Intelligent Deployment and Recovery Device, Method and System for Unmanned Vessel

Abstract

The present application provides an intelligent deployment and recovery device, method and system for an unmanned ship, which relates to the field of artificial intelligence technology. The device includes: a recovery ship; a recovery operation platform; a grille receiving rack; a lifting winch unit; a first cable recovery winch; a heaving line gun; wherein, when the unmanned ship is towed by the heaving line gun to a first predetermined position by the recovery operation platform, 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 cooperate with the grille receiving rack to perform the fixed recovery of the unmanned ship. Through the present application, the technical problem that the accuracy of the recovery operation is low due to the instability and shaking of the unmanned ship during the recovery process in complex sea conditions can be solved, and the safety and accuracy of the unmanned ship recovery process can be improved through the intelligent control system and the lifting device, reduce human intervention, and achieve the effect of realizing automatic and intelligent recovery operations.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and specifically to an intelligent deployment and recovery device, method, and system for unmanned boats. Background Art

[0002] With the wide application of unmanned boats in fields such as ocean operations, environmental monitoring, and disaster response, the deployment and recovery of unmanned boats have become the key to realizing these tasks. Especially in high sea states and adverse weather conditions, traditional unmanned boat recovery methods face many technical challenges. In these environments, the recovery operation is often affected by factors such as strong winds and surges, resulting in difficulties in recovering unmanned boats, low recovery accuracy, and easy instability of unmanned boats or damage to equipment. In addition, most traditional recovery methods rely on manual operations, the operation process is complex and depends on the coordination of staff, and there is a large risk of human intervention. Unmanned boats are often affected by the sea surface fluctuations during the recovery process, resulting in large swings, and relying on manual operations may lead to inaccurate docking with the recovery platform, thereby increasing the recovery difficulty and even causing recovery failure. To address these problems, a more efficient, stable, and intelligent solution is needed, which can achieve precise recovery of unmanned boats in complex sea conditions, reduce human intervention, and ensure the safety and efficiency of the recovery process. Summary of the Invention

[0003] The purpose of this application is to provide an intelligent deployment and recovery device, method, and system for unmanned boats, so as to solve the technical problem of low accuracy of recovery operations due to the instability and shaking of unmanned boats during the recovery process in complex sea conditions.

[0004] In view of the above problems, this application provides an intelligent deployment and recovery device, method, and system for unmanned boats.

[0005] In the first aspect, this application also provides an intelligent deployment and recovery device for unmanned boats. The device includes: a recovery ship, which includes a mother ship and an unmanned boat; a recovery operation platform, which is arranged above the deck of the mother ship's recovery operation area; a grid receiving rack, which is arranged on the deck of the mother ship's recovery operation area; a lifting winch unit, which is installed on the deck of the mother ship's recovery operation area; a first cable recovery winch, which is installed on the unmanned boat; a heaving gun, which is connected to the lifting cable on the first cable recovery winch through a guiding rope and is used to connect the recovery operation platform to tow the unmanned boat to a first predetermined position; wherein, when the unmanned boat is towed to the first predetermined position by the recovery operation platform through the heaving 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 cooperate with the grid receiving rack to perform fixed recovery of the unmanned boat.

[0006] In a second aspect, the present application provides a method for intelligent deployment and recovery of an unmanned boat, which is implemented by the intelligent deployment and recovery device of the unmanned boat described in the first aspect. Among them, the method includes: controlling the unmanned boat to travel in the direction of the recovery operation platform of the mother ship; when the unmanned boat travels directly below the recovery operation platform, outputting a connection instruction to the heaving gun, where the connection instruction includes the capture net position information of the heaving gun head capture net; after the heaving gun receives and shoots towards the heaving gun head capture net with the guide rope according to the connection instruction, it is constrained and fixed by the heaving gun head capture net, where 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 heaving gun head capture net to move to a first predetermined position along a first direction, the heaving gun head capture net pulls the guide rope into the deep groove lifting pulley of the lifting block; the lifting winch unit recovers the guide rope and the lifting cable through the cooperation of the first robotic arm and the second robotic arm to lift the unmanned boat to a second predetermined position and cooperate with the grid receiving rack to perform the fixed recovery of the unmanned boat; and so on, and reverse control is performed for the intelligent deployment of the unmanned boat.

[0007] In a third aspect, the present application provides an intelligent deployment and recovery system for an unmanned boat, which is used to implement the intelligent deployment and recovery method of the unmanned boat described in the first aspect. Among them, the system includes: a control travel 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 directly below the recovery operation platform, outputting a connection instruction to the heaving gun, where the connection instruction includes the capture net position information of the heaving gun head capture net; a heaving gun head operation module: after the heaving gun receives and shoots towards the heaving gun head capture net with the guide rope according to the connection instruction, it is constrained and fixed by the heaving gun head capture net, where 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 driving motor drives the first frame to drive the heaving gun head capture net to move to a first predetermined position along a first direction, the heaving gun head capture net pulls the guide rope into the deep groove lifting pulley of the lifting block; a fixed recovery module: the lifting winch unit recovers the guide rope and the lifting cable through the cooperation of the first robotic arm and the second robotic arm to lift the unmanned boat to a second predetermined position and cooperate with the grid receiving rack to perform the fixed recovery of the unmanned boat; an intelligent deployment module: and so on, and reverse control is performed for the intelligent deployment of the unmanned boat.

[0008] One or more technical solutions provided in the present application have at least the following technical effects or advantages:

[0009] The device provided by the embodiment of the present application includes a recovery ship, and the recovery ship includes a mother ship and an unmanned ship; it includes a recovery operation platform, and the recovery operation platform is arranged above the deck of the mother ship's recovery operation area; it includes a grid receiving rack, and the grid receiving rack is arranged on the deck of the mother ship's recovery operation area; it includes a hoisting winch unit, and the hoisting winch unit is installed on the deck of the mother ship's recovery operation area; it includes a first cable recovery winch, and the first cable recovery winch is installed on the unmanned ship; it includes a heaving gun, and the heaving gun is connected to the hoisting cable on the first cable recovery winch through a guiding rope, and is used to connect the recovery operation platform to tow the unmanned ship to a first predetermined position; wherein, after the unmanned ship is towed to the first predetermined position by the recovery operation platform through the heaving gun, the hoisting winch unit is connected to the hoisting cable on the first cable recovery winch to lift the unmanned ship to a second predetermined position, and cooperate with the grid receiving rack to perform fixed recovery of the unmanned ship, effectively solving the technical problem of low accuracy of the recovery operation due to the instability and shaking of the unmanned ship during the recovery process in complex sea conditions, achieving the effect of improving the safety and accuracy of the unmanned ship recovery process through the intelligent control system and the hoisting device, reducing human intervention, and realizing automatic and intelligent recovery operations.

[0010] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically exemplified below. It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understandable through the following description. Brief Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings described below are only exemplary, and for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0012] Figure 1 It is a schematic structural diagram of the heaving gun of the intelligent deployment and recovery device for the unmanned ship of the present application.

[0013] Figure 2 It is a schematic structural diagram of the recovery operation platform of the intelligent deployment and recovery device for the unmanned ship of the present application.

[0014] Figure 3 It is a schematic flowchart of the intelligent deployment and recovery method for the unmanned ship of the present application.

[0015] Figure 4 This is a schematic structural diagram of the intelligent deployment and recovery system for the unmanned ship of the present application.

[0016] Explanation of reference numerals: Support spring 11, Metal barbs 12, Heaving line barrel 13, Floating ball 14, Guide rope 15, High-pressure gas cylinder 16, First driving motor 21, Heaving line gun head capture net 22, First rack slide rail 23, Deep groove lifting pulley 24, Lifting guide unit 25, Symmetric telescopic arm 26, Second driving motor 27, Lifting block 28, Second rack slide rail 29, Control driving module 31, Connection instruction output module 32, Heaving line gun head operation module 33, Guide rope embedding module 34, Fixed recovery module 35, Intelligent deployment module 36. Detailed implementation manners

[0017] By providing an intelligent deployment and recovery device, method and system for an unmanned ship, the present application solves the technical problem of low accuracy of the recovery operation due to the instability and shaking of the unmanned ship during the recovery process in complex sea conditions, and achieves the effects of improving the safety and accuracy of the unmanned ship recovery process through an intelligent control system and a lifting device, reducing human intervention, and realizing automatic and intelligent recovery operations.

[0018] Next, 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 a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application. Additionally, it should be noted that for the sake of description, only the parts related to the present application are shown in the accompanying drawings rather than all of them.

[0019] Embodiment 1. Please refer to the attached Figure 1 and the attached Figure 2 , the present application provides an intelligent deployment and recovery device for an unmanned ship, and the device specifically includes the following steps:

[0020] 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 mother ship's recovery operation area.

[0021] Specifically, the ship recovery system 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 mother ship's recovery operation area, providing a structural support for carrying out recovery and deployment operations. The structural design of this recovery operation platform can ensure stable operation on the mother ship's deck and provide sufficient space and facilities for towing, lifting, and fixing the unmanned ship. The installation position of the recovery operation platform above the deck enables it to smoothly cooperate with the recovery and deployment of the unmanned ship, ensuring the safety and efficiency of the entire recovery process.

[0022] Furthermore, the recovery operation platform includes:

[0023] A heaving line dart capture unit, which is fixedly installed above the deck of the mother ship's recovery operation area. It includes a first rack rail 23 fixedly connected to the mother ship; a first frame connected to the first rack rail 23; a heaving line dart capture net 22 installed on the first frame; and a first driving motor 21 connected to the first frame to drive the heaving line dart capture net 22 to move along the first rack rail 23.

[0024] In a preferred embodiment, the heaving line dart capture unit is fixedly installed above the deck of the mother ship's recovery operation area and is an important part of the recovery operation. This unit includes a first rack rail 23, a first frame, a heaving line dart capture net 22, and a first driving motor 21. Among them, the first rack rail 23 is fixedly connected to the structure of the mother ship to ensure its stability and supporting force. The first frame is connected to the first rack rail 23 to form a movable structure for supporting and guiding the subsequent movement of the capture net. The heaving line dart capture net 22 is installed on the first frame and is internally equipped with a grid woven from high-strength fiber ropes. The gaps in the grid are smaller than the diameter of the floating ball 14 of the heaving line dart, and it is also convenient for the barbs of the heaving line dart to pass through the grid and hook the rope, which is used to capture the heaving line dart during the recovery process and fix the guiding rope 15 on the unmanned ship. In order to enable the capture net to move precisely, the first driving motor 21 is connected to the first frame to drive the heaving line dart capture net 22 to move smoothly along the first rack rail 23. Through this mechanism, the heaving line dart capture net 22 can move along a predetermined trajectory and accurately complete the task of capturing the guiding rope 15, ensuring the smooth progress of the recovery operation.

[0025] The lifting guiding unit 25 is fixedly arranged below the heaving line gun head capturing unit and includes a second rack slide rail 29 fixedly connected to the mother ship; a lifting pulley 28 mounted on the second rack slide rail 29; and a second driving motor 27 connected to a second frame to drive the lifting pulley 28 to move along the second rack slide rail 29.

[0026] In a preferred embodiment, the lifting guiding unit 25 is fixedly installed below the heaving line gun head capturing unit and is an important part for guiding the lifting of the unmanned ship during the recovery process. This unit includes a second rack slide rail 29, a lifting pulley 28, and a second driving motor 27. Among them, the second rack slide rail 29 is fixedly connected to the structure of the mother ship to ensure its stability and supporting force. The lifting pulley 28 is mounted on the second rack slide rail 29 and realizes smooth movement through the support of the slide rail, so as to facilitate the precise control of the lifting process. The second driving 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 driving motor 27, the lifting pulley 28 can move along the slide rail on a predetermined path, realizing the precise lifting and guiding of the unmanned ship and effectively assisting the smooth progress of the entire recovery process.

[0027] Furthermore, the lifting pulley 28 includes:

[0028] A first roller; a second roller, the first roller and the second roller are installed on the lifting pulley 28 in a V-shaped layout; a deep-groove lifting pulley 24 installed in the V-shaped groove formed by the first roller and the second roller.

[0029] In an alternative embodiment, the first roller and the second roller are installed on the lifting pulley 28 in a V-shaped layout to form an accurate supporting structure. This structural design makes a V-shaped groove formed 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 to ensure that the pulley can freely slide on a stable track and accurately guide the running of the lifting cable or guiding rope 15; this structure of the lifting pulley 28 makes the deep-groove lifting pulley 24 more stable and smooth during operation through precise layout and installation methods, ensuring the accuracy and reliability of the unmanned ship recovery operation.

[0030] Furthermore, the device includes:

[0031] A clamping device installed on both sides of the lifting pulley 28, the clamping device includes K groups of symmetric telescopic arms 26, where K is a positive integer.

[0032] In an alternative embodiment, the clamping device is installed on both sides of the lifting block 28. As an important part to ensure the stable recovery of the unmanned boat, the device includes K groups of symmetric 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 block 28 and can precisely clamp the unmanned boat through telescopic adjustment during the recovery process to prevent large swings of the unmanned boat during lifting. When the unmanned boat is lifted to the highest position, the telescopic arms can be controlled to extend, and the baffles on the telescopic arms will clamp the unmanned boat to further limit its displacement and ensure the stability of the recovery process. When the unmanned boat reaches above the grating platform, the clamping device is released, and the unmanned boat will eventually be lowered to the grating platform and fixed in place.

[0033] A grating receiving rack, the grating receiving rack 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.

[0034] Specifically, the grating receiving rack is arranged on the deck of the mother ship recovery operation area. As an important structure for fixing the position after the unmanned boat is recovered, the receiving rack is composed of a metal grating, which can ensure that the unmanned boat can be stably parked after recovery and prevent displacement. The size and structure of the grating receiving rack 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 two or more fixing bolts similar to heaving line dart heads equipped at the bow and stern of the unmanned boat to ensure that the recovered unmanned boat is firmly parked on the deck. When the unmanned boat is placed on the grating, the fixing bolts pass through the grating and the barbs pop open to fix the unmanned boat on the grating receiving rack to prevent accidental sliding. When it is necessary to unload the unmanned boat from the grating receiving rack, press the control handle to retract the barbs of the fixing bolts and pull the fixing bolts out of the grating receiving rack, and the unmanned boat can then be moved. The lifting winch unit is installed on the deck of the mother ship recovery operation area and is used for towing and lifting the unmanned boat. The unit includes a motor, a reducer, a winch, a lifting rope, and a guiding rope 15, which are used to precisely 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 and effectively complete the lifting and lowering operations of the unmanned boat to ensure the stability and safety of the unmanned boat during the recovery process.

[0035] Furthermore, the lifting winch unit includes:

[0036] A guiding rope 15 recovery winch, the guiding rope 15 recovery winch is configured with a first robotic arm; a second cable recovery winch, the second cable recovery winch is configured with a second robotic arm.

[0037] In a preferred embodiment, the guide rope 15 recovery winch is equipped with a first robotic arm, which is used to precisely 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 operation requirements. The second cable recovery winch is equipped with a second robotic arm, which works in coordination with the first robotic arm of the guide rope 15 recovery winch to operate and recover the lifting cable. The second robotic arm can precisely adjust the tightness and recovery speed of the cable to ensure the 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, reduces human intervention, and improves the safety and reliability of the recovery operation.

[0038] A first cable recovery winch, which is installed on the unmanned boat; a heaving gun, which is connected to the lifting cable on the first cable recovery winch through the guide rope 15 and is used to connect to the recovery operation platform to tow the unmanned boat to a first predetermined position.

[0039] 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 precisely control the cable recovery process through transmission devices such as motors and reducers. During the recovery process, the first cable recovery winch is responsible for pulling the lifting cable. By controlling the length and tightness of the lifting cable, the unmanned boat is safely towed from the water surface to the predetermined position to ensure the smooth progress of the recovery operation. The heaving gun is connected to the lifting cable on the first cable recovery winch through the guide rope 15 and plays a guiding and towing role. During the recovery process, the heaving gun will fire the gun head with the guide rope 15. The guide rope 15 is precisely connected to the recovery operation platform through the heaving gun. Through this connection, the cooperation of the heaving 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 and avoid errors or mistakes caused by complex sea conditions.

[0040] Further, the heaving gun includes:

[0041] A heaving gun head; a heaving gun barrel 13, the heaving gun head is sleeved on the first end of the heaving gun barrel 13; a floating ball 14, the floating ball 14 is sleeved on the second end tube body of the heaving gun barrel 13, and the guide rope 15 is detachably connected to the second end; a high-pressure gas cylinder 16, the high-pressure gas cylinder 16 is hermetically connected to the second end of the heaving gun barrel 13, and the high-pressure gas cylinder 16 has a quick valve.

[0042] In a preferred embodiment, the heaving line gun includes a heaving line gun head, a heaving line gun barrel 13, a floating ball 14, and a high-pressure gas cylinder 16. Among them, the heaving line gun head is the core component of the heaving line gun, which is used to launch the gun head with a guide rope 15 and accurately shoot the guide rope 15 into the target area through a pneumatic method, that is, a certain area in the heaving line gun head capture net 22; the heaving line gun barrel 13 is a pipeline structure for accommodating and transmitting high-pressure gas. The heaving line 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 heaving line gun can accurately control the launching process; the floating ball 14 is sleeved on the second end pipe body of the heaving line gun barrel 13, and its main function is to ensure that the heaving line gun head can float in water. When the gun head fails to be fixed by the heaving line gun head capture net 22, the floating ball 14 can make the gun head float on the water surface for convenient subsequent recovery operations; the guide rope 15 is connected to the second end of the heaving line gun barrel 13 through a detachable connection method, so that in the recovery operation, it can be quickly connected and disconnected according to needs. This design ensures the flexibility of the guide rope 15 and can be adjusted according to the actual situation; the high-pressure gas cylinder 16 is hermetically connected to the second end of the heaving line gun barrel 13 to provide the high-pressure gas for launching the heaving line gun head. The gas in the high-pressure gas cylinder 16 is quickly released through a quick valve, providing a powerful launching power for the heaving line gun. The design of the quick valve ensures the rapid release of the gas, enabling the gun head to be efficiently shot out to complete the accurate recovery task.

[0043] Furthermore, the heaving line gun head includes:

[0044] A metal barb 12 combination, the metal barb 12 combination includes one or more metal barbs 12; a metal pipe, a support spring 11 is installed at the connection position between the metal barb 12 combination and the metal pipe, and the metal barb 12 combination is sleeved on the heaving line gun barrel 13 through the metal pipe to form an airtight connection.

[0045] In an alternative embodiment, the heaving line gun head includes a metal barb assembly 12 and a metal tube. The metal barb assembly 12 is composed of one or more metal barbs 12. The design purpose of the barbs is to firmly hook the mesh and prevent detachment when contacting the heaving line gun head capture net 22. The metal barbs 12 play a key role during the recovery process to ensure that the heaving line gun head can be stably fixed in the capture net. The metal tube is a component of the heaving line gun. A support spring 11 is installed at the connection position between the metal barb assembly 12 and the metal tube. The function of the support spring 11 is to maintain the elasticity and stability of the metal barbs 12. When the metal barbs 12 pass through the heaving line gun head capture net 22, the support spring 11 ensures that the barbs can open and firmly grasp the mesh, preventing the barbs from retracting and causing connection failure. The metal barb assembly 12 is sleeved on the heaving line gun barrel 13 through the metal tube to form an airtight connection. This design ensures that the pneumatic function of the heaving line gun can be effectively transmitted, enabling the heaving line gun to accurately fire and ensuring that the guide rope 15 is firmly fixed in the capture net. Through the airtight connection, the airflow can accurately control the ejection of the gun head while maintaining the airtightness and safety of the gun barrel part.

[0046] Wherein, after the unmanned ship is towed to the first predetermined position by the heaving line gun by the recovery operation platform, the lifting winch unit is connected to the lifting cable on the first cable recovery winch to lift the unmanned ship to the second predetermined position and cooperate with the grid receiving frame to perform the fixed recovery of the unmanned ship.

[0047] Specifically, after the unmanned ship is towed to the first predetermined position by the heaving line gun by the recovery operation platform, the lifting cable on the first cable recovery winch is connected to the lifting winch unit. Through this connection, the lifting winch unit is responsible for lifting the unmanned ship until the unmanned ship reaches the second predetermined position. When the unmanned ship is lifted to this position, it cooperates with the grid receiving frame to complete the fixed and recovery operations of the unmanned ship. The entire process ensures the stable recovery and safe fixation of the unmanned ship through precise control and coordination.

[0048] In summary, the intelligent deployment and recovery device for the unmanned ship provided by the embodiments of the present application has the following technical effects:

[0049] 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 mother ship's recovery operation area; a grille receiving rack, the grille receiving rack is arranged on the deck of the mother ship's recovery operation area; a lifting winch unit, the lifting winch unit is installed on the deck of the mother ship's recovery operation area; a first cable recovery winch, the first cable recovery winch is installed on the unmanned ship; a heaving gun, the heaving 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, after the unmanned ship is towed to the first predetermined position by the recovery operation platform through the heaving 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 cooperate with the grille receiving rack to perform fixed recovery of the unmanned ship. Through the above device, the technical problem that the accuracy of the recovery operation is low due to the instability and shaking of the unmanned ship during the recovery process of the unmanned ship in complex sea conditions is solved, and the effect of improving the safety and accuracy of the unmanned ship recovery process, reducing human intervention, and realizing automatic and intelligent recovery operations is achieved through the intelligent control system and the lifting device.

[0050] Embodiment 2, as Figure 3 shown, the embodiment of the present application provides an intelligent deployment and recovery method for an unmanned ship, and the method includes:

[0051] Controlling the unmanned ship to travel in the direction of the recovery operation platform of the mother ship; when the unmanned ship travels directly below the recovery operation platform, outputting a connection instruction to the heaving gun, wherein the connection instruction includes the capture net position information of the heaving gun head capture net 22; after the heaving gun receives and shoots towards the heaving gun head capture net 22 with the guide rope 15 according to the connection instruction, it is constrained and fixed by the heaving gun head capture net 22, wherein the tail end of the guide rope 15 is connected to the lifting cable of the unmanned ship; when the first driving motor 21 drives the first frame to drive the heaving gun head capture net 22 to move to the first predetermined position in the first direction, the heaving gun head capture net 22 pulls the guide rope 15 to embed into the deep groove lifting pulley 24 of the lifting block 28; the lifting winch unit recovers the guide rope 15 and the lifting cable through the cooperation of the first robotic arm and the second robotic arm to lift the unmanned ship to the second predetermined position, and cooperate with the grille receiving rack to perform fixed recovery of the unmanned ship.

[0052] Specifically, during the recovery operation, the unmanned boat sails in the direction of the recovery operation platform of the mother ship, precisely heading directly below the recovery platform; when the unmanned boat reaches the designated position, it outputs a connection instruction to the heaving gun, and this instruction contains the position information of the catching net 22 of the heaving gun head, ensuring that the catching net of the heaving gun can accurately dock with the unmanned boat; after receiving the connection instruction, the heaving gun will, by means of pneumatic launching, shoot the heaving gun head with the guide rope 15 towards the catching net 22 of the heaving gun head. The support spring 11 of the heaving gun head with forked barbs is pressed down by the rope net when shooting towards the grid. When the heaving gun head passes through the grid, the support spring 11 with forked barbs bounces above the rope net, ensuring that the heaving gun head firmly catches the grid. At this time, the floating ball 14 at the tail of the heaving gun head is blocked by the catching net 22 of the heaving gun head, and together with the support spring 11 with forked barbs, firmly restrains the gun head on the catching net 22 of the heaving gun head, completing the accurate fixation of the guide rope 15; once the connection is completed, the tail end of the guide rope 15 is connected to the lifting cable of the unmanned boat, ensuring the smooth progress of the entire towing and recovery process; subsequently, the first drive motor 21 is started, driving the first frame to move, driving the catching net 22 of the heaving gun head to move along the first rack slide rail 23 until it reaches the first predetermined position. During this process, the catching net 22 of the heaving gun head, through precise control, pulls the guide rope 15 and embeds it into the deep groove lifting pulley 24 of the lifting block 28, preparing for the subsequent lifting operation; once the guide rope 15 is stably in place, the lifting winch unit is started. Through the cooperation of the first robotic arm and the second robotic arm, the guide rope 15 and the lifting cable are recovered, and the unmanned boat is lifted to the second predetermined position. At this time, the unmanned boat cooperates with the grille receiving rack to complete the recovery and fixation of the unmanned boat, ensuring that the unmanned boat is safely fixed on the mother ship deck. The entire process, through precise mechanical control, pneumatic operation and coordinated cooperation, ensures the stable recovery and accurate deployment of the unmanned boat, greatly improving the efficiency and safety of the recovery operation.

[0053] Further, the lifting winch unit cooperates with the first robotic arm and the second robotic arm to recover the guide rope 15 and the lifting cable, so as to lift the unmanned boat to the second predetermined position, and cooperate with the grille receiving rack to carry out the fixed recovery of the unmanned boat, including:

[0054] During the process of the grappling net 22 of the heaving line gun head moving to the first predetermined position along the first direction, the second drive motor 27 drives the lifting pulley block 28 to move along the second direction, and the guiding rope 15 passes through the lifting pulley block 28 and automatically centers and engages with the deep-groove lifting pulley 24, wherein the first direction and the second direction are opposite; after the guiding rope 15 engages with the deep-groove lifting pulley 24, the first robotic arm hooks the guiding rope 15 to the guiding rope 15 recovery winch, and the guiding rope 15 is recovered by starting the guiding rope 15 recovery winch; after the recovery of the guiding rope 15 is completed, the first robotic arm and the second robotic arm cooperate to unhook the guiding rope 15 and the lifting cable, and the second robotic arm hooks the lifting cable to the second cable recovery winch; the second cable recovery winch is started to recover the lifting cable so as to lift the unmanned ship until the height of the unmanned ship meets the second predetermined position; when the height of the unmanned ship meets the second predetermined position, the operation of the second cable recovery winch is stopped, and the clamping device is controlled to cooperate with the grille receiving rack to recover the unmanned ship.

[0055] In a preferred embodiment, during the process of the cable-throwing gun head capture 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 guiding 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 guiding rope 15 can smoothly and precisely enter the groove of the lifting pulley; when the guiding rope 15 is successfully embedded into the deep-groove lifting pulley 24, the first robotic arm hooks the guiding rope 15 onto the guiding rope 15 recovery winch, and starts to recover the guiding rope 15 by starting the guiding rope 15 recovery winch, ensuring that the unmanned boat can be stably towed and ready for the next operation; after the recovery of the guiding rope 15 is completed, that is, when the connection buckle between the guiding rope 15 and the lifting cable reaches the guiding rope 15 recovery winch, the first robotic arm and the second robotic arm work together to unfasten the connection between the guiding rope 15 and the lifting cable; subsequently, the second robotic arm hooks the lifting cable onto the hook of the second cable recovery winch, starts the second cable recovery winch, and recovers the lifting cable. At this time, the unmanned boat is gradually lifted 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, stop operating the second cable recovery winch, control the clamping device to close and clamp the unmanned boat to limit its displacement, and then control the lifting pulley 28 to lift the unmanned boat to the designated position inside the ship's side; when the unmanned boat reaches the designated position, loosen the clamping device, and start the first cable recovery winch to release the lifting cable, and lower the unmanned boat to the position of the predetermined grid receiving rack. At this time, the fixing bolts on the unmanned boat will snap into the grid receiving rack to ensure that the unmanned boat is firmly fixed and prevent accidental displacement; after that, remove the cable-throwing gun head and the guiding rope 15 from the cable-throwing gun head capture net 22, and connect them to the lifting cable, and all the equipment and cables are recovered into the first cable recovery winch; after installing the cable-throwing gun, the grid receiving rack loaded with the unmanned boat moves along the slide rail on the deck of the mother ship's recovery operation area to the predetermined position and locks, completing the recovery operation. The whole process through the cooperation of the first robotic arm and the second robotic arm, precise control and automatic recovery effectively ensures the stable, safe and efficient recovery operation of the unmanned boat, avoids human intervention, and improves the operation efficiency and reliability.

[0056] And so on, the intelligent deployment of the unmanned boat is carried out by reverse control.

[0057] Specifically, when performing the intelligent deployment of the unmanned ship, the process of intelligent recovery is reversed. That is, first, control the first cable recovery winch to release the lifting cable, and move the unmanned ship along the specified path through the lifting pulley block 28 to ensure the smooth progress of the lifting and deployment process of the unmanned ship; during the deployment process, control the cooperation of the heaving gun and the guide rope 15 to ensure that the unmanned ship can be accurately docked to the predetermined deployment position; when the unmanned ship reaches the predetermined position, disconnect the connection between the unmanned ship and the recovery operation platform, release the lifting cable, and safely place the unmanned ship on the water surface to prepare for performing its task; this process ensures the high efficiency and accuracy of the intelligent deployment process of the unmanned ship through reverse control, while maintaining consistency with the recovery operation, reducing the risk of manual intervention, and improving the automation and intelligence level of the operation.

[0058] In summary, the intelligent deployment and recovery method for the unmanned ship provided by the embodiments of the present application has the following technical effects:

[0059] The intelligent deployment and recovery method of the unmanned ship in 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 heaving gun. When the unmanned ship reaches directly below the recovery operation platform, guide the guide rope 15 to shoot at the catching net 22 of the heaving gun head; after the catching net 22 of the heaving gun head fixes the guide rope 15, the catching net and the guide rope 15 are towed to the lifting pulley block 28 by 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, lift the unmanned ship to the predetermined position, and cooperate with the grid receiving rack to complete the recovery operation; reverse control is used for the intelligent deployment of the unmanned ship to ensure that the deployment process is synchronized with the recovery process, reduce human intervention, and improve efficiency and stability. These technical effects together 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 in 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.

[0060] Embodiment 3, based on the same inventive concept as the intelligent deployment and recovery method of the unmanned ship in the foregoing embodiment, as Figure 4As shown in the figure, the present application provides an intelligent deployment and recovery system for an unmanned ship. The system includes: 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 directly below the recovery operation platform, outputting a connection instruction to the heaving gun, where the connection instruction includes the capture net position information of the heaving gun head capture net 22; a heaving gun head operation module 33: after the heaving gun receives and shoots the guiding rope 15 towards the heaving gun head capture net 22 according to the connection instruction, it is constrained and fixed by the heaving gun head capture net 22, where the tail end of the guiding rope 15 is connected to the lifting cable of the unmanned ship; a guiding rope 15 embedding module: when the first driving motor 21 drives the first frame to drive the heaving gun head capture net 22 to move along the first direction to the first predetermined position, the heaving gun head capture net 22 pulls the guiding rope 15 to embed into the deep groove lifting pulley 24 of the lifting block 28; a fixed recovery module 35: the lifting winch unit recovers the guiding rope 15 and the lifting cable through the cooperation of the first robotic arm and the second robotic arm to lift the unmanned ship to the second predetermined position and cooperate with the grille receiving rack for the fixed recovery of the unmanned ship; an intelligent deployment module 36: and so on, and the intelligent deployment of the unmanned ship is controlled in reverse.

[0061] Further, the fixed recovery module 35 is further used to execute the following method:

[0062] During the process of the heaving gun head capture net 22 moving along the first direction to the first predetermined position, the second driving motor 27 drives the lifting block 28 to move along the second direction, and the guiding rope 15 passes through the lifting block 28 and automatically centers and embeds into the deep groove lifting pulley 24, where the first direction and the second direction are opposite; after the guiding rope 15 is embedded into the deep groove lifting pulley 24, the first robotic arm hooks the guiding rope 15 on the guiding rope 15 recovery winch, and the guiding rope 15 is recovered by starting the guiding rope 15 recovery winch; after the guiding rope 15 recovery is completed, the first robotic arm and the second robotic arm cooperate to unhook the guiding rope 15 and the lifting cable, and the second robotic arm hooks the lifting cable on the second cable recovery winch; the second cable recovery winch is started to recover the lifting cable to lift the unmanned ship until the height of the unmanned ship meets the second predetermined position; when the height of the unmanned ship meets the second predetermined position, the second cable recovery winch is stopped, and the clamping device is controlled to cooperate with the grille receiving rack for the recovery of the unmanned ship.

[0063] It should be noted that the above order of the embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. And the above description of specific embodiments of this specification has been made. The processes depicted in the 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.

[0064] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

[0065] This specification and the drawings are only exemplary descriptions of the present application and are considered to have covered any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications 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 equivalent technologies, the present application is intended to include these changes and modifications.

Claims

1. An intelligent deployment and recovery device for unmanned boats, characterized in that: The device includes: Recycling ships, including mother ships and unmanned ships; A recovery operation platform, which is arranged above the deck of the recovery operation area of ​​the mother ship; A grid receiving frame, which is arranged on the deck of the mother ship's recovery operation area; A hoisting winch unit is installed on the deck of the mother ship's recovery operation area; A first cable recovery winch, the first cable recovery winch is installed on the unmanned vessel; A cable-skimming gun, which is connected to a lifting cable on a first cable recovery winch through a guide rope and is used to connect to a 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 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; The recycling operation platform includes: The cable-cutting gun head capture unit is fixedly arranged above the deck of the mother ship recovery operation area, including A first rack slide rail, the first rack slide rail is fixedly connected to the mother ship; A first frame, the first frame is connected to a first rack slide rail; A cable-lifting gun head catching net, which is installed on the first frame; A first driving motor, the first driving motor is connected to the first frame to drive the cable skimming gun head to capture the net and move along the first rack slide rail; The lifting guide unit is fixedly arranged below the cable skimming gun head capture unit, including A second rack slide rail, the second rack slide rail is fixedly connected to the mother ship; A lifting pulley, the lifting pulley is installed on the second rack slide rail; A second drive motor, the second drive motor is connected to the second frame to drive the lifting pulley to move along the second rack slide rail; The lifting tackle includes: First roller; The second roller, the first roller and the second roller are mounted on the lifting block 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.

2. The intelligent deployment and recovery device for an unmanned boat according to claim 1, characterized in that: The device includes: The 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.

3. The intelligent deployment and recovery device for an unmanned boat according to claim 1, characterized in that: Cable skimmer includes: Cable-skimming gun head; A cable-skimming gun barrel, wherein a cable-skimming gun head is mounted on a first end of the cable-skimming gun barrel; A 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.

4. The intelligent deployment and recovery device for an unmanned boat as claimed in claim 3, characterized in that: Cable skimmer head includes: A metal barb combination, the metal barb combination comprising one or more metal barbs; A supporting spring is installed at the connection position of the metal tube, the metal barb assembly and the metal tube, and the metal barb assembly is sleeved on the cable-skimming gun barrel through the metal tube to form an airtight connection.

5. The intelligent deployment and recovery device for an unmanned boat according to claim 1, characterized in that: The lifting winch unit consists of: 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.

6. An intelligent deployment and recovery method of an unmanned boat, characterized in that: The method is implemented by the intelligent deployment and recovery device of the unmanned boat in claim 1, comprising: 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-leaving gun, wherein the connection instruction includes the position information of the capture net of the cable-leaving gun head; After receiving the connection instruction, the cable gun shoots the guide rope toward the capture net of the cable gun head according to the connection instruction, and is restrained and fixed by the capture net of the cable gun head, 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 along the first direction to the first predetermined position, the traction guide rope of the cable-lifting gun head catching net is embedded in the deep groove lifting pulley of the lifting pulley; The hoisting winch unit recovers the guide rope 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: When the catching net of the cable-lifting gun head 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 block 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; Similarly, reverse control is used to carry out intelligent deployment of unmanned ships.

7. Intelligent deployment and recovery system of unmanned boats, characterized by: The intelligent deployment and recovery system of the unmanned ship is used to implement the intelligent deployment and recovery method of the unmanned ship in claim 6, comprising: Control driving module: control the unmanned boat to drive in the direction of the recovery operation platform of the mother ship; Connection instruction output module: When the unmanned ship travels to the bottom of the recovery operation platform, it outputs a connection instruction 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 gun head operation module: After receiving and shooting the cable gun head capture net with the guide rope according to the connection instruction, the cable gun is constrained and fixed by the cable 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 be embedded in 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 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; Intelligent deployment module: Similarly, reverse control is used to perform intelligent deployment of unmanned ships.

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