematic diagram of the third-direction structure of a marine survey instrument launching and recovery device based on an unmanned ship in the present invention;

[0034] Figure 4 It is a schematic diagram of the structure of a marine survey instrument launching and recovery device based on an unmanned ship in the fourth direction of the present invention;

[0035] Figure 5 It is a schematic diagram of the fifth direction structure of a marine survey instrument launching and recovery device based on an unmanned ship in the present invention;

[0036] Figure 6 It is a sixth structural diagram of a device for launching and recovering oceanographic survey instruments based on an unmanned ship in the present invention;

[0037] Figure 7 for Figure 6 Schematic diagram of the cross-sectional structure at AA in the middle;

[0038] Figure 8 for Figure 7 Schematic diagram of the cross-sectional structure at the middle BB;

[0039] Fig. 9 for Figure 7 Schematic diagram of the cross-sectional structure at CC in the middle;

[0040] Fig.10 for Figure 7 Schematic diagram of the cross-sectional structure at DD in the middle;

[0041] Fig.11 for Figure 7 Schematic diagram of the cross-sectional structure at EE in the middle;

[0042] Fig.12 for Figure 8 Schematic diagram of the cross-sectional structure at FF in the middle;

[0043] Fig.13 for Figure 7 Schematic diagram of the enlarged structure at G in the middle;

[0044] Fig.14It is a schematic diagram of the first direction structure of the combination of the ocean surface delivery mechanism, the moving mechanism, the lifting mechanism and the under-sea delivery mechanism in the present invention;

[0045] Fig.15 It is a schematic diagram of the second direction structure of the combination of the ocean surface delivery mechanism, the moving mechanism, the lifting mechanism and the under-sea delivery mechanism in the present invention;

[0046] Fig.16 It is a schematic diagram of the third direction structure of the combination of the ocean surface delivery mechanism, the moving mechanism, the lifting mechanism and the under-sea delivery mechanism in the present invention.

[0047] In the figure: 1-unmanned boat, 2-delivery plate, 3-nut plate, 4-recovery electric telescopic shaft, 5-recovery grid, 6-recovery fixed plate, 7-recovery clamping electric push rod, 8-recovery electric clamp, 9-delivery frame, 10-vertical plate, 11-horizontal frame, 12-antenna, 13-mobile frame, 14-delivery grid, 15-fixed frame, 16-movable screw rod, 17-movable slide, 18-fixed rod, 19-movable nut block, 20-battery, 21-recovery mounting plate, 22-sea surface survey instrument, 23-annular through hole, 24-delivery nut block, 25-connecting block, 26-fixed plate, 27-undersea survey instrument, 28-underwater survey robot, 29-electric turntable, 30-delivery slot, 31-delivery electric telescopic shaft, 32-delivery electric telescopic plate, 33-delivery electric push rod, 34-delivery Electric clamp, 35-dispensing chute, 36-dispensing screw, 37-lifting chute, 38-screw, 39-nut block, 40-lifting electric push rod, 41-gear cavity, 42-driven gear, 43-stabilizing ring, 44-recovery nut block, 45-connecting wire, 46-through groove, 47-clamping electric push rod, 48-supply wire cavity, 49-driven gear shaft, 50-driving gear, 51-driving gear shaft , 52-wire ring, 53-wire lead screw, 54-wire supply shaft, 55-clamping cavity, 56-clamping annular rack, 57-clamping lead screw, 58-clamping threaded cylinder, 59-clamping plate, 60-clamping driven gear, 61-clamping driving gear, 62-clamping rotating shaft, 63-connecting column, 64-pushing slide groove, 65-pushing lead screw, 66-insertion cone, 67-reinforcement cone, 68-recovery electric push rod. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0049] like Figure 1-16 As shown, the present invention provides a marine survey instrument launching and recovery device based on an unmanned ship, the components in the device are made of pressure-resistant, corrosion-resistant and wear-resistant materials, including an unmanned ship 1, the unmanned ship 1 is provided with an ocean surface launching mechanism, the ocean surface launching mechanism includes a launching slot 30 through-machined on the unmanned ship 1, the unmanned ship 1 above the launching slot 30 is symmetrically fixedly connected with a launching rack 9, a launching chute 35 is machined on the end wall of the launching chute 30, the launching chute 35 extends to the launching rack 9, a launching screw rod 36 is rotatably connected between the end walls of the launching chute 35, the launching screw rod 36 is connected to the lifting motor power, the lifting motor is fixedly installed in the unmanned ship 1, and the outer surface of the launching screw rod 36 is threadedly connected with a launching nut block 24 The delivery nut block 24 is slidably connected between the end walls of the delivery chute 35, and a vertical plate 10 is fixedly connected to the end wall of the delivery nut block 24. A horizontal frame 11 is fixedly connected to the vertical plate 10 at even intervals from top to bottom, and a push chute 64 is provided on the horizontal frame 11. A push screw 65 is rotatably connected to the end wall of the push chute 64, and the push screw 65 is connected to the power of the push motor. The push motor is fixedly installed in the horizontal frame 11, and a nut plate 3 is threadedly connected to the outer surface of the push screw 65. The nut plate 3 is slidably installed between the end walls of the push chute 64, and a delivery plate 2 is fixedly connected between the nut plates 3. An annular through hole 23 is penetrated and processed on the delivery plate 2, and the end wall of the annular through hole 23 is connected to a sea surface survey instrument 22 through a clamping mechanism;

[0050] During operation, the lifting motor is started to drive the launching screw rod 36 to rotate, thereby driving the launching nut block 24 to move downward, thereby driving the vertical plate 10 to move downward, thereby driving the horizontal frame 11 to move downward, thereby driving the nut plate 3 to move downward, thereby driving the launching plate 2 to move downward and contact the sea surface, the clamping mechanism moves, and the sea surface survey instrument 22 is released, so as to realize the launching of the sea surface survey instrument 22. After the sea surface survey instrument 22 on the launching plate 2 on the lower side is launched, the pushing motor moves, thereby driving the pushing screw rod 65 to rotate, thereby driving the nut plate 3 to move, thereby driving the launching plate 2 on the lower side to move, so that the sea surface survey instrument 22 on the upper side is in contact with the water surface after being launched, and the pushing motors are started in sequence from bottom to top, so as to realize the launching of all the sea surface survey instruments 22.

[0051] Advantageously, the clamping mechanism is used to clamp the sea surface survey instrument 22. The number of the clamping mechanisms is the same as the number of the annular through holes 23. The clamping mechanism includes a clamping cavity 55 provided in the cross frame 11. The end wall of the clamping cavity 55 is rotatably connected to a clamping shaft 62. The clamping shaft 62 is connected to the power of a clamping motor. The clamping motor is fixedly installed in the cross frame 11. The end of the clamping shaft 62 is fixedly connected to a clamping driving gear 61. The clamping driving gear 61 is meshed with the upper part of the clamping annular rack 56. The clamping annular rack 56 is an annular rack with teeth on both the upper and lower surfaces. Rack, the clamping annular rack 56 is rotatably installed between the end walls of the clamping cavity 55, the lower part of the clamping annular rack 56 is meshed with a plurality of clamping driven gears 60, the clamping driven gears 60 are fixedly installed on the outer surface of the clamping screw 57, the clamping screw 57 is rotatably installed between the end walls of the clamping cavity 55, the clamping screw 57 is threadedly connected with the clamping threaded cylinder 58, the clamping threaded cylinder 58 is slidably installed on the end wall of the clamping cavity 55, and the clamping threaded cylinder 58 extends into the annular through hole 23, and the end of the clamping threaded cylinder 58 in the annular through hole 23 is fixedly connected with a clamping plate 59;

[0052] During operation, the clamping motor is started to drive the clamping shaft 62 to rotate, thereby driving the clamping driving gear 61 to rotate, the clamping driving gear 61 is meshed with the clamping annular rack 56, thereby driving the clamping annular rack 56 to rotate, the clamping annular rack 56 is meshed with the clamping driven gear 60, thereby driving the clamping screw 57 to rotate, the clamping screw 57 is threadedly connected to the clamping threaded cylinder 58, thereby driving the clamping plate 59 to move, thereby releasing the clamping of the sea surface survey instrument 22, thereby realizing the deployment of the sea surface survey instrument 22.

[0053] Advantageously, a moving mechanism is provided at the front of the unmanned boat 1, and the moving mechanism is used to drive the launching grid 14 to move. The moving mechanism includes a fixed frame 15 symmetrically fixedly connected to the front of the unmanned boat 1, and a moving slide 17 is provided on the fixed frame 15. A moving screw rod 16 is rotatably connected between the end walls of the moving slide 17, and the moving screw rod 16 is connected to the power output shaft of the moving motor provided in the fixed frame 15. The moving screw rod 16 is threadedly connected to a moving nut block 19, and the moving nut block 19 is slidably installed between the end walls of the moving slide 17. A fixed rod 18 is fixedly connected to the upper part of the moving nut block 19, and the upper end of the fixed rod 18 is fixedly connected to the moving frame 13;

[0054] During operation, the moving motor is started to drive the moving screw rod 16 to rotate, and the moving screw rod 16 is threadedly connected to the moving nut block 19, thereby driving the moving nut block 19 to move, thereby driving the fixing rod 18 to move, and thereby driving the moving frame 13 to move.

[0055] Advantageously, a lifting mechanism is provided on the mobile frame 13, and the lifting mechanism is used to drive the delivery grid 14 to be lifted and lowered. The lifting mechanism includes a lifting chute 37 provided at the lower part of the mobile frame 13, and a screw rod 38 is rotatably connected between the end walls of the lifting chute 37, and the screw rod 38 is connected to the power of the height adjustment motor, and the height adjustment motor is fixedly installed in the mobile frame 13, and the screw rod 38 is threadedly connected to a nut block 39, and the nut block 39 is slidably installed between the end walls of the screw rod 38, and a lifting electric push rod 40 is fixedly connected to the lower part of the nut block 39, and a connecting block 25 is fixedly connected to the lower end of the lifting electric push rod 40, and the delivery grid 14 is rotatably connected to the lower part of the connecting block 25;

[0056] During operation, the height adjustment motor is started to drive the screw rod 38 to rotate, and the screw rod 38 is threadedly connected to the nut block 39, thereby driving the nut block 39 to move, thereby driving the lifting electric push rod 40 to move, thereby driving the connecting block 25 to move, thereby driving the launching grid 14 to move, and after moving out of the unmanned boat 1, the lifting electric push rod 40 moves downward, thereby driving the connecting block 25 to move downward, thereby driving the launching grid 14 to move downward into the sea water.

[0057] Advantageously, the launching grid 14 is connected to a launching mechanism below the sea surface, and the launching mechanism below the sea surface is used to launch the underwater survey instrument 27, so as to facilitate the underwater survey instrument 27 to be inserted into the mud and sand on the seabed. The launching mechanism below the sea surface includes an underwater survey robot 28 parked in the launching grid 14, and a fixing plate 26 is fixedly connected to the end wall of the underwater survey robot 28, and through grooves 46 are evenly penetrated and processed on the fixing plate 26. Clamping electric push rods 47 are fixedly connected to the circumferential array on the end wall of the through groove 46, and the underwater survey instrument 27 is clamped between the clamping electric push rods 47. The lower part of the underwater survey instrument 27 is fixedly connected with an insertion cone 66, and the lower part of the underwater survey instrument 27 outside the insertion cone 66 is fixedly connected with a reinforcement cone 67, and the upper part of the underwater survey robot 28 is rotatably connected with an electric turntable 29, and the upper part of the electric turntable 29 is fixedly connected with a launching electric telescopic shaft 31, and the upper end of the launching electric telescopic shaft 31 is fixedly connected with a launching electric telescopic plate 32, and the launching electric telescopic plate 32 is fixedly connected with a launching electric push rod 33 on the side away from the launching electric telescopic shaft 31, and the lower part of the launching electric push rod 33 is fixedly connected with a launching electric clamp 34;

[0058] During operation, the underwater investigation robot 28 moves and moves out of the launching grid 14, thereby driving the fixed plate 26 to move, thereby driving the underwater investigation instrument 27 to move, and after moving to the corresponding position, the electric turntable 29 rotates and rotates to the corresponding upper side of the underwater investigation instrument 27, so that the launching electric telescopic shaft 31 moves downward, thereby driving the launching electric clamping claw 34 to move downward to clamp the underwater investigation instrument 27. After the launching electric clamping claw 34 clamps the underwater investigation instrument 27, the clamping electric push rod 47 releases the clamping of the underwater investigation instrument 27, and the launching electric telescopic shaft 31 moves downward, thereby driving the underwater investigation instrument 27 to move upward. After moving out of the through slot 46, the launching The electric telescopic plate 32 extends, thereby driving the launching electric push rod 33 to move, thereby driving the launching electric clamp 34 to move, thereby driving the underwater survey instrument 27 to move to the corresponding position, so that the launching electric telescopic shaft 31 and the launching electric push rod 33 move downward at the same time, thereby realizing the insertion of the underwater survey instrument 27 into the mud on the seabed. After being inserted into the mud, the launching electric clamp 34 releases the clamping of the underwater survey instrument 27, and the launching electric telescopic shaft 31 and the launching electric push rod 33 are reset, and the columnar sampler can be launched and clamped during launching, and the columnar sampler can also be clamped between the clamping electric push rods 47. The launching electric clamp 34 clamps the movement of the columnar sampler to realize sampling.

[0059] Advantageously, a direction adjustment mechanism is provided in the connection block 25, and the direction adjustment mechanism is used to adjust the direction of the delivery grid 14, so as to facilitate better delivery of the underwater survey instrument 27. The direction adjustment mechanism includes a gear cavity 41 provided in the connection block 25, and a driving gear shaft 51 is rotatably connected between the end walls of the gear cavity 41, and the driving gear shaft 51 is connected to the power output shaft of the direction adjustment motor, and the direction adjustment motor is fixedly installed in the connection block 25. A driving gear 50 is fixedly installed on the outer surface of the driving gear shaft 51, and the driving gear 50 is meshed with a driven gear 42, and the driven gear 42 is fixedly installed on the outer surface of a driven gear shaft 49, and the driven gear shaft 49 is rotatably installed between the end walls of the gear cavity 41, and the driven gear shaft 49 extends to the bottom of the connection block 25, and the delivery grid 14 is fixedly connected to the outer surface of the driven gear shaft 49 at the bottom of the connection block 25, and a stabilizing ring 43 is connected between the delivery grid 14 and the connection block 25;

[0060] During operation, the direction adjustment motor is started to drive the driving gear shaft 51 to rotate, thereby driving the driving gear 50 to rotate, and the driving gear 50 is engaged with the driven gear 42, thereby driving the driven gear shaft 49 to rotate, thereby driving the delivery grid 14 to rotate to the corresponding direction, and the stabilizing ring 43 increases the stability of the rotation of the delivery grid 14.

[0061] Advantageously, a wire supply mechanism is provided in the delivery grid 14, and the wire supply mechanism is used to supply the connecting wire 45 to facilitate the movement of the underwater investigation robot 28. The wire supply mechanism includes a wire supply cavity 48 provided in the delivery grid 14, and a wire supply shaft 54 ​​is rotatably connected between the end walls of the wire supply cavity 48, and the outer surface of the wire supply shaft 54 ​​is wound with the connecting wire 45, and the end of the connecting wire 45 is fixedly connected to the upper part of the connecting column 63, and the connecting column 63 is fixedly installed on the upper part of the underwater investigation robot 28. 4 is connected to the power of the wire supply motor, the wire supply motor is fixedly installed in the delivery grid 14, a wire lead screw 53 is rotatably connected between the end walls of the wire supply cavity 48, the wire lead screw 53 is connected to the power of the wire bundle motor, the wire bundle motor is fixedly installed in the delivery grid 14, the outer surface of the wire lead screw 53 is threadedly connected to a recovery nut block 44, the recovery nut block 44 is slidably connected to the end wall of the wire supply cavity 48, the surface of the recovery nut block 44 is fixedly connected to a wire ring 52, and the connecting wire 45 passes through the wire ring 52;

[0062] During operation, the underwater investigation robot 28 moves, and the line supply motor is started, thereby driving the line supply shaft 54 ​​to rotate, thereby driving the connecting line 45 to move, thereby realizing line supply. During recovery, the line supply motor is made to move in the opposite direction, thereby driving the line supply shaft 54 ​​to rotate in the opposite direction, thereby realizing recovery of the connecting line 45. During recovery, the wire bundle motor is started, thereby driving the wire lead rod 53 to rotate, thereby driving the recovery nut block 44 to move, thereby driving the wire ring 52 to move, thereby driving the connecting line 45 to move, thereby realizing tightening the connecting line 45 on the line supply shaft 54, and preventing the connecting line 45 from being tightened at a certain position on the line supply shaft 54.

[0063] Advantageously, the unmanned boat 1 is provided with a recovery mechanism, which is used to recover the sea surface survey instrument 22, and the recovery mechanism includes a recovery mounting plate 21 symmetrically fixedly connected to the unmanned boat 1, a recovery electric push rod 68 is fixedly connected to the lower part of the recovery mounting plate 21, a recovery grid 5 is fixedly connected to the lower part of the recovery electric push rod 68, a recovery electric telescopic shaft 4 is symmetrically rotatably connected to the upper part of the unmanned boat 1, a recovery fixing plate 6 is fixedly connected to the upper end of the recovery electric telescopic shaft 4, a recovery clamping electric push rod 7 is fixedly connected to the lower surface of the recovery fixing plate 6 away from the recovery electric telescopic shaft 4, and a recovery electric clamping claw 8 is fixedly connected to the lower end of the recovery clamping electric push rod 7;

[0064] During operation, the unmanned boat 1 moves, thereby driving the recovery mounting plate 21 to move, thereby driving the recovery electric push rod 68 to move, thereby driving the recovery grid 5 to move, so that the recovery electric push rod 68 moves downward, thereby driving the recovery grid 5 to move downward, and when it moves to the lower side below the sea surface survey instrument 22, as the unmanned boat 1 moves, the sea surface survey instrument 22 enters the recovery grid 5 for collection. The sea surface survey instrument 22 is collected in the recovery grid 5, and the recovery clamping electric push rod 7 moves downward, thereby driving the recovery electric clamping claw 8 It moves downward and contacts the sea surface survey instrument 22. After contact, the recovery electric clamp 8 clamps the sea surface survey instrument 22. After clamping, the recovery electric telescopic shaft 4 rotates, thereby driving the recovery fixed plate 6 to rotate, thereby driving the recovery clamping electric push rod 7 to rotate, thereby driving the recovery electric clamp 8 to rotate, thereby driving the sea surface survey instrument 22 to rotate into the annular through hole 23 on the launching plate 2. After entering the annular through hole 23, the clamping mechanism moves, thereby clamping the sea surface survey instrument 22, thereby realizing the recovery of the sea surface survey instrument 22.

[0065] Advantageously, a battery 20 is fixedly connected to the upper part of the unmanned boat 1, and the battery 20 is used to power the electrical components in the device. An antenna 12 is fixedly connected to the unmanned boat 1, and the antenna 12 is connected to the remote control device by signal. The antenna 12 is connected to the control processor by signal. The control processor is provided with a corresponding control program, and the control processor is connected to the electrical components in the device by signal. The control processor is fixedly installed in the unmanned boat 1;

[0066] During operation, a corresponding instruction is inputted on the remote control device, and the instruction signal is received by the antenna 12 and transmitted to the control processor. After processing, the control processor sends a corresponding signal to the corresponding electrical component, so that the corresponding electrical component moves.

[0067] The present invention provides a method for using an unmanned ship-based ocean survey instrument delivery and recovery device. Based on the unmanned ship-based ocean survey instrument delivery and recovery device described above, the steps include:

[0068] Step 1: Move the unmanned boat 1 to a corresponding position;

[0069] Step 2: After moving to the corresponding position, when launching on the sea surface, the ocean surface launching mechanism moves, so as to launch the sea surface survey instrument 22. When launching, the sea surface survey instrument 22 on the lower launch plate 2 is launched first, and the launch is realized from bottom to top in sequence;

[0070] Step 3: When launching, the clamping mechanism moves to release the clamping of the sea surface survey instrument 22, thereby launching the sea surface survey instrument 22;

[0071] Step 4: When launching below the sea surface, the moving mechanism moves, thereby driving the launching grid frame 14 to move, so that the launching grid frame 14 moves out of the unmanned ship 1;

[0072] Step 5: After the delivery rack 14 moves out of the unmanned boat 1, the lifting mechanism moves, thereby driving the delivery rack 14 to move downward into the seawater;

[0073] Step 6: After the delivery grid 14 enters the corresponding position in the seawater, the direction adjustment mechanism moves, thereby adjusting the direction of the delivery grid 14;

[0074] Step 7: After adjusting to the corresponding direction, the lower part of the sea surface launching mechanism moves, thereby launching the underwater survey instrument 27 below the sea surface and inserting the underwater survey instrument 27 into the mud and sand on the seabed;

[0075] Step 8: When the underwater survey robot 28 is deployed on the seabed, the line supply mechanism moves, thereby supplying the line to the underwater survey robot 28 when it moves, facilitating the movement of the underwater survey robot 28;

[0076] Step nine: When recovering the sea surface survey instrument 22 , the recovery mechanism moves, thereby realizing the salvage and recovery of the sea surface survey instrument 22 .

[0077] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0078] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A marine survey instrument launching and recovery device based on an unmanned ship, characterized in that: The invention comprises an unmanned ship (1), wherein the unmanned ship (1) is provided with an ocean surface delivery mechanism, wherein the ocean surface delivery mechanism comprises a delivery slot (30) which is processed through the unmanned ship (1), wherein a delivery frame (9) is symmetrically fixedly connected to the delivery slot (30), wherein a delivery chute (35) is processed on the end wall of the delivery slot (30), wherein the delivery chute (35) extends to the delivery frame (9), wherein a delivery screw rod (36) is rotatably connected between the end walls of the delivery chute (35), wherein the delivery screw rod (36) is connected to the lifting motor power, wherein the lifting motor is fixedly installed in the unmanned ship (1), wherein a delivery nut block (24) is threadedly connected to the outer surface of the delivery screw rod (36), wherein the delivery nut block (24) is slidably connected between the end walls of the delivery chute (35), and wherein the delivery nut block (24) is slidably connected to the end walls of the delivery chute (35). A vertical plate (10) is fixedly connected to the end wall of the block (24), a horizontal frame (11) is evenly and evenly fixedly connected to the vertical plate (10), a pushing chute (64) is provided on the horizontal frame (11), a pushing screw rod (65) is rotatably connected to the end wall of the pushing chute (64), the pushing screw rod (65) is connected to the driving power of a pushing motor, the pushing motor is fixedly installed in the horizontal frame (11), a nut plate (3) is threadedly connected to the outer surface of the pushing screw rod (65), the nut plate (3) is slidably installed between the end walls of the pushing chute (64), a launching plate (2) is fixedly connected between the nut plates (3), an annular through hole (23) is penetrated and processed on the launching plate (2), and the end wall of the annular through hole (23) is connected to a sea surface survey instrument (22) through a clamping mechanism; The clamping mechanism comprises a clamping cavity (55) arranged in the cross frame (11); a clamping shaft (62) is rotatably connected to the end wall of the clamping cavity (55); the clamping shaft (62) is connected to the power of a clamping motor; the clamping motor is fixedly installed in the cross frame (11); a clamping driving gear (61) is fixedly connected to the end of the clamping shaft (62); the clamping driving gear (61) is meshed with the upper part of a clamping annular rack (56); the clamping annular rack (56) is rotatably installed between the end walls of the clamping cavity (55); the lower part of the clamping annular rack (56) is meshed with the upper part of the clamping annular rack (56); A plurality of clamping driven gears (60) are meshed, the clamping driven gears (60) are fixedly mounted on the outer surface of the clamping screw (57), the clamping screw (57) is rotatably mounted between the end walls of the clamping cavity (55), the clamping screw (57) is threadedly connected to a clamping threaded cylinder (58), the clamping threaded cylinder (58) is slidably mounted on the end wall of the clamping cavity (55), and the clamping threaded cylinder (58) extends into the annular through hole (23), and a clamping plate (59) is fixedly connected to the end of the clamping threaded cylinder (58) in the annular through hole (23); The front part of the unmanned boat (1) is provided with a moving mechanism, and the moving mechanism comprises a fixed frame (15) symmetrically fixedly connected to the front part of the unmanned boat (1), the fixed frame (15) is provided with a moving slide groove (17), a moving screw rod (16) is rotatably connected between the end walls of the moving slide groove (17), the moving screw rod (16) is connected to the power output shaft of the moving motor arranged in the fixed frame (15), the moving screw rod (16) is threadedly connected to the moving nut block (19), the moving nut block (19) is slidably installed between the end walls of the moving slide groove (17), the upper part of the moving nut block (19) is fixedly connected with a fixed rod (18), and the upper end of the fixed rod (18) is fixedly connected with the moving frame (13); The movable frame (13) is provided with a lifting mechanism, and the lifting mechanism comprises a lifting chute (37) provided at the lower part of the movable frame (13), a screw rod (38) is rotatably connected between the end walls of the lifting chute (37), the screw rod (38) is connected to the power of the height adjustment motor, the height adjustment motor is fixedly installed in the movable frame (13), the screw rod (38) is threadedly connected to the nut block (39), the nut block (39) is slidably installed between the end walls of the screw rod (38), a lifting electric push rod (40) is fixedly connected at the lower part of the nut block (39), a connecting block (25) is fixedly connected at the lower end of the lifting electric push rod (40), and a delivery grid (14) is rotatably connected at the lower part of the connecting block (25); The launching grid (14) is connected to a launching mechanism below the sea surface, and the launching mechanism below the sea surface includes an underwater survey robot (28) parked in the launching grid (14). A fixing plate (26) is fixedly connected to the end wall of the underwater survey robot (28), and through grooves (46) are evenly penetrated and processed on the fixing plate (26). Clamping electric push rods (47) are fixedly connected to the end wall of the through grooves (46) in a circumferential array, and an underwater survey instrument (27) is clamped between the clamping electric push rods (47). An insertion cone (66) is fixedly connected to the lower part of the underwater survey instrument (27). The insertion cone (66) The lower part of the outer underwater survey instrument (27) is fixedly connected to a reinforcement cone (67); the upper part of the underwater survey robot (28) is rotatably connected to an electric turntable (29); the upper part of the electric turntable (29) is fixedly connected to a launching electric telescopic rotating shaft (31); the upper end of the launching electric telescopic rotating shaft (31) is fixedly connected to a launching electric telescopic plate (32); the side of the launching electric telescopic plate (32) away from the launching electric telescopic rotating shaft (31) is fixedly connected to a launching electric push rod (33); the lower part of the launching electric push rod (33) is fixedly connected to a launching electric clamp (34); The connection block (25) is provided with a direction adjustment mechanism, the direction adjustment mechanism comprising a gear cavity (41) provided in the connection block (25), a driving gear shaft (51) rotatably connected between the end walls of the gear cavity (41), the driving gear shaft (51) being connected to a power output shaft of a direction adjustment motor, the direction adjustment motor being fixedly mounted in the connection block (25), a driving gear (50) being fixedly mounted on the outer surface of the driving gear shaft (51), the driving gear (50) being meshed with a driven gear (42), the driven gear (42) being fixedly mounted on the outer surface of a driven gear shaft (49), the driven gear shaft (49) being rotatably mounted between the end walls of the gear cavity (41), the driven gear shaft (49) extending to the bottom of the connection block (25), a delivery grid frame (14) being fixedly connected to the outer surface of the driven gear shaft (49) at the bottom of the connection block (25), a stabilizing ring (43) being connected between the delivery grid frame (14) and the connection block (25); The launching grid (14) is provided with a wire supply mechanism, and the wire supply mechanism includes a wire supply cavity (48) provided in the launching grid (14), and a wire supply shaft (54) is rotatably connected between the end walls of the wire supply cavity (48), and a connecting wire (45) is wound around the outer surface of the wire supply shaft (54), and the end of the connecting wire (45) is fixedly connected to the upper part of the connecting column (63), and the connecting column (63) is fixedly installed on the upper part of the underwater investigation robot (28), and the wire supply shaft (54) is connected to the power of the wire supply motor, and the wire supply motor is fixedly installed on the upper part of the underwater investigation robot (28). In the delivery grid (14), a wire lead screw (53) is rotatably connected between the end walls of the wire supply cavity (48), the wire lead screw (53) is connected to the wire harness motor power, the wire harness motor is fixedly installed in the delivery grid (14), the outer surface of the wire lead screw (53) is threadedly connected to a recovery nut block (44), the recovery nut block (44) is slidably connected to the end wall of the wire supply cavity (48), the surface of the recovery nut block (44) is fixedly connected to a wire ring (52), and the connecting wire (45) passes through the wire ring (52); The unmanned boat (1) is provided with a recovery mechanism, the recovery mechanism comprising a recovery installation plate (21) symmetrically fixedly connected to the unmanned boat (1), a recovery electric push rod (68) fixedly connected to the lower part of the recovery installation plate (21), a recovery grid frame (5) fixedly connected to the lower part of the recovery electric push rod (68), a recovery electric telescopic shaft (4) symmetrically rotatably connected to the upper part of the unmanned boat (1), a recovery fixing plate (6) fixedly connected to the upper end of the recovery electric telescopic shaft (4), a recovery clamping electric push rod (7) fixedly connected to the lower surface of the recovery fixing plate (6) away from the recovery electric telescopic shaft (4), and a recovery electric clamping claw (8) fixedly connected to the lower end of the recovery clamping electric push rod (7); A storage battery (20) is fixedly connected to the upper part of the unmanned boat (1), an antenna (12) is fixedly connected to the unmanned boat (1), the antenna (12) is signal-connected to a control processor, and the control processor is fixedly installed in the unmanned boat (1).

2. A method for using an unmanned ship-based oceanographic survey instrument delivery and recovery device, based on the unmanned ship-based oceanographic survey instrument delivery and recovery device of claim 1, characterized in that: Step include: Step 1: moving the unmanned boat (1) to a corresponding position; Step 2: After moving to the corresponding position, when dropping onto the sea surface, the ocean surface dropping mechanism moves, thereby dropping the sea surface survey instrument (22). When dropping, the sea surface survey instrument (22) on the lower dropping plate (2) is dropped first, and the dropping is performed sequentially from bottom to top; Step 3: When launching, the clamping mechanism moves, thereby releasing the clamping of the sea surface survey instrument (22), thereby launching the sea surface survey instrument (22); Step 4: When launching the device below the sea surface, the moving mechanism moves, thereby driving the launching grid frame (14) to move, so that the launching grid frame (14) moves out of the unmanned ship (1); Step 5: After the delivery rack (14) moves out of the unmanned boat (1), the lifting mechanism moves, thereby driving the delivery rack (14) to move downward into the seawater; Step 6: After the delivery grid (14) enters the corresponding position in the seawater, the direction adjustment mechanism moves, thereby adjusting the direction of the delivery grid (14); Step 7: After adjusting to the corresponding direction, the lower-sea-surface launching mechanism moves, thereby launching the underwater survey instrument (27) below the sea surface and inserting the underwater survey instrument (27) into the mud and sand on the seabed; Step 8: When the underwater survey robot (28) is deployed on the seabed, the line supply mechanism moves, thereby supplying the line to the underwater survey robot (28) when it moves, facilitating the movement of the underwater survey robot (28); Step nine: When recovering the sea surface survey instrument (22), the recovery mechanism moves, thereby achieving salvage and recovery of the sea surface survey instrument (22).

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