Intelligent deployment and recovery device, method and system of unmanned ship

Abstract

The invention provides an intelligent deployment and recovery device, method and system of an unmanned ship, and relates to the technical field of artificial intelligence. Recycling the operation platform; a grid receiving frame; a hoisting winch unit; a first cable recovery winch; a heaving line gun; and after the unmanned ship is dragged to a first preset position by the recovery operation platform through the cable throwing gun, the hoisting winch unit is connected with a hoisting cable on the first cable recovery winch so as to hoist the unmanned ship to a second preset position, and the hoisting winch unit is matched with the grating receiving frame to perform fixed recovery of the unmanned ship. The technical problem that in the recovery process of the unmanned ship under the complex sea condition, the precision of recovery operation is low due to instability and shaking of the unmanned ship can be solved, the safety and precision of the recovery process of the unmanned ship are improved through the intelligent control system and the lifting device, human intervention is reduced, and the recovery efficiency of the unmanned ship is improved. And the effect of automatic and intelligent recycling operation is achieved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and specifically to an intelligent deployment and recovery device, method and system for unmanned ships.

[0002] BACKGROUND ART Summary of the invention

[0003] With the widespread application of unmanned ships in marine operations, environmental monitoring, disaster response and other fields, the deployment and recovery of unmanned ships have become the key to achieving these tasks. Especially in high sea conditions and severe weather conditions, traditional unmanned ship recovery methods face many technical challenges. In these environments, recovery operations are often affected by factors such as strong winds and surges, which makes it difficult to recover unmanned ships, and the recovery accuracy is low, which can easily cause instability of unmanned ships or damage to equipment. In addition, traditional recovery methods mostly rely on manual operation, the operation process is complicated and depends on the coordination of staff, and there is a great risk of manual intervention. Unmanned ships are often affected by sea surface fluctuations during the recovery process, resulting in large shaking, and relying on manual operation may lead to inaccurate docking with the recovery platform, which in turn increases the difficulty of recovery and even leads to recovery failure. In order to deal with these problems, a more efficient, stable and intelligent solution is needed to achieve accurate recovery of unmanned ships under complex sea conditions, reduce manual intervention, and ensure the safety and efficiency of the recovery process. Summary of the invention

[0004] The purpose of this application is to provide an intelligent deployment and recovery device, method and system for unmanned ships, so as to solve the technical problem of low accuracy of recovery operation due to the instability and shaking of unmanned ships during the recovery process of unmanned ships in complex sea conditions.

[0005] In view of the above problems, the present application provides an intelligent deployment and recovery device, method and system for an unmanned ship.

[0006] In the first aspect, the present application also provides an intelligent deployment and recovery device for an unmanned ship, the device comprising: a recovery ship, the recovery ship comprising a mother ship and an unmanned ship; a recovery operation platform, the recovery operation platform being arranged above the deck of the recovery operation area of ​​the mother ship; a grid receiving frame, the grid receiving frame being arranged on the deck of the recovery operation area of ​​the mother ship; a lifting winch unit, the lifting winch unit being installed on the deck of the recovery operation area of ​​the mother ship; a first cable recovery winch, the first cable recovery winch being installed on the unmanned ship; a cable-lifting gun, the cable-lifting gun being connected to the lifting cable on the first cable recovery winch through a guide rope, and being used to connect the recovery operation platform to tow the unmanned ship to a first predetermined position; wherein, when the unmanned ship is towed to the first predetermined position by the recovery operation platform through the cable-lifting gun, the lifting winch unit is connected to the lifting cable on the first cable recovery winch to lift the unmanned ship to a second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned ship.

[0007] In the second aspect, the present application provides an intelligent deployment and recovery method for an unmanned ship, which is implemented by the intelligent deployment and recovery device for the unmanned ship described in the first aspect, wherein the method includes: controlling the unmanned ship to travel in the direction of the recovery operation platform of the mother ship; when the unmanned ship travels to directly below the recovery operation platform, outputting a connection instruction to the cable-leaving gun, wherein the connection instruction includes the position information of the capture net of the cable-leaving gun head capture net; after the cable-leaving gun receives and shoots toward the capture net of the cable-leaving gun head with a guide rope according to the connection instruction, it is constrained and fixed by the capture net of the cable-leaving gun head The tail end of the guide rope is connected to the lifting cable of the unmanned boat; when the first driving motor drives the first frame to drive the cable-shooting gun head capture net to move to the first predetermined position along the first direction, the cable-shooting gun head capture net pulls the guide rope to embed into the deep groove lifting pulley of the lifting pulley; the lifting winch unit recovers the guide rope and the lifting cable through the cooperation of the first mechanical arm and the second mechanical arm to lift the unmanned boat to the second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned boat; and so on, reverse control is used to perform intelligent deployment of the unmanned boat.

[0008] In the third aspect, the present application provides an intelligent deployment and recovery system for unmanned boats, the system is used to implement the intelligent deployment and recovery method for unmanned boats described in the first aspect, wherein the system includes: a control driving module: controlling the unmanned boat to travel in the direction of the recovery operation platform of the mother ship; a connection instruction output module: when the unmanned boat travels to directly below the recovery operation platform, outputting a connection instruction to the cable-leaving gun, wherein the connection instruction includes the capture net position information of the cable-leaving gun head capture net; a cable-leaving gun head operation module: after the cable-leaving gun receives and shoots towards the cable-leaving gun head capture net with a guide rope according to the connection instruction, it is constrained by the cable-leaving gun head capture net Fixed, wherein the tail end of the guide rope is connected to the lifting cable of the unmanned boat; a guide rope embedding module: when the first drive motor drives the first frame to drive the cable-lifting gun head capture net to move to the first predetermined position along the first direction, the cable-lifting gun head capture net pulls the guide rope to embed into the deep groove lifting pulley of the lifting pulley; a fixed recovery module: the lifting winch unit recovers the guide rope and the lifting cable through the cooperation of the first mechanical arm and the second mechanical arm to lift the unmanned boat to the second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned boat; an intelligent deployment module: and so on, reverse control is used to perform intelligent deployment of the unmanned boat.

[0009] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0010] The device provided in the embodiment of the present application includes a recovery ship, the recovery ship includes a mother ship and an unmanned ship; includes a recovery operation platform, the recovery operation platform is arranged above the deck of the recovery operation area of ​​the mother ship; includes a grid receiving frame, the grid receiving frame is arranged on the deck of the recovery operation area of ​​the mother ship; includes a lifting winch unit, the lifting winch unit is installed on the deck of the recovery operation area of ​​the mother ship; includes a first cable recovery winch, the first cable recovery winch is installed on the unmanned ship; includes a cable gun, the cable gun is connected to the lifting cable on the first cable recovery winch through a guide rope, and is used to connect the recovery operation platform to tow the unmanned ship To a first predetermined position; wherein, when the unmanned boat is towed to the first predetermined position by the recovery operation platform through the cable-lifting gun, the lifting winch unit is connected to the lifting cable on the first cable recovery winch to lift the unmanned boat to a second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned boat, effectively solving the technical problem of low accuracy of recovery operation due to instability and shaking of the unmanned boat during recovery of the unmanned boat in complex sea conditions, and achieving the effect of improving the safety and accuracy of the unmanned boat recovery process through the intelligent control system and the lifting device, reducing human intervention, and realizing automated and intelligent recovery operations.

[0011] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are specifically cited below. It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the present application or 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 in the following description are only exemplary, and for ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0013] Figure 1 This is a schematic diagram of the structure of the cable-skimming gun of the intelligent deployment and recovery device of the unmanned boat in this application.

[0014] Figure 2 This is a schematic diagram of the structure of the recovery operation platform of the intelligent deployment and recovery device of the unmanned ship in this application.

[0015] Figure 3 A flow chart of the intelligent deployment and recovery method of the unmanned boat of this application.

[0016] Figure 4 This is a schematic diagram of the structure of the intelligent deployment and recovery system of the unmanned boat in this application.

[0017] Explanation of the reference numerals: support spring 11, metal barb 12, cable-leaving gun barrel 13, float 14, guide rope 15, high-pressure gas cylinder 16, first drive motor 21, cable-leaving gun head capture net 22, first rack slide 23, deep groove lifting pulley 24, lifting guide unit 25, symmetrical telescopic arm 26, second drive motor 27, lifting pulley 28, second rack slide 29, control travel module 31, connection command output module 32, cable-leaving gun head operation module 33, guide rope embedding module 34, fixed recovery module 35, intelligent deployment module 36. DETAILED DESCRIPTION

[0018] The present application solves the technical problem of low accuracy of recovery operation due to the instability and shaking of unmanned boats during the recovery process of unmanned boats in complex sea conditions by providing intelligent deployment and recovery devices, methods and systems for unmanned boats. The application improves the safety and accuracy of the unmanned boat recovery process through intelligent control systems and lifting devices, reduces human intervention, and achieves the effect of automated and intelligent recovery operations.

[0019] Below, the technical solutions in the present application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments of the present application. It should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application. It should also be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, rather than all of them.

[0020] For example, please refer to the attached Figure 1 and attached Figure 2 The present application provides an intelligent deployment and recovery device for an unmanned boat, and the device specifically comprises the following steps:

[0021] A recovery ship, which includes a mother ship and an unmanned ship; and a recovery operation platform, which is arranged above the deck of the recovery operation area of ​​the mother ship.

[0022] Specifically, the recovery ship consists of a mother ship and an unmanned ship. The mother ship serves as the main operating platform, responsible for deploying and recovering the unmanned ship; the recovery operation platform is installed at an appropriate position above the deck of the recovery operation area of ​​the mother ship, providing a structural support for recovery and deployment operations. The structural design of this recovery operation platform can ensure stable operation on the deck of the mother ship, and provide sufficient space and facilities for towing, lifting and fixing the unmanned ship. The recovery operation platform is set above the deck, so that it can smoothly cooperate with the recovery and deployment of the unmanned ship, ensuring the safety and efficiency of the entire recovery process.

[0023] Furthermore, the recycling operation platform includes:

[0024] A cable-shooting gun head capture unit, which is fixedly arranged above the deck of the mother ship's recovery operation area, includes a first rack slide rail 23, which is fixedly connected to the mother ship; a first frame, which is connected to the first rack slide rail 23; a cable-shooting gun head capture net 22, which is installed on the first frame; and a first drive motor 21, which is connected to the first frame to drive the cable-shooting gun head capture net 22 to move along the first rack slide rail 23.

[0025] In a preferred embodiment, the cable-lifting gun head capture unit is fixedly installed above the deck of the mother ship's recovery operation area. As an important part of the recovery operation, the unit includes a first rack slide 23, a first frame, a cable-lifting gun head capture net 22, and a first drive motor 21, wherein the first rack slide 23 is fixedly connected to the structure of the mother ship to ensure its stability and support force, and the first frame is connected to the first rack slide 23 to form a movable structure for supporting and guiding the subsequent capture net movement. The cable-lifting gun head capture net 22 is installed on the first frame, and a high The mesh is woven from high-strength fiber ropes, the gaps in the mesh are smaller than the diameter of the float 14 of the cable-lifting gun head, and the barbs of the cable-lifting gun head can easily pass through the mesh to hook the rope, so as to capture the cable-lifting gun and fix the guide rope 15 on the unmanned boat during the recovery process; in order to enable the capture net to move accurately, the first drive motor 21 is connected to the first frame, driving the cable-lifting gun head capture net 22 to move smoothly along the first rack slide rail 23. Through this mechanism, the cable-lifting gun head capture net 22 can move along a predetermined trajectory, accurately complete the task of capturing and connecting with the guide rope 15, and ensure the smooth recovery operation.

[0026] A lifting guide unit 25, which is fixedly arranged below the cable-lifting gun head capture unit, comprises a second rack slide rail 29, which is fixedly connected to the mother ship; a lifting pulley 28, which is installed on the second rack slide rail 29; and a second drive motor 27, which is connected to the second frame to drive the lifting pulley 28 to move along the second rack slide rail 29.

[0027] In a preferred embodiment, the lifting and guiding unit 25 is fixedly installed below the cable-lifting gun head capture unit as an important component for guiding the lifting of the unmanned ship during the recovery process. The unit includes a second rack slide rail 29, a lifting pulley 28, and a second drive motor 27, wherein the second rack slide rail 29 is fixedly connected to the structure of the mother ship to ensure its stability and support force. The lifting pulley 28 is installed on the second rack slide rail 29 and achieves smooth movement through the support of the slide rail to facilitate precise control of the lifting process. The second drive motor 27 is connected to the second frame to drive the lifting pulley 28 to move along the second rack slide rail 29. Through the second drive motor 27, the lifting pulley 28 can move along the slide rail on a predetermined path, thereby realizing precise lifting and guiding of the unmanned ship and effectively assisting the smooth progress of the entire recovery process.

[0028] Further, the lifting tackle 28 comprises:

[0029] a first roller; a second roller, wherein the first roller and the second roller are mounted on the lifting pulley 28 in a V-shaped arrangement; and a deep groove lifting pulley 24, which is mounted in the V-shaped groove formed by the first roller and the second roller.

[0030] In an optional embodiment, the first roller and the second roller are installed in a V-shaped layout on the lifting pulley 28 to form a precise supporting structure. This structural design forms a V-shaped groove between the two rollers for accommodating and guiding the subsequent deep groove lifting pulley 24; the deep groove lifting pulley 24 is installed in the V-shaped groove formed by the first roller and the second roller, ensuring that the pulley can slide freely on a stable track and accurately guide the operation of the lifting cable or guide rope 15; this lifting pulley 28 structure makes the deep groove lifting pulley 24 more stable and smooth during operation through precise layout and installation, thereby ensuring the accuracy and reliability of the unmanned boat recovery operation.

[0031] Furthermore, the device comprises:

[0032] A clamping device is installed on both sides of the lifting pulley 28, and the clamping device includes K groups of symmetrical telescopic arms 26, wherein K is a positive integer.

[0033] In an optional embodiment, a clamping device is installed on both sides of the lifting pulley 28. As an important component to ensure the stable recovery of the unmanned boat, the device includes K groups of symmetrical telescopic arms 26 (pneumatic or hydraulic telescopic arms), where K is a positive integer representing the number of telescopic arms. Each group of telescopic arms is symmetrically distributed on both sides of the lifting pulley 28, and can accurately clamp the unmanned boat through telescopic adjustment during the recovery process to prevent the unmanned boat from shaking drastically during the lifting process; when the unmanned boat is lifted to the highest position, the telescopic arm can be controlled to extend, and the baffle on the telescopic arm will clamp the unmanned boat to further limit its displacement, thereby ensuring the stability of the recovery process; when the unmanned boat reaches above the grid platform, the clamping device is released, and the unmanned boat will eventually be lowered to the grid platform and fixed.

[0034] A grid receiving frame, the grid receiving frame is arranged on the deck of the mother ship recovery operation area; a lifting winch unit, the lifting winch unit is installed on the deck of the mother ship recovery operation area.

[0035] Specifically, the grid receiving frame is set on the deck of the mother ship's recovery operation area. As an important structure for fixing the unmanned boat in place after recovery, the receiving frame is made of metal grids, which can ensure that the unmanned boat can be stably parked after recovery and avoid displacement. The size and structure of the grid receiving frame are matched according to the size of the unmanned boat. By having a size larger than the vertical projection size of the unmanned boat, it can effectively lock the two or more fixing bolts similar to the cable-skimming gun heads at the bow and stern of the unmanned boat, ensuring that the recovered unmanned boat is firmly parked on the deck; when the unmanned boat is placed on the grid, the fixing bolt passes through the grid, the barbs pop open, and the unmanned boat is fixed on the deck. The boat is fixed on the grid receiving frame to prevent accidental sliding. When the unmanned boat needs to be unloaded from the grid receiving frame, press the control handle, retract the barb of the fixing bolt, and pull the fixing bolt out of the grid receiving frame, and the unmanned boat can be moved; the lifting winch unit is installed on the deck of the mother ship's recovery operation area, which is used to tow and lift the unmanned boat. The unit includes a motor, a reducer, a winch, a lifting rope, and a guide rope 15, which are used to accurately control the lifting of the unmanned boat during the recovery process. The lifting winch unit can adjust the lifting force according to the recovery requirements, effectively complete the lifting and lowering operations of the unmanned boat, and ensure the stability and safety of the unmanned boat during the recovery process.

[0036] Furthermore, the hoisting winch unit comprises:

[0037] The guide rope 15 recovers the winch, and the guide rope 15 recovers the winch configured with a first mechanical arm; the second cable recovers the winch, and the second cable recovers the winch configured with a second mechanical arm.

[0038] In a preferred embodiment, the guide rope 15 recovery winch is equipped with a first robotic arm, which is used to accurately control and operate the recovery of the guide rope 15. During the recovery process, the first robotic arm can flexibly adjust the position of the guide rope 15 to ensure that the guide rope 15 can be smoothly transferred from the recovery area to the designated position and correctly connected to the lifting cable. This configuration makes the recovery of the guide rope 15 more efficient and stable, and can adapt to complex sea conditions and operational requirements; the second cable recovery winch is equipped with a second robotic arm, which works in conjunction with the first robotic arm of the guide rope 15 recovery winch to operate and recover the lifting cable. The second robotic arm can accurately adjust the tightness and recovery speed of the cable to ensure a stable connection between the lifting cable and the unmanned boat; during the recovery process, the control of the second robotic arm enables the entire lifting and recovery to work more efficiently, reduce human intervention, and improve the safety and reliability of the recovery operation.

[0039] A first cable recovery winch, the first cable recovery winch is installed on the unmanned boat; a cable-skimming gun, the cable-skimming gun is connected to the lifting cable on the first cable recovery winch through a guide rope 15, and is used to connect the recovery operation platform to tow the unmanned boat to a first predetermined position.

[0040] Specifically, the first cable recovery winch is installed on the unmanned boat. As one of the core components of the recovery operation, the winch can accurately control the cable recovery process through transmission devices such as motors and reducers. During the recovery process, the first cable recovery winch will be responsible for pulling the lifting cable, and by controlling the length and tightness of the lifting cable, the unmanned boat will be safely towed from the water surface to the predetermined position to ensure the smooth recovery operation; the cable-skimming gun is connected to the lifting cable on the first cable recovery winch through the guide rope 15, which plays a guiding and towing role. During the recovery process, the cable-skimming gun will fire the gun head with the guide rope 15, and the guide rope 15 is accurately connected to the recovery operation platform through the cable-skimming gun. Through this connection, the cooperation of the cable-skimming gun and the guide rope 15 can ensure that the unmanned boat is smoothly towed to the first predetermined position along the specified path. This design can efficiently and stably complete the recovery operation of the unmanned boat, avoiding errors or mistakes caused by complex sea conditions.

[0041] Further, the cable skimming gun comprises:

[0042] A cable-leaving gun head; a cable-leaving gun barrel 13, wherein the cable-leaving gun head is sleeved on the first end of the cable-leaving gun barrel 13; a float 14, wherein the float 14 is sleeved on the second end tube body of the cable-leaving gun barrel 13, and the guide rope 15 is detachably connected to the second end; a high-pressure gas cylinder 16, wherein the high-pressure gas cylinder 16 is air-tightly connected to the second end of the cable-leaving gun barrel 13, and the high-pressure gas cylinder 16 has a quick valve.

[0043] In a preferred embodiment, the cable skimming gun includes a cable skimming gun head, a cable skimming gun barrel 13, a float 14, and a high-pressure gas cylinder 16, wherein the cable skimming gun head is the core component of the cable skimming gun, and is used to launch the gun head with a guide rope 15, and pneumatically shoot the guide rope 15 accurately to the target area, that is, a certain area in the cable skimming gun head capture net 22; the cable skimming gun barrel 13 is a pipeline structure for accommodating and transmitting high-pressure gas, and the cable skimming gun head is sleeved on its first end to form an airtight fit to ensure that the gas pressure can be effectively transmitted. Through this structure, the cable skimming gun can accurately control the launching process; the float 14 is sleeved on the second end of the cable skimming gun barrel 13, and its main function is to ensure that the cable skimming gun head can float in the water. When the gun head is not When the lance tip is successfully fixed by the capture net 22, the float 14 can make the lance tip float on the water surface, which is convenient for subsequent recovery operations; the guide rope 15 is connected to the second end of the lance tip barrel 13 by a detachable connection so that it can be quickly connected and disconnected as needed during the recovery operation. This design ensures the flexibility of the guide rope 15 and can be adjusted according to actual conditions; the high-pressure gas cylinder 16 is airtightly connected to the second end of the lance tip barrel 13 to provide high-pressure gas for launching the lance tip. The gas in the high-pressure gas cylinder 16 is quickly released through a quick valve to provide a powerful launching power for the lance tip. The design of the quick valve ensures the rapid release of gas so that the lance tip can be efficiently shot out to complete precise recovery tasks.

[0044] Furthermore, the cable skimming gun head comprises:

[0045] A metal barb 12 combination, the metal barb 12 combination includes one or more metal barbs 12; a metal tube, a support spring 11 is installed at the connection position between the metal barb 12 combination and the metal tube, and the metal barb 12 combination is sleeved on the cable skimmer barrel 13 through the metal tube to form an airtight connection.

[0046] In an optional embodiment, the cable skimming gun head includes a metal barb 12 combination and a metal tube, wherein the metal barb 12 combination is composed of one or more metal barbs 12, and the barbs are designed to firmly hook the mesh and prevent falling off when contacting the cable skimming gun head capture net 22. The metal barbs 12 play a key role in the recovery process, ensuring that the cable skimming gun head can be stably fixed in the capture net; the metal tube is a component of the cable skimming gun, and a support spring 11 is installed at the connection position between the metal barb 12 combination and the metal tube. The function of the support spring 11 is to keep the metal barb 12 The metal barb 12 has good elasticity and stability. When the metal barb 12 passes through the capture net 22 of the cable-skimming gun head, the support spring 11 ensures that the barb can open and firmly grasp the mesh to avoid the connection failure caused by the retraction of the barb; the metal barb 12 combination is connected to the cable-skimming gun barrel 13 through a metal tube to form an airtight connection. This design ensures that the pneumatic function of the cable-skimming gun can be effectively transmitted, so that the cable-skimming gun can be accurately fired and ensure that the guide rope 15 is firmly fixed in the capture net; through the airtight connection, the airflow can accurately control the shooting of the gun head while maintaining the airtightness and safety of the barrel part.

[0047] Among them, when the unmanned boat is towed to the first predetermined position by the recovery operation platform through the cable-lifting gun, the lifting winch unit is connected to the lifting cable on the first cable recovery winch to lift the unmanned boat to the second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned boat.

[0048] Specifically, after the unmanned boat is towed to the first predetermined position by the recovery operation platform through the cable gun, the lifting cable on the first cable recovery winch is connected to the lifting winch unit. Through this connection, the lifting winch unit will be responsible for lifting the unmanned boat until the unmanned boat reaches the second predetermined position. When the unmanned boat is lifted to this position, it cooperates with the grid receiving frame to complete the fixation and recovery operation of the unmanned boat. The whole process ensures the stable recovery and safe fixation of the unmanned boat through precise control and collaboration.

[0049] In summary, the intelligent deployment and recovery device for unmanned boats provided in the embodiments of the present application has the following technical effects:

[0050] A recovery ship, the recovery ship includes a mother ship and an unmanned ship; a recovery operation platform, the recovery operation platform is arranged above the deck of the recovery operation area of ​​the mother ship; a grid receiving frame, the grid receiving frame is arranged on the deck of the recovery operation area of ​​the mother ship; a lifting winch unit, the lifting winch unit is installed on the deck of the recovery operation area of ​​the mother ship; a first cable recovery winch, the first cable recovery winch is installed on the unmanned ship; a cable-lifting gun, the cable-lifting gun is connected to the lifting cable on the first cable recovery winch through a guide rope 15, and is used to connect the recovery operation platform to tow the unmanned ship to a first predetermined position; wherein, when the unmanned ship is towed to the first predetermined position by the recovery operation platform through the cable-lifting gun, the lifting winch unit is connected to the lifting cable on the first cable recovery winch to lift the unmanned ship to a second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned ship. Through the above-mentioned device, the technical problem of low accuracy of recovery operation due to the instability and shaking of the unmanned ship during the recovery process in complex sea conditions is solved. The safety and accuracy of the unmanned ship recovery process are improved through the intelligent control system and lifting device, human intervention is reduced, and the effect of automated and intelligent recovery operations is achieved.

[0051] Embodiment 2, as Figure 3 As shown, the embodiment of the present application provides an intelligent deployment and recovery method of an unmanned boat, the method comprising:

[0052] The unmanned boat is controlled to travel in the direction of the recovery operation platform of the mother ship; when the unmanned boat travels to the bottom of the recovery operation platform, a connection instruction is output to the cable gun, wherein the connection instruction includes the capture net position information of the cable gun head capture net 22; after the cable gun receives and shoots the guide rope 15 toward the cable gun head capture net 22 according to the connection instruction, it is constrained and fixed by the cable gun head capture net 22, wherein the tail end of the guide rope 15 is connected to the lifting cable of the unmanned boat; when the first driving motor 21 drives the first frame to drive the cable gun head capture net 22 to move to the first predetermined position along the first direction, the cable gun head capture net 22 pulls the guide rope 15 to embed into the deep groove lifting pulley 24 of the lifting pulley 28; the lifting winch unit recovers the guide rope 15 and the lifting cable through the cooperation of the first mechanical arm and the second mechanical arm to lift the unmanned boat to the second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned boat.

[0053] Specifically, during the recovery operation, the unmanned ship travels in the direction of the recovery operation platform of the mother ship, so that it accurately drives to the bottom of the recovery platform; when the unmanned ship reaches the designated position, it outputs a connection instruction to the cable gun, which includes the position information of the capture net 22 of the cable gun head, ensuring that the capture net of the cable gun can accurately dock with the unmanned ship; after receiving the connection instruction, the cable gun will pneumatically launch the cable gun head with the guide rope 15 to the capture net 22 of the cable gun head, and the forked barbs of the support spring 11 of the cable gun head are pressed down by the rope net when shooting at the grid. When the cable gun head passes through the grid, the forked barbs of the support spring 11 bounce off above the rope net to ensure that the cable gun head is firmly stuck in the grid. At this time, the float 14 at the tail of the cable gun head is blocked by the capture net 22 of the cable gun head, and together with the forked barbs of the support spring 11, the gun head is firmly constrained to the capture net 22 of the cable gun head, completing The guide rope 15 is accurately fixed; once the connection is completed, the tail end of the guide rope 15 is connected to the lifting cable of the unmanned boat to ensure the smooth progress of the entire traction and recovery process; then, the first drive motor 21 is started to drive the first frame to move, driving the cable gun head capture net 22 to move along the first rack slide rail 23 until it reaches the first predetermined position. During this process, the cable gun head capture net 22 pulls the guide rope 15 through precise control and embeds it into the deep groove lifting pulley 24 of the lifting pulley 28, preparing for the subsequent lifting operation; once the guide rope 15 is stable in place, the lifting winch unit is started, and the guide rope 15 and the lifting cable are recovered through the cooperation of the first mechanical arm and the second mechanical arm, and the unmanned boat is lifted to the second predetermined position. At this time, the unmanned boat cooperates with the grid receiving frame to complete the recovery and fix the unmanned boat, ensuring that the unmanned boat is safely fixed on the deck of the mother ship. The whole process ensures the stable recovery and accurate deployment of the unmanned boat through precise mechanical control, pneumatic operation and coordinated cooperation, greatly improving the efficiency and safety of the recovery operation.

[0054] Furthermore, the hoisting winch unit recovers the guide rope 15 and the hoisting cable through the first mechanical arm and the second mechanical arm to lift the unmanned boat to the second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned boat, including:

[0055] During the process of the cable-lifting gun head capturing net 22 moving along the first direction to the first predetermined position, the second driving motor 27 drives the lifting pulley 28 to move along the second direction, and the guide rope 15 passes through the lifting pulley 28 and automatically and centrally embeds into the deep groove lifting pulley 24, wherein the first direction and the second direction are opposite; after the guide rope 15 is embedded into the deep groove lifting pulley 24, the first mechanical arm hangs the guide rope 15 on the guide rope 15 recovery winch, and recovers the guide rope 15 by starting the guide rope 15 recovery winch; After the guide rope 15 is recovered, the first robotic arm and the second robotic arm cooperate to untie the guide rope 15 and the lifting cable, and the lifting cable is hung on the second cable recovery winch through the second robotic arm; the second cable recovery winch is started to recover the lifting cable to lift the unmanned boat until the height of the unmanned boat meets the second predetermined position; when the height of the unmanned boat meets the second predetermined position, the second cable recovery winch is stopped, and the clamping device is controlled to cooperate with the grid receiving frame to recover the unmanned boat.

[0056] In a preferred embodiment, during the process of the cable-lifting gun head capturing net 22 moving along the first direction to the first predetermined position, the second driving motor 27 drives the lifting pulley 28 to move along the second direction, ensuring that the guide rope 15 can accurately pass through the lifting pulley 28 and automatically center and embed into the deep groove lifting pulley 24. It should be noted that the first direction and the second direction are opposite, which ensures that the guide rope 15 can smoothly and accurately enter the groove of the lifting pulley; when the guide rope 15 is successfully embedded in the deep groove lifting pulley 24, the first robotic arm hooks the guide rope 15 to the guide rope 15 recovery winch, and starts the recovery of the guide rope 15 by starting the guide rope 15 recovery winch, ensuring that the unmanned boat can be stably towed and ready for the next step of operation; after the guide rope 15 is recovered, that is, the connecting buckle of the guide rope 15 and the lifting cable reaches the guide rope 15 recovery winch, the first robotic arm and the second robotic arm work together to untie the connection between the guide rope 15 and the lifting cable; then, the second robotic arm hooks the lifting cable to the second cable recovery winch The hook of the winch is used to start the second cable recovery winch to recover the lifting cable. At this time, the unmanned boat is gradually lifted up and gradually leaves the water surface until its height reaches the second predetermined position; once the height of the unmanned boat reaches the second predetermined position, the second cable recovery winch is stopped, and the clamping device is controlled to approach and clamp the unmanned boat to limit its displacement, and then the lifting pulley 28 is controlled to lift the unmanned boat to the specified position on the inner side of the ship; when the unmanned boat reaches the specified position, the clamping device is released, and the first cable recovery winch is started to release the unmanned boat. Lift the cable and lower the unmanned boat to the predetermined grid receiving frame position. At this time, the fixing bolt on the unmanned boat will be stuck in the grid receiving frame to ensure that the unmanned boat is firmly fixed to prevent accidental displacement; then, remove the cable gun head and guide rope 15 from the cable gun head capture net 22, and connect it to the lifting cable, and all equipment and cables are recovered into the first cable recovery winch; after installing the cable gun, the grid receiving frame loaded with the unmanned boat moves along the slide rail on the deck of the mother ship recovery operation area to the predetermined position, and locks it to complete the recovery operation. The whole process effectively ensures the stability, safety and efficiency of the unmanned boat recovery operation through the cooperation, precise control and automated recovery of the first and second mechanical arms, avoiding human intervention and improving operation efficiency and reliability.

[0057] By analogy, reverse control is used to carry out intelligent deployment of the unmanned ship.

[0058] Specifically, when the unmanned boat is intelligently deployed, the process of intelligent recovery is reversed, that is, first the first cable recovery winch is controlled to release the lifting cable, and the unmanned boat is moved along the specified path by the lifting pulley 28 to ensure that the lifting and deployment process of the unmanned boat proceeds smoothly; during the deployment process, the coordination of the cable gun and the guide rope 15 is controlled to ensure that the unmanned boat can be accurately docked to the predetermined deployment position; when the unmanned boat reaches the predetermined position, the connection between the unmanned boat and the recovery operation platform is released, the lifting cable is released, and the unmanned boat is safely placed on the water surface to prepare for its mission; this process ensures that the intelligent deployment process of the unmanned boat is efficient and accurate through reverse control, while maintaining consistency with the recovery operation, reducing the risk of human intervention, and improving the automation and intelligence level of the operation.

[0059] In summary, the intelligent deployment and recovery method of the unmanned boat provided in the embodiment of the present application has the following technical effects:

[0060] The unmanned ship intelligent deployment and recovery method of the present application controls the unmanned ship to travel in the direction of the mother ship recovery operation platform, and outputs a connection instruction through the cable gun, and guides the guide rope 15 to shoot at the cable gun head capture net 22 when the unmanned ship arrives directly below the recovery operation platform; after the cable gun head capture net 22 fixes the guide rope 15, the capture net and the guide rope 15 are pulled to the lifting pulley 28 through the first drive motor 21 and embedded in the deep groove lifting pulley 24; the lifting winch unit cooperates to recover the guide rope 15 and the lifting cable, lifts the unmanned ship to the predetermined position, cooperates with the grid receiving frame, and completes the recovery operation; the reverse control is used for the intelligent deployment of the unmanned ship, ensuring that the deployment process is synchronized with the recovery process, reducing human intervention, and improving efficiency and stability. These technical effects jointly solve the technical problem of low accuracy of the recovery operation due to the instability and shaking of the unmanned ship during the recovery process of the unmanned ship under complex sea conditions, and achieve the effect of improving the safety and accuracy of the unmanned ship recovery process through the intelligent control system and the lifting device, reducing human intervention, and realizing automated and intelligent recovery operations.

[0061] Embodiment 3, based on the same inventive concept as the intelligent deployment and recovery method of the unmanned boat in the previous embodiment, Figure 4As shown, the present application provides an intelligent deployment and recovery system for an unmanned ship, the system comprising: a control driving module 31: controlling the unmanned ship to travel in the direction of the recovery operation platform of the mother ship; a connection instruction output module 32: when the unmanned ship travels to the bottom of the recovery operation platform, outputting a connection instruction to the cable-leaving gun, wherein the connection instruction includes the capture net position information of the capture net 22 of the cable-leaving gun head; a cable-leaving gun head operation module 33: after the cable-leaving gun receives and shoots the capture net 22 of the cable-leaving gun head with the guide rope 15 according to the connection instruction, it is constrained and fixed by the capture net 22 of the cable-leaving gun head, wherein the tail end of the guide rope 15 is connected to the unmanned ship. The lifting cable of the ship; the guide rope 15 embedding module: when the first driving motor 21 drives the first frame to drive the cable-lifting gun head capturing net 22 to move to the first predetermined position along the first direction, the cable-lifting gun head capturing net 22 pulls the guide rope 15 to embed into the deep groove lifting pulley 24 of the lifting pulley 28; the fixed recovery module 35: the lifting winch unit recovers the guide rope 15 and the lifting cable through the cooperation of the first mechanical arm and the second mechanical arm to lift the unmanned ship to the second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned ship; the intelligent deployment module 36: and so on, reverse control is used to perform intelligent deployment of the unmanned ship.

[0062] Furthermore, the fixed recovery module 35 is also used to perform the following method:

[0063] During the process of the cable-lifting gun head capturing net 22 moving along the first direction to the first predetermined position, the second driving motor 27 drives the lifting pulley 28 to move along the second direction, and the guide rope 15 passes through the lifting pulley 28 and automatically and centrally embeds into the deep groove lifting pulley 24, wherein the first direction and the second direction are opposite; after the guide rope 15 is embedded into the deep groove lifting pulley 24, the first mechanical arm hangs the guide rope 15 on the guide rope 15 recovery winch, and recovers the guide rope 15 by starting the guide rope 15 recovery winch; After the guide rope 15 is recovered, the first robotic arm and the second robotic arm cooperate to untie the guide rope 15 and the lifting cable, and the lifting cable is hung on the second cable recovery winch through the second robotic arm; the second cable recovery winch is started to recover the lifting cable to lift the unmanned boat until the height of the unmanned boat meets the second predetermined position; when the height of the unmanned boat meets the second predetermined position, the second cable recovery winch is stopped, and the clamping device is controlled to cooperate with the grid receiving frame to recover the unmanned boat.

[0064] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0065] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0066] This specification and drawings are merely exemplary illustrations of the present application and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these modifications and variations.

Claims

1. An intelligent deployment and recovery device for unmanned boats, characterized in that: The device comprises: A recovery ship, wherein the recovery ship includes a mother ship and an unmanned ship; A recovery operation platform, the recovery operation platform is arranged above the deck of the recovery operation area of ​​the mother ship; A grid receiving frame, wherein the grid receiving frame is arranged on the deck of the mother ship recovery operation area; A hoisting winch unit, wherein the hoisting winch unit is installed on the deck of the mother ship recovery operation area; a first cable recovery winch, the first cable recovery winch being installed on the unmanned vessel; A cable skimming gun, which is connected to a lifting cable on the first cable recovery winch through a guide rope and is used to connect to the recovery operation platform to tow the unmanned boat to a first predetermined position; Among them, when the unmanned boat is towed to the first predetermined position by the recovery operation platform through the cable-lifting gun, the lifting winch unit is connected to the lifting cable on the first cable recovery winch to lift the unmanned boat to the second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned boat.

2. The intelligent deployment and recovery device for an unmanned boat according to claim 1, characterized in that: The recycling operation platform comprises: A cable-cutting gun head capture unit, which is fixedly arranged above the deck of the mother ship recovery operation area, comprises: A first rack slide rail, wherein the first rack slide rail is fixedly connected to the mother ship; a first frame connected to a first rack slide rail; A cable-skimming gun head catching net, wherein the cable-skimming gun head catching net is mounted on the first frame; A first driving motor, the first driving motor is connected to the first frame to drive the cable skimmer head capturing net to move along the first rack slide rail; A lifting guide unit, the lifting guide unit is fixedly arranged below the cable skimming gun head capture unit, and comprises: A second rack slide rail, wherein the second rack slide rail is fixedly connected to the mother ship; A lifting pulley, wherein the lifting pulley is mounted on the second rack slide rail; A second driving motor is connected to the second frame to drive the lifting pulley to move along the second rack slide rail.

3. The intelligent deployment and recovery device for an unmanned boat as claimed in claim 2, characterized in that: The lifting tackle comprises: First roller; a second roller, wherein the first roller and the second roller are mounted on the lifting tackle in a V-shaped arrangement; The deep groove lifting pulley is installed in the V-shaped groove formed by the first roller and the second roller.

4. The intelligent deployment and recovery device for an unmanned boat as claimed in claim 2, characterized in that: The device comprises: A clamping device is installed on both sides of the lifting pulley, and the clamping device includes K groups of symmetrical telescopic arms, wherein K is a positive integer.

5. The intelligent deployment and recovery device for an unmanned boat according to claim 1, characterized in that: The cable skimming gun comprises: Cable-skimming gun head; A cable skimming gun barrel, wherein the cable skimming gun head is mounted on a first end of the cable skimming gun barrel; A float ball, the float ball is sleeved on the second end of the cable-skimming gun barrel, and the guide rope is detachably connected to the second end; A high-pressure gas cylinder is airtightly connected to the second end of the cable skimming gun barrel, and the high-pressure gas cylinder has a quick valve.

6. The intelligent deployment and recovery device for an unmanned boat as claimed in claim 5, characterized in that: The cable skimming gun head comprises: A metal barb assembly, wherein the metal barb assembly comprises one or more metal barbs; The metal tube, the connection position between the metal barb assembly and the metal tube is provided with a supporting spring, and the metal barb assembly is sleeved on the cable skimmer barrel through the metal tube to form an airtight connection.

7. The intelligent deployment and recovery device for an unmanned boat according to claim 1, characterized in that: The hoisting winch unit comprises: a guide rope recovery winch, wherein the guide rope recovery winch is provided with a first mechanical arm; A second cable recovery winch is provided with a second mechanical arm.

8. An intelligent deployment and recovery method of an unmanned boat, characterized in that: The method comprises: Control the unmanned ship to move in the direction of the recovery operation platform of the mother ship; When the unmanned boat travels to the bottom of the recovery operation platform, a connection instruction is output to the cable-skimming gun, wherein the connection instruction includes the position information of the capture net of the cable-skimming gun head; After the cable-skimming gun receives and shoots the guide rope toward the cable-skimming gun head capture net according to the connection instruction, the guide rope is restrained and fixed by the cable-skimming gun head capture net, wherein the tail end of the guide rope is connected to the lifting rope of the unmanned boat; When the first driving motor drives the first frame to drive the cable-lifting gun head catching net to move to the first predetermined position along the first direction, the cable-lifting gun head catching net pulls the guide rope to embed into the deep groove lifting pulley of the lifting pulley; The hoisting winch unit recovers the guide rope and the hoisting cable through the cooperation of the first mechanical arm and the second mechanical arm, so as to lift the unmanned boat to a second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned boat; By analogy, reverse control is used to carry out intelligent deployment of the unmanned ship.

9. The method for intelligent deployment and recovery of an unmanned ship according to claim 8, characterized in that: The hoisting winch unit recovers the guide rope and the hoisting cable through the cooperation of the first mechanical arm and the second mechanical arm to lift the unmanned boat to a second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned boat. The method includes: When the skimming gun catch net moves along the first direction to the first predetermined position, the second driving motor drives the lifting block to move along the second direction, and the guide rope passes through the lifting block and automatically embeds into the deep groove lifting pulley in the center, wherein the first direction and the second direction are opposite; After the guide rope is embedded in the deep groove lifting pulley, the first mechanical arm hangs the guide rope on the guide rope recovery winch, and recovers the guide rope by starting the guide rope recovery winch; After the guide rope is recovered, the first mechanical arm and the second mechanical arm cooperate to untie the guide rope and the lifting cable, and the lifting cable is hooked to the second cable recovery winch through the second mechanical arm; Starting the second cable recovery winch to recover the lifting cable, so as to lift the unmanned boat until the height of the unmanned boat meets the second predetermined position; When the height of the unmanned boat meets the second predetermined position, the second cable recovery winch is stopped, and the clamping device is controlled to cooperate with the grid receiving frame to recover the unmanned boat.

10. Intelligent deployment and recovery system of unmanned boats, characterized in that: The intelligent deployment and recovery system of the unmanned ship is used to implement the intelligent deployment and recovery method of the unmanned ship according to any one of claims 8 to 9, comprising: Control driving module: control the unmanned ship to drive in the direction of the recovery operation platform of the mother ship; A connection instruction output module: when the unmanned boat travels to the bottom of the recovery operation platform, a connection instruction is output to the cable-skimming gun, wherein the connection instruction includes the capture net position information of the capture net of the cable-skimming gun head; Cable-skimming gun head operation module: after the cable-skimming gun receives and shoots the guide rope toward the cable-skimming gun head capture net according to the connection instruction, it is constrained and fixed by the cable-skimming gun head capture net, wherein the tail end of the guide rope is connected to the lifting cable of the unmanned boat; The guide rope embedding module: when the first driving motor drives the first frame to drive the cable-lifting gun head catching net to move to the first predetermined position along the first direction, the cable-lifting gun head catching net pulls the guide rope to embed into the deep groove lifting pulley of the lifting pulley; Fixed recovery module: The hoisting winch unit recovers the guide rope and the hoisting cable through the cooperation of the first mechanical arm and the second mechanical arm, so as to lift the unmanned boat to the second predetermined position, and cooperates with the grid receiving frame to perform fixed recovery of the unmanned boat; Intelligent deployment module: By analogy, reverse control is performed to perform intelligent deployment of the unmanned ship.

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