Water-air amphibious type recovery cabin device applied to unmanned ship recovery and release

Abstract

The invention provides a water-air amphibious type recovery cabin device applied to unmanned ship retraction, which comprises a catering unit used for dynamically adjusting the orientation of the water-air amphibious type recovery cabin device according to the orientation of an unmanned ship, so that the water-air amphibious type recovery cabin device is right opposite to the unmanned ship; the docking unit is used for transversely and longitudinally moving according to the orientation of the unmanned ship; the fixing unit is opposite to the unmanned ship in position; the fixing unit is used for fixing the unmanned ship; and the power unit is used for providing power for the water-air amphibious recovery cabin device, so that the water-air amphibious recovery cabin device flies between the deck and the water surface through the propellers and moves underwater through the underwater propellers. According to the invention, the power unit is applied to change a lifting form adopted by a traditional operation mode, and the catering unit, the butt joint unit and the fixing unit are applied and matched with the control unit, so that the unmanned ship can be quickly, efficiently and accurately driven into the recovery cabin and reliably fixed.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boat deployment and recovery, and in particular to an amphibious water-to-air recovery capsule device used for the deployment and recovery of unmanned boats. Background Art

[0002] The retrieval and launching operation is an important link in the use of unmanned boats. Its safety and reliability are directly related to whether the unmanned boat can successfully complete the mission.

[0003] At present, there are three main ways to launch and retract unmanned boats: the first is the hanging-type launching and retracting technology, which is relatively mature and has low requirements for the mother ship's hull, but its disadvantage is that the launching and retracting speed is greatly affected by the sea conditions. It is difficult to align the bracket under severe sea conditions and requires manual hooking and unhooking, and the launching and retracting process is time-consuming. The second is the dock-type launching and retracting technology, which can adapt to complex water surface conditions and has a fast launching and retracting speed, but has high requirements for the mother ship structure and requires the mother ship to be equipped with a large dock. The third is the stern slide launching and retracting technology, which is less affected by water surface conditions and has a fast launching and retracting speed, but it is more difficult to center and control the unmanned boat when it approaches the stern slide.

[0004] In addition, most of the above-mentioned operation methods require manual assistance, and the active retrieval and deployment of unmanned boats has not yet been realized. Moreover, the retrieval and deployment operations are easily affected by changes in sea conditions, which increases the difficulty and risk of the retrieval and deployment process. It is very easy to cause capture failure, inaccessibility, or even collision and damage of the unmanned boat, which seriously endangers the safety of operators and equipment. Summary of the invention

[0005] In view of the above-mentioned technical problem of the difficulty in actively deploying and retracting existing unmanned boats, a water-to-air amphibious recovery capsule device for deploying and retracting unmanned boats is provided. The present invention improves the traditional recovery capsule, introduces a matching unit, a docking unit, a fixing unit and a control unit, and specially designs a power unit. Through the coordinated application of various devices, the deployment and recovery process of the unmanned boat can be completed quickly and conveniently. The power unit used in the present invention enables the recovery capsule to fly between the deck and the water surface through a propeller, and moves underwater through an underwater thruster. It no longer relies on the lifting of a crane, eliminating the safety issues that may arise in the traditional recovery mode, and the present invention adopts unmanned intelligent control, which greatly enhances the operational safety and reduces labor costs. At the same time, the docking unit and fixing unit used in the present invention can adapt to a variety of unmanned boat shapes, further improving the applicability of the device.

[0006] The technical means adopted by the present invention are as follows:

[0007] A water-air amphibious recovery capsule device for unmanned boat deployment and recovery, comprising:

[0008] The accommodating unit is used to dynamically adjust the direction of the water-air amphibious recovery capsule device according to the orientation of the unmanned boat, so that the water-air amphibious recovery capsule device is facing the unmanned boat;

[0009] The docking unit is used to move the fixing unit laterally and longitudinally according to the orientation of the unmanned boat so that the fixing unit and the unmanned boat are positioned opposite to each other;

[0010] A fixing unit, used for fixing the unmanned boat;

[0011] A power unit, used to provide power to the water-air amphibious recovery capsule device, so that the water-air amphibious recovery capsule device can fly between the deck and the water surface through a propeller and move underwater through an underwater propeller;

[0012] The control unit is used to receive video and data information during the deployment and recovery process of the unmanned boat, and remotely control other units.

[0013] Furthermore, the catering unit comprises an upper box body, a main frame and a lower box body which are sequentially connected from top to bottom;

[0014] A first motor, a first motor frame, a fixing frame and a first motor controller are respectively arranged inside the upper box and the lower box, the first motor is fixed on the first motor frame, the first motor frame is fixed on the fixing frame, the fixing frame is fixed to the top of the upper box or the bottom of the lower box, the first motor controller is wirelessly connected to the first motor, the first motor controller receives a control signal from the control unit, and controls the first motor to make corresponding movements according to the control signal, the first motor is connected to the main frame, the first motor drives the main frame to rotate 360°, and a first camera and a first video transmitter are installed in the middle of the top of the main frame, the first camera is electrically connected to the first video transmitter, and the first video transmitter is wirelessly connected to the control unit.

[0015] Furthermore, the docking unit includes a transverse movable frame, a longitudinal movable frame and a fixed unit movable frame; two transverse movable frames are installed on the upper bottom surface of the main frame and on the lower top surface of the main frame at opposite positions, and the two transverse movable frames are arranged one in front of the other, and the upper and lower transverse movable frames on the same side in the front and rear directions are connected by two longitudinal movable frames, and the front and rear longitudinal movable frames on the same side in the left and right directions are connected by a fixed unit movable frame, and a connecting component is arranged at the connection between the transverse movable frame and the longitudinal movable frame, and at the connection between the longitudinal movable frame and the fixed unit movable frame; the connecting component includes a second motor frame, a second motor and a second motor controller are fixed on the outer surface of the second motor frame, the second motor is connected to a driving wheel, and the driving wheel is arranged in a groove of the transverse movable frame or the longitudinal movable frame or the fixed unit movable frame, the second motor controller is electrically connected to the second motor, and the second motor controller is wirelessly connected to the control unit.

[0016] Furthermore, the fixed unit includes a support plate, which is installed on a mobile frame of the fixed unit, one end of a spring is connected to the inner side of the support plate, the other end of the spring is connected to the rubber head, limiting plates are arranged around the spring, the limiting plates are connected to the support plate by bolts, a second camera and a second video transmitter are arranged on the upper part of the support plate, the second camera is electrically connected to the second video transmitter, the second video transmitter is wirelessly connected to the control unit, a pressure monitor and a pressure transmitter are arranged on the outer side of the support plate, the pressure monitor and the pressure transmitter are electrically connected, and the pressure monitor is wirelessly connected to the control unit.

[0017] Furthermore, the power unit includes a propeller and an underwater thruster, the propeller is arranged on the top of the upper box body, the propeller is connected to the lithium battery box installed on the top of the upper box body, the underwater thruster is installed on the outer side of the lower box body through the mounting plate, the underwater thruster is connected to the lithium battery box arranged inside the lower box body, the propeller is connected to the status monitoring module arranged on the upper box body, the underwater thruster is connected to the status monitoring module arranged on the lower box body, the status monitoring module is wirelessly connected to the control unit, the propeller and the underwater thruster are respectively connected to the power controller, the power controller is wirelessly connected to the control unit, and a buoyancy device is installed around the upper box body.

[0018] Furthermore, the control unit includes a control cabinet, a data receiving module, a data processing module and a communication module; the control cabinet is installed on the deck, and the data receiving module, the data processing module and the communication module are arranged in the control cabinet, and the data receiving module is used to receive data information from the first video transmitter, the second video transmitter, the pressure transmitter and the status monitor; the data processing module is connected to the data receiving module, and is used to input and output control signals, and process control signals in real time; the communication module is connected to the data processing module, and is used to output control signals to the first motor controller, the second motor controller and the power controller.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] The present invention designs a power unit so that the recovery mode of the recovery cabin is no longer limited to the lifting by a crane, eliminating the safety problems that may occur in the traditional recovery mode and enhancing the safety of the device; the docking unit and the fixing unit adopted by the present invention can adapt to a variety of unmanned boat shapes, thereby enhancing the applicability of the device; the catering unit can facilitate the unmanned boat to enter the recovery cabin and the unmanned boat to independently select the angle of entry and exit during the deployment process, thereby enhancing the convenience of the device; at the same time, the data receiving module, the data processing module and the communication module in the control unit control the remaining units in real time in combination with the monitoring data, thereby further improving the safety, applicability and convenience during the deployment and recovery process.

[0021] The present invention adopts the cooperation between the catering unit, the docking unit, the fixing unit, the power unit and the control unit. Each structure is interconnected and operates independently, realizing the high-stability and high-efficiency unmanned boat lifting operation. Compared with the traditional operation method, the application of the power unit changes the lifting form adopted by the traditional operation method. The application of the catering unit, the docking unit, the fixing unit and the control unit enables the unmanned boat to quickly, efficiently and accurately enter the recovery cabin and be reliably fixed. In summary, the present invention can further improve the safety, stability and convenience of the unmanned boat lifting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 It is a structural schematic diagram of the water-air amphibious recovery cabin device of the present invention.

[0024] Figure 2 It is a schematic diagram of the structure of the catering unit of the present invention.

[0025] Figure 3 It is a schematic diagram of the interior of the catering unit of the present invention.

[0026] Figure 4 It is a schematic diagram of the docking unit structure of the present invention.

[0027] Figure 5 It is a schematic diagram of a partially enlarged structure of the docking unit of the present invention.

[0028] Figure 6 It is a schematic diagram of the structure of the fixing unit of the present invention.

[0029] Figure 7 It is a schematic diagram of the power unit structure of the present invention.

[0030] Figure 8 It is a structural block diagram of the control unit of the present invention.

[0031] Fig. 9 It is a working schematic diagram of the water-air amphibious recovery cabin device of the present invention.

[0032] In the figure: 1. Catering unit; 11. Upper box; 12. First motor; 13. First motor frame; 14. Fixed frame; 15. First motor controller; 16. Main frame; 17. Lower box; 18. First camera; 19. First video transmitter; 2. Docking unit; 21. Horizontal moving frame; 22. Longitudinal moving frame; 23. Fixed unit moving frame; 24. Second motor frame; 25. Second motor; 26. Driving wheel; 27. Second motor controller; 3. Fixed unit; 31. Support plate; 32. Spring; 33. Limit plate; 34. Rubber head; 35. Second camera; 36. Second video transmitter; 37. Pressure monitor; 38. Pressure transmitter; 4. Power unit; 41. Propeller; 42. Lithium battery box; 43. Mounting plate; 44. Underwater thruster; 45. Status monitor; 46. Power controller; 47. Buoyancy device; 5. Control unit; 51. Control cabinet; 52. Data receiving module; 53. Data processing module; 54. Communication module. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0037] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0038] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0039] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0040] like Figure 1As shown, the present invention provides a water-air amphibious recovery capsule device for unmanned boat deployment, including a catching unit 1, a docking unit 2, a fixing unit 3, a power unit 4 and a control unit 5. The docking unit 2 and the power unit 4 are installed on the catching unit 1, the fixing unit 3 is installed on the docking unit 2, and the control unit 3 controls the operation of the above-mentioned device. The catching unit 1 is used to dynamically adjust the direction of the main frame according to the orientation of the unmanned boat, so that it is directly opposite to the unmanned boat, which is convenient for the unmanned boat to enter; the docking unit 2 is used to move the fixing unit 3 horizontally and vertically according to the orientation of the unmanned boat, so that the fixing unit 3 is convenient for docking with the unmanned boat; the fixing unit 3 is used to fix the unmanned boat; the power unit 4 is used to provide power for the recovery capsule, so that the recovery capsule can fly between the deck and the water surface, and can move underwater; the control unit 5 is used to receive video information and data information during the deployment and recovery process of the unmanned boat, and remotely control the remaining units.

[0041] like Figure 2 , Figure 3 As shown, the catering unit 1 includes an upper box 11, a first motor 12, a first motor frame 13, a fixing frame 14, a first motor controller 15, a main frame 16, a lower box 17, a first camera 18, and a first video transmitter 19; the upper box 11 is located at the top of the recovery cabin for carrying other components, the first motor 12 is installed on the first motor frame 13 for driving the main frame 16 to rotate, the first motor frame 13 is installed at the center position inside the upper box 11 and the lower box 12 for installing the first motor 12, and the fixing frame 14 is installed at the top of the upper box 11 and the bottom of the lower box 17 for further fixing the first motor frame 13. The first motor controller is installed at the top of the upper box body 11 and the bottom of the lower box body 17, and is connected to the first motor 12, and is used to remotely receive the control signal of the control unit 5, and then control the motor to make corresponding movements. The main frame 16 is installed between the upper box body 11 and the lower box body 17, and can be driven by the first motor 12 to rotate 360° to accommodate the unmanned boat entering the cabin. The first camera 18 is installed in the middle of the main frame 16, and is used to identify the position of the unmanned boat and the situation of the unmanned boat entering the cabin. The first video transmitter 19 is installed on the main frame 16, and is connected to the first camera 18, and is used to transmit the video information captured by the camera to the control unit 5.

[0042] like Figure 4 , Figure 5As shown, the docking unit 2 includes a transverse moving frame 21, a longitudinal moving frame 22, a fixed unit moving frame 23, a second motor frame 24, a second motor 25, a driving wheel 26, and a second motor controller 27; the transverse moving frame 21 is installed on both sides of the upper and lower parts of the main frame 16, a total of four, for transversely moving the fixed unit 3, the longitudinal moving frame 22 is installed on the upper and lower front and rear positions of the main frame 16, a total of four, for longitudinally moving the fixed unit 3, the fixed unit moving frame 23 is installed between the longitudinal moving frames 22, and is used to install the fixed unit 3, the second motor 25, the driving wheel 26, and the second motor controller 27; The frame 24 is installed at the connection between the transverse moving frame 21 and the longitudinal moving frame 22 and at the connection between the longitudinal moving frame 22 and the fixed unit moving frame 23, and is used to install the second motor 25. The second motor 25 is installed on the second motor frame 24 to drive each moving frame to move. The driving wheel 26 is installed in the groove of each moving frame and is connected to the second motor 25 to transmit the power of the second motor 25. The second motor controller 27 is installed on each moving frame and is connected to the second motor 25 to remotely receive the control signal of the control unit 5 and control the motor to make corresponding movements.

[0043] like Figure 6 As shown, the fixing unit 3 includes a support plate 31, a spring 32, a limit plate 33, a rubber head 34, a second camera 35, a second video transmitter 36, a pressure monitor 37, and a pressure transmitter 38; the support plate 31 is installed on the fixing unit moving frame 23, and is used to install the spring 32 and carry the fixing unit 3. The spring 32 is installed between the support plate 31 and the rubber head 34, and is used to provide elastic force for the rubber head 34, so that the corresponding rubber head is compressed backward when clamping the unmanned boat. The limit plate 33 is connected to the support plate 31 by bolts, and is used to install the rubber head 34 and ensure that it moves in the horizontal direction. The rubber head 34 is installed on the limit plate 33, and connected with the spring 32, for fixing the unmanned boat, the second camera 35 is installed at the middle position of the upper part of the support plate 31, for monitoring the position and fixing condition of the unmanned boat, the second video transmitter 36 is installed at the upper part of the support plate 31, connected with the second camera 35, for transmitting the video information captured by the camera to the control unit 5, the pressure monitor 37 is installed at the back center of the support plate 31, for monitoring the pressure of each part of the spring 32 and the rubber head 34, the pressure transmitter 38 is installed at the back of the support plate 31, connected with the pressure monitor 37, for transmitting the pressure information monitored by the pressure monitor 37 to the control unit 5.

[0044] like Figure 7As shown, the power unit 4 includes a propeller 41, a lithium battery box 42, a mounting plate 43, an underwater thruster 44, a state monitor 45, a power controller 46, and a buoyancy device 47; the propeller 41 is installed around the top of the upper box 11, and is used to provide power for the recovery cabin when it is in the air, so that it has the ability to fly between the deck and the water surface; the lithium battery box 42 is installed at the top center of the upper box 11 and inside the lower box 17, and is connected to the propeller 41 and the underwater thruster 44, and is used to supply power to the propeller 41 and the underwater thruster 44; the mounting plate 43 is installed around the lower box 17, and is used to An underwater thruster 44 is installed, and the underwater thruster 44 is installed on a mounting plate 43, and is used to provide power for the recovery capsule when it is underwater. The status monitoring module 45 is installed on the upper box body 11 and the lower box body 17, and is connected to the propeller 41 and the underwater thruster 44, and is used to monitor their working status and send data to the control unit 5. The power controller 46 is used to remotely receive the control signal of the control unit 5, and control the propeller 41 and the underwater thruster 44 to make corresponding movements. The buoyancy device 47 is installed around the upper box body 11, and is used to provide buoyancy for the recovery capsule so that it can float on the water surface.

[0045] like Figure 8 As shown, the control unit 5 receives data information from the first video transmitter 19, the second video transmitter 36, the pressure transmitter 38 and the status monitor 45 in real time through the data receiving module 52, processes the data through the data processing module 53, and outputs a control signal in combination with the operator's command. The control signal is transmitted and output to the first motor controller 15, the second motor controller 27 and the power controller 46 via the communication module 54. Subsequently, the first motor 12, the second motor 25, the propeller 41 and the underwater thruster 44 perform corresponding actions according to the command.

[0046] like Fig. 9As shown, the device disclosed in the present invention specifically adopts the following process when implementing the deployment and recovery operation: in the conventional recovery process, the staff sends a signal to the power unit 4, and the propeller 41 drives the recovery cabin to fly to the water area near the unmanned boat and slowly descends to the water surface. The buoyancy device 47 provides buoyancy to make the recovery cabin float on the water surface. Then, the first camera 18 identifies the direction of the unmanned boat, and the underwater propeller 44 approaches the unmanned boat according to the direction of the unmanned boat. The main frame 16 rotates according to the direction of the unmanned boat so that it is facing the unmanned boat, and then the unmanned boat enters. After the second camera 35 detects that the unmanned boat enters the predetermined position, the docking unit 2 further aligns the fixing unit 3 with the unmanned boat according to the direction of the unmanned boat, and then the fixing unit 3 is fixed to the unmanned boat. 3 is clamped, and after the pressure monitor 37 monitors that the pressure value is normal and the second camera 35 recognizes that the unmanned boat is well fixed, the underwater propeller 44 drives towards the mother ship, and then the propeller 41 drives the recovery cabin to fly back to the deck, and the recovery process is completed; for the deployment process of the unmanned boat, similar to the recovery process, the staff fixes the unmanned boat through the catering unit 1, the docking unit 2 and the fixing unit 3, and then the propeller 41 drives the recovery cabin to the predetermined position and slowly enters the water, the underwater propeller 44 continues to move the recovery cabin to the designated position, and then the catering unit 1 rotates the unmanned boat to the preset exit direction, the docking unit 2 and the fixing unit 3 are detached from the unmanned boat, the unmanned boat drives out, and the propeller 41 drives the recovery cabin back to the deck, and the deployment process is completed.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A water-air amphibious recovery capsule device for unmanned boat deployment, characterized in that: include: The accommodating unit (1) is used to dynamically adjust the direction of the water-air amphibious recovery capsule device according to the orientation of the unmanned boat, so that the water-air amphibious recovery capsule device is facing the unmanned boat; The docking unit (2) is used to move the fixing unit (3) horizontally and vertically according to the orientation of the unmanned boat, so that the fixing unit (3) and the unmanned boat are positioned relative to each other; A fixing unit (3), used for fixing the unmanned boat; A power unit (4) is used to provide power for the water-air amphibious recovery capsule device, so that the water-air amphibious recovery capsule device flies between the deck and the water surface through the propeller (41) and moves underwater through the underwater propeller (44); The control unit (5) is used to receive video information and data information during the deployment and recovery process of the unmanned boat, and remotely control other units.

2. The water-air amphibious recovery capsule device for unmanned boat deployment according to claim 1 is characterized in that: The catering unit (1) comprises an upper box (11), a main frame (16) and a lower box (17) which are connected in sequence from top to bottom; a first motor (12), a first motor frame (13), a fixing frame (14) and a first motor controller (15) are respectively arranged inside the upper box (11) and the lower box (17); the first motor (12) is fixed on the first motor frame (13); the first motor frame (13) is fixed on the fixing frame (14); the fixing frame (14) is fixed on the top of the upper box (11) or the bottom of the lower box (17); the first motor controller (15) and the first motor controller (15) are connected to each other; A motor (12) is wirelessly connected, the first motor controller (15) receives a control signal from a control unit (5), and controls the first motor (12) to make corresponding movements according to the control signal, the first motor (12) is connected to a main frame (16), the first motor (12) drives the main frame (16) to rotate 360 ​​degrees, a first camera (18) and a first video transmitter (19) are installed in the middle of the top of the main frame (16), the first camera (18) is electrically connected to the first video transmitter (19), and the first video transmitter (19) is wirelessly connected to the control unit (5).

3. The water-air amphibious recovery capsule device for unmanned boat deployment according to claim 2 is characterized in that: The docking unit (2) comprises a transverse movable frame (21), a longitudinal movable frame (22) and a fixed unit movable frame (23); two transverse movable frames (21) are installed on the upper bottom surface of the main frame (16) and the lower top surface of the main frame (16) in opposite positions, and the two transverse movable frames (21) are arranged one in front of the other, and the upper and lower transverse movable frames (21) on the same side in the front-to-back direction are connected by two longitudinal movable frames (22), and the front and rear longitudinal movable frames (22) on the same side in the left-to-right direction are connected by the fixed unit movable frame (23), and the connection between the transverse movable frame (21) and the longitudinal movable frame (22) is A connection assembly is provided at a connection point between the longitudinal movable frame (22) and the fixed unit movable frame (23); the connection assembly comprises a second motor frame (24); a second motor (25) and a second motor controller (27) are fixed on the outer surface of the second motor frame (24); the second motor (25) is connected to a driving wheel (26); the driving wheel (26) is arranged in a groove of the transverse movable frame (21) or the longitudinal movable frame (22) or the fixed unit movable frame (23); the second motor controller (27) is electrically connected to the second motor (25); and the second motor controller (27) is wirelessly connected to the control unit (5).

4. The water-air amphibious recovery capsule device for unmanned boat deployment according to claim 3 is characterized in that: The fixing unit (3) comprises a support plate (31), the support plate (31) being mounted on a fixing unit moving frame (23), one end of a spring (32) being connected to the inner side of the support plate (31), the other end of the spring (32) being connected to a rubber head (34), a limiting plate (33) being arranged around the spring (32), the limiting plate (33) being connected to the support plate (31) by bolts, a second camera (35) and a second video transmitter (36) being arranged on the upper part of the support plate (31), the second camera (35) being electrically connected to the second video transmitter (36), the second video transmitter (36) being wirelessly connected to the control unit (5), and a pressure monitor (37) and a pressure transmitter (38) being arranged on the outer side of the support plate (31), the pressure monitor (37) being electrically connected to the pressure transmitter (38), and the pressure monitor (37) being wirelessly connected to the control unit (5).

5. The water-air amphibious recovery capsule device for unmanned boat deployment according to claim 4 is characterized in that: The power unit (4) comprises a propeller (41) and an underwater propeller (44). The propeller (41) is arranged on the top of the upper box (11). The propeller (41) is connected to a lithium battery box (42) installed on the top of the upper box (11). The underwater propeller (44) is installed on the outer periphery of the lower box (17) through a mounting plate (43). The underwater propeller (44) is connected to the lithium battery box (42) arranged inside the lower box (17). The propeller (41) is connected to a state monitoring module arranged on the upper box (11). The underwater propeller (44) is connected to the state monitoring module arranged on the lower box (17). The state monitoring module is wirelessly connected to the control unit (5). The propeller (41) and the underwater propeller (44) are respectively connected to a power controller (46). The power controller (46) is wirelessly connected to the control unit (5). A buoyancy device (47) is installed on the periphery of the upper box (11).

6. The water-air amphibious recovery capsule device for unmanned boat deployment according to claim 1 is characterized in that: The control unit (5) comprises a control cabinet (51), a data receiving module (52), a data processing module (53) and a communication module (54); the control cabinet (51) is installed on the deck, the data receiving module (52), the data processing module (53) and the communication module (54) are arranged in the control cabinet (51), the data receiving module (52) is used to receive data information from the first video transmitter (19), the second video transmitter (36), the pressure transmitter (38) and the status monitor (45); the data processing module (53) is connected to the data receiving module (52) and is used to input and output control signals and process control signals in real time; the communication module (54) is connected to the data processing module (53) and is used to output control signals to the first motor controller (15), the second motor controller and the power controller (46).

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