Device and method for docking and separating unmanned ship and unmanned aerial vehicle capable of allowing position deviation

Abstract

The invention provides a device and a method for docking and separating an unmanned ship and an unmanned aerial vehicle capable of allowing position deviation, which are used for realizing that the unmanned aerial vehicle carries the unmanned ship to fly over the land and move in non-connected water areas, and belongs to the technical field of unmanned system cross-domain cooperation. The device is composed of two parts, an unmanned aerial vehicle part comprises an unmanned aerial vehicle foot stand, a cross beam between feet, an inclined rail, a clamping sliding block, a steering engine fixing frame, a steering engine, a steering engine connecting rod and a sliding block connecting rod, and the unmanned aerial vehicle part is fixed under the unmanned aerial vehicle through the foot stand; the unmanned ship part is a hook with a cap and is fixed to the gravity center of the surface of the unmanned ship. During butt joint, the posture of the unmanned aerial vehicle is adjusted, so that the capped hook of the unmanned aerial vehicle slides to the groove in the lowest end of the inclined rail under the action of gravity, then the steering engine connecting rod is rotated by the steering engine, the sliding block connecting rod is driven to enable the clamping sliding block to slide down along the inclined rail, the female head groove of the clamping sliding block and the male head protruding block of the capped hook of the unmanned aerial vehicle are embedded, and butt joint of the unmanned aerial vehicle is completed. And during separation, the process is reversely executed.

Description

Technical Field

[0001] The present invention belongs to the technical field of cross - domain cooperation of unmanned systems, and particularly relates to a device and method for docking and separating an unmanned boat and an unmanned aerial vehicle that allows for position deviation. Background Art

[0002] In recent years, the technologies of unmanned boats and unmanned aerial vehicles have made remarkable developments and shown extensive application potential in multiple fields. Unmanned boats play an increasingly important role in offshore operations such as resource exploration, environmental monitoring, offshore patrol, collective rescue, escort, hunting, and mine sweeping. However, due to the limitation that the movement range of unmanned boats is confined to the two - dimensional water surface, this inherent limitation greatly restricts the further expansion of their detection and activity ranges.

[0003] In contrast, unmanned aerial vehicles, due to their ability to freely maneuver in three - dimensional space, can easily overcome complex terrain limitations and cover areas that are difficult for unmanned boats to reach, such as shoals, cliffs, and the sky. In some special terrain or mission scenarios, unmanned boats can utilize the high mobility and wide coverage capabilities of unmanned aerial vehicles to significantly expand their own operation ranges and functions. Through a docking device, unmanned aerial vehicles and unmanned boats can work together, expanding the operation space of unmanned boats from two - dimensional to three - dimensional and enhancing the detection and operation capabilities in aspects such as integrated sea - air surveys, reconnaissance, target capture, extraction of water samples from shoals, and water quality monitoring. However, there are still many technical challenges in achieving reliable docking and separation between unmanned boats and unmanned aerial vehicles.

[0004] Some existing docking and separation devices mainly focus on those between unmanned aerial vehicles and unmanned vehicles. These devices usually have the following problems: First, the structure is complex, and the installation and operation are cumbersome; second, the tolerance for position errors is low, and often high - precision position sensors are required to complete docking. Moreover, unmanned boats are affected by factors such as waves and wind speed in the water surface environment, often accompanied by shaking and drifting. This physical characteristic makes it difficult for existing devices to be directly applicable in the docking scenario between unmanned boats and unmanned aerial vehicles. Summary of the Invention

[0005] Under the above background, the present invention proposes a device and method for docking and separating an unmanned boat and an unmanned aerial vehicle that allows for position deviation, which can overcome shaking and position deviation in the dynamic water surface environment and achieve the combination or separation of the unmanned boat and the unmanned aerial vehicle. By leveraging the characteristics of the flexible three - dimensional space maneuverability of unmanned aerial vehicles, the present invention is used to enable unmanned aerial vehicles to carry unmanned boats to fly over land and move between non - connected water areas, expanding the activity range of unmanned boats from two - dimensional to three - dimensional and enhancing the adaptability of unmanned boats to complex environments.

[0006] The technical solutions adopted are as follows: The present invention provides a device for docking and separating an unmanned boat and an unmanned aerial vehicle that allows for position deviation, including a capped hook fixed on the surface of the center of gravity of the unmanned boat. The capped hook consists of a male bump at the top, a hook body in the middle, and a hook platform at the bottom. It further includes two groups of four feet installed under the arm of the unmanned aerial vehicle. Between each group of two feet, they are fixedly connected by an inter-foot crossbeam. On the side of the inter-foot crossbeam, an inclined rail is fixedly installed. The relative ends of the inclined rails on the two groups of feet are connected to form a V-shaped slide rail. The bottommost ends of the two inclined rails form a slide rail groove. On the upper surface of the inter-foot crossbeam, a servo motor fixing bracket is fixedly installed. In the hollow part in the middle of the servo motor fixing bracket, a servo motor is placed. There is a hole on the servo disc of the servo motor for fixedly connecting one end of the servo motor connecting rod. The other end of the servo motor connecting rod is rotatably connected to one end of the slider connecting rod through an opening at the tail of the servo motor connecting rod. The other end of the slider connecting rod is rotatably connected to the clamping slider through an opening at the bottom of the slider connecting rod. There is a slide rail slot on the side surface of the inclined rail cylinder, which serves as a sliding track for the clamping slider. The upper surface of the inclined rail cylinder serves as a sliding track for the capped hook. The slide rail groove formed by splicing the bottommost ends of the left and right inclined rails can be fitted with the left and right side surfaces of the hook body of the capped hook; there is a female groove on the side of the clamping slider, which is fitted with the male bump of the capped hook for fixing the capped hook.

[0007] Further details include: The feet are installed under the arm of the unmanned aerial vehicle through holes on the top surface of the feet, which serve as the landing gear of the unmanned aerial vehicle. At the same time, the feet are fixedly connected to the inter-foot crossbeam through holes on the side surfaces of the feet.

[0008] The two ends of the inter-foot crossbeam are respectively installed on the feet through holes at both ends of the inter-foot crossbeam, which are used to carry the servo motor fixing bracket and the inclined rail. The servo motor fixing bracket is installed on the upper surface of the inter-foot crossbeam through an opening at the upper end of the inter-foot crossbeam, and the inclined rail is installed on the side surface of the inter-foot crossbeam through an opening at the side end of the inter-foot crossbeam.

[0009] The servo motor fixing bracket is installed on the inter-foot crossbeam through an opening at the base of the servo motor fixing bracket. The hollow area in the middle part is used to place the servo motor, and the servo motor is fixed through openings in the upper and lower crossbeams of the servo motor fixing bracket.

[0010] The servo motor is installed on the servo motor fixing bracket through upper and lower fixing holes of the servo motor. The hole on the servo disc of the servo motor and the hole on the servo motor connecting rod cooperate to fix the servo motor connecting rod, and the rotation of the servo disc drives the movement of the servo motor connecting rod.

[0011] There is a slot on the middle part of the servo motor connecting rod, which can be embedded in the servo disc. One end of the servo motor connecting rod is installed on the servo disc of the servo motor through an opening in the middle of the servo motor connecting rod, and the other end is connected to the slider connecting rod through an opening at the tail of the servo motor connecting rod. The rotation of the servo disc can drive the movement of the slider connecting rod.

[0012] One end of the slider connecting rod is connected to the servo connecting rod through an opening on the slider connecting rod, and the other end is connected to the clamping slider through an opening under the slider connecting rod. The movement of the slider connecting rod can drive the movement of the clamping slider. There is a slot on the slider connecting rod in the middle.

[0013] One end of the inclined rail is fixed on the cross beam between the feet through an opening at the upper end of the inclined rail, and the other end is connected to the opposite inclined rail through an opening at the lower end of the inclined rail, forming a complete V-shaped structure. There is a slide rail slot on the side surface of the inclined rail cylinder, which serves as a sliding track for the clamping slider. The upper surface of the inclined rail cylinder is a cap hook that serves as a sliding track. The slide rail groove formed at the bottom end of the left and right inclined rails just fits with the left and right side surfaces of the hook body of the cap hook that slides in.

[0014] The clamping slider is connected to the slider connecting rod through an opening at the rear end of the slider. There are two convex platforms on the clamping slider that just fit into the slide rail slots of the inclined rail. The bottom of the convex platform is connected to an arc-shaped bottom plate, and the arc-shaped bottom plate abuts against the surface of the inclined rail cylinder, further promoting the smooth sliding of the clamping slider on the inclined rail. To enable the clamping slider to be installed on the V-shaped slide rail, there are also openings for the upper convex platform and the lower convex platform on the clamping slider. The clamping slider is cut into two parts from the middle, namely the left part of the clamping slider and the right part of the clamping slider. After being installed on the V-shaped slide rail, the left part and the right part of the clamping slider are fixed as a whole by the openings for the upper convex platform and the lower convex platform in cooperation with bolts.

[0015] There is an opening on the hook platform at the bottom of the cap hook for fixing on the upper surface of the unmanned boat. The male head convex block at the top fits into the female head groove of the clamping slider. The lower surface of the cap hook in contact with the inclined rail is an arc surface, which can reduce sliding friction. The left and right side surfaces of the hook body are flat surfaces, which can increase the contact area between the hook body and the slide rail groove at the bottom end of the inclined rail.

[0016] Furthermore, when the device of the present invention is docked, when there is a certain horizontal position error and heading error, the cap hook can slide into the slide rail groove under the action of gravity.

[0017] Furthermore, the unmanned aerial vehicle is any multi-rotor unmanned aerial vehicle that can perform yaw movement; the unmanned boat is any unmanned boat that can move forward and turn.

[0018] Furthermore, the mass of all components is light enough and the strength is sufficient. Within the payload capacity of the unmanned aerial vehicle, it can bear the mass of the unmanned boat, dock it and lift it above the water surface.

[0019] A method for docking and separating an unmanned boat and an unmanned aerial vehicle allowing for position deviation includes the following steps: S1: After the drone and the unmanned boat receive the docking instruction, their respective postures are adjusted through a control algorithm for docking. During docking, the horizontal position error and the heading error of the drone and the unmanned boat are controlled within an allowable range, and the height of the drone is increased so that the unmanned boat can leave the water surface. S2: The drone increases its height. Under the action of gravity, the capped hook of the unmanned boat slides along the inclined rail to the slide rail groove. The servo on the drone drives the steering wheel, the servo connecting rod, and the slider connecting rod to move, causing the clamping slider to slide downward along the inclined rail. The female head groove on the clamping slider is engaged with the male head protrusion of the capped hook to lock the drone and the unmanned boat together to form a rigid body. S3: When the drone and the unmanned boat receive the separation instruction, the servo on the drone drives the steering wheel, the servo connecting rod, and the slider connecting rod to move, causing the clamping slider to slide upward along the inclined rail, and the female head groove on the clamping slider is separated from the male head protrusion of the capped hook. S4: The drone descends a certain height so that the unmanned boat can fall back onto the water surface. Under the action of the buoyancy of the water surface, the capped hook of the unmanned boat disengages from the slide rail groove of the V-shaped rail, realizing the separation of the unmanned boat and the drone.

[0020] Furthermore, in step S1, the control algorithm includes the PID algorithm, the model predictive control (MPC) algorithm, and the LQR control algorithm. The docking method can be that the drone hovers and the unmanned boat actively approaches the drone to complete docking, or the unmanned boat is stationary on the water surface and the drone actively approaches to complete docking, or the drone and the unmanned boat travel in the same or opposite directions simultaneously and complete docking during movement.

[0021] The beneficial effects of the present invention compared with the prior art: The docking and separation device for the unmanned boat and the drone of the present invention designs a return device of the inclined rail - slide rail groove - capped hook, and uses gravity to complete the docking and return operation without an additional driving device, significantly reducing the complexity and energy consumption of the device. At the same time, it can tolerate a certain position deviation, effectively coping with the position offset problem caused by physical characteristics such as shaking of the unmanned boat in the actual scenario, and improving the success rate and stability of docking.

[0022] The docking and separation device for the unmanned boat and the drone of the present invention has a simple design, is light in weight, and the docking and separation processes are simple to operate.

[0023] The docking and separation device for the unmanned boat and the drone of the present invention can help the drone and the unmanned boat achieve rapid docking, locking, and separation, improve the system coordination ability, enhance the adaptability of the unmanned boat to complex environments, broaden the application range of the unmanned boat, and enable it to cover more mission scenarios. Description of the Drawings

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0025] Figure 1 Schematic diagram of the docking and separation device for the unmanned boat and unmanned aerial vehicle allowing for position deviation; Figure 2 Schematic diagram of the movement of the steering gear connecting rod, slider connecting rod, and clamping slider of the docking and separation device provided by the embodiment of the present invention on the writing track; Figure 3 Schematic diagram of the tripod of the docking and separation device provided by the embodiment of the present invention; Figure 4 Schematic diagram of the crossbeam between the feet of the docking and separation device provided by the embodiment of the present invention; Figure 5 Schematic diagram of the steering gear fixing bracket of the docking and separation device provided by the embodiment of the present invention; Figure 6 Schematic diagram of the steering gear of the docking and separation device provided by the embodiment of the present invention; Figure 7 Schematic diagram of the steering gear connecting rod of the docking and separation device provided by the embodiment of the present invention; Figure 8 Schematic diagram of the slider connecting rod of the docking and separation device provided by the embodiment of the present invention; Figure 9 Three-dimensional view of the inclined track of the docking and separation device provided by the embodiment of the present invention; Figure 10 One three-dimensional view of the clamping slider of the docking and separation device provided by the embodiment of the present invention; Figure 11 Another three-dimensional view of the clamping slider of the docking and separation device provided by the embodiment of the present invention; Figure 12 Three-dimensional view of the cap hook of the docking and separation device provided by the embodiment of the present invention; Figure 13 Flowchart of the steps of the method for docking and separating an unmanned boat and an unmanned aerial vehicle allowing for position deviation; Wherein: 1 - tripod, 11 - opening on the top surface of the tripod, 12 - opening on the side surface of the tripod, 2 - cross beam between feet, 21 - openings at both ends of the cross beam between feet, 22 - opening at the upper end of the cross beam between feet, 23 - opening at the side end of the cross beam between feet, 3 - slider connecting rod, 31 - opening on the upper part of the slider connecting rod, 32 - opening on the lower part of the slider connecting rod, 33 - slot on the slider connecting rod, 4 - servo connecting rod, 41 - slot on the servo connecting rod, 42 - opening in the middle of the servo connecting rod, 43 - opening at the tail of the servo connecting rod, 5 - servo fixing bracket, 51 - openings on the upper and lower cross beams of the servo fixing bracket, 52 - opening on the base of the servo fixing bracket, 6 - servo, 61 - upper and lower fixing holes of the servo, 62 - servo disc, 63 - opening on the servo disc, 7 - clamping slider, 71 - opening on the upper boss of the slider, 72 - opening at the rear end of the slider, 73 - female head groove, 74 - boss, 75 - opening on the lower boss of the slider, 76 - arc-shaped bottom plate, 8 - inclined rail, 81 - opening at the upper end of the slide rail, 82 - slot on the slide rail, 83 - groove on the slide rail, 84 - opening at the lower end of the slide rail, 9 - hook with cap, 91 - male head protrusion, 92 - hook body, 93 - arc surface, 94 - hook platform, 95 - opening on the hook platform. Detailed implementation manner

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] In this embodiment of the present invention, a quadcopter drone is used as the aerial platform, and a differential twin-propeller unmanned boat is used as the water surface platform. This embodiment provides a technical solution: A device for docking and separating an unmanned boat and an unmanned aerial vehicle that allows for position deviation, comprising a hook with cap 9 fixed on the surface of the center of gravity of the unmanned boat, and the hook with cap 9 is composed of a male head protrusion 91 at the top, a hook body 92 in the middle, and a hook platform 94 at the bottom; It also includes two groups of four feet 1 installed under the drone's arm. Between each group of two feet, they are fixedly connected by an inter-foot crossbeam 2. On the side of the inter-foot crossbeam 2, an inclined rail 8 is fixedly installed. The relative ends of the inclined rails on the two groups of feet are connected to form a V-shaped slide rail. The bottommost ends of the two inclined rails form a slide rail groove 83. On the upper surface of the inter-foot crossbeam 2, a servo fixing bracket 5 is fixedly installed. In the hollow part in the middle of the servo fixing bracket 5, a servo 6 is placed. There is a servo disk opening 63 on the servo disk 62 of the servo, which is used to fixedly connect one end of the servo connecting rod 4. The other end of the servo connecting rod 4 is rotatably connected to one end of the slider connecting rod 3 through the opening 43 at the tail of the servo connecting rod. The other end of the slider connecting rod 3 is rotatably connected to the clamping slider 7 through the lower opening 32 of the slider connecting rod. On the cylindrical side of the inclined rail 8, there is a slide rail slot 82, which serves as a sliding track for the clamping slider. The upper surface of the cylindrical body of the inclined rail 8 serves as a sliding track for the cap hook 9. The slide rail groove 83 formed by splicing the bottommost ends of the left and right inclined rails and the left and right side surfaces of the hook body 92 of the cap hook 9 are fitted. On the side of the clamping slider 7, there is a female head groove 73, which is fitted with the male head protrusion 91 of the cap hook 9 for fixing the cap hook 9. As Figure 1 shown.

[0028] The feet 1 are installed under the drone's arm through the openings 11 on the top surface of the feet, and are used as the landing gear of the drone. At the same time, the feet can be fixed to the inter-foot crossbeam through the openings 12 on the side surface of the feet. For weight reduction, the cylindrical surface of the feet is grooved, as Figure 3 shown.

[0029] The inter-foot crossbeam 2 includes a left inter-foot crossbeam and a right inter-foot crossbeam. The two inter-foot crossbeams are parallel to the nose direction of the aircraft. The two ends of the inter-foot crossbeam are respectively installed on the feet through the openings 21 at both ends of the inter-foot crossbeam, and are used to carry the servo fixing bracket and the inclined rail. The servo fixing bracket is installed on the upper surface of the inter-foot crossbeam through the upper opening 22 of the inter-foot crossbeam, and the inclined rail is installed on the side surface of the inter-foot crossbeam through the side opening 23 of the inter-foot crossbeam, as Figure 4 shown.

[0030] The servo fixing bracket 5 includes a left servo fixing bracket and a right servo fixing bracket. It is installed on the inter-foot crossbeam through the opening 52 at the base of the servo fixing bracket. The servo is placed in the hollow area in the middle part of the servo fixing bracket, and the servo is installed through the upper and lower crossbeam openings 51 of the servo fixing bracket, as Figure 5 shown.

[0031] The servo 6 includes a left servo and a right servo. The servo used is a common digital servo. It is installed on the servo fixing bracket through the upper and lower fixing holes 61 of the servo. The servo disk opening 63 on the servo disk 62 of the servo and the opening of the servo connecting rod 4 are used to fixedly connect the servo connecting rod 4. The rotation of the servo disk drives the movement of the servo connecting rod 4, as Figure 6 shown.

[0032] The described servo connecting rod 4 includes a left servo connecting rod and a right servo connecting rod. There is a servo connecting rod slot 41 in the middle part of the servo connecting rod, which can be embedded with the servo steering wheel. One end of the servo connecting rod is installed on the steering wheel of the servo through the middle opening 42 of the servo connecting rod, and the other end is rotatably connected to the slider connecting rod 3 through the tail opening 43 of the servo connecting rod. The rotation of the servo steering wheel can drive the slider connecting rod to move, as Figure 7 shown.

[0033] The described slider connecting rod 3 includes a left slider connecting rod and a right slider connecting rod. One end is connected to the servo connecting rod 4 through the opening 31 on the slider connecting rod, and the other end is connected to the clamping slider 7 through the lower opening 33 of the slider connecting rod. The movement of the slider connecting rod 3 can drive the clamping slider 7 to move. There is a slider connecting rod slot 32 in the middle of the slider connecting rod 3. During movement, a part of the servo connecting rod 4 will be embedded in the slider connecting rod slot 32, as Figure 8 shown.

[0034] The described inclined rail 8 includes a left inclined rail and a right inclined rail. One end is fixed on the cross beam between the feet through the upper opening 81 of the slide rail, and the other end is connected to another inclined rail through the lower opening 84 of the slide rail to form a complete V-shaped structure. There is a slide rail slot 82 in the middle of the inclined rail cylinder. The surface of the slide rail slot is smooth enough to serve as a sliding track for the clamping slider. The upper surface of the inclined rail cylinder is smooth enough to serve as a sliding track for the hook with a cap. The slide rail groove 83 formed at the bottom of the left and right inclined rails fits with the left and right sides of the hook with a cap, which can limit the left and right shaking of the hook with a cap, as Figure 9 shown.

[0035] The described clamping slider 7 is connected to the slider connecting rod through the rear opening 72 of the slider, and is driven by the slider connecting rod to slide on the inclined rail. The clamping slider has a convex platform 74 that just fits into the slot of the inclined rail, and the arc-shaped bottom plates 76 on both sides of the convex platform abut against the outer surface of the inclined rail. There is a female head groove 73 on the clamping slider, which fits with the male head protrusion of the hook with a cap to fix the hook with a cap. To install the clamping slider onto the V-shaped slider, the clamping slider is cut into two parts from the middle, namely the left part of the clamping slider and the right part of the clamping slider. After installing on the V-shaped slide rail, the left part of the clamping slider and the right part of the clamping slider are fixed as a whole by the upper convex platform opening 71 and the lower convex platform opening 75 of the slider. As Figure 10 、 Figure 11 shown.

[0036] When receiving the docking or separation instruction, the left servo and the right servo synchronously drive the steering wheel, the servo connecting rod, the slider connecting rod and the slider to move. The positions of the two clamping sliders on the V-shaped track are symmetric about the central plane parallel to the direction of the drone's nose. The pulling force of the two servos is sufficient to make the clamping sliders slide up and down along the V-shaped track against gravity and friction; The hook platform opening 95 of the hook platform 94 at the lower end of the capped hook 9 is fixed on the upper surface at the center of gravity of the unmanned boat. The male head bump 91 at the upper end is embedded in the female head groove of the clamping slider. The lower surface of the capped hook in contact with the inclined rail is an arc surface 93, which can reduce sliding friction. The left and right side surfaces of the hook body 92 are flat surfaces, which can increase the contact area between the capped hook and the slide rail groove at the bottom of the inclined rail. The lengths of the steering gear connecting rod and the slider connecting rod can drive the left clamping slider and the right clamping slider to lock the capped hook, as Figure 2 , Figure 12 shown.

[0037] In the present invention, the holes are fixedly connected to each other, generally by bolts. The holes are rotatably connected to each other, generally by pin shafts. Since this is common knowledge in the art, the connection methods are not specifically described one by one when introducing them.

[0038] For the device for docking and separating an unmanned boat and an unmanned aerial vehicle allowing for position deviation, when there are certain horizontal position errors and heading errors, the capped hook can slide into the slide rail groove under the action of gravity.

[0039] All components of the present invention are light enough in mass and strong enough in strength to be able to lift the unmanned boat out of the water by bearing the mass of the unmanned boat within the payload capacity of the unmanned aerial vehicle.

[0040] A method for docking and separating an unmanned boat and an unmanned aerial vehicle allowing for position deviation, the flowchart of the method steps is as Figure 13 shown, and its steps specifically include: Step 1: When the unmanned aerial vehicle and the unmanned boat receive the docking instruction, their respective postures are adjusted through a control algorithm so that the horizontal position error and the heading error between the unmanned aerial vehicle and the unmanned boat are within the allowable range, and the capped hook of the unmanned boat is located above the inclined rail. The unmanned aerial vehicle raises its height to enable the unmanned boat to leave the water surface; Step 2: The capped hook of the unmanned boat slides along the inclined rail to the slide rail groove under the action of gravity. The steering gear on the unmanned aerial vehicle drives the steering wheel, the steering gear connecting rod, and the slider connecting rod to move, so that the clamping slider slides downward along the inclined rail. The female head groove on the clamping slider is engaged with the male head bump of the capped hook to lock the unmanned aerial vehicle and the unmanned boat together to form a rigid body; Step 3: When the unmanned aerial vehicle and the unmanned boat receive the separation instruction, the steering gear on the unmanned aerial vehicle drives the steering wheel, the steering gear connecting rod, and the slider connecting rod to move, so that the clamping slider slides upward along the inclined rail, and the female head groove on the clamping slider is separated from the male head bump of the capped hook; Step 4: The unmanned aerial vehicle descends a certain height to enable the unmanned boat to fall back onto the water surface. Under the action of the buoyancy of the water surface, the capped hook of the unmanned boat disengages from the slide rail groove of the V-shaped rail, realizing the separation of the unmanned boat and the unmanned aerial vehicle.

[0041] The control algorithms described above include the PID algorithm, the model predictive control (MPC) algorithm, and the LQR control algorithm. The docking method can be that the drone hovers and the unmanned boat actively approaches the drone to complete the docking, or the unmanned boat remains stationary on the water surface and the drone actively approaches to complete the docking. It can also be that the drone and the unmanned boat travel in the same or opposite directions simultaneously and complete the docking during movement.

[0042] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or alterations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or alterations derived therefrom still fall within the protection scope of the present invention.

Claims

1. A device for docking and separating an unmanned boat and an unmanned aerial vehicle allowing for position deviation, characterized in that, It includes a capped hook (9) fixed on the surface of the center of gravity of the unmanned boat. The capped hook (9) consists of a male bump (91) at the top, a hook body (92) in the middle, and a hook platform (94) at the bottom. It also includes two groups of four footrests (1) installed under the arms of the unmanned aerial vehicle. The two footrests in each group are fixedly connected by an inter-foot crossbeam (2). An inclined rail (8) is fixedly installed on the side of the inter-foot crossbeam (2). The opposite ends of the inclined rails on the two groups of footrests are connected to form a V-shaped slide rail. The bottom ends of the two inclined rails form a slide rail groove (83). A servo motor fixing bracket (5) is fixedly installed on the upper surface of the inter-foot crossbeam (2). A servo motor (6) is placed in the hollow part in the middle of the servo motor fixing bracket (5). There is a servo disk opening (63) on the servo disk (62) of the servo motor for fixedly connecting one end of a servo motor connecting rod (4). The other end of the servo motor connecting rod (4) is rotatably connected to one end of a slider connecting rod (3) through a servo motor connecting rod tail opening (43). The other end of the slider connecting rod (3) is rotatably connected to a clamping slider (7) through a slider connecting rod lower opening (32). There is a slide rail slot (82) on the cylindrical side of the inclined rail (8) to serve as a sliding track for the clamping slider. The upper surface of the cylindrical body of the inclined rail (8) serves as a sliding track for the capped hook (9). The slide rail groove (83) formed by splicing the bottom ends of the left and right inclined rails can be fitted with the left and right sides of the hook body (92) of the capped hook (9). There is a female head groove (73) on the side of the clamping slider (7) for fitting with the male bump (91) of the capped hook (9) to fix the capped hook (9).

2. The device according to claim 1, wherein The clamping slider (7) is connected to the slider connecting rod (3) through a slider rear opening (72). There are two convex platforms (74) on the clamping slider (7) that just fit into the slide rail slot (82) of the inclined rail (8). The bottom of the convex platform (74) is connected to an arc-shaped bottom plate (76), and the arc-shaped bottom plate (76) abuts against the surface of the inclined rail cylinder.

3. The device according to claim 2, wherein There are also a slider upper convex platform opening (71) and a slider lower convex platform opening (75) on the clamping slider (7).

4. The device according to claim 1, characterized in that, The lower surface of the capped hook (9) in contact with the inclined rail is an arc surface, and the left and right sides of the hook body (92) are flat surfaces.

5. A method for docking and separating an unmanned boat and an unmanned aerial vehicle allowing for position deviation, characterized in that, The method is based on the docking and separation device for the unmanned boat and the unmanned aerial vehicle as described in claim 1, and includes the following steps: S1: When the unmanned aerial vehicle and the unmanned boat receive a docking instruction, their respective postures are adjusted through a control algorithm for docking. During docking, the horizontal position error and the heading error of the unmanned aerial vehicle and the unmanned boat are controlled within an allowable range, and the unmanned aerial vehicle raises its height to enable the unmanned boat to leave the water surface. S2: The unmanned aerial vehicle raises its height. The capped hook of the unmanned boat slides along the inclined rail to the slide rail groove under the action of gravity. The servo motor on the unmanned aerial vehicle drives the servo disk, the servo motor connecting rod, and the slider connecting rod to move, so that the clamping slider slides downward along the inclined rail. The female head groove on the clamping slider is fitted with the male bump of the capped hook to lock the unmanned aerial vehicle and the unmanned boat together to form a rigid body. S3: After the drone and the unmanned boat receive the separation instruction, the servo on the drone drives the rudder disc, the servo connecting rod and the slider connecting rod to move, so that the clamping slider slides upward along the inclined rail, and the female head groove on the clamping slider is separated from the male head convex block of the cap - equipped hook; S4: The drone descends a certain height so that the unmanned boat can fall back onto the water surface. Under the action of the buoyancy of the water surface, the cap - equipped hook of the unmanned boat disengages from the slide rail groove of the V - shaped track, realizing the separation of the unmanned boat and the drone.

6. The method according to claim 5, wherein The control algorithms include PID algorithm, model predictive control algorithm or LQR control algorithm. The docking methods are that the drone hovers, the unmanned boat actively approaches the drone to complete docking, the unmanned boat is stationary on the water surface, the drone actively approaches to complete docking, or the drone and the unmanned boat travel in the same or opposite directions simultaneously and complete docking during the movement.

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