An unmanned ship-based oceanographic instrument launching and recovery device and method

Abstract

The application provides a kind of ocean survey instrument launching and recovery device and method based on unmanned ship, relating to unmanned ship launching and recovery technology, including rotating telescopic mechanism and monitoring carrier installed on unmanned ship, the end of the shaft of rotating telescopic mechanism is fixedly installed with inflation assembly, inflation assembly is used to grab / fixed monitoring carrier, can realize the position movement of driving monitoring carrier and the rope body of winding weight, realize the launching and recovery of monitoring carrier, compared with the launching and recovery of current ocean survey instrument, the application has universality, meets various monitoring needs, and monitoring carrier uses weight and rope to stabilize position, avoids its flow to too close to the river bank position, and then cooperates with the shaft body that can rotate and stretch out to complete the pulling back / sending of monitoring carrier, can avoid unmanned ship into the diving area of shore, thereby avoiding the problem of unmanned ship grounding, realizing the safety and stability of ocean survey instrument launching and recovery.

Description

Technical Field

[0001] This invention relates to marine water quality and ecological element detection equipment, and more specifically to the field of unmanned vessel deployment and retrieval technology, specifically to a device and method for deploying and retrieving marine survey instruments based on an unmanned vessel. Background Technology

[0002] Marine environmental monitoring, resource exploration, and scientific research often require the deployment and retrieval of marine survey instruments (such as CTD profilers, ADCP current meters, hydrophones, and various sensors). Currently, these operations mainly rely on human-operated vessels in conjunction with cranes or winch systems; the operational procedures are mature, but the efficiency is low. With the development of unmanned surface vessel (USV) technology, some studies have attempted to use USV platforms for instrument deployment.

[0003] Currently, the shapes and structures of marine survey instruments are not standardized, and the deployment and retrieval of marine survey instruments by unmanned vessels are not universally applicable. Moreover, considering that some marine survey instruments need to be deployed close to the shore / diving area, unmanned vessels cannot travel to the shore (which may lead to grounding), making the deployment and retrieval of marine survey instruments difficult. Therefore, this invention provides a device and method for deploying and retrieving marine survey instruments based on unmanned vessels. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a device and method for deploying and retrieving marine survey instruments based on unmanned vessels. This solves the problem that the shapes and structures of current marine survey instruments are not uniform, and that the deployment and retrieval of marine survey instruments by unmanned vessels are not universal. Furthermore, considering that some marine survey instruments need to be deployed close to the shore / diving area, unmanned vessels cannot travel to the shore (which could easily lead to grounding), making the deployment and retrieval of marine survey instruments difficult.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A device for deploying and retrieving marine survey instruments based on an unmanned vessel, comprising:

[0007] A rotary telescopic mechanism installed on an unmanned vessel, wherein an inflation component is fixedly installed at the end of the shaft of the rotary telescopic mechanism;

[0008] The monitoring carrier includes: a carrier plate, an annular shell, a sleeve shaft, a winding assembly, and a counterweight. A marine survey instrument is mounted on the carrier plate. The annular shell is fixedly mounted on the bottom of the carrier plate. A winding assembly is mounted on the carrier plate, and 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 shell, and the sleeve shaft is gear-driven connected to the winding assembly.

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

[0010] The carrier plate and the annular shell are made of plastic.

[0011] Preferably, the rotary telescopic mechanism includes:

[0012] A "7"-shaped frame that is fixedly installed with the unmanned surface vessel;

[0013] The shaft body has a long cylindrical structure rotatably mounted on the side of the vertical part of the "7"-shaped frame. 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 suspended and fixedly installed on the inner side of the "7"-shaped frame by a bracket, and the output shaft of the motor is connected to the long cylindrical structure for transmission.

[0015] The main telescopic component is fixedly installed with the unmanned vessel, and an air pipe connector is fixedly installed at the telescopic end of the main telescopic component. The air pipe connector is fixedly installed with the shaft.

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

[0017] Preferably, the inflation assembly includes:

[0018] An annular airbag, which is fixedly sleeved on the outside of the shaft;

[0019] An air inlet connector is fixedly installed at the end of the shaft, and the air inlet connector is connected to the annular airbag through an air tube;

[0020] The outer surface of the annular airbag is fixedly connected with several arc-shaped blades arranged in an annular array.

[0021] The sleeve shaft has an anti-slip strip inside the insertion hole.

[0022] Preferably, the elongated cylindrical structure includes:

[0023] The rotating sleeve has a circular hole on the side of the vertical part of the "7"-shaped frame. The rotating sleeve is rotatably installed inside the circular hole, and a first spline hole is opened on the inner side of the rotating sleeve.

[0024] The second gear has a second spline hole at its center, and the second gear is fixedly connected to the rotating sleeve through a transmission cylinder.

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

[0026] Preferred options also include:

[0027] A temporary carrier plate is fixedly installed at the bottom of the vertical part of the "7" shaped frame by an L-shaped bracket, and the temporary carrier plate extends towards the outside of the "7" shaped frame. An electromagnetic block is set in the center of the temporary carrier plate, and a rubber block is fixedly set on the inner side of the annular shell.

[0028] A storage plate is fixedly installed on the unmanned vessel, and the storage plate and the hull of the unmanned vessel constitute a placement area for storing the monitoring carrier.

[0029] A transfer assembly, installed on an unmanned vessel, is used to transfer a monitoring carrier from a temporary carrier plate to a placement area or to transfer a monitoring carrier from the placement area to a temporary carrier plate.

[0030] Preferably, the transfer component includes:

[0031] A crossbeam is fixedly installed on the unmanned vessel and is located above the temporary carrier and the placement area;

[0032] A movable component is disposed at the bottom of the crossbeam and is arranged along the length of the crossbeam;

[0033] The lifting arm has its top end fixedly installed to the moving end of the moving component, and its bottom end is fixedly connected to a gripping disc.

[0034] Preferably, the top of the carrier plate is provided with a sensor mounting 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 spool, which passes through the rotating cavity and the gear cavity, and is rotatably connected to the carrier plate. A third gear is fixedly installed on the winding spool and inside the gear cavity.

[0036] The sleeve shaft is provided in four sets, and the four sets of sleeve shafts are arranged in a circumferential array. A bevel gear is fixedly installed at one end of the sleeve shaft near the center, and the bevel gears of two adjacent sleeve shafts mesh with each other.

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

[0038] An mounting sleeve is rotatably connected to the outer side of the sleeve shaft, and the mounting sleeve is fixedly installed with the annular shell.

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

[0040] Preferably, a sealing plate is fixedly connected to the top of both the rotating cavity and the gear cavity.

[0041] A method for deploying and retrieving marine survey instruments based on an unmanned vessel, using the aforementioned unmanned vessel-based marine survey instrument deployment and retrieval device, includes the following steps:

[0042] S1. The shaft of the rotary telescopic mechanism is inserted into the insertion hole of the sleeve shaft, and the expansion of the inflation component causes the shaft of the rotary telescopic mechanism to extend from the sleeve shaft. Then, the shaft of the rotary telescopic mechanism is extended to push the monitoring carrier to the predetermined position.

[0043] S2. The rotation of the shaft of the rotary telescopic mechanism drives the sleeve shaft to rotate, which in turn drives the winding assembly to rotate, releasing the rope and causing the counterweight at one end of the rope to sink to the seabed, thus limiting the position of the monitoring carrier.

[0044] The recycling method includes the following steps:

[0045] S1. The shaft of the unmanned vessel's driving control rotary telescopic mechanism is inserted into the inner side of the sleeve shaft's insertion hole. The expansion of the inflation component causes the shaft of the rotary telescopic mechanism to rotate with the sleeve shaft. Then, the shaft of the rotary telescopic mechanism is controlled to rotate, which drives the sleeve shaft to rotate, thereby driving the winding component to rotate and winding up the rope, so that the counterweight at one end of the rope is wound up.

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

[0047] This invention provides a device and method for deploying and recovering marine survey instruments based on an unmanned vessel.

[0048] It has the following beneficial effects:

[0049] 1. This invention, through the design of a rotating telescopic mechanism and a standardized monitoring carrier installed on an unmanned surface vessel (USV), utilizes a rotating telescopic mechanism with an inflatable component fixedly installed at the end of its shaft. This inflatable component is used to grip / secure the monitoring carrier. Based on the telescopic and rotating mechanism, the position of the monitoring carrier is moved and the rope of the counterweight is wound up, enabling the deployment and retrieval of the monitoring carrier. Compared to current methods for deploying and retrieving marine survey instruments, this device is versatile, meeting various monitoring needs. Furthermore, the monitoring carrier is stabilized using counterweights and ropes, preventing it from drifting too close to the riverbank. Combined with the telescopic and rotating shaft, the monitoring carrier can be pulled back / deployed, preventing the USV from entering shallow water areas near the shore and thus avoiding grounding. This ensures the safety and stability of deploying and retrieving marine survey instruments.

[0050] 2. This invention, by designing a temporary carrier plate, a storage plate, and a transfer component, uses the transfer component to transfer monitoring carriers between the storage plate and the temporary carrier plate, thereby enabling the deployment and retrieval of multiple monitoring carriers and improving the efficiency of monitoring carrier deployment and retrieval. Attached Figure Description

[0051] Figure 1 This is a first-view stereoscopic view of a marine survey instrument deployment and retrieval device based on an unmanned vessel proposed in this invention.

[0052] Figure 2 This is a front view of a marine survey instrument deployment and retrieval device based on an unmanned vessel proposed in this invention;

[0053] Figure 3 This is a top view of a marine survey instrument deployment and retrieval device based on an unmanned vessel proposed in this invention;

[0054] Figure 4 for Figure 3 Cross-sectional view of section line AA in the middle;

[0055] Figure 5 for Figure 4 Enlarged view of section B in the middle;

[0056] Figure 6 This is a second-view stereoscopic view of a marine survey instrument deployment and retrieval device based on an unmanned vessel proposed in this invention.

[0057] Figure 7 for Figure 6 Enlarged view of a portion at point C;

[0058] Figure 8 This is a three-dimensional view of the monitoring carrier of a marine survey instrument deployment and retrieval device based on an unmanned vessel proposed in this invention.

[0059] Figure 9 This is a diagram illustrating the internal structure of a monitoring carrier for a marine survey instrument deployment and retrieval device based on an unmanned vessel, as proposed in this invention.

[0060] Figure 10 This is a perspective view of the transmission components of a monitoring carrier for a marine survey instrument deployment and retrieval device based on an unmanned vessel, as proposed in this invention.

[0061] The components include: 1. "7"-shaped frame; 2. Temporary carrier plate; 3. Electromagnetic block; 4. Transfer assembly; 401. Horizontal frame; 402. Lifting arm; 403. Moving assembly; 404. Grabbing disc; 5. Storage plate; 6. Main telescopic component; 7. Air pipe connector; 8. Motor; 9. Monitoring carrier; 901. Carrier plate; 901a. Sensor mounting port; 901b. Rotating cavity; 901c. Gear cavity; 902. Annular shell; 903. Counterweight. Components; 904, Rope body; 905, Winding spool; 906, Third gear; 907, Mounting cylinder; 908, Sleeve shaft; 908a, Insertion hole; 909, Bevel gear; 9010, Fourth gear; 10, First gear; 11, Second gear; 12, Shaft body; 12a, Central air hole; 13, Transmission cylinder; 14, Rotating sleeve; 15, Inflation assembly; 1501, Annular airbag; 1502, Arc-shaped blade; 1503, Air inlet connector. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] Example 1:

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

[0065] An inflation component 15 is fixedly installed at the end of the shaft 12 of the rotary telescopic mechanism. The inflation component 15 is used to grab / fix the monitoring carrier 9, and based on the extension and rotation of the rotary telescopic mechanism, it drives the position movement of the monitoring carrier 9 and winds up the rope of the counterweight, thereby realizing the deployment and retrieval of the monitoring carrier 9.

[0066] 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 904 and the counterweight 903, so as to prevent the monitoring carrier 9 from flowing arbitrarily with the water flow (to prevent the monitoring carrier 9 from flowing too close to the riverbank (the distance from the riverbank is less than 3M)) and affecting the subsequent recovery operation of the monitoring carrier 9.

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

[0068] The shaft 12 of the rotary telescopic mechanism is inserted into the insertion hole 908a of the sleeve shaft 908, and the shaft 12 of the rotary telescopic mechanism is fixed to the sleeve shaft 908 by the expansion of the inflation component 15. At this time, the shaft 12 of the rotary telescopic mechanism can drive the sleeve shaft 908 to rotate, the sleeve shaft 908 drives the winding component to rotate, and the winding component winds up / releases the rope 904 to complete the retraction / lowering of the counterweight 903.

[0069] For example, the carrier plate 901 and the annular shell 902 can be designed to be made of plastic or to be made of hollow plates, in order to ensure that the components in the monitoring carrier 9, except for the counterweight 903, have the characteristic of floating.

[0070] The use of a marine survey instrument deployment and retrieval device based on an unmanned vessel mainly includes two methods:

[0071] First, the delivery process:

[0072] The shaft 12 of the rotary telescopic mechanism is inserted into the inner side of the insertion hole 908a of the sleeve shaft 908. The expansion of the inflation component 15 causes the shaft 12 of the rotary telescopic mechanism to be connected to the sleeve shaft 908. At this time, the shaft 12 of the rotary telescopic mechanism is kept in the retracted state. That is, the shaft 12 of the rotary telescopic mechanism on the unmanned vessel is connected to a monitoring carrier 9, and the monitoring carrier 9 is close to the unmanned vessel. Based on the movement of the unmanned vessel, the monitoring carrier 9 is brought to the predetermined deployment position. Then, the shaft 12 of the rotary telescopic mechanism is extended to push the monitoring carrier 9 to the predetermined position for deployment. That is, the inflation component 15 is deflated, and the shaft 12 of the rotary telescopic mechanism is separated from the sleeve shaft 908. Then, the shaft 12 of the rotary telescopic mechanism is pulled out.

[0073] Second, the recycling process:

[0074] The unmanned surface vessel (USV) is controlled by sensors (image sensors and position sensors) to navigate on the sea surface, reaching a predetermined position and maintaining the relative position of the shaft 12 of the rotating telescopic mechanism on the USV and the monitoring carrier 9 (the shaft 12 of the rotating telescopic mechanism corresponds to the insertion hole of the sleeve shaft 908). Then, the shaft 12 of the rotating telescopic mechanism is inserted into the insertion hole 908a of the sleeve shaft 908, and the expansion of the inflation component 15 causes the shaft 12 of the rotating telescopic mechanism and the sleeve shaft 908 to rotate. Then, the shaft 12 of the rotating telescopic mechanism is rotated, driving the sleeve shaft 908 to rotate, which in turn drives the winding component to rotate, winding up the rope 904, so that the counterweight 903 at one end of the rope 904 is wound up. Then, the shaft 12 of the rotating telescopic mechanism is retracted, pulling the monitoring carrier 9 to the placement position on the USV.

[0075] In one embodiment, the rotating telescopic mechanism includes: a “7”-shaped frame 1 fixedly installed with the unmanned vessel, a shaft 12, a long cylindrical structure, a motor 8, and a main telescopic component 6 fixedly installed with the unmanned vessel.

[0076] The vertical part of the “7”-shaped frame 1 is rotatably mounted on the side of a long cylindrical structure. The center of the long cylindrical structure is set with a spline hole. The shaft 12 is located inside the spline hole, and the outer side of the shaft 12 is fixedly provided with a ridge corresponding to the spline hole, so that the shaft 12 can slide axially relative to the long cylindrical structure, that is, the shaft 12 can be extended and retracted. When the long cylindrical structure rotates, it can drive the shaft 12 to rotate. The motor 8 is suspended and fixedly installed on the inner side of the “7”-shaped frame 1 through a bracket, and the output shaft of the motor 8 is connected to the long cylindrical structure for transmission. The long cylindrical structure is driven to rotate by the motor 8. The telescopic end of the main telescopic component 6 is fixedly installed with an air pipe connector 7. The air pipe connector 7 is fixedly installed with the shaft 12. The center of the shaft 12 is provided with a central air hole 12a. Based on the design of the air pipe connector 7 and the central air hole 12a, an air source is provided for the inflation component 15.

[0077] During actual operation, the sensors (image sensor and position sensor) on the unmanned vessel obtain the current status and control the motor 8 and the main telescopic component 6 to work. When the main telescopic component 6 is working, it directly drives the shaft 12 to slide axially, realizing the extension and retraction of the shaft 12. When the motor 8 is working, its output shaft drives the long cylindrical structure to rotate, thereby driving the shaft 12 to rotate.

[0078] In one embodiment, the inflation assembly 15 includes: an annular airbag 1501, an air inlet connector 1503, and an arc-shaped blade 1502.

[0079] The annular airbag 1501 is fixedly sleeved on the outside of the shaft 12, the air inlet connector 1503 is fixedly installed at the end of the shaft 12, the air inlet connector 1503 is connected to the annular airbag 1501 through an air pipe, and several arc-shaped blades 1502 arranged in annular array are fixedly connected to the outer side of the annular airbag 1501. The inner side of the insertion hole 908a of the sleeve shaft 908 is provided with an anti-slip strip.

[0080] The design of the air pipe connector 7 and the central air hole 12a allows the air source to be delivered to the end of the shaft 12. The air inlet connector 1503 connected to the end of the shaft 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 vessel supplies high-pressure gas to the annular airbag 1501. The annular airbag 1501 expands, driving the arc-shaped blade 1502 to expand outward and press against the inner side of the insertion hole 908a of the sleeve shaft 908. With the cooperation of the anti-slip strip set on the inner side of the insertion hole 908a of the sleeve shaft 908, the shaft 12 of the rotating telescopic mechanism is fixed to the sleeve shaft 908.

[0081] In one embodiment, the elongated 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. The rotating sleeve 14 is rotatably installed inside the circular hole, and a first spline hole is provided on the inner side of the rotating sleeve 14. A second spline hole is provided in the center of the second gear 11. The second gear 11 and the rotating sleeve 14 are fixedly connected through the transmission cylinder 13. The shaft 12 of the rotating telescopic mechanism is supported by the rotating sleeve 14 and the second gear 11. A first gear 10 is fixedly installed on the output shaft of the motor 8. The first gear 10 and the second gear 11 mesh and transmit power.

[0083] When in use, the motor 8 drives the first gear 10 to rotate, the first gear 10 meshes 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 rotary telescopic mechanism to rotate.

[0084] In one embodiment, in order to enable an unmanned vessel-based marine survey instrument deployment and retrieval device to deploy and retrieve 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 by an L-shaped bracket, and the temporary carrier plate 2 extends outward towards the "7"-shaped frame 1. The temporary carrier plate 2 is used to temporarily support the monitoring carrier 9. An electromagnetic block 3 is set in the center of the temporary carrier plate 2, and a rubber block is fixedly set 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 compression of the rubber block can be used to fix the annular shell 902 and the counterweight 903, maintaining the integrity of the monitoring carrier 9. When deployed, the electromagnetic block 3 applies a strong magnetic force to the counterweight 903, causing the counterweight 903 to move downward a certain distance and break away from the compression and fixation of the rubber block, preparing for the subsequent deployment of the monitoring carrier 9. The storage plate 5 is fixedly installed on the unmanned vessel, and the storage plate 5 and the shell of the unmanned vessel constitute a placement area for storing the monitoring carrier 9.

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

[0087] When in use, after the rotating telescopic mechanism installed on the unmanned vessel completes the deployment of the monitoring carrier 9, other monitoring carriers 9 placed in the placement area can be transferred to the temporary carrier plate 2 via the transfer component 4 for the second deployment of the monitoring carrier 9; the same applies to retrieval, the monitoring carrier 9 retrieved from the temporary carrier plate 2 can be transferred to the placement area via the transfer component 4 for the second retrieval operation of the monitoring carrier 9.

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

[0089] The crossbeam 401 is fixedly installed on the unmanned vessel and is located above the temporary carrier plate 2 and the placement area. The moving component 403 is located at the bottom of the crossbeam 401 and is arranged along the length of the crossbeam 401. The moving component 403 can use a linear movement structure, such as a sliding rail and a telescopic rod drive / screw drive structure. The top end of the lifting arm 402 is fixedly installed with the moving end of the moving component 403. The bottom end of the lifting arm 402 is fixedly connected to a gripping disk 404, which is a magnetic disk / gripping 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 and drives the gripping disk 404 to grip the monitoring carrier 9 downward. The shaft 12 of the rotating telescopic mechanism retracts to make room for the monitoring carrier 9 to move up and down. Then, the lifting arm 402 drives the gripping disk 404 and the monitoring carrier 9 to move upward. The moving component 403 drives the lifting arm 402, the gripping disk 404, and the monitoring carrier 9 to move to the target position (above the placement area) and then lowers the monitoring carrier 9.

[0091] In one embodiment, the top of the carrier plate 901 is provided with a sensor mounting port 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.

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

[0093] To enable the deployment and retrieval of the monitoring carrier 9 from all four sides of the annular shell 902, four sets of sleeve shafts 908 are designed. The four sets of sleeve shafts 908 are arranged in a circumferential array. A bevel gear 909 is fixedly installed at one end of the sleeve shaft 908 near the center. The bevel gears 909 of two adjacent sleeve shafts 908 mesh with each other, that is, if any one sleeve shaft 908 rotates, all four sets of sleeve shafts 908 will rotate synchronously.

[0094] A fourth gear 9010 is fixedly installed on one of the sleeve shafts 908. The fourth gear 9010 meshes with the third gear 906 to realize the transmission between the sleeve shaft 908 and the winding shaft 905. An installation cylinder 907 is rotatably connected to the outside of the sleeve shaft 908. The installation cylinder 907 is fixedly installed with the annular housing 902.

[0095] In use, the shaft 12 of the rotary telescopic mechanism is inserted into the insertion hole 908a of the sleeve shaft 908. The expansion of the inflation component 15 fixes the shaft 12 of the rotary telescopic mechanism to the sleeve shaft 908. The shaft 12 of the rotary telescopic mechanism can drive the sleeve shaft 908 to rotate. The sleeve shaft 908 drives the fourth gear 9010 to rotate, which in turn drives the winding shaft 905 to rotate. The winding shaft 905 winds up / unwinds the rope 904.

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

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

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

[0099] Example 2:

[0100] A method for deploying and retrieving marine survey instruments based on unmanned vessels, using the unmanned vessel-based marine survey instrument deployment and retrieval device in Example 1.

[0101] The delivery method includes the following steps:

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

[0103] S2. The shaft 12 of the rotary telescopic mechanism rotates, driving the sleeve shaft 908 to rotate, which in turn drives the winding assembly to rotate, releasing the rope 904, causing the counterweight 903 at one end of the rope 904 to sink to the seabed, thus limiting the position of the monitoring carrier 9.

[0104] The recycling method includes the following steps:

[0105] S1. The shaft 12 of the unmanned vessel's driving control rotary telescopic mechanism is inserted into the inner side of the insertion hole 908a of the sleeve shaft 908. The expansion of the inflation component 15 causes the shaft 12 of the rotary telescopic mechanism to rotate with the sleeve shaft 908. Then, the shaft 12 of the rotary telescopic mechanism is controlled to rotate, which drives the sleeve shaft 908 to rotate, thereby driving the winding component to rotate and winding the rope 904, so that the counterweight 903 at one end of the rope 904 is wound up.

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

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

Claims

1. An unmanned ship based oceanographic instrument launch and recovery apparatus, characterised in that, The utility model relates to unmanned ship equipment field, and particularly a kind of rotating telescopic mechanism and monitoring carrier for unmanned ship. Rotating telescopic mechanism is installed on unmanned ship, and the end of the shaft body (12) of rotating telescopic mechanism is fixedly installed with inflatable assembly (15); Monitoring carrier (9) includes: load plate body (901), annular shell (902), sleeve shaft (908), winding assembly, counterweight (903), oceanographic instrument is installed on load plate body (901), annular shell (902) is fixedly installed on the bottom of load plate body (901), winding assembly is installed on load plate body (901), winding assembly is wound with rope (904), one end of rope (904) is fixedly connected with counterweight (903), sleeve shaft (908) is rotatably installed on the side of annular shell (902), and sleeve shaft (908) is gear transmission connected with winding assembly; The shaft body (12) of rotating telescopic mechanism is inserted into the inside of the insertion hole (908a) of sleeve shaft (908), and the shaft body (12) of rotating telescopic mechanism is fixed with sleeve shaft (908) by the expansion of inflatable assembly (15); The material of load plate body (901) and annular shell (902) is plastic material.

2. The unmanned ship-based oceanographic instrument launching and recovery apparatus according to claim 1, wherein, Rotating telescopic mechanism includes: "7" type frame body (1) is fixedly installed with unmanned ship; Shaft body (12), the side of vertical part of "7" type frame body (1) is rotatably installed with long-barreled structure, the center of long-barreled structure is provided with spline hole, the inside of spline hole is located with shaft body (12), and the outside of shaft body (12) is fixedly provided with corresponding rib with spline hole; Motor (8) is fixedly installed on the inside of "7" type frame body (1) by support suspension, and the output shaft of motor (8) is transmission connected with long-barreled structure; Main telescopic member (6) is fixedly installed with unmanned ship, and the telescopic end of main telescopic member (6) is fixedly installed with air pipe joint (7), air pipe joint (7) is fixedly installed with shaft body (12); The center of shaft body (12) is provided with central air hole (12a).

3. The unmanned ship-based oceanographic instrument launching and recovery apparatus according to claim 2, wherein, Inflatable assembly (15) includes: Annular air bag (1501) is fixedly sleeved on the outside of shaft body (12); Air inlet joint (1503) is fixedly installed on the end of shaft body (12), and air inlet joint (1503) is connected with annular air bag (1501) through air pipe; The outside of annular air bag (1501) is fixedly connected with a plurality of arc blades (1502) arranged in annular array; Anti-skid strip is arranged on the inside of insertion hole (908a) of sleeve shaft (908).

4. The unmanned ship-based oceanographic instrument launching and recovery apparatus according to claim 2, wherein, Long-barreled structure includes: Rotary sleeve (14), the side of vertical part of "7" type frame body (1) is provided with circular hole, rotary sleeve (14) is rotatably installed on the inside of circular hole, and the inside of rotary sleeve (14) is provided with first spline hole; Second gear (11), the center of second gear (11) is provided with second spline hole, and second gear (11) is fixedly connected with rotary sleeve (14) through transmission cylinder (13); The output shaft of the motor (8) is fixedly installed with a first gear (10), and the first gear (10) is in meshing transmission with a second gear (11).

5. The unmanned ship-based oceanographic instrument launching and recovery apparatus according to claim 2, wherein, Further comprising: A temporary carrier plate (2) is fixedly installed at the bottom of the vertical part of the "7" shaped frame body (1) through an L-shaped support, and the temporary carrier plate (2) extends towards the outside of the "7" shaped frame body (1), and the center of the temporary carrier plate (2) is provided with an electromagnetic block (3), and the inner side of the annular shell (902) is fixedly provided with a rubber block; A storage plate (5) is fixedly installed on the unmanned ship, and the storage plate (5) and the shell of the unmanned ship form a placing area for storing the monitoring carrier (9); A transfer assembly (4) is installed on the unmanned ship, and the transfer assembly (4) is used for transferring the monitoring carrier (9) on the temporary carrier plate (2) to the placing area or transferring the monitoring carrier (9) on the placing area to the temporary carrier plate (2).

6. The unmanned ship-based oceanographic instrument launching and recovery apparatus according to claim 5, wherein, The transfer assembly (4) comprises: A cross frame (401) is fixedly installed on the unmanned ship, and the cross frame (401) is located above the temporary carrier plate (2) and the placing area; A moving assembly (403) is arranged at the bottom of the cross frame (401), and the moving assembly (403) is arranged along the length direction of the cross frame (401); A lifting arm (402) is fixedly installed at the top end of the moving assembly (403), and the bottom end of the lifting arm (402) is fixedly connected with a grabbing disc (404).

7. The unmanned ship based oceanographic instrument launch and recovery apparatus according to claim 1, wherein: The top of the carrier plate body (901) is provided with a sensor mounting port (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) crosses the rotating cavity (901b) and the gear cavity (901c), and the winding shaft (905) is rotatably connected with the carrier plate body (901), and a third gear (906) is fixedly installed on the winding shaft (905) and located on the inner side of the gear cavity (901c); The sleeve shaft (908) is provided with four groups, and the four groups of sleeve shafts (908) are arranged in a circumferential array, one end of the sleeve shaft (908) close to the center is fixedly installed with a bevel gear (909), and the bevel gears (909) of the two adjacent sleeve shafts (908) are in meshing transmission with each other; One of the sleeve shafts (908) is fixedly installed with a fourth gear (9010), and the fourth gear (9010) is in meshing transmission with the third gear (906); The outer side of the sleeve shaft (908) is rotatably connected with a mounting cylinder (907), and the mounting cylinder (907) is fixedly installed with the annular shell (902).

8. The unmanned ship-based oceanographic instrument launching and recovery apparatus according to claim 7, wherein: The counterweight (903) is square, and the center hole of the annular shell (902) is square.

9. The unmanned ship-based oceanographic instrument launching and recovery apparatus according to claim 7, wherein: The top of the rotating cavity (901b) and the gear cavity (901c) is fixedly connected with a blocking plate.

10. A method of unmanned ship-based oceanographic instrument launch and recovery, characterized by, The unmanned ship-based marine survey instrument launching and recovering device according to any one of claims 1-9, the launching method comprising the following steps: S1, the shaft body (12) of the rotating telescopic mechanism is inserted into the inside of the insertion hole (908a) of the sleeve shaft (908), and is fixed with the sleeve shaft (908) by the expansion of the inflation assembly (15), 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 body (12) of the rotating telescopic mechanism is rotated to drive the sleeve shaft (908) to rotate, and in turn drive the winding assembly to rotate, release the rope body (904), and make the weight (903) at one end of the rope body (904) sink to the seabed to limit the position of the monitoring carrier (9); The recovering method comprises the following steps: S1, the shaft body (12) of the rotating telescopic mechanism is inserted into the inside of the insertion hole (908a) of the sleeve shaft (908) based on the driving control of the unmanned ship, and is fixed with the sleeve shaft (908) by the expansion of the inflation assembly (15), then the shaft body (12) of the rotating telescopic mechanism is controlled to rotate to drive the sleeve shaft (908) to rotate, and in turn drive the winding assembly to rotate, wind the rope body (904), and make the weight (903) at one end of the rope body (904) be wound up; S2, the shaft body (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 ship.

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