Ocean survey instrument putting and recycling device and method based on unmanned ship

Abstract

The invention provides an unmanned ship-based marine survey instrument putting and recovering device and method, and relates to unmanned ship putting and recovering technology.The unmanned ship-based marine survey instrument putting and recovering device comprises a rotary telescopic mechanism and a monitoring carrier which are mounted on an unmanned ship, and an inflation assembly is fixedly mounted at the end of a shaft body of the rotary telescopic mechanism and used for grabbing / fixing the monitoring carrier; the monitoring carrier can be driven to move, the rope body of the balance weight part can be wound, the monitoring carrier can be put and recycled, compared with putting and recycling of an existing ocean survey instrument, the device has universality, various monitoring requirements are met, the position of the monitoring carrier is stabilized through the balance weight part and the rope body, and the monitoring carrier is convenient to use. The unmanned ship is prevented from flowing to a position too close to a river bank, the monitoring carrier is pulled back / sent out in cooperation with the telescopic and rotatable shaft body, and the unmanned ship can be prevented from entering a diving area on the bank, so that the problem of stranding of the unmanned ship is avoided, and safety and stability of throwing and recycling of the ocean survey instrument are achieved.

Description

Technical Field

[0001] The present invention relates to equipment for detecting ocean water quality and ecological elements, and more specifically to the field of unmanned vessel deployment and recovery technology, specifically to an unmanned vessel-based ocean survey instrument deployment and recovery device and method. Background Art

[0002] Fields such as marine environmental monitoring, resource exploration, and scientific research often require the deployment and recovery of marine survey instruments (such as CTD profilers, ADCP current meters, hydrophones, and various sensors). Currently, these operations primarily rely on manned vessels operating with cranes or winch systems. While the operational process is mature, it remains inefficient. With the development of unmanned vessel technology, some research has explored the use of unmanned vessel platforms for instrument deployment.

[0003] At present, the shapes and structures of marine survey instruments are not uniform, and the deployment and recovery of marine survey instruments by unmanned ships are not universal; and considering that some marine survey instruments need to be deployed close to the shore / diving area, unmanned ships cannot sail to the shore (prone to running aground), which makes the deployment and recovery of marine survey instruments difficult. For this reason, the present invention provides a marine survey instrument deployment and recovery device and method based on an unmanned ship. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a marine survey instrument deployment and recovery device and method based on an unmanned ship, which solves the problem that the current marine survey instruments are not uniform in shape and structure, and the deployment and recovery of marine survey instruments by unmanned ships are not universal; and considering that some marine survey instruments need to be deployed close to the shore / diving area, unmanned ships cannot sail to the shore (prone to running aground), which makes the deployment and recovery of marine survey instruments difficult.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0006] A device for launching and recovering oceanographic survey instruments based on an unmanned vessel, comprising:

[0007] A rotating and telescopic mechanism installed on the unmanned boat, wherein an inflatable component is fixedly installed at the end of the shaft of the rotating and telescopic mechanism;

[0008] A monitoring carrier, comprising: a carrier body, an annular housing, a sleeve shaft, a winding assembly, and a counterweight; the carrier body is mounted with an oceanographic survey instrument; the annular housing is fixedly mounted on the bottom of the carrier body; the carrier body is mounted with a winding assembly, a rope is wound around the winding assembly, one end of the rope is fixedly connected to the counterweight; the sleeve shaft is rotatably mounted on the side of the annular housing, and the sleeve shaft is gear-connected to the winding assembly;

[0009] The shaft of the rotating telescopic mechanism is inserted into the inner side of the insertion hole of the sleeve shaft, and the shaft of the rotating telescopic mechanism is fixed to the sleeve shaft by relying on the expansion of the inflation component;

[0010] The material of the carrier body and the annular shell is plastic.

[0011] Preferably, the rotating and telescopic mechanism includes:

[0012] A "7"-shaped frame fixedly installed with the unmanned boat;

[0013] The shaft body, the side of the vertical part of the "7"-shaped frame is rotatably mounted with a long cylindrical structure, the center of the long cylindrical structure is set as a spline hole, the shaft body is located inside the spline hole, and the outer side of the shaft body is fixedly provided with a ridge corresponding to the spline hole;

[0014] The motor is fixedly mounted on the inner side of the "7"-shaped frame by a bracket, and the output shaft of the motor is transmission-connected to the long cylindrical structure;

[0015] A main telescopic member fixedly mounted on the unmanned boat, wherein a trachea joint is fixedly mounted on the telescopic end of the main telescopic member, and the trachea joint is fixedly mounted on the shaft;

[0016] A central air hole is provided at the center of the shaft body.

[0017] Preferably, the inflatable component includes:

[0018] An annular airbag, wherein the annular airbag fixing sleeve is arranged on the outer side of the shaft body;

[0019] An air intake connector fixedly mounted on the end of the shaft body, the air intake connector being connected to the annular airbag via an air pipe;

[0020] The outer side surface of the annular airbag is fixedly connected to a plurality of arc-shaped blades distributed in an annular array;

[0021] An anti-slip strip is provided on the inner side of the insertion hole of the sleeve shaft.

[0022] Preferably, the long cylindrical structure includes:

[0023] A rotating sleeve, wherein a circular hole is opened on the side of the vertical portion of the "7"-shaped frame, the rotating sleeve is rotatably mounted on the inner side of the circular hole, and a first spline hole is opened on the inner side of the rotating sleeve;

[0024] a second gear, wherein a second spline hole is formed in the center of the second gear, and the second gear is fixedly connected to the rotating sleeve via a transmission cylinder;

[0025] A first gear is fixedly mounted on the output shaft of the motor, and the first gear is meshed with the second gear for transmission.

[0026] Preferably, it also includes:

[0027] A temporary carrier plate, which is fixedly mounted on the bottom of the vertical portion of the "7"-shaped frame through an L-shaped bracket, and extends toward the outside of the "7"-shaped frame. An electromagnetic block is provided at the center of the temporary carrier plate, and a rubber block is fixedly provided on the inner side of the annular shell;

[0028] A storage plate, which is fixedly mounted on the unmanned boat, and the storage plate and the shell of the unmanned boat form a placement area for storing the monitoring carrier;

[0029] A transfer component is installed on the unmanned vessel and is used to transfer the monitoring carrier on the temporary carrier to the placement area / transfer the monitoring carrier on the placement area to the temporary carrier.

[0030] Preferably, the transfer assembly comprises:

[0031] A horizontal frame, wherein the horizontal frame is fixedly installed on the unmanned vessel and is located above the temporary loading plate and the placement area;

[0032] A moving assembly is provided at the bottom of the horizontal frame and is arranged along the length direction of the horizontal frame;

[0033] A lifting arm, the top end of which is fixedly mounted to the action end of the moving assembly, and the bottom end of which is fixedly connected to a grabbing plate.

[0034] Preferably, the top of the carrier body is provided with a sensor installation port, a rotating cavity, and a gear cavity, and the rotating cavity and the gear cavity are located on the same straight line;

[0035] The winding assembly includes: a winding shaft, the winding shaft traverses the rotating chamber and the gear chamber, and is rotatably connected to the carrier body, and a third gear is fixedly installed on the winding shaft and located inside the gear chamber;

[0036] The sleeve shafts are provided in four groups, and the four groups of sleeve shafts are distributed in a circumferential array. A bevel gear is fixedly installed at one end of the sleeve shaft close to the center, and the bevel gears of two adjacent sleeve shafts are meshed with each other;

[0037] A fourth gear is fixedly mounted on one of the sleeve shafts, and the fourth gear is meshed with the third gear for transmission;

[0038] The outer side of the sleeve shaft is rotatably connected with a mounting cylinder, and the mounting cylinder is fixedly mounted on the annular shell.

[0039] Preferably, the counterweight is square, and the center hole of the annular shell is square.

[0040] Preferably, the tops of the rotating chamber and the gear chamber are both fixedly connected with sealing plates.

[0041] A method for deploying and recovering oceanographic survey instruments based on an unmanned vessel, using the above-mentioned device for deploying and recovering oceanographic survey instruments based on an unmanned vessel, the deployment method comprises the following steps:

[0042] S1. The shaft of the rotating and telescopic mechanism is inserted into the inner side of the socket of the sleeve shaft, and the shaft of the rotating and telescopic mechanism and the sleeve shaft are expanded by the expansion of the inflatable component. Then, the shaft of the rotating and telescopic mechanism is controlled to extend, and the monitoring carrier is pushed to the predetermined position;

[0043] S2. The shaft of the rotating telescopic mechanism rotates, driving the sleeve shaft to rotate, and then driving the winding assembly to rotate, releasing the rope, causing the counterweight at one end of the rope to sink to the seabed, thereby limiting the position of the monitoring carrier;

[0044] The recycling method includes the following steps:

[0045] S1. The shaft of the rotating and telescopic mechanism for controlling the movement of the unmanned boat is inserted into the inner side of the socket of the sleeve shaft. The inflation of the inflatable component causes the shaft of the rotating and telescopic mechanism to rotate with the sleeve shaft. The shaft of the rotating and telescopic mechanism is then controlled to rotate, driving the sleeve shaft to rotate, and then driving the reeling component to rotate, reeling in the rope body, so that the counterweight at one end of the rope body is reeled in.

[0046] S2. Control the shaft of the rotating and telescopic mechanism to retract, and pull the monitoring carrier to the monitoring carrier placement position on the unmanned vessel.

[0047] The present invention provides an unmanned vessel-based ocean survey instrument launching and recovering device and method.

[0048] It has the following beneficial effects:

[0049] 1. The present invention is designed to be installed on an unmanned boat with a rotating and telescopic mechanism and a monitoring carrier of uniform specifications. An inflatable component is fixedly installed at the end of the shaft of the rotating and telescopic mechanism. The inflatable component is used to grab / fix the monitoring carrier, and based on the expansion and contraction and rotation of the rotating and telescopic mechanism, the position movement of the monitoring carrier and the rope body of the counterweight are driven to be reeled in, thereby realizing the deployment and recovery of the monitoring carrier. Compared with the current deployment and recovery of marine survey instruments, this device is universal and meets various monitoring needs. In addition, the monitoring carrier adopts the counterweight and the rope body to stabilize the position to prevent it from flowing too close to the river bank. The monitoring carrier is pulled back / delivered with the help of the retractable and rotatable shaft body, which can prevent the unmanned boat from entering the diving area on the shore, thereby avoiding the problem of the unmanned boat being stranded, and realizing the safety and stability of the deployment and recovery of marine survey instruments.

[0050] 2. The present invention designs a temporary carrier plate, a storage plate and a transfer component, and transfers the monitoring carrier between the storage plate and the temporary carrier plate based on the transfer component, thereby realizing the placement and recovery of multiple monitoring carriers, thereby improving the placement and recovery efficiency of the monitoring carriers. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a first-person perspective stereoscopic image of a marine survey instrument deployment and recovery device based on an unmanned vessel proposed in the present invention;

[0052] Figure 2 This is a front view of an unmanned vessel-based oceanographic survey instrument deployment and recovery device proposed by the present invention;

[0053] Figure 3 This is a top view of an unmanned vessel-based oceanographic survey instrument deployment and recovery device proposed in the present invention;

[0054] Figure 4 for Figure 3 Sectional view of the section line at AA;

[0055] Figure 5 for Figure 4 A partial enlarged view of point B in the middle;

[0056] Figure 6 A second-perspective stereoscopic image of a marine survey instrument deployment and recovery device based on an unmanned vessel proposed in the present invention;

[0057] Figure 7 for Figure 6 A partial enlarged view of point C in the middle;

[0058] Figure 8 A three-dimensional view of a monitoring carrier of an unmanned vessel-based oceanographic survey instrument deployment and recovery device proposed in the present invention;

[0059] Figure 9 This is a diagram showing the internal structure of a monitoring carrier of an unmanned vessel-based ocean survey instrument deployment and recovery device proposed in the present invention;

[0060] Figure 10 This is a three-dimensional view of the transmission assembly of the monitoring carrier of the unmanned vessel-based ocean survey instrument deployment and recovery device proposed in the present invention.

[0061] Among them, 1. "7"-shaped frame; 2. Temporary carrier; 3. Electromagnetic block; 4. Transfer assembly; 401. Horizontal frame; 402. Lifting arm; 403. Moving assembly; 404. Grab tray; 5. Storage plate; 6. Main telescopic member; 7. Air pipe connector; 8. Motor; 9. Monitoring carrier; 901. Carrier body; 901a. Sensor mounting port; 901b. Rotating cavity; 901c. Gear cavity; 902. Ring shell; 903. Counterweight Part; 904, rope body; 905, winding shaft; 906, third gear; 907, mounting cylinder; 908, sleeve shaft; 908a, socket; 909, bevel gear; 9010, fourth gear; 10, first gear; 11, second gear; 12, shaft body; 12a, center air hole; 13, transmission cylinder; 14, rotating sleeve; 15, inflation component; 1501, annular airbag; 1502, curved blades; 1503, air inlet connector. DETAILED DESCRIPTION

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0063] Example 1:

[0064] like Figures 1-10 As shown, the unmanned boat deployment and recovery of the present invention belongs to the ocean water quality and ecological element detection equipment, specifically an unmanned boat-based ocean survey instrument deployment and recovery device, including: a rotating telescopic mechanism and a monitoring carrier 9 installed on the unmanned boat.

[0065] An inflatable component 15 is fixedly installed at the end of the shaft 12 of the rotating and telescopic mechanism. The inflatable component 15 is used to grab / fix the monitoring carrier 9, and based on the expansion and contraction and rotation of the rotating and telescopic mechanism, it drives the position movement of the monitoring carrier 9 and the rope body of the counterweight to reel in the monitoring carrier 9, thereby realizing the deployment and recovery of the monitoring carrier 9.

[0066] Among them, the monitoring carrier 9 is designed as a floating structure, and the position of the main body of the monitoring carrier 9 is stabilized downward based on the rope body 904 and the counterweight 903, so as to prevent the monitoring carrier 9 from flowing arbitrarily with the water flow (prevent the monitoring carrier 9 from flowing too close to the river bank (the distance from the river bank line is less than 3M)), affecting the subsequent recovery operation of the monitoring carrier 9.

[0067] Specifically, the monitoring carrier 9 includes: a carrier body 901, an annular shell 902, a sleeve shaft 908, a winding assembly, and a counterweight 903. The carrier body 901 is equipped with an ocean survey instrument, which is one or more of a CTD profiler, an ADCP current meter, a hydrophone, and various sensors, and is used in combination according to actual monitoring needs. The annular shell 902 is fixedly installed at the bottom of the carrier body 901, and a winding assembly is installed on the carrier body 901. A rope body 904 is wound around the winding assembly, and one end of the rope body 904 is fixedly connected to the counterweight 903. The sleeve shaft 908 is rotatably installed on the side of the annular shell 902, and the sleeve shaft 908 is gear-connected to the winding assembly.

[0068] The shaft 12 of the rotating telescopic mechanism is inserted into the inner side of the socket 908a of the sleeve shaft 908, and the shaft 12 of the rotating telescopic mechanism is fixed to the sleeve shaft 908 by relying on the expansion of the inflatable component 15; at this time, the shaft 12 of the rotating telescopic mechanism can drive the sleeve shaft 908 to rotate, and the sleeve shaft 908 drives the winding component to rotate, and the winding component winds / releases the rope body 904 to complete the retraction / lowering of the counterweight 903.

[0069] For example, the material of the carrier body 901 and the annular shell 902 is designed to be plastic material or the carrier body 901 and the annular shell 902 are designed to be hollow plates to ensure that the components of the monitoring carrier 9 except the counterweight 903 have floating characteristics.

[0070] The use of an unmanned vessel-based oceanographic survey instrument deployment and recovery device mainly includes two methods:

[0071] First, the delivery process:

[0072] The shaft 12 of the rotating and telescopic mechanism is inserted into the inner side of the socket 908a of the sleeve shaft 908, and the expansion of the inflatable component 15 makes the shaft 12 of the rotating and telescopic mechanism and the sleeve shaft 908, and at this time the shaft 12 of the rotating and telescopic mechanism is kept in a retracted state, that is, the shaft 12 of the rotating and telescopic mechanism on the unmanned ship is connected to a monitoring carrier 9, and the monitoring carrier 9 is in a state close to the unmanned ship. Based on the movement of the unmanned ship, the monitoring carrier 9 is brought to the predetermined deployment position, and then the shaft 12 of the rotating and telescopic mechanism is controlled to extend, and the monitoring carrier 9 is pushed to the predetermined position for deployment, that is, the inflatable component 15 is controlled to deflate, and the shaft 12 of the rotating and telescopic mechanism is separated from the sleeve shaft 908, and then the shaft 12 of the rotating and telescopic mechanism is pulled out.

[0073] Second, the recycling process:

[0074] Based on the sensors (image sensor and position sensor) on the unmanned boat, the unmanned boat is controlled to travel on the sea surface, so that the unmanned boat reaches the predetermined position, and maintains the relative position relationship between the shaft 12 of the rotating telescopic mechanism on the unmanned boat and the monitoring carrier 9 (the shaft 12 of the rotating telescopic mechanism corresponds to the socket of the sleeve shaft 908), and then the shaft 12 of the rotating telescopic mechanism is controlled to be inserted into the inner side of the socket 908a of the sleeve shaft 908, and the expansion of the inflatable component 15 is used to make the shaft 12 of the rotating telescopic mechanism and the sleeve shaft 908, and then the shaft 12 of the rotating telescopic mechanism is controlled to rotate, driving the sleeve shaft 908 to rotate, and then driving the winding component to rotate, winding the rope body 904, so that the counterweight 903 at one end of the rope body 904 is wound up; then the shaft 12 of the rotating telescopic mechanism is controlled to retract, and the monitoring carrier 9 is pulled to the monitoring carrier 9 placement position on the unmanned boat.

[0075] In one embodiment, the rotating telescopic mechanism includes: a "7"-shaped frame 1 fixedly mounted on the unmanned boat, a shaft 12, a long cylindrical structure, a motor 8, and a main telescopic member 6 fixedly mounted on the unmanned boat.

[0076] Among them, the side of the vertical part of the "7"-shaped frame 1 is rotatably installed with a long cylindrical structure, the center of the long cylindrical structure is set as a spline hole, the shaft body 12 is located on the inner side of the spline hole, and the outer side of the shaft body 12 is fixedly provided with a ridge corresponding to the spline hole, so that the shaft body 12 can slide axially relative to the long cylindrical structure, that is, the retractable characteristic of the shaft body 12 is realized, and when the long cylindrical structure rotates, it can drive the shaft body 12 to rotate, the motor 8 is fixedly installed on the inner side of the "7"-shaped frame 1 through a bracket suspension, and the output shaft of the motor 8 is transmission-connected to the long cylindrical structure, and the long cylindrical structure is driven to rotate by the motor 8, the telescopic end of the main telescopic part 6 is fixedly installed with an air pipe joint 7, the air pipe joint 7 is fixedly installed with the shaft body 12, and a central air hole 12a is provided in the center of the shaft body 12. Based on the design of the air pipe joint 7 and the central air hole 12a, an air source is provided for the inflation component 15.

[0077] During specific operation, the sensors (image sensor and position sensor) on the unmanned ship obtain the current status and control the operation of the motor 8 and the main telescopic part 6. When the main telescopic part 6 is working, it directly drives the shaft body 12 to slide axially to realize the extension and retraction of the shaft body 12; when the motor 8 is working, its output shaft drives the long cylindrical structure to rotate, and then drives the shaft body 12 to rotate.

[0078] In one embodiment, the inflatable component 15 includes an annular airbag 1501 , an air inlet connector 1503 , and arc-shaped blades 1502 .

[0079] The annular airbag 1501 is fixedly sleeved on the outside of the shaft body 12, and the air inlet connector 1503 is fixedly installed on the end of the shaft body 12. The air inlet connector 1503 is connected to the annular airbag 1501 through an air tube, and the outer side of the annular airbag 1501 is fixedly connected with a number of arc-shaped blades 1502 distributed in a circular array, and an anti-slip strip is provided on the inner side of the socket 908a of the sleeve shaft 908.

[0080] The design of the air pipe connector 7 and the central air hole 12a enables the air source to be delivered to the end of the shaft body 12, and the air inlet connector 1503 connected to the end of the shaft body 12 receives the gas, and the gas flows into the annular airbag 1501 through the air pipe; when in use, the air supply component (air pump) on the unmanned ship supplies high-pressure gas to the annular airbag 1501, and the annular airbag 1501 expands, driving the arc-shaped blades 1502 to expand outward, squeezing the inner side of the socket 908a of the sleeve shaft 908, and cooperating with the anti-slip strip set on the inner side of the socket 908a of the sleeve shaft 908, thereby ensuring that the shaft body 12 of the rotating and telescopic mechanism is fixed to the sleeve shaft 908.

[0081] In one embodiment, the long cylindrical structure includes a rotating sleeve 14 , a second gear 11 and a transmission cylinder 13 .

[0082] A circular hole is provided on the side of the vertical part of the "7"-shaped frame 1, and a rotating sleeve 14 is rotatably installed on the inner side of the circular hole, and a first spline hole is provided on the inner side of the rotating sleeve 14, and a second spline hole is provided at the center of the second gear 11. The second gear 11 and the rotating sleeve 14 are fixedly connected through a transmission tube 13, and the rotating sleeve 14 and the second gear 11 are used to support the shaft 12 of the rotating telescopic mechanism, and a first gear 10 is fixedly installed on the output shaft of the motor 8, and the first gear 10 is engaged with the second gear 11 for transmission.

[0083] When in use, the motor 8 drives the first gear 10 to rotate, and the first gear 10 engages with the second gear 11, thereby driving the second gear 11 to rotate. The second gear 11 rotates synchronously with the rotating sleeve 14 and the transmission cylinder 13, thereby driving the shaft 12 of the rotating telescopic mechanism to rotate.

[0084] In one embodiment, in order to enable an unmanned vessel-based ocean survey instrument deployment and recovery device to deploy and recover multiple monitoring carriers 9, it is also designed with: a temporary carrier plate 2, a storage plate 5 and a transfer component 4.

[0085] The temporary carrier plate 2 is fixedly installed at the bottom of the vertical part of the "7"-shaped frame 1 through an L-shaped bracket, and the temporary carrier plate 2 extends toward the outside of the "7"-shaped frame 1. The temporary carrier plate 2 is used to temporarily support the monitoring carrier 9. An electromagnetic block 3 is provided in the center of the temporary carrier plate 2, and a rubber block is fixedly provided on the inner side of the annular shell 902. In this way, when the counterweight 903 is rolled into the inner side of the annular shell 902, the elastic squeezing of the rubber block can be relied on to achieve fixation between the annular shell 902 and the counterweight 903, thereby maintaining the integrity of the monitoring carrier 9. When being deployed, the electromagnetic block 3 is used to apply strong magnetism to the counterweight 903, so that the counterweight 903 moves downward for a distance, and is freed from the squeezing and fixation of the rubber block, in preparation for the subsequent deployment of the monitoring carrier 9. The storage plate 5 is fixedly installed on the unmanned boat, and the storage plate 5 and the shell of the unmanned boat constitute a placement area for storing the monitoring carrier 9.

[0086] The transfer component 4 is installed on the unmanned vessel, and is used to transfer the monitoring carrier 9 on the temporary carrier 2 to the placement area / transfer the monitoring carrier 9 on the placement area to the temporary carrier 2.

[0087] When in use, after the rotating and telescopic mechanism installed on the unmanned boat completes the deployment of one monitoring carrier 9, the other monitoring carriers 9 placed in the placement area can be transferred to the temporary carrier 2 position through the transfer component 4, and the second deployment of the monitoring carrier 9 can be carried out; the same is true for recovery, the monitoring carrier 9 retrieved on the temporary carrier 2 can be transferred to the placement area through the transfer component 4, and then the second recovery operation of the monitoring carrier 9 can be carried out.

[0088] In one embodiment, the transfer assembly 4 includes a horizontal frame 401 , a moving assembly 403 , and a lifting arm 402 .

[0089] The horizontal frame 401 is fixedly installed on the unmanned boat, and the horizontal frame 401 is located above the temporary carrier 2 and the placement area. The moving component 403 is arranged at the bottom of the horizontal frame 401, and the moving component 403 is arranged along the length direction of the horizontal frame 401. The moving component 403 can use a linear moving structure, such as a sliding track and a telescopic rod drive / screw drive structure, etc. The top end of the lifting arm 402 is fixedly installed with the action end of the moving component 403, and the bottom end of the lifting arm 402 is fixedly connected to the grabbing disk 404, which is a magnetic disk / grabbing robot.

[0090] The moving component 403 drives the lifting arm 402 to move to the position of the monitoring carrier 9. The lifting arm 402 extends downward, driving the grabbing plate 404 to grab the monitoring carrier 9 downward, and the shaft 12 of the rotating telescopic mechanism retracts to make way for the monitoring carrier 9 to move up and down. Then the lifting arm 402 drives the grabbing plate 404 and the monitoring carrier 9 to move upward. The moving component 403 drives the lifting arm 402, the grabbing plate 404, and the monitoring carrier 9 to move to the target position (above the placement area), and then puts down the monitoring carrier 9.

[0091] In one embodiment, a sensor installation opening 901 a , a rotating cavity 901 b , and a gear cavity 901 c are formed on the top of the carrier body 901 , and the rotating cavity 901 b and the gear cavity 901 c are located on the same straight line.

[0092] The winding assembly includes: a winding shaft 905, which crosses the rotating cavity 901b and the gear cavity 901c, and is rotatably connected to the carrier body 901. A third gear 906 is fixedly installed on the winding shaft 905 and located inside the gear cavity 901c.

[0093] In order to enable the deployment and recovery of the monitoring carrier 9 to be carried out on all four sides of the annular shell 902, four sets of sleeve shafts 908 are designed. The four sets of sleeve shafts 908 are distributed in a circular array. A bevel gear 909 is fixedly installed at one end of the sleeve shaft 908 close to the center. The bevel gears 909 of two adjacent sleeve shafts 908 are engaged with each other, that is, if any one of the sleeve shafts 908 rotates, the four sets of sleeve shafts 908 will rotate synchronously.

[0094] A fourth gear 9010 is fixedly mounted on one of the sleeve shafts 908 , and the fourth gear 9010 is meshed with the third gear 906 for transmission, thereby realizing transmission between the sleeve shaft 908 and the winding shaft 905 . The outer side of the sleeve shaft 908 is rotatably connected to a mounting cylinder 907 , and the mounting cylinder 907 is fixedly mounted on the annular shell 902 .

[0095] When in use, the shaft 12 of the rotating and telescopic mechanism is inserted into the inner side of the socket 908a of the sleeve shaft 908, and the shaft 12 of the rotating and telescopic mechanism is fixed to the sleeve shaft 908 by relying on the expansion of the inflatable component 15. The shaft 12 of the rotating and telescopic mechanism can drive the sleeve shaft 908 to rotate, and the sleeve shaft 908 drives the fourth gear 9010 to rotate, and then drives the winding shaft 905 to rotate, and the winding shaft 905 reels / releases the rope body 904.

[0096] In one embodiment, the counterweight 903 is square and the center hole of the annular shell 902 is square. The square structure facilitates the setting of rubber blocks, which can be set on a symmetrical plane of the annular shell 902 so that the counterweight 903 can be clamped from both sides of the counterweight 903.

[0097] In one embodiment, sealing plates are fixedly connected to the tops of the rotating chamber 901b and the gear chamber 901c to ensure that mud and sand do not enter the tops of the rotating chamber 901b and the gear chamber 901c, and to ensure that the interior of the gear chamber 901c is in a sealed state to prevent seawater from affecting the use of the gear (third gear 906) inside the gear chamber 901c.

[0098] Since the rotating and telescopic mechanism and the monitoring carrier 9 are both used in the sea, the leakage of seawater cannot be avoided, so the gears used are all made of corrosion-resistant hardened plastic, such as PA and nylon gears.

[0099] Example 2:

[0100] A method for launching and recovering an unmanned ship-based ocean survey instrument uses the unmanned ship-based ocean survey instrument launching and recovering device in the first embodiment.

[0101] The delivery method includes the following steps:

[0102] S1. The shaft 12 of the rotating and telescopic mechanism is inserted into the inner side of the insertion hole 908a of the sleeve shaft 908. The shaft 12 of the rotating and telescopic mechanism is extended by the expansion of the inflatable component 15, and the monitoring carrier 9 is pushed to the predetermined position.

[0103] S2. The shaft 12 of the rotating telescopic mechanism rotates, driving the sleeve shaft 908 to rotate, and then driving the winding assembly to rotate, releasing the rope body 904, so that the counterweight 903 at one end of the rope body 904 sinks to the seabed, and the position of the monitoring carrier 9 is limited.

[0104] The recycling method includes the following steps:

[0105] S1. Based on the driving control of the unmanned boat, the shaft 12 of the rotating and telescopic mechanism is inserted into the inner side of the insertion hole 908a of the sleeve shaft 908. The inflation component 15 is expanded to make the shaft 12 of the rotating and telescopic mechanism and the sleeve shaft 908 rotate. Then, the shaft 12 of the rotating and telescopic mechanism is controlled to rotate, driving the sleeve shaft 908 to rotate, and then driving the winding component to rotate, winding up the rope body 904, so that the counterweight 903 at one end of the rope body 904 is wound up.

[0106] S2. Control the shaft 12 of the rotating and telescopic mechanism to retract, and pull the monitoring carrier 9 to the monitoring carrier 9 placement position on the unmanned vessel.

[0107] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A marine survey instrument launching and recovery device based on an unmanned vessel, characterized in that: include: A rotating telescopic mechanism installed on an unmanned vessel, wherein an inflation assembly (15) is fixedly installed at the end of a shaft (12) of the rotating telescopic mechanism; A monitoring carrier (9), comprising: a carrier body (901), an annular shell (902), a sleeve shaft (908), a winding assembly, and a counterweight (903); an ocean survey instrument is mounted on the carrier body (901); the annular shell (902) is fixedly mounted on the bottom of the carrier body (901); a winding assembly is mounted on the carrier body (901); a rope body (904) is wound around the winding assembly; one end of the rope body (904) is fixedly connected to the counterweight (903); the sleeve shaft (908) is rotatably mounted on a side of the annular shell (902), and the sleeve shaft (908) is gear-connected to the winding assembly; The shaft body (12) of the rotating telescopic mechanism is inserted into the inner side of the insertion hole (908a) of the sleeve shaft (908), and the shaft body (12) of the rotating telescopic mechanism is fixed to the sleeve shaft (908) by the expansion of the inflation component (15); The material of the carrier body (901) and the annular shell (902) is plastic.

2. The unmanned vessel-based oceanographic survey instrument launching and recovery device according to claim 1, characterized in that: The rotating and telescopic mechanism includes: A "7"-shaped frame (1) fixedly mounted on the unmanned boat; A shaft body (12) is rotatably mounted on the side of the vertical portion of the "7"-shaped frame body (1) with a long cylindrical structure, the center of the long cylindrical structure is provided with a spline hole, the shaft body (12) is located inside the spline hole, and an edge portion corresponding to the spline hole is fixedly provided on the outside of the shaft body (12); A motor (8), wherein the motor (8) is fixedly mounted on the inner side of the "7"-shaped frame (1) by means of a bracket, and an output shaft of the motor (8) is transmission-connected to the long cylindrical structure; A main telescopic member (6) fixedly mounted on the unmanned boat, a trachea joint (7) fixedly mounted on the telescopic end of the main telescopic member (6), and the trachea joint (7) fixedly mounted on the shaft (12); A central air hole (12a) is provided at the center of the shaft body (12).

3. The unmanned vessel-based oceanographic survey instrument launching and recovery device according to claim 2, characterized in that: The inflatable component (15) comprises: An annular airbag (1501), wherein the annular airbag (1501) is fixedly sleeved on the outer side of the shaft body (12); An air intake connector (1503) is fixedly mounted on the end of the shaft (12), wherein the air intake connector (1503) is connected to the annular airbag (1501) via an air pipe; The outer side surface of the annular airbag (1501) is fixedly connected to a plurality of arc-shaped blades (1502) distributed in an annular array; An anti-slip strip is provided inside the insertion hole (908a) of the sleeve shaft (908).

4. The unmanned vessel-based oceanographic survey instrument launching and recovery device according to claim 2, characterized in that: The long cylindrical structure comprises: A rotating sleeve (14), wherein a circular hole is provided on the side of the vertical portion of the "7"-shaped frame (1), the rotating sleeve (14) is rotatably mounted on the inner side of the circular hole, and a first spline hole is provided on the inner side of the rotating sleeve (14); A second gear (11), wherein a second spline hole is provided at the center of the second gear (11), and the second gear (11) is fixedly connected to the rotating sleeve (14) via a transmission cylinder (13); A first gear (10) is fixedly mounted on the output shaft of the motor (8), and the first gear (10) is meshed with a second gear (11) for transmission.

5. The unmanned vessel-based oceanographic survey instrument launching and recovery device according to claim 2, characterized in that: Also includes: A temporary carrier plate (2), the temporary carrier plate (2) is fixedly mounted on the bottom of the vertical portion of the "7"-shaped frame (1) via an L-shaped bracket, and the temporary carrier plate (2) extends toward the outside of the "7"-shaped frame (1), an electromagnetic block (3) is provided at the center of the temporary carrier plate (2), and a rubber block is fixedly provided on the inner side of the annular housing (902); A storage plate (5), wherein the storage plate (5) is fixedly mounted on the unmanned vessel, and the storage plate (5) and the shell of the unmanned vessel form a placement area for storing the monitoring carrier (9); A transfer assembly (4) is installed on an unmanned vessel, and is used to transfer a monitoring carrier (9) on a temporary carrier (2) to a placement area / to transfer the monitoring carrier (9) on the placement area to the temporary carrier (2).

6. The unmanned vessel-based oceanographic survey instrument launching and recovery device according to claim 5, characterized in that: The transfer assembly (4) comprises: A horizontal frame (401), wherein the horizontal frame (401) is fixedly installed on the unmanned vessel, and the horizontal frame (401) is located above the temporary carrier plate (2) and the placement area; A moving assembly (403), wherein the moving assembly (403) is arranged at the bottom of the horizontal frame (401), and the moving assembly (403) is arranged along the length direction of the horizontal frame (401); A lifting arm (402) is provided, wherein the top end of the lifting arm (402) is fixedly mounted to the action end of the moving assembly (403), and the bottom end of the lifting arm (402) is fixedly connected to a grabbing plate (404).

7. The unmanned vessel-based oceanographic survey instrument deployment and recovery device according to claim 1, characterized in that: The top of the carrier body (901) is provided with a sensor installation opening (901a), a rotating cavity (901b), and a gear cavity (901c), and the rotating cavity (901b) and the gear cavity (901c) are located on the same straight line; The winding assembly comprises: a winding shaft (905), the winding shaft (905) traversing the rotating chamber (901b) and the gear chamber (901c), and the winding shaft (905) being rotationally connected to the carrier body (901), and a third gear (906) being fixedly mounted on the winding shaft (905) and located inside the gear chamber (901c); Four groups of sleeve shafts (908) are provided, and the four groups of sleeve shafts (908) are distributed in a circumferential array. A bevel gear (909) is fixedly installed at one end of the sleeve shaft (908) close to the center, and the bevel gears (909) of two adjacent sleeve shafts (908) are meshed with each other. A fourth gear (9010) is fixedly mounted on one of the sleeve shafts (908), and the fourth gear (9010) is meshed with the third gear (906) for transmission; The outer side of the sleeve shaft (908) is rotatably connected to a mounting cylinder (907), and the mounting cylinder (907) is fixedly mounted to the annular housing (902).

8. The unmanned vessel-based oceanographic survey instrument deployment and recovery device according to claim 7, characterized in that: The counterweight (903) is square, and the center hole of the annular shell (902) is square.

9. The unmanned vessel-based oceanographic survey instrument deployment and recovery device according to claim 7, characterized in that: The tops of the rotating chamber (901b) and the gear chamber (901c) are both fixedly connected with blocking plates.

10. A method for deploying and recovering oceanographic survey instruments based on an unmanned vessel, characterized in that: The unmanned vessel-based oceanographic survey instrument deployment and recovery device according to any one of claims 1 to 9 is used, and the deployment method includes the following steps: S1, the shaft body (12) of the rotating telescopic mechanism is inserted into the inner side of the insertion hole (908a) of the sleeve shaft (908), and the shaft body (12) of the rotating telescopic mechanism and the sleeve shaft (908) are expanded by the inflation component (15), and then the shaft body (12) of the rotating telescopic mechanism is controlled to extend, and the monitoring carrier (9) is pushed to a predetermined position; S2. The shaft (12) of the rotating telescopic mechanism rotates, driving the sleeve shaft (908) to rotate, thereby driving the reeling assembly to rotate, releasing the rope (904), causing the counterweight (903) at one end of the rope (904) to sink to the seabed, thereby limiting the position of the monitoring carrier (9); The recycling method includes the following steps: S1. Based on the driving control of the unmanned boat, the shaft body (12) of the rotating telescopic mechanism is inserted into the inner side of the socket (908a) of the sleeve shaft (908), and the shaft body (12) of the rotating telescopic mechanism and the sleeve shaft (908) are expanded by the inflation component (15), and then the shaft body (12) of the rotating telescopic mechanism is controlled to rotate, driving the sleeve shaft (908) to rotate, and then driving the winding component to rotate, winding the rope body (904), so that the counterweight (903) at one end of the rope body (904) is wound up; S2. Control the shaft (12) of the rotating telescopic mechanism to retract, and pull the monitoring carrier (9) to the monitoring carrier (9) placement position on the unmanned ship.

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