A method for recovering a submerged buoy based on UAV collaboration

Abstract

The present application provides a method for recovering a buoy based on cooperation with unmanned aerial vehicles, which is applied to the technical field of recovering buoys. The method comprises the following steps: assembling a recovery system, including: detachably attaching an electric hook to the lower part of the unmanned aerial vehicle, passing one end of a traction cable through the closed electric hook and connecting a salvage hook; positioning the unmanned aerial vehicle before throwing the hook, including: controlling the unmanned aerial vehicle carrying the electric hook and the traction cable suspended on the hook to fly slowly to above a target hook throwing position; performing normal hook throwing and buoy salvage and recovery, including: controlling the unmanned aerial vehicle to descend to an operating height, controlling the electric hook to open, and if the hook opens normally, releasing the traction cable so that the salvage hook falls into the target hook throwing position under the action of gravity, and then pulling back the traction cable so that the salvage hook always hooks the buoy until the salvage and recovery is completed. The recovery method has the advantage of a high success rate for first-time buoy recovery.

Description

Technical Field

[0001] The present application relates to the technical field of buoy recovery, and in particular to a buoy recovery method based on unmanned aerial vehicle collaboration. Background Art

[0002] The submerged buoy system is an important marine observation platform, which can be equipped with multidisciplinary observation and sensing equipment, and can monitor the changes of marine environment, marine meteorological parameters and marine biological information in real time. The submerged buoy system usually includes a connecting rope with a length of tens of meters to several kilometers, various types of observation equipment mounted on the connecting rope, multiple buoy units distributed on the connecting rope at intervals, a gravity anchor arranged under the connecting rope, and a releaser arranged between the connecting rope and the gravity anchor. The main function of the buoy unit is to provide buoyancy for the entire submerged buoy system, and to provide buoyancy to make all anchor systems except the gravity anchor rise to the water surface when the submerged buoy is recovered. The main function of the releaser is to disconnect the connecting rope from the gravity anchor after receiving the instructions of the recovery personnel, so that the anchor system of the submerged buoy can float up.

[0003] The recovery of the submerged buoy system is of vital importance. The existing methods for recovering submerged buoys include recovery by working boats and recovery by recovery ships. The recovery method using working boats requires the lifting of working boats from ships, the disembarkation of personnel, and towing at sea, which not only requires a long time for offshore operations but also poses safety hazards. The recovery method using recovery ships mainly includes two methods: recovery by dynamic positioning ships and recovery by non-powered positioning ships. The recovery by non-powered positioning ships requires the recovery ship to be first operated to the upwind position of the submerged buoy, and the ship is brought close to the position of the submerged buoy's header by using the wind pressure. When it reaches the operating distance, the header is hooked at the side of the ship, and then towed to the stern deck for cable winching recovery. The recovery by dynamic positioning ships requires three-point positioning to determine the exact position of the submerged buoy, and after confirming the safety of one side of the header, the bow side thruster and the stern main thruster are used to push the ship flat to a position roughly perpendicular to the line connecting the header and the second set of buoys, and then the middle of the ship is slowly approached to the header. When it reaches the operating distance, the hook is cast and the anchor is hooked to the cable on the buoy, and then the cable is recovered through the stern deck. When using the recovery ship recovery method, since it is necessary to get very close to the buoy to cast the hook and anchor, improper operation may cause the cable or equipment to enter the propeller, causing the cable to be entangled in the propeller and affecting navigation.

[0004] To sum up, there is an urgent need for a submerged buoy recovery method with high safety factor and high reliability, which can recover the submerged buoy without personnel leaving the hull and without the hull approaching the submerged buoy, so as to solve the problems in the prior art that the submerged buoy anchor system is easily entangled with the propeller and the submerged buoy recovery requires personnel to leave the ship for operation, so as to reduce the risks existing in the submerged buoy recovery operation. Summary of the invention

[0005] In view of this, the embodiments of this specification provide a method for recovering a buoy based on drone cooperation, which has the advantages of high safety and high success rate of the first buoy recovery operation.

[0006] The embodiments of this specification provide the following technical solutions:

[0007] The embodiment of this specification provides a method for recovering a submerged buoy based on cooperation with a drone, which is used to recover a submerged buoy anchor system that has floated to the sea surface on a recovery ship, including the following steps:

[0008] The recovery system is assembled, including: attaching an electric hook detachably to the lower part of the drone, passing one end of a towing cable through the closed electric hook and tying a salvage hook;

[0009] The drone is positioned before hook throwing, including: controlling the drone to carry an electric hook and a traction cable hanging on the hook to fly slowly to above the target hook throwing position;

[0010] Execute normal hook throwing and buoy salvage recovery, including: control the drone to descend to the operating height, control the electric hook to open, if the hook opens normally, release the traction cable to make the salvage hook fall to the target hook throwing position under the action of gravity, and then pull back the traction cable to make the salvage hook always hook the buoy until the salvage recovery is completed. If the hook cannot be opened normally, execute the next step;

[0011] Execute emergency hook throwing and buoy salvage and recovery, including: control the drone to quickly pull up until the force applied to the attachment part between the electric hook and the drone is greater than its bonding strength, so that the electric hook is separated from the drone, thereby releasing the traction cable and causing the salvage hook to fall into the target hook throwing position under the action of gravity; then pull back the traction cable to ensure that the salvage hook always hooks the buoy until the salvage and recovery is completed.

[0012] In order to optimize the above scheme, the following technical measures are also taken:

[0013] As a preferred embodiment, the electric hook is detachably attached to the lower part of the drone by means of bonding, adsorption or snapping.

[0014] As a preferred embodiment, the electric hook is adsorbed on the lower part of the drone through a magnetic attraction.

[0015] As a preferred embodiment, in the step of positioning the drone before hook throwing, the target hook throwing position is above a group of buoys closest to the header and is located on the far ship side of the buoy anchor system in the horizontal direction.

[0016] As a preferred embodiment, the electric hook includes a hook execution module, a drive module, a control module and a pressure-sensitive sensor electrically connected to the control module, the pressure-sensitive sensor is used to detect the pulling force borne by the hook, the hook execution module is configured to be switchable between an open state and a closed state, the control module is electrically connected to the drive module, and the control module is externally powered, the drive module is transmission-connected to the hook execution module to provide the hook execution module with the power required to execute opening or closing.

[0017] As a preferred method, in the steps of executing normal hook casting and buoy salvage and recovery, the operating height is the height position when the salvage hook contacts the water surface. At this time, the change of tension on the electric hook is detected by the pressure-sensitive sensor, thereby controlling the electric hook to open.

[0018] As a preferred embodiment, the electric hook further comprises a communication module and a remote control module wirelessly connected to the communication module, and the communication module is electrically connected to the control module.

[0019] As a preferred mode, in the steps of executing normal hook casting and buoy salvage and recovery, the operating height is such that the salvage hook is 2 to 3 meters above the water surface, and at this time, the electric hook is controlled to open by a remote control module.

[0020] As a preferred manner, in the steps of executing the emergency hook throwing and the submerged buoy salvage and recovery, when the drone is controlled to be pulled up quickly, the salvage hook is located above the submerged buoy.

[0021] As a preferred method, in the steps of executing the emergency hook throwing and buoy salvage and recovery, the drone and the towing cable are first controlled to make the salvage hook hook the buoy, and then the drone is controlled to pull it up quickly.

[0022] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0023] 1. The method of recovering the buoy is to recover the buoy by means of UAV cooperation, without the need for personnel to get on and off the ship, which improves the safety factor of the buoy recovery operation process, and has a wide range of operations. The recovery ship can complete the salvage and recovery of the buoy without approaching the buoy, thus reducing or even eliminating the risk of the buoy cable being entangled with the propeller of the hull;

[0024] 2. The method for recovering the buoy has a double-safety hook-casting mode of normal hook-casting and emergency hook-casting. In the normal hook-casting mode, the hook is cast by controlling the electric hook to open and release the traction cable. When the electric hook fails and cannot be opened normally, the emergency hook-casting mode is executed, and the drone is quickly pulled up by controlling the drone until the attachment part between the electric hook and the drone is "pulled off", so that the electric hook is detached from the drone, and the cable is also released and the hook is cast. This forced hook-casting method can not only improve the success rate of the first buoy recovery operation, but also retain the expensive drone equipment, thereby reducing the equipment loss caused by forced operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 It is a schematic diagram of the method flow of Embodiment 1 of the present application;

[0027] Figure 2 This is a schematic diagram of the system composition when the drone is in place before throwing the hook in Example 1 of the present application;

[0028] Figure 3 It is a schematic diagram of the system composition when performing normal hook casting in Example 1 of the present application;

[0029] Figure 4 It is a schematic diagram of the system composition when performing normal hook casting in the second embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of the system composition when performing emergency hook throwing in Example 1 of the present application;

[0031] Figure 6 This is a schematic diagram of the system composition when performing emergency hook throwing in Example 2 of the present application;

[0032] Figure 7 It is a schematic diagram of the disassembly of some components in Example 1 of the present application;

[0033] Figure 8 It is a structural schematic diagram of the electric hook in the first embodiment of the present application;

[0034] Fig. 9 This is a schematic diagram of the situation when the drone takes off from the recovery ship in the first embodiment of the present application;

[0035] Fig.10 This is a schematic diagram of the situation when the drone performs a hook throwing operation in the first embodiment of the present application;

[0036] Fig.11 It is a schematic diagram of the situation when the submerged buoy is salvaged and recovered in Example 1 of the present application.

[0037] Explanation of the reference numerals: 1. Recovery ship; 2. UAV; 3. Towing cable; 31. Electric hook; 310. Communication module; 311. Remote control module; 312. Fixed arm; 313. Shell; 314. Hook execution module; 315. Transmission mechanism; 316. Drive module; 317. Control module; 318. Power supply module; 319. Pressure-sensitive sensor; 32. Salvage hook; 4. Buoy; 5. Cable drum; 6. Cable assistant; 71. First magnetic attraction component; 72. Second magnetic attraction component. DETAILED DESCRIPTION

[0038] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0039] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0040] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0041] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0042] The embodiments of this specification propose a method for recovering a buoy based on drone collaboration, which aims to solve the problem that the buoy recovery method in the prior art requires personnel to get on and off the ship to operate, which poses a safety risk in the operation process or requires the hull to be close to the buoy anchor, which makes it easy for the buoy cable to be entangled in the propeller and increases equipment risks. Not only can the buoy recovery operation be carried out without the need for personnel to get on and off the ship, but also due to the wide operating distance range, the phenomenon of the cable entangled in the propeller can be effectively avoided. Furthermore, the buoy recovery method has a higher success rate than the prior art hook throwing operation, thereby increasing the probability of successful first-time recovery of the buoy.

[0043] The technical solutions provided by various embodiments of the present application are described below in conjunction with the accompanying drawings.

[0044] Embodiment 1

[0045] like Figures 1 to 5 As shown, the dotted line parallel to the X-axis or the Y-axis roughly shows the position of the sea surface where the submerged buoy is located. The embodiment of this specification provides a submerged buoy recovery method based on drone cooperation, which is used to recover the submerged buoy anchor system that has floated to the sea surface on a recovery ship 1, including the following steps:

[0046] (1) Assembling a recovery system, the recovery system comprises a UAV 2 with an onboard camera module, a traction cable 3, an electric hook 31, a salvage hook 32 and a winch drum 5. The electric hook 31 is detachably attached to the lower part of the UAV 2, one end of the traction cable 3 is passed through the closed electric hook 31 and tied to a salvage hook 32, the winch drum 5 is arranged on the recovery vessel 1, and one end of the traction cable 3 is suitable for winding around the winch drum 5;

[0047] (2) The UAV 2 is in position before hook dropping. This step includes: controlling the UAV 2 to carry the airborne camera module, the electric hook 31, and the towing cable 3 and the salvage hook 32 suspended on the hook to fly slowly to the target hook dropping position, hovering and waiting for position confirmation. At this time, the salvage hook is suspended at the bottom of the towing cable 3, and the airborne camera module transmits the image of the target hook dropping position back to the UAV operator. The observer on the recovery ship 1 also confirms the hook dropping position. After the position is confirmed, the hook dropping operation can begin.

[0048] like Figures 9 to 11As shown, before the UAV 2 is in place, the recovery ship 1 is also in place. Specifically, the recovery ship 1 enters and stays within the operating distance and keeps the hull and the submerged buoy 4 basically in parallel. In this way, on the one hand, it is convenient to observe the position of the submerged buoy from the side of the ship, and on the other hand, it can prevent the submerged buoy anchor system from being entangled with the propeller under the ship. The operating distance described here is preferably 200 to 300 meters. Within this operating distance, it can ensure that the recovery ship 1 will not collide with the submerged buoy anchor system, and it is also convenient to observe the position of the submerged buoy anchor system and the control of the UAV 2 by the UAV operator.

[0049] Preferably, after the recovery ship 1 is in place and before the UAV 2 is in place, the step of arranging the traction end of the traction cable in a wave shape on the ship is also included, so as to avoid the cable getting entangled during the operation and affecting the operation.

[0050] Preferably, when the UAV 2 is in place, the traction cable 3 is divided into a hook throwing section and a traction section with the hooking position of the electric hook 31 as the dividing point, wherein one side of the traction section is assisted in pulling by the cable assistant 6, and the lower end of the hook throwing section is connected to the salvage hook 32. During this process, the angle between the hook throwing section and the traction section is maintained at 30° to 60°. This is because when the angle is less than 30°, the traction section is easily entangled with the hook throwing section, which is not conducive to the hook throwing operation. When the angle is greater than 60°, the traction section is at risk of being involved in the propeller of the UAV 2.

[0051] like Figure 2 As shown, in the step of the drone 2 being in position, the target hook throwing position is above the group of buoys closest to the header and is located on the far ship side of the anchor of the buoy 4 in the horizontal direction. The far ship side is the side of the buoy away from the recovery ship 1 along the Y-direction arrow direction, and the opposite side is the side of the buoy facing the X-direction arrow direction, which is the near ship side. The position of the double-dotted line perpendicular to the X-direction or Y-direction in the figure roughly shows the horizontal orientation of the target hook throwing position. Figures 9 to 11 As shown, the group of buoys includes multiple buoys tied together by a submerged buoy cable. When the header is a single buoy, in order to enable the salvage hook 32 to successfully hook the cable on the buoy after the hook is cast and anchored, the target hook position should be selected above the group of buoys closest to the header, or directly above the header position containing multiple buoys. At the same time, the target hook position should be on the far ship side of the submerged buoy anchor in the horizontal direction, so that the salvage hook 32 can hook the submerged buoy cable on the buoy by pulling back the traction cable 3, so as to facilitate subsequent salvage and recovery operations. Furthermore, in the height direction, the target hook position should be a position that makes the salvage hook 32 basically close to the water surface, so that the salvage hook 32 can hook the submerged buoy cable on the buoy.

[0052] (3) Executing normal hook throwing and salvaging and recovering the submerged buoy 4, including: controlling the drone 2 to descend to the operating height, controlling the electric hook 31 to open, and if the hook opens normally to release the traction cable 3, then pulling back the traction cable 3 to make the salvage hook 32 always hook the submerged buoy 4 until the salvage and recovery is completed; if the hook cannot be opened normally, executing the next step;

[0053] It should be noted that the electric hook 31 here has various forms in the prior art, for example, a DJI T60 special lifting and unhooking release device can be used. In order to facilitate the understanding of the solution, this embodiment still introduces some specific forms related to the electric hook 31, and the remaining details are not repeated.

[0054] like Figure 8 As shown, the electric hook 31 includes a shell 313, a hook execution module 314, a drive module 316, and a control module 317. The hook execution module 314 is configured to be convertible between an open state and a closed state. The control module 317 is electrically connected to the drive module 316, and the control module 317 is externally connected to a power supply module 318. The drive module 316 is connected to the hook execution module 314 through a transmission mechanism 315 to provide the hook execution module 314 with the power required to execute opening or closing. Here, the transmission mechanism 315 is, for example, a gear rack mechanism, the hook execution module 314 includes a fixed arm 312 arranged on the housing 313, and the hook execution module 314 includes two half-ring hook claws hinged at one end by a hinge shaft, each half-ring hook claw is hinged with a rocker between the fixed arm 312, and the two rockers are arranged relative to each other. When the hook execution module 314 is working, the driving module 316 outputs power, and the gear drives the rack to move up and down, driving the two half-ring hook claws to rotate relative to each other around the hinge shaft, so that the hook claws can be switched between the open or open state and the clamped or closed state. The electric hook 31 also includes a communication module 310 and a remote control module 311 wirelessly connected to the communication module 310, and the communication module 310 is electrically connected to the control module 317. Therefore, the electric hook 31 can be remotely controlled to open through the remote control module 311 to achieve normal hook throwing.

[0055] like Figure 3 As shown, in the above steps, the operating height D1 is such that the fishing hook 32 is 2 to 3 meters above the water surface, and the electric hook 31 is controlled to open by the remote control module 311. That is, this embodiment uses the manual mode to cast the hook, and there may be multiple triggering conditions for the manual casting mode. For example, when the waves are large during the casting operation, the descent height of the drone 1 cannot be too low, and the manual casting mode may be used. Figure 3 The dotted line portion shows the situation when the cable assistant 6 pulls back the traction cable 3. When the traction cable 3 is in a tensioned state, the salvage hook 32 always hooks the submerged buoy 4 until the salvage is completed.

[0056] (4) Executing emergency hook throwing and salvaging and recovering the buoy 4, including: controlling the drone 2 to quickly pull up until the force in the longitudinal direction of the attachment portion between the electric hook 31 and the drone 2 is greater than its bonding strength, so that the electric hook 31 is separated from the drone 2, thereby releasing the traction cable 3, and causing the salvage hook 32 to fall into the target hook throwing position under the action of gravity; then, by pulling back the traction cable 3, the salvage hook 32 is always hooked on the buoy 4 until the salvage and recovery is completed.

[0057] Here, the electric hook 31 is detachably attached to the lower part of the drone 2 by bonding, adsorption or snapping. Taking the adsorption method as an example, Figure 7 As shown, the lower part of the drone 1 is provided with a first magnetic member 71, and the upper part of the electric hook 31 is provided with a second magnetic member 72. The electric hook 31 is detachably attached to the lower part of the drone 2 through the cooperation of the first magnetic member 71 and the second magnetic member 72. As another method, the electric hook 31 can also be detachably attached to the lower part of the drone 2 through adhesive or Velcro. There are many ways to achieve this "detachable attachment" in the prior art, such as through a special snap-fit ​​method. Specifically, a groove is provided at the lower part of the drone 1, and a protrusion is provided on the electric hook 31. The protrusion is connected to the groove by interference fit to achieve the attachment, and the interference fit protrusion can be separated from the groove by quickly pulling up the drone 2, thereby achieving the detachment.

[0058] Here, if Figure 5 As shown, when the drone 2 is quickly pulled up by control, the salvage hook 32 is located above the buoy 4. At this time, the longitudinal force on the attachment part includes the downward pulling force of the traction cable 3 on the electric hook 31, the gravity of the electric hook 31 and the salvage hook 32, and the lifting force of the drone 2 in the opposite direction to the combined force of the downward pulling force and the gravity. When the longitudinal force on the attachment part is greater than its bonding strength, the electric hook 31 detaches from the drone 2 to release the traction cable 3. The salvage hook 32 drops to the target hook throwing position under the action of gravity, and then the traction cable 3 is pulled back to ensure that the salvage hook 32 always hooks the buoy 4 until the salvage and recovery is completed.

[0059] In this embodiment, Figures 1 to 5 as well as Figures 9 to 11 As shown, a winch drum 5 is provided on the recovery ship 1. After the salvage hook 32 hooks the submerged buoy, the cable assistant 6 pulls back the traction cable 3. The dotted line part is the situation when the cable assistant 6 pulls back the traction cable 3. At the same time, the end of the traction cable 3 away from the salvage hook 32 is wound on the winch drum 5, and the winch drum 5 is started, so that the salvage hook 32 hooks the submerged buoy 4 and then the cable is recovered through the stern deck of the recovery ship 1.

[0060] Embodiment 2

[0061] like Figure 4 and Figure 6 As shown, the difference between this embodiment and the first embodiment is that the electric hook 31 further includes a pressure-sensitive sensor 319 electrically connected to the control module 317, and the pressure-sensitive sensor 319 is used to detect the tension on the hook. In this way, in this embodiment, the automatic mode can be used to cast the hook. Here, the automatic hook casting mode and the manual hook casting mode both belong to the normal hook casting mode. Figure 4 As shown, in the automatic hook throwing mode, the operating height D2 is the height position when the salvage hook 32 contacts the water surface. When the UAV 2 falls to this height, the salvage hook 32 contacts the water surface. Due to the buoyancy of the water surface, the tension on the electric hook 31 changes. The change in the tension on the electric hook 31 is detected by the pressure-sensitive sensor 319, and the electric hook 31 is controlled to open, releasing the traction cable 3 so that the salvage hook 32 falls into the target hook throwing position.

[0062] In the emergency hook throwing mode, in this embodiment, the drone 2 and the traction cable 3 are first controlled to make the salvage hook 32 hook the submerged buoy 4. Specifically, Figure 6 As shown, the height of the UAV 2 is first lowered and the cable assistant 6 releases the cable, so that the salvage hook 32 falls into the target hook-casting position under the action of gravity, and then the cable assistant pulls back the traction cable 3 and continuously adjusts the position of the UAV 2, so that the salvage hook 32 hooks the buoy 4 in the longitudinal direction, and then controls the UAV 2 to quickly pull up until the attachment part is broken due to insufficient bonding strength, thereby releasing the cable to cast the hook. After the hook is cast, the cable assistant 6 quickly pulls back the traction cable 3 and winds it onto the cable drum 5, and then winds the cable to recover the buoy and salvage the buoy onto the ship.

[0063] In summary, in the above embodiment, the submerged buoy is recovered in a cooperative manner using the drone 2, and there is no need for personnel to get on or off the ship, which improves the safety factor of the submerged buoy recovery operation process. In addition, the operation range is wide, and the recovery ship can complete the salvage and recovery of the submerged buoy without having to approach the submerged buoy. Therefore, the risk of the submerged buoy cable being entangled in the hull propeller can be reduced or even eliminated.

[0064] Moreover, the method for recovering the buoy has a double safety hook throwing mode of normal hook throwing and emergency hook throwing. In the normal hook throwing mode, the hook throwing is completed by controlling the electric hook 31 to open and release the traction cable 3. When the electric hook 31 fails and cannot be opened normally, the emergency hook throwing mode is executed, and the drone 2 is quickly pulled up by controlling the electric hook 31 until the attachment part between the electric hook 31 and the drone is broken, so that the electric hook 31 is separated from the drone 2, so that the cable is also released and the hook throwing is completed. Through this forced hook throwing method, not only the success rate of the first buoy recovery operation can be improved, but also the expensive drone equipment can be retained, thereby reducing the equipment loss caused by the forced operation.

[0065] In this specification, the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments described later, the description is relatively simple, and the relevant parts can be referred to the partial description of the previous embodiments.

[0066] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for recovering a submerged buoy based on cooperation with unmanned aerial vehicles, which is used to recover the anchor system of a submerged buoy that has floated to the sea surface on a recovery ship, characterized in that: The steps include: The recovery system is assembled, including: attaching an electric hook detachably to the lower part of the drone, passing one end of a towing cable through the closed electric hook and tying a salvage hook; The recovery ship is in position, specifically, the recovery ship enters and stays within the operating distance and keeps the hull and the buoy basically parallel to each other; The drone is in position before hook throwing, including: controlling the drone to carry the electric hook and the traction cable suspended on the hook to fly slowly to above the target hook throwing position, the target hook throwing position is above a group of floating balls closest to the header and is located on the far ship side of the submerged buoy anchor in the horizontal direction; when in position, the traction cable is divided into a hook throwing section and a traction section with the hooking part of the electric hook as the dividing point, one side of the traction section is assisted by the cable assistant, and the lower end of the hook throwing section is connected to the salvage hook; Execute normal hook throwing and buoy salvage recovery, including: control the drone to descend to the operating height, control the electric hook to open, if the hook opens normally, release the traction cable to make the salvage hook fall to the target hook throwing position under the action of gravity, and then pull back the traction cable to make the salvage hook always hook the buoy until the salvage recovery is completed. If the hook cannot be opened normally, execute the next step; Execute emergency hook throwing and buoy salvage and recovery, including: control the drone to quickly pull up until the force applied to the attachment part between the electric hook and the drone is greater than its bonding strength, so that the electric hook is separated from the drone, thereby releasing the traction cable and causing the salvage hook to fall into the target hook throwing position under the action of gravity; then pull back the traction cable to make the salvage hook always hook the buoy until the salvage and recovery is completed; In the steps of executing the emergency hook throwing and the submerged buoy salvage and recovery, when the drone is controlled to rise rapidly, the salvage hook is located above the submerged buoy.

2. The method for recovering a latent buoy based on cooperation with unmanned aerial vehicles according to claim 1, characterized in that: The electric hook is detachably attached to the lower part of the drone by means of bonding, adsorption or snapping.

3. The method for recovering a latent buoy based on cooperation with unmanned aerial vehicles according to claim 2 is characterized in that: The electric hook is adsorbed on the lower part of the drone through a magnetic attraction piece.

4. The method for recovering a latent buoy based on cooperation with unmanned aerial vehicles according to claim 1, characterized in that: The electric hook includes a hook execution module, a drive module, a control module and a pressure-sensitive sensor electrically connected to the control module, the pressure-sensitive sensor is used to detect the pulling force borne by the hook, the hook execution module is configured to be switchable between an open state and a closed state, the control module is electrically connected to the drive module, and the control module is externally powered, the drive module is transmission-connected to the hook execution module to provide the hook execution module with the power required to execute opening or closing.

5. The method for recovering a submerged buoy based on cooperation with unmanned aerial vehicles according to claim 4 is characterized in that: In the steps of executing normal hook casting and buoy salvage and recovery, the operating height is the height position when the salvage hook contacts the water surface. At this time, the change of tension on the electric hook is detected by the pressure-sensitive sensor, thereby controlling the electric hook to open.

6. The method for recovering a latent buoy based on cooperation with unmanned aerial vehicles according to claim 4 is characterized in that: The electric hook also includes a communication module and a remote control module wirelessly connected to the communication module, and the communication module is electrically connected to the control module.

7. The method for recovering a latent buoy based on cooperation with unmanned aerial vehicles according to claim 6, characterized in that: In the steps of executing normal hook casting and buoy salvage and recovery, the operating height is such that the salvage hook is 2 to 3 meters above the water surface, and at this time, the electric hook is controlled to open by a remote control module.

8. A method for recovering a submerged buoy based on cooperation with unmanned aerial vehicles, which is used to recover the anchor system of a submerged buoy that has floated to the sea surface on a recovery ship, characterized in that: The steps include: The recovery system is assembled, including: attaching an electric hook detachably to the lower part of the drone, passing one end of a towing cable through the closed electric hook and tying a salvage hook; The recovery ship is in position, specifically, the recovery ship enters and stays within the operating distance and keeps the hull and the buoy basically parallel to each other; The drone is in position before hook throwing, including: controlling the drone to carry the electric hook and the traction cable suspended on the hook to fly slowly to above the target hook throwing position, the target hook throwing position is above a group of floating balls closest to the header and is located on the far ship side of the submerged buoy anchor in the horizontal direction; when in position, the traction cable is divided into a hook throwing section and a traction section with the hooking part of the electric hook as the dividing point, one side of the traction section is assisted by the cable assistant, and the lower end of the hook throwing section is connected to the salvage hook; Execute normal hook throwing and buoy salvage recovery, including: control the drone to descend to the operating height, control the electric hook to open, if the hook opens normally, release the traction cable to make the salvage hook fall to the target hook throwing position under the action of gravity, and then pull back the traction cable to make the salvage hook always hook the buoy until the salvage recovery is completed. If the hook cannot be opened normally, execute the next step; Execute emergency hook throwing and buoy salvage and recovery, including: control the drone to quickly pull up until the force applied to the attachment part between the electric hook and the drone is greater than its bonding strength, so that the electric hook is separated from the drone, thereby releasing the traction cable and causing the salvage hook to fall into the target hook throwing position under the action of gravity; then pull back the traction cable to make the salvage hook always hook the buoy until the salvage and recovery is completed; In the steps of executing the emergency hook throwing and submerged buoy salvage and recovery, the drone and the towing cable are first controlled to make the salvage hook hook the submerged buoy, and then the drone is controlled to pull it up quickly.

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