Automatic lead cable recovery system and recovery method for small unmanned surface vehicle

Abstract

The invention belongs to the technical field of automatic recovery of unmanned boats, and relates to an automatic lead cable recovery system and method for a small unmanned boat, the automatic lead cable recovery system for the small unmanned boat comprises a catching net, a lifting cable, a fixing assembly and a releasing device, the catching net is composed of a bag net, two traction ropes and a supporting rod; the hoisting cable comprises five cables, four of the five cables are fixed cables, one of the five cables is a hoisting cable, one ends of the five cables are knotted and connected, the other ends of the four fixed cables are connected with a ship body hoisting point of the small unmanned ship, and a hook is mounted at the end part of the hoisting cable. Compared with an existing unmanned ship recovery technology, the whole recovery process of the small unmanned ship lead cable automatic recovery system is rapid, simple and convenient, the structure has the effects of being low in cost, high in efficiency and high in safety, and the small unmanned ship can be recovered below a four-level sea condition machine.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic recovery of unmanned boats, and relates to an automatic recovery system and a recovery method for a tow cable of a small unmanned boat. Background Art

[0002] The automatic recovery and deployment technology of unmanned boats under high sea conditions is a key link in the full-process operation of small unmanned boats and the key to the promotion and application of small unmanned boats. At present, the deployment and recovery of unmanned boats in the application and testing process are mainly divided into hanging and stern slide types. The hanging type is mostly carried out at the dock or a relatively fixed hanging platform, and the deployment and recovery method is unique. If the hanging docking is unsuccessful, the operator needs to board the boat and hook it directly. It is suitable for low sea conditions, the process time is long, and the risk is high; the stern slide recovery and deployment system has a fast speed, but the system is relatively complex, and the mother ship needs to be modified, which destroys the mother ship's hull structure, occupies a large space, and has low compatibility with various boat types.

[0003] In recent years, as more and more small unmanned boats have been put into use. When small unmanned boats are used on board mother ships, they are usually stored and used in the form of side compartments. When in storage, the work boat bracket is placed in the side compartment, lifted by the mother ship's crane and extended out of the hatch, and put into the sea. When the small boat is lowered or retracted, it is necessary to use personnel to board the ship to assist in hooking. In high sea conditions, this method is not only time-consuming, high in labor costs, low in success rate, but also high in risk factors. Therefore, there is an urgent need for a small unmanned boat retracting method and operating equipment that is simple and fast to operate in high sea conditions. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a low-cost, high-efficiency, simple and fast operation, and high-safety automatic cable recovery system and recovery method for small unmanned boats, so as to solve the technical problems existing in the prior art of long recovery time, high cost and low success rate of small unmanned boats in high sea conditions.

[0005] The technical solution adopted by the present invention to solve the technical problem is:

[0006] The first aspect of the present invention is to provide an automatic cable recovery system for a small unmanned boat, comprising: a capture net, a hoisting cable, a fixing assembly, and a releasing device, wherein the capture net is composed of a bag net, two traction ropes, and a support rod; the two traction ropes are respectively connected to the left and right sides of the bag net; the support rod is fixed to a wiring harness on one side of the bag net, and the support rod of the capture net is hung on the mother ship crane; the hoisting cable includes five cables, four of which are fixed cables and one is a hoisting cable, and one end of the five cables is knotted and connected, wherein the other ends of the four fixed cables are connected to the hull hoisting points of the small unmanned boat, and a hook is installed at the end of the hoisting cable; the fixing assembly is installed on the top of the hull of the small unmanned boat and clamps the hoisting cable; the releasing device is installed on the hull of the small unmanned boat to achieve the limiting or release of the hoisting cable.

[0007] Furthermore, the fixing assembly includes a mounting flange and an opening and closing device, wherein the mounting flange is connected to the hull of the small unmanned boat, and the mounting flange is connected to the opening and closing device via a connecting rod, and the opening and closing device includes a fixing groove and a fixing pin installed on the fixing groove, wherein the tail of the fixing pin rotates around the fixing groove, and the head of the fixing pin is stuck in a groove equipped with a spring. When the small unmanned boat is in the process of recovery, the upward movement of the lifting cable with a hook will drive the fixing pin to rotate, thereby driving the lifting cable to detach from the fixing groove. After detaching from the fixing groove, the lifting cable is tightened to drive the small unmanned boat to lift up.

[0008] Furthermore, the hook has four hook angles, and the four hook angles are evenly distributed at 90°.

[0009] Furthermore, the mother ship crane is connected to the support rod of the capture net through a sling, the middle part of the support rod of the capture net is connected to the sling through a movable shackle, and the other end of the sling is connected to the hook of the mother ship crane.

[0010] Furthermore, the release device is composed of a buckle and a release device base. The buckle is extended and retracted by remote control. The release device base is installed on the upper shell of the small unmanned boat. The hook is fixed in the release device base by the buckle. When the buckle is controlled to be extended and retracted, the hook is released. The release device has a control unit, and the control unit remotely controls the opening and closing of the release device to realize the release of the hook.

[0011] The second aspect of the present invention provides an unmanned boat recovery method for an automatic cable recovery system for a small unmanned boat, which specifically includes the following steps: the mother ship crane rotates to move the hook to directly above the capture net, one end of the capture net is connected to the sling through a movable shackle, and the other end of the sling is hung on the hook of the mother ship crane, and the two sides of the capture net are connected to two traction ropes, and the two traction ropes are controlled by two operators in the front and rear; the hook of the mother ship crane is controlled to rotate and translate to the front of the direction of navigation of the small unmanned boat; the hook of the mother ship crane is controlled to release downward to put the capture net on the water surface, at which time the support rod of the capture net floats on the water surface, and the rest of the net sinks below the water surface; after the capture net floats on the water surface, the two operators in the front and rear adjust the position of the capture net through the traction ropes on both sides to adjust the position to directly in front of the small unmanned boat; the operator controls the small unmanned boat to travel in the direction of the capture net, far away The program controls the release device to release the hook on the small unmanned boat, and the hook drops below the water surface after being released; the operator controls the small unmanned boat to continue to move forward, and during the driving process, the hook below the water surface is hooked with the mesh of the bag net below the water surface of the capture net; the small unmanned boat is controlled to slow down and stop, and the hook of the mother ship crane is controlled to move up. The hook is connected to the sling and drives the capture net upward, and then the lifting cable connected to the hook is tightened to drive the fixing pin of the fixing component to rotate, and then the lifting cable is driven to disengage from the fixing groove, and the lifting cable on the small unmanned boat is driven to lift the small unmanned boat out of the water. During the ascent, the traction rope is controlled to adjust the position of the small unmanned boat; the angle of the large and small arms of the mother ship crane is controlled to lift the small unmanned boat to the boat rack on the deck; the hook of the mother ship crane is separated from the capture net, the hook is separated from the capture net, and the hook is placed in the release device again, and the whole recovery process is completed.

[0012] The advantages and positive effects of the present invention are:

[0013] Compared with the existing unmanned boat recovery technology, the small unmanned boat towing cable automatic recovery system of the present application uses a support rod and a towing rope to prop up the capture net on the water surface, and connects the capture net to the towing rope. The towing rope is pulled to drive the capture net position, and the hook for hanging the capture net is released under the water surface through a releasing device. By remotely controlling the movement of the small unmanned boat, the capture net can be quickly combined with the hook on the small unmanned boat; the mother ship crane and the capture net are connected by a sling and a movable shackle, so the small unmanned boat can be connected to the mother ship crane. The whole recovery process is fast and easy, and the structure has the effects of low cost, high efficiency and high safety, and realizes the recovery of small unmanned boats below level 4 sea conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of an automatic cable recovery system for a small unmanned boat provided in an embodiment of the present application;

[0015] Figure 2A schematic diagram of the structure of a capture net provided in an embodiment of the present application;

[0016] Figure 3 A schematic diagram of the structure of a small unmanned boat provided in an embodiment of the present application;

[0017] Figure 4 A schematic diagram of the structure of a fixing assembly provided in an embodiment of the present application;

[0018] Figure 5 A schematic diagram of the structure of a release device provided in an embodiment of the present application;

[0019] Figure 6-Figure 14 A schematic diagram of the steps of an unmanned boat recovery method for an automatic cable recovery system for a small unmanned boat provided in an embodiment of the present application.

[0020] The above drawings include the following reference numerals:

[0021] 1-capture net; 2-mother ship crane; 3-small unmanned boat; 4-hoisting cable; 41-fixing cable; 42-hoisting cable; 5-fixing component; 6-hook; 7-release device; 8-fixing groove; 9-fixing pin; 10-mounting flange; 11-net; 12-support rod; 13-traction rope; 14-buckle; 15-release device base. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below through specific examples. The following examples are only illustrative and not restrictive, and the protection scope of the present invention cannot be limited thereto.

[0023] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0024] like Figure 1-Figure 14 As shown, the present invention provides an automatic cable recovery system for a small unmanned boat, comprising: a capture net 1, a hanging cable 4, a fixing component 5, and a releasing device 7.

[0025] like Figure 2 As shown, the capture net 1 is composed of a net 11, two traction ropes 13, and a support rod 12; the two traction ropes 13 are connected to the left and right sides of the net 11 respectively; the support rod 12 is a cylindrical strip, and the support rod 12 is fixed to the harness on one side of the net 11. The support rod 12 of the capture net 1 is connected to the mother ship crane 2. The material is a foam material with a relatively light density. It can be deformed and bent when stored, and can be unfolded and stretched into a straight line when not stored. The support rod 12 is detachably connected to the capture net 1. When the capture net 1 is placed in the water, the capture net 1 is stretched open by the support rod 12. The two sides of the support rod 12 are connected to the traction rope 13. The traction rope 13 is used to adjust the posture and direction of the capture net 1 after it is placed in the water, and to reduce the shaking of the boat body during the recovery of the small unmanned boat 3 on the shore. The capture net 1 is made of ultra-high molecular polyethylene material crisscrossed and woven, and the mesh density can be adjusted according to the displacement of the small unmanned boat 3. The mesh size used in this embodiment is 200mm×200mm, and the capture net 1 is woven into a rectangular shape as a whole. The mother ship crane 2 is connected to the support rod 12 of the capture net 1 through a sling, and the middle part of the support rod 12 of the capture net 1 is connected to the sling through a movable shackle, and the other end of the sling is connected to the hook 6 of the mother ship crane 2. In addition, when the capture net 1 is released in the water, a support rod 12 and a traction rope 13 are set, which can horizontally open the capture net 1 in the water.

[0026] like Figure 3 As shown, the hoisting cable 4 includes five cables, four of which are fixed cables 41 and one is a hoisting cable 42. One ends of the five cables are knotted and connected, and the other ends of the four fixed cables 41 are connected to the hull hanging points of the small unmanned boat 3. A hook 6 is installed at the end of the hoisting cable 42; the hoisting cable 4 is made of ultra-high molecular polyethylene; the four fixed cables 41 are of equal length, and one side of the hoisting cable 42 is knotted and connected to the four fixed cables 41; the other side is equipped with a hook 6 for hanging the capture net 1, the hook 6 is made of stainless steel and has four hook angles, and the four hook angles are evenly distributed at 90°. The hook 6 is fixed to the hull of the small unmanned boat 3 through a releasing device 7, and the length of the hoisting cable 42 with the hook 6 is controlled after the releasing device 7 releases the hook 6, and the hook 6 can be immersed in water for about 300 mm. That is, the five hanging cables 4 on the small unmanned boat 3 are connected to the fixing assembly 5 of the hanging cables 4, and the hook 6 is fixed to the hull of the small unmanned boat 3 through the release device 7. Two staff members stand on the deck of the mother ship, and the left towing rope 13 is connected to the bow personnel, and the right towing rope 13 is connected to the stern personnel.

[0027] like Figure 4As shown, a fixing assembly 5 is installed on the top of the hull of the small unmanned boat 3, and the lifting cable 4 is clamped. Specifically, the fixing assembly 5 includes a mounting flange 10 and an opening and closing device. The mounting flange 10 is connected to the hull of the small unmanned boat 3. The mounting flange 10 is connected to the opening and closing device by a connecting rod. Through the opening and closing device on it, four fixing cables 41 connected to the hull hanging points and a lifting cable 42 with a hook 6 are limited. The fixing assembly 5 is made of aluminum alloy as a whole, which plays a role in supporting and fixing the five lifting cables 4. Specifically, the four fixing cables 41 connected to the hull hanging points are fixed to the hull hanging points, and a lifting cable 42 with a hook 6 is connected to the hook 6 through a shackle, and the other ends of the five cables are fixed in the opening and closing device of the fixing assembly 5 through the shackle. When the hook is successfully connected to the capture net 1 and drives the lifting cable 4 to move upward, the lifting cable 42 with the hook 6 is straightened to release it from the opening and closing device. The opening and closing device of the fixing component 5 includes a fixing groove 8 and a fixing pin 9 installed on the fixing groove 8. After the hoisting cable 4 is placed in the fixing groove 8, the tail of the fixing pin 9 rotates around the fixing groove 8, and the head of the fixing pin 9 is stuck in a groove equipped with a spring. When the small unmanned boat 3 is in the process of recovery, the upward movement of the hoisting cable 42 with the hook 6 will drive the fixing pin 9 to rotate, and then drive the hoisting cable 4 to disengage from the fixing groove 8. After disengaging from the fixing groove 8, the hoisting cable 4 is tightened to drive the small unmanned boat 3 to be hoisted and lifted.

[0028] like Figure 5 As shown, a release device 7 is installed on the hull for releasing a hook fixed at one end to a cable. The release device 7 for releasing the hook 6 is composed of a buckle 14 and a release device base 15. The buckle 14 can be extended and retracted by remote control. The release device base 15 is installed on the upper shell of the small unmanned boat 3. The hook 6 is fixed in the release device base 15 through the buckle 14. When the buckle 14 is controlled to be extended and retracted, the hook 6 is released. The release device 7 has a control unit, and the control unit can remotely control the opening and closing of the release device 7 to release the hook 6.

[0029] like Figure 3 , Figure 5 As shown, during the recovery process of the small unmanned boat 3, when the small unmanned boat 3 is about to approach the position of the capture net 1, the buckle 14 of the release device 7 is controlled to be extended and retracted, so that the release device 7 of the release hook 6 is released, and the hook 6 moves downward and falls into the water, which can be immersed in the water for about 300mm. When the hook 6 of the small unmanned boat 3 is connected with the capture net 1 after contact, the mother ship crane 2 tightens the hook and moves upward to prepare for the boat to rise. During the process of the hook rising, the capture net 1 and the hook 6 are driven to move upward together. When the lifting cable 4 connected to the hook 6 is tightened, it will drive the fixing pin 9 to rotate, and then drive the lifting cable 4 to disengage from the fixing groove 8. During the recovery process of the small unmanned boat 3, the traction rope 13 plays a role in reducing the shaking of the small unmanned boat 3.

[0030] like Figure 6-Figure 14 As shown, the unmanned boat recovery method of the automatic cable recovery system for a small unmanned boat in this embodiment is introduced below, which specifically includes the following steps:

[0031] The mother ship crane 2 rotates to move the hook to the top of the deck capture net 1. One end of the capture net 1 is connected to the sling through a movable shackle. The other end of the sling is hooked on the hook of the mother ship crane 2. The two sides of the capture net 1 are connected to two traction ropes 13. The two traction ropes 13 are controlled by two operators in front and behind.

[0032] Control the hook of the mother ship crane 2 to rotate and translate to the front of the direction in which the small unmanned boat 3 is sailing;

[0033] Control the hook of the mother ship crane 2 to release downwards, and put the capture net 1 on the water surface. At this time, the support rod 12 of the capture net 1 floats on the water surface, and the rest of the net 11 sinks below the water surface;

[0034] After the capture net 1 floats on the water surface, the two operators in front and behind adjust the position of the capture net 1 through the traction ropes 13 on both sides to adjust the position to the front of the small unmanned boat 3;

[0035] The operator controls the small unmanned boat 3 to move in the direction of the capture net 1, and remotely controls the release device 7 to release the hook 6 on the small unmanned boat 3, and the hook 6 drops below the water surface after being released;

[0036] The operator controls the small unmanned boat 3 to continue moving forward, and during the driving process, the hook 6 under the water surface is hooked with the mesh of the net 11 under the water surface of the capture net 1;

[0037] The small unmanned boat 3 is controlled to slow down and stop, and the hook of the mother ship crane 2 is controlled to move upward. The hook is connected to the sling and drives the capture net 1 upward, and then the lifting cable 4 connected to the hook 6 is tightened to drive the fixing pin 9 of the fixing component 5 to rotate, and then the lifting cable 4 is driven to break away from the fixing groove 8, and the lifting cable 4 on the small unmanned boat 3 is driven to lift the small unmanned boat 3 out of the water. During the ascent, the traction rope 13 is controlled to adjust the position of the small unmanned boat 3;

[0038] Control the angles of the large and small arms of the mother ship crane 2 to hoist the small unmanned boat 3 to the cradle on the deck;

[0039] The hook of the mother ship crane 2 is separated from the capture net 1, the hook 6 is separated from the capture net 1, and the hook 6 is placed back in the release device 7, and the entire recovery process is completed.

[0040] Compared with the existing unmanned boat recovery technology, the small unmanned boat cable automatic recovery system of the present application releases the hook 6 of the capture net 1 under the water surface through the release device 7, remotely controls the movement of the small unmanned boat 3, and quickly combines the capture net 1 with the hook 6 on the small unmanned boat 3; the small unmanned boat 3 can be connected to the mother ship crane 2, and the whole recovery process is fast and simple, and the structure has the effects of low cost, high efficiency and high safety, and realizes the recovery of small unmanned boats below the fourth level of sea conditions.

[0041] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept, which all belong to the protection scope of the present invention.

Claims

1. An automatic cable recovery system for a small unmanned boat, characterized in that: include: A capture net (1), the capture net (1) comprising a scoop net (11), two traction ropes (13), and a support rod (12); the two traction ropes (13) are respectively connected to the left and right sides of the scoop net (11); the support rod (12) is fixed to a harness on one side of the scoop net (11), and the support rod (12) of the capture net (1) is hung on a mother ship crane (2); A hoisting cable (4), wherein the hoisting cable (4) comprises five cables, four of which are fixed cables (41) 41 and one is a hoisting cable (42), one end of the five cables are knotted and connected, the other ends of the four fixed cables (41) are connected to the hull hoisting points of the small unmanned boat (3), and a hook (6) is installed at the end of the hoisting cable (42); A fixing assembly (5), the fixing assembly (5) being mounted on the top of the hull of the small unmanned boat (3) and being clamped to the hoisting cable (4); A release device (7) is installed on the hull of the small unmanned boat (3) to achieve the limiting or releasing of the lifting cable (42).

2. The automatic cable recovery system according to claim 1, characterized in that: The fixing assembly (5) comprises a mounting flange (10) and an opening and closing device, wherein the mounting flange (10) is connected to the hull of the small unmanned boat (3), and the mounting flange (10) is connected to the opening and closing device via a connecting rod, wherein the opening and closing device comprises a fixing groove (8) and a fixing pin (9) installed on the fixing groove (8), wherein the tail of the fixing pin (9) rotates around the fixing groove (8), and the head of the fixing pin (9) is stuck in a groove equipped with a spring, and when the small unmanned boat (3) is in the process of being recovered, the upward movement of the hoisting cable (42) with the hook (6) will drive the fixing pin (9) to rotate, thereby driving the hoisting cable (4) to detach from the fixing groove (8), and after detaching from the fixing groove (8), the hoisting cable (4) is tightened to drive the small unmanned boat (3) to be hoisted and lifted up.

3. The automatic cable recovery system according to claim 2, characterized in that: The hook (6) has four hook angles, and the four hook angles are evenly distributed at 90 degrees.

4. The automatic cable recovery system according to claim 3 is characterized in that: The mother ship crane (2) and the support rod (12) of the capture net (1) are connected via a sling, the middle part of the support rod (12) of the capture net (1) is connected to the sling via a movable shackle, and the other end of the sling is connected to a hook (6) of the mother ship crane (2).

5. The automatic cable recovery system according to claim 4, characterized in that: The release device (7) is composed of a buckle (14) and a release device base (15); the buckle (14) is retracted and extended by remote control; the release device base (15) is installed on the upper shell of the small unmanned boat (3); the hook (6) is fixed in the release device base (15) by the buckle (14); when the buckle (14) is controlled to be retracted and extended, the hook (6) is released; the release device (7) has a control unit; the control unit remotely controls the opening and closing of the release device (7) to release the hook (6).

6. The unmanned boat recovery method according to any one of claims 1 to 5, characterized in that: The specific steps include: The mother ship crane (2) rotates to move the hook to the top of the capture net (1), one end of the capture net (1) is connected to the sling through a movable shackle, and the other end of the sling is hooked on the hook of the mother ship crane (2), and the two sides of the capture net (1) are connected to two traction ropes (13), and the two traction ropes (13) are controlled by two operators in front and behind; Controlling the hook of the mother ship crane (2) to rotate and translate to the front of the direction in which the small unmanned boat (3) is sailing; The hook of the mother ship crane (2) is controlled to be released downwards, and the capture net (1) is placed on the water surface. At this time, the support rod (12) of the capture net (1) floats on the water surface, and the rest of the net (11) sinks below the water surface; After the capture net (1) floats on the water surface, the two operators in front and behind adjust the position of the capture net (1) through the traction ropes (13) on both sides to adjust the position to the front of the small unmanned boat (3); The operator controls the small unmanned boat (3) to move in the direction of the capture net (1), and remotely controls the release device (7) to release the hook (6) on the small unmanned boat (3), and the hook (6) falls below the water surface after being released; The operator controls the small unmanned boat (3) to continue moving forward, and during the moving process, the hook (6) below the water surface is hooked with the mesh of the bag net (11) below the water surface of the capture net (1); The small unmanned boat (3) is controlled to slow down and stop, and the hook of the mother ship crane (2) is controlled to move upward. The hook is connected to the sling to drive the capture net (1) upward, and then the lifting cable (42) connected to the hook (6) is tightened to drive the fixing pin (9) of the fixing component (5) to rotate, and then the lifting cable (4) is driven to separate from the fixing groove (8), and the lifting cable (4) on the small unmanned boat (3) is driven to lift the small unmanned boat (3) out of the water. During the ascent, the traction rope (13) is controlled to adjust the position of the small unmanned boat (3); Controlling the angles of the large and small arms of the mother ship crane (2) to hoist the small unmanned boat (3) onto the cradle on the deck; The hook of the mother ship crane (2) is separated from the capture net (1), the hook (6) is separated from the capture net (1), and the hook (6) is placed back in the release device (7), and the entire recovery process is completed.

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