Unmanned ship berthing and fixing device and using method thereof

Abstract

The invention relates to the technical field of unmanned ship berthing, and discloses an unmanned ship berthing and fixing device and a using method thereof.The unmanned ship berthing and fixing device comprises a berthing table, a grating door, a vertical base, a dock cabin door, a butt joint plate and an electromagnetic adsorption module, temporary berthing and fixing are provided for an unmanned ship through an intelligent dock, and a docking processing mechanism comprises a first stepping motor and a fan-shaped rail; the first stepping motor is fixedly installed at the top end of a hinge shaft of the grating door, the fan-shaped rail is fixedly connected to the bottom of the parking platform, a right-angle rod is fixedly connected to the bottom of the end, away from the hinge shaft, of the grating door, and the outer wall of the right-angle rod is slidably connected to the middle of the inner wall of the fan-shaped rail. Impurities are intercepted outside the dock in advance, the situation that the impurities are brought into the dock when the unmanned ship is driven into the dock is avoided, a clean driving-in environment is created for the entrance area of the berthing platform, the smoothness of contact between the ship body and the inner wall of the berthing platform is guaranteed, stable berthing of the unmanned ship is guaranteed, and the stability of docking charging of the unmanned ship and the electromagnetic adsorption module during docking is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of unmanned vessel mooring, and more specifically, to an unmanned vessel mooring and fixing device and its method of use. Background Technology

[0002] Unmanned surface vessels (USVs) are fully automated surface robots that can navigate on water according to preset tasks without remote control, relying on precise satellite positioning and their own sensors. Currently, docks are usually used for mooring and securing USVs to assist in their recovery and charging, ensuring their continued operation in the future.

[0003] Existing technologies typically utilize docks to provide mooring and anchoring for unmanned surface vessels (USVs). The core function of the docking platform within the dock is to achieve precise anchoring and energy replenishment for the USVs. However, if the USV brings floating debris into the docking platform during its entry, flexible, long, and thin objects such as fishing nets, aquatic plants, dead branches, and plastic ropes can easily get stuck in the gaps of the guide rails. This can cause the USV to stall while sliding along the guide rails, or even deviate from the preset mooring path, making it impossible to align and position itself. Furthermore, if debris adheres to the charging interface, it can form an insulating layer or create contact resistance, leading to poor contact in the charging circuit. This can result in a sharp drop in charging efficiency or, in severe cases, trigger the overcurrent protection of the charging system, directly interrupting charging. Summary of the Invention

[0004] This invention provides an unmanned vessel mooring and fixing device and its usage method, solving the technical problems in related technologies where unmanned vessels bring floating debris into the mooring platform during the entry process, causing interference with mooring and positioning, and poor contact in the charging circuit.

[0005] This invention provides an unmanned vessel mooring and fixing device, comprising:

[0006] The docking platform, grille gate, uprights, dock door, docking plate, and electromagnetic adsorption module provide temporary berthing and fixation for unmanned vessels through the intelligent dock;

[0007] The docking handling mechanism includes a stepper motor and a sector rail. The stepper motor is fixedly installed at the top of the hinge shaft of the grille gate, and the sector rail is fixedly connected to the bottom of the docking platform. A right-angle rod is fixedly connected to the bottom of the grille gate away from the hinge shaft. The outer wall of the right-angle rod is slidably connected to the middle of the inner wall of the sector rail. The grille gate is triggered to rotate and open by the unmanned vessel docking signal, and the debris on the water surface at the docking entrance is handled along with the rotation of the grille gate before docking.

[0008] The berthing support mechanism includes a worm and a worm wheel. The worm is fixedly sleeved on the outer wall of the hinge shaft of the grille gate. The worm wheel is rotatably connected to the inside of the berthing platform and meshes with the worm. The outer walls of the electromagnetic adsorption module are hinged with hinge frames on both sides. The middle of both sides of the berthing platform has rectangular holes. The inner walls of the rectangular holes on both sides are slidably connected with U-shaped hanging plates. The ends of the hinge frames on both sides away from the docking plate are hinged to the middle of the U-shaped hanging plates. The rotation and opening of the grille gate triggers the extension of the hinge frames when the unmanned vessel enters, thus providing support for the berthing of the unmanned vessel.

[0009] The pre-processing mechanism includes a second stepper motor and a bidirectional lead screw. The bidirectional lead screw is fixedly connected to the drive end of the second stepper motor. The second stepper motor is fixedly installed on the outer wall of the stand. The bidirectional lead screw is rotatably connected to the middle of the stand, and its two ends are fixedly connected to the dock door. The second stepper motor drives the bidirectional lead screw to rotate under the control of the unmanned vessel's entry and exit signals, so that the dock door opens and closes at the top of the stand.

[0010] As a further optimization of the present invention, the docking processing mechanism further includes:

[0011] The bearing has an inner steel ring fixedly installed on the outer wall of the right-angle rod away from the grille door. A gear is fixedly installed on the outer steel ring of the bearing. Several teeth are evenly arranged around the bottom of the sector rail. The gear rotates along the track of the sector rail and meshes with each other. A comb roller is snapped onto the side of the gear away from the right-angle rod.

[0012] As a further optimization of the present invention, the mooring support mechanism further includes:

[0013] The screw is fixedly connected to the middle of the worm gear and rotatably connected to the inside of a rectangular hole on one side. One end of the U-shaped hanging plate is threaded to the outer wall of the screw, and a guide rod is fixedly connected to the middle of the rectangular hole on the other side. The other end of the U-shaped hanging plate is slidably connected to the outer wall of the guide rod.

[0014] As a further optimization of the present invention, a wave plate is fixedly connected to the bottom of the U-shaped hanging plate, and a collection frame is fixedly connected to the bottom of the parking platform inside the fan-shaped rail, with a partition plate inserted through the lower part of the inner wall of the collection frame.

[0015] As a further optimization of the present invention, fixing nuts are fixedly connected to the middle of both sides of the collection frame, and bolts are threadedly connected to the middle of the fixing nuts on both sides. Threaded holes are opened in the middle of both sides of the partition, and one end of the opposite face of the bolts on both sides is threadedly connected to the inner wall of the threaded holes on both sides.

[0016] As a further optimization of the present invention, the pre-processing mechanism further includes:

[0017] A pair of movable sleeves, with the two movable sleeves threadedly connected to the outer walls of the bidirectional lead screw on both sides. A spring rod is hinged to the bottom of each of the two movable sleeves, and a collar is hinged to the bottom end of each of the two spring rods. A limit rod is fixedly connected to the middle of the two uprights below the bidirectional lead screw.

[0018] As a further optimization of the present invention, the collars on both sides are sleeved on the outer wall of the limiting rod, and the bottom of the collars on both sides is fixedly connected with a nylon roller. The outer wall of the nylon rollers on both sides is on the same straight line as the outer side of the electromagnetic adsorption module.

[0019] As a further optimization of the present invention, slider seats are fixedly installed on both the upper and lower sides of the end of the parking platform away from the grille gate. Guide frames are slidably connected to the middle of both sides of the slider seats. The guide frames are connected to the slider seats by connecting springs. The end of the guide frame away from the slider seats is hinged to the inner side of the docking plate. A control module is fixedly installed on the inner wall of the guardrail of the parking platform. The control module is electrically connected to the electromagnetic adsorption module, stepper motor one, and stepper motor two.

[0020] As a further optimization of the present invention, the grille door is rotatably connected to the middle of the front side of the parking platform, the stand is fixedly installed on the top of the parking platform near the electromagnetic adsorption module, the docking plate is slidably connected to the inner wall of the parking platform, and the electromagnetic adsorption module is fixedly installed on the middle of the outer side of the docking plate.

[0021] As a further optimization of the present invention, an unmanned vessel mooring and fixing method, applied to an unmanned vessel mooring and fixing device, includes the following steps:

[0022] Step 1: After selecting the mooring position of the intelligent dock, drive steel piles into the waterway below the location and then erect the dock on top of the steel piles. Adjust and position the dock with the anchor chain. When the unmanned vessel's battery is low, control the unmanned vessel to return to the dock through the radar signal inside the dock. After receiving the signal of the unmanned vessel approaching and entering, the control module controls the stepper motor to drive the grille gate to rotate outward and open. During this process, the grille gate drives the gear to rotate 90 degrees along the arc trajectory of the sector rail through the right-angle rod and bearing. At the same time, under the meshing transmission of the teeth, the gear rotates at the bottom of the sector rail, driving the comb roller to move and rotate inside the sector area of ​​the sector rail. This winds up and removes flexible strip-shaped debris floating on the water surface at the entrance area of ​​the unmanned vessel, ensuring that the path of the unmanned vessel to the mooring platform is free from debris interference.

[0023] Step 2: After the unmanned boat enters, its front charging port is attracted to the electromagnetic adsorption module to replenish energy. During the docking process, the impact force generated by the unmanned boat contacting the docking plate is acted on by the guide frames on both sides through the slider seat to the connecting spring, causing the connecting spring to deform and buffer the impact force.

[0024] Step 3: During the process of the unmanned boat entering the dock for docking and charging, under the control of the entry signal, the stepper motor drives the bidirectional lead screw to rotate in the forward direction. With the cooperation of the spring rod, limit rod and collar, the nylon rollers on both sides move in the opposite direction through the movable sleeve, moving from the original position close to the center of the electromagnetic adsorption module to both sides, and cleaning the outer wall of the electromagnetic adsorption module in the moving path.

[0025] Step 4: After the unmanned vessel enters the charging area, the control module controls the stepper motor to drive the grille door to rotate and close, locking the unmanned vessel's docking area. During this process, the worm gear on the outer wall of the grille door's hinge shaft drives the worm wheel to rotate, causing the screw fixedly connected to the worm wheel to rotate inside the rectangular hole. With the help of the guide rod in the other rectangular hole, the two ends of the U-shaped hanging plate move along the inner walls of the rectangular holes on both sides towards the grille door, causing the two sets of hinge frames to extend and form support for the bottom of the unmanned vessel underwater.

[0026] Step 5: As the U-shaped hanging plate moves, the wave plate moves closer to one side of the grille door, pushing away debris on the extension path of the hinge frames on both sides. As the hinge frames on both sides extend into place, the wave plate can push and collect the debris into the inside of the collection frame, ensuring the smoothness of the extension path of the hinge frames.

[0027] Step Six: After refueling, the unmanned vessel sends out a departure signal. The control module controls stepper motor one and stepper motor two to operate in opposite directions, causing the grille door and dock door to rotate in opposite directions and open. The unmanned vessel is then released from its restraints and sails out of the dock.

[0028] The beneficial effects of this invention are as follows:

[0029] The unmanned surface vessel (USV) mooring and securing device described in this invention is controlled by a USV docking signal. The grille gate rotates and opens to prepare the USV for docking. During the rotation, the comb roller moves along a sector-shaped rail. Simultaneously, with the cooperation of bearings and multiple teeth fixed to the bottom of the sector-shaped rail, gears rotate at the bottom of the rail, causing the comb roller to rotate along the area enclosed by the rail, covering the area near the USV's waterline. During rotation, the comb roller hooks flexible, elongated debris floating on the water surface at the dock entrance area through the tooth gaps. This debris is then collected and intercepted outside the dock, preventing the USV from bringing debris into the dock and causing contact jamming between the hull and the inner wall of the mooring platform, thus affecting the USV's mooring and securing. Furthermore, this device ensures the stability of the USV's docking and charging with the electromagnetic adsorption module after entering the dock.

[0030] 2. The unmanned surface vessel (USV) mooring and fixing device of the present invention allows the USV to charge by attracting an electromagnetic adsorption module at its rear end interface after entering the dock. The grille gate, controlled by a signal, rotates in the opposite direction to close, thus limiting and fixing the USV within the mooring platform. During this rotation, a worm gear drive causes a screw to rotate inside a rectangular hole on one side, and with the assistance of a guide rod in a rectangular hole on the other side, a U-shaped hanging plate moves towards the grille gate. This allows two sets of hinged frames to extend and cover directly below the USV's mooring position, supporting the bottom of the USV and preventing it from swaying due to wave impact. The grille gate's front and rear limiting and the hinged frame's bottom support form a three-dimensional protection system, preventing lateral collisions of the hull with the mooring platform or bottom impacts that could damage the equipment. This ensures stable docking of the electromagnetic adsorption module due to the absence of wave swaying, preventing charging interruptions or interface wear.

[0031] 3. The unmanned vessel mooring and fixing device of the present invention, when the unmanned vessel leaves the dock, is controlled by the departure signal to rotate the dock door upward and open. This rotational force is transmitted through a bidirectional lead screw, which in turn drives the nylon rollers on both sides to move from their original positions at both ends towards the center of the electromagnetic adsorption module, wiping and cleaning the debris attached to the outer wall, preventing the debris from forming an insulating layer or obstructing docking. Correspondingly, when the unmanned vessel enters, the rollers move in the opposite direction to clean the electromagnetic adsorption module again, and move to both sides of the inner wall of the dock door, leaving space for the unmanned vessel to enter, ensuring the stability of the circuit contact when the unmanned vessel docks and charges with the electromagnetic adsorption module. The cleaning action is carried out synchronously with the unmanned vessel's entry and exit from the dock, solving the module failure caused by untimely manual cleaning and reducing maintenance pressure. Attached Figure Description

[0032] Figure 1 This is a three-dimensional schematic diagram of the unmanned vessel in its docking state as proposed in this invention.

[0033] Figure 2 This is a schematic diagram of the bottom structure of the mooring platform proposed in this invention.

[0034] Figure 3 This is a bottom view of the overall structure proposed in this invention.

[0035] Figure 4 for Figure 3 Enlarged diagram of point A in the middle.

[0036] Figure 5 This is a top view of the overall structure proposed in this invention.

[0037] Figure 6 This is a front view schematic diagram of the overall structure proposed in this invention.

[0038] Figure 7This is a schematic diagram of the internal structure of the mooring platform proposed in this invention.

[0039] Figure 8 This is a side view of the overall structure proposed in this invention.

[0040] Figure 9 This is a schematic diagram of the bottom support state of the mooring platform proposed in this invention.

[0041] Figure 10 This is a schematic diagram of the partial structural split state of the aggregation frame proposed in this invention.

[0042] Figure 11 for Figure 10 Enlarged diagram of point B in the middle.

[0043] Figure 12 This is a vertical half-section schematic diagram of the mooring platform proposed in this invention.

[0044] Figure 13 for Figure 12 Enlarged diagram of point C in the middle.

[0045] In the picture:

[0046] 1. Mooring platform; 2. Grille door; 3. Stand; 4. Dock door; 5. Docking plate; 6. Electromagnetic adsorption module; 7. Dock entry processing mechanism; 701. Stepper motor one; 702. Sector rail; 703. Right angle rod; 704. Bearing; 705. Gear; 706. Tooth; 707. Comb roller; 8. Mooring support mechanism; 801. Worm gear; 802. Worm wheel; 803. Screw; 804. Rectangular hole; 805. U-shaped hanging plate; 806. Hinge 807. Connecting frame; 808. Corrugated plate; 809. Gathering frame; 810. Partition plate; 811. Fixing nut; 812. Bolt; 813. Threaded hole; 814. Guide rod; 9. Pre-processing mechanism; 901. Stepper motor II; 902. Bidirectional lead screw; 903. Movable sleeve; 904. Spring rod; 905. Limiting rod; 906. Collar; 907. Nylon roller; 10. Slider seat; 11. Guide frame; 12. Connecting spring; 13. Control module. Detailed Implementation

[0047] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0048] like Figures 1 to 13As shown in the figure, an unmanned vessel mooring and fixing device according to an embodiment of the present invention includes:

[0049] The docking platform 1, grille door 2, stand 3, dock door 4, docking plate 5, and electromagnetic adsorption module 6 provide temporary berthing and fixation for unmanned vessels through the intelligent dock.

[0050] The docking processing mechanism 7 includes a stepper motor 701 and a sector rail 702. The stepper motor 701 is fixedly installed at the top of the hinge shaft of the grille gate 2. The sector rail 702 is fixedly connected to the bottom of the docking platform 1. The center of the sector rail 702 and the center of the grille gate 2 are on the same straight line. A right-angle rod 703 is fixedly connected to the bottom of the end of the grille gate 2 away from the hinge shaft. The outer wall of the right-angle rod 703 is slidably connected to the middle of the inner wall of the sector rail 702. The grille gate 2 is triggered to rotate and open by the unmanned vessel docking signal. Before docking, the mechanism handles the debris on the water surface at the docking entrance along with the rotation of the grille gate 2.

[0051] The berthing support mechanism 8 includes a worm 801 and a worm wheel 802. The worm 801 is fixedly sleeved on the outer wall of the hinge shaft of the grille gate 2. The worm wheel 802 is rotatably connected to the inside of the berthing platform 1 and meshes with the worm 801. The outer walls of the electromagnetic adsorption module 6 are hinged with hinge frames 806 on both sides. The middle of both sides of the berthing platform 1 is provided with rectangular holes 804. The inner walls of the rectangular holes 804 on both sides are slidably connected with U-shaped hanging plates 805. The ends of the hinge frames 806 on both sides away from the docking plate 5 are hinged to the middle of the U-shaped hanging plates 805. When the grille gate 2 rotates and opens, the extension of the hinge frames 806 is triggered when the unmanned vessel enters, thus providing support for the berthing of the unmanned vessel.

[0052] The pre-processing mechanism 9 includes a second stepper motor 901 and a bidirectional lead screw 902. The bidirectional lead screw 902 is fixedly connected to the drive end of the second stepper motor 901. When the second stepper motor 901 is operating, it drives the bidirectional lead screw 902 to rotate, providing the opening and closing rotation power for the dock door 4 on the top of the support 3. The second stepper motor 901 is fixedly installed on the outer wall of the support 3, and the bidirectional lead screw 902 is rotatably connected to the middle of the support 3. Both ends of the outer wall are fixedly connected to the dock door 4. The second stepper motor 901 drives the bidirectional lead screw 902 to rotate under the control of the unmanned vessel's entry and exit dock signal, so that the dock door 4 opens and closes at the top of the support 3.

[0053] The parking platform 1 has slider seats 10 fixedly installed on both the upper and lower sides of the end away from the grille door 2. Guide frames 11 are slidably connected to the middle of both sides of the slider seats 10. The guide frames 11 are connected to the slider seats 10 through connecting springs 12. The end of the guide frame 11 away from the slider seats 10 is hinged to the inner side of the docking plate 5. A control module 13 is fixedly installed on the inner wall of the guardrail of the parking platform 1. The control module 13 is electrically connected to the electromagnetic adsorption module 6, stepper motor 701 and stepper motor 901. The grille door 2 is rotatably connected to the middle of the front side of the parking platform 1. The stand 3 is fixedly installed on the top of the parking platform 1 near the electromagnetic adsorption module 6. The docking plate 5 is slidably connected to the inner wall of the parking platform 1. The electromagnetic adsorption module 6 is fixedly installed on the middle of the outer side of the docking plate 5.

[0054] It should be noted that when the unmanned vessel runs for too long and its battery is insufficient, it sends a return signal to the docking platform 1 via radar signal transmission and returns to the docking platform 1. When the unmanned vessel returns and moves close to the docking platform 1, the control module 13 receives the signal and controls the stepper motor 701 to drive the grille door 2 to rotate outward and open. The rotation trajectory of the grille door 2 matches the arc surface of the fan-shaped rail 702, and then the grille door 2 drives the right-angle rod 703 to move along the inner wall of the fan-shaped rail 702.

[0055] After the unmanned vessel enters the docking platform 1, the charging interface at the end of the hull connects with the electromagnetic adsorption module 6 for charging. During this process, the impact force generated when the hull contacts the docking plate 5 acts on the hinged guide frame 11. The guide frame 11 moves along the middle of the upper and lower slider seats 10, transmitting the force to the connecting spring 12 to cause it to deform, thus buffering and dispersing the impact force and preventing the electromagnetic adsorption module 6 from being damaged by the impact. Correspondingly, after the unmanned vessel leaves the docking platform 1, the docking plate 5 can move in the opposite direction and reset under the action of the accumulated elastic potential energy of the connecting spring 12.

[0056] like Figure 4 As shown, the docking processing mechanism 7 also includes:

[0057] Bearing 704, the inner steel ring of bearing 704 is fixedly installed on the outer wall of the right angle rod 703 away from the grille door 2, the outer steel ring of bearing 704 is fixedly installed with gear 705, the bottom of the sector rail 702 is evenly provided with several teeth 706, the gear 705 rotates along the track of the sector rail 702 and meshes with the teeth 706 in pairs, and a comb roller 707 is snapped on the side of gear 705 away from the right angle rod 703;

[0058] It should be noted that as the grille gate 2 moves the right-angle rod 703 along the inner wall of the fan-shaped rail 702, the gear 705 set on its outer steel ring can mesh and rotate at the bottom of the fan-shaped rail 702 with the cooperation of the bearing 704 and the teeth 706. This drives the comb roller 707 to move and rotate in the entrance area of ​​the docking platform 1 along with the grille gate 2. The comb roller 707 hooks the flexible, long strip-shaped debris floating on the water surface in the dock entrance area through the tooth gaps. The debris is then collected and intercepted outside the dock in advance, preventing the unmanned vessel from bringing debris into the dock when it enters the dock. This would prevent the hull from contacting and jamming with the inner wall of the docking platform 1, affecting the docking and fixation of the unmanned vessel. It also ensures the stability of the unmanned vessel's docking and charging with the electromagnetic adsorption module 6 after entering the dock.

[0059] like Figure 3 , Figure 9 and Figure 12 As shown, the mooring support mechanism 8 also includes:

[0060] The screw 803 is fixedly connected to the middle of the worm gear 802 and rotatably connected to the inside of the rectangular hole 804 on one side. The middle of one end of the U-shaped hanging plate 805 is threaded to the outer wall of the screw 803. The middle of the rectangular hole 804 on the other side is fixedly connected to the guide rod 813. The middle of the other end of the U-shaped hanging plate 805 is slidably connected to the outer wall of the guide rod 813. The bottom of the U-shaped hanging plate 805 is fixedly connected to the wave plate 807. The bottom of the docking platform 1 is located inside the fan-shaped rail 702 and is fixedly connected to the collection frame 808. The inner wall of the collection frame 808 is inserted and a partition 809 is inserted. The middle of both sides of the collection frame 808 is fixedly connected to the fixing nut 810. The middle of both sides of the fixing nut 810 is threaded with the bolt 811. The middle of both sides of the partition 809 is provided with threaded holes 812. The opposite ends of the bolts 811 on both sides are threaded to the inner walls of the threaded holes 812 on both sides.

[0061] It should be noted that the worm gear 801 rotates synchronously with the opening of the grille gate 2, and applies rotational force to the worm wheel 802. The worm wheel 802 further drives the screw 803 to rotate inside the rectangular hole 804 on one side, and with the assistance of the guide rod 813 inside the rectangular hole 804 on the other side, the U-shaped hanging plate 805 moves towards the grille gate 2 along the inner wall of the rectangular holes 804 on both sides. One side of the hinge frame 806 on both sides is hinged to the middle of the docking plate 5, and is in a fixed abutment state during the charging docking process of the unmanned vessel. The other end is hinged to the U-shaped hanging plate 805. As the U-shaped hanging plate 805 moves, it gradually extends from its original retracted state to cover the area directly below the unmanned boat's docking area, supporting the bottom of the unmanned boat and preventing it from swaying due to the impact of water waves. The front and rear limits of the grille door 2 and the bottom support of the hinge frame 806 form a three-dimensional protection to prevent the hull from laterally colliding with the docking platform 1 or the bottom from impacting the equipment due to the surge. This ensures that the electromagnetic adsorption module 6 can be stably connected due to the absence of swaying of the hull, avoiding charging interruption or interface wear.

[0062] Simultaneously, as the U-shaped hanging plate 805 moves, the wave plate 807 at its bottom moves synchronously, pushing the floating debris along the extension path of the hinged frames 806 on both sides before it extends. When the U-shaped hanging plate 805 moves into place, the wave plate 807 contacts the collection frame 808, collecting the pushed garbage and debris into the collection frame 808, creating an undisturbed environment for the extension path of the hinged frames 806 on both sides, and avoiding obstruction during the extension process.

[0063] For the garbage and debris collected in the collection box 808, during regular maintenance and repair, the staff can unscrew the bolts 811 on both sides from the middle of the fixing nut 810 to release the lock on the partition 809, and then pull the partition 809 out from the middle of the collection box 808, so that the garbage and debris can be processed from the lower outlet.

[0064] like Figure 13 As shown, the pre-processing unit 9 also includes:

[0065] A pair of movable sleeves 903 are threaded to the outer walls of the bidirectional lead screw 902 on both sides. A spring rod 904 is hinged to the bottom of each movable sleeve 903. A collar 906 is hinged to the bottom of each spring rod 904. A limit rod 905 is fixedly connected to the middle of the two uprights 3 below the bidirectional lead screw 902. The collars 906 are sleeved on the outer walls of the limit rods 905. A nylon roller 907 is fixedly connected to the bottom of each collar 906. The outer walls of the nylon rollers 907 and the outer surface of the electromagnetic adsorption module 6 are on the same straight line.

[0066] It should be noted that, controlled by the unmanned vessel's entry and exit from the dock signal, the stepper motor 901 drives the bidirectional lead screw 902 to rotate in both directions. With the assistance of the limit rod 905, the movable sleeves 903 on both sides move away from / approach along the outer wall of the bidirectional lead screw 902. Through the spring rod 904 and the collar 906, the nylon rollers 907 move away from / approach along the outer wall of the electromagnetic adsorption module 6 in sync. This wipes and cleans the debris attached to the outer wall of the electromagnetic adsorption module 6, preventing the debris from forming an insulating layer that covers the outer wall of the electromagnetic adsorption module 6 and hinders docking. When the unmanned vessel enters the dock, the nylon rollers 907 on both sides move in the opposite direction to the inner walls of the dock door 4, leaving space for the unmanned vessel to enter and ensuring the stability of the circuit contact when the unmanned vessel docks and charges with the electromagnetic adsorption module 6.

[0067] When the unmanned vessel leaves the docking platform 1, the force originally applied to the docking plate 5 disappears, and the docking plate 5 moves to the side closer to the grille gate 2. During this process, it will come into contact with the two nylon rollers 907. With the assistance of the spring rod 904 and the collar 906, the two nylon rollers 907 rotate 90 degrees to a horizontal state, ensuring the stable reset of the docking plate 5.

[0068] A method for mooring and securing an unmanned surface vessel (USV), applied to a USV mooring and securing device, includes the following steps:

[0069] Step 1: After selecting the mooring position of the intelligent dock, steel piles are driven into the waterway below the location, and the dock is then erected on top of the steel piles. The anchor chain is used for adjustment and positioning. When the unmanned vessel's battery is low, the radar signal inside the dock controls the unmanned vessel to return to the dock. After receiving the signal that the unmanned vessel is approaching, the control module 13 controls the stepper motor 701 to drive the grille gate 2 to rotate outward and open. During this process, the grille gate 2 drives the gear 705 to rotate 90 degrees along the arc trajectory of the sector rail 702 through the right-angle rod 703 and the bearing 704. At the same time, under the meshing transmission of the teeth 706, the gear 705 rotates at the bottom of the sector rail 702, driving the comb roller 707 to move and rotate inside the sector area of ​​the sector rail 702. This winds up and removes the flexible strip-shaped debris floating on the water surface at the entrance area of ​​the unmanned vessel, ensuring that the path of the entrance area is free of debris when the unmanned vessel enters the mooring platform 1.

[0070] Step 2: After the unmanned boat enters, its front charging interface is attracted to the electromagnetic adsorption module 6 for energy replenishment. During the docking process, the impact force generated by the unmanned boat contacting the docking plate 5 is acted on the connecting spring 12 by the guide frames 11 on both sides through the slider seat 10, causing the connecting spring 12 to deform and buffer the impact force.

[0071] Step 3: During the process of the unmanned vessel entering the dock for docking and charging, under the control of the entry signal, the stepper motor 2 901 drives the bidirectional lead screw 902 to rotate in the forward direction. With the cooperation of the spring rod 904, the limit rod 905 and the collar 906, the nylon rollers 907 on both sides move in the reverse direction through the movable sleeve 903, moving from the original position close to the center of the electromagnetic adsorption module 6 to both sides, and cleaning the outer wall of the electromagnetic adsorption module 6 in the moving path.

[0072] Step 4: After the unmanned vessel enters the charging area, the control module 13 controls the stepper motor 701 to drive the grille gate 2 to rotate and close, locking the unmanned vessel's docking area. During this process, the worm gear 801 on the outer wall of the hinge shaft of the grille gate 2 drives the worm wheel 802 to rotate, causing the screw 803, which is fixedly connected to the worm wheel 802, to rotate inside the rectangular hole 804. With the cooperation of the guide rod 813 in the rectangular hole 804 on the other side, the two ends of the U-shaped hanging plate 805 move along the inner walls of the rectangular holes 804 on both sides towards the grille gate 2, driving the two sets of hinge frames 806 to extend and form support for the bottom of the unmanned vessel underwater.

[0073] Step 5: As the U-shaped hanging plate 805 moves, the wave plate 807 moves closer to the side of the grille door 2, pushing away debris on the path of the hinge frames 806 on both sides. As the hinge frames 806 extend into place, the wave plate 807 can push and collect the debris into the inside of the collection frame 808, ensuring the smoothness of the extension path of the hinge frames 806.

[0074] Step Six: After the unmanned vessel finishes refueling, it sends out a departure signal. The control module 13 controls stepper motor 701 and stepper motor 901 to operate in opposite directions, causing the grille door 2 and the dock door 4 to rotate in opposite directions and open. The unmanned vessel is then released from its restraints and sails out of the docking platform 1.

[0075] Working principle: First, when the unmanned vessel runs for too long and its battery is insufficient, it sends a return signal to the docking platform 1 through radar signal transmission and returns to the docking platform 1. When the unmanned vessel returns and moves close to the docking platform 1, the control module 13 receives the signal and controls the stepper motor 701 to drive the grille door 2 to rotate outward and open. The rotation trajectory of the grille door 2 matches the arc surface of the fan-shaped rail 702, and then the grille door 2 drives the right-angle rod 703 to move along the inner wall of the fan-shaped rail 702.

[0076] After the unmanned vessel enters the docking platform 1, the charging interface at the end of the hull connects with the electromagnetic adsorption module 6 for charging. During this process, the impact force generated when the hull contacts the docking plate 5 acts on the hinged guide frame 11. The guide frame 11 moves along the middle of the upper and lower slider seats 10, transmitting the force to the connecting spring 12 to cause it to deform, thus buffering and dispersing the impact force and preventing the electromagnetic adsorption module 6 from being damaged by the impact. Correspondingly, after the unmanned vessel leaves the docking platform 1, the docking plate 5 can move in the opposite direction and reset under the action of the accumulated elastic potential energy of the connecting spring 12.

[0077] As the grille gate 2 moves the right-angle rod 703 along the inner wall of the fan-shaped rail 702, the gear 705 set on its outer steel ring can mesh and rotate at the bottom of the fan-shaped rail 702 with the cooperation of the bearing 704 and the teeth 706. This drives the comb roller 707 to move and rotate in the entrance area of ​​the docking platform 1 along with the grille gate 2. The comb roller 707 hooks the flexible, long strip-shaped debris floating on the water surface in the dock entrance area through the tooth gaps. The debris is then collected and intercepted outside the dock in advance, preventing the unmanned boat from bringing debris into the dock when it enters the dock. This would cause the hull to come into contact with the inner wall of the docking platform 1 and get stuck, affecting the docking and fixation of the unmanned boat. It also ensures the stability of the unmanned boat's docking and charging with the electromagnetic adsorption module 6 after it enters the dock.

[0078] Simultaneously, as the unmanned vessel enters, the worm gear 801 rotates synchronously with the opening of the grille gate 2, transferring rotational force to the worm wheel 802. The worm wheel 802 further drives the screw 803 to rotate inside the rectangular hole 804 on one side. With the assistance of the guide rod 813 inside the rectangular hole 804 on the other side, the U-shaped hanging plate 805 moves towards the grille gate 2 along the inner wall of the rectangular holes 804 on both sides. One side of the hinge frame 806 on both sides is hinged to the middle of the docking plate 5, and is in a fixed abutment state during the charging docking process of the unmanned vessel. The other end of 806 is hinged to U-shaped hanging plate 805. As U-shaped hanging plate 805 moves, it gradually extends from its original retracted state to cover the area directly below the unmanned boat docking area, supporting the bottom of the unmanned boat and preventing the boat from swaying due to the impact of water waves. The front and rear limits of the grille door 2 and the bottom support of the hinged frame 806 form a three-dimensional protection to prevent the boat from laterally colliding with the docking platform 1 or being damaged by bottom impact due to wave surges. This ensures that the electromagnetic adsorption module 6 can be stably connected due to the absence of wave surges and swaying of the boat, avoiding charging interruption or interface wear.

[0079] Simultaneously, as the U-shaped hanging plate 805 moves, the wave plate 807 at its bottom moves synchronously, pushing the floating debris along the extension path of the hinged frames 806 on both sides before it extends. When the U-shaped hanging plate 805 moves into place, the wave plate 807 contacts the collection frame 808, collecting the pushed garbage and debris into the collection frame 808, creating an undisturbed environment for the extension path of the hinged frames 806 on both sides, and avoiding obstruction during the extension process.

[0080] For the garbage and debris collected in the collection box 808, during regular maintenance and repair, the staff can unscrew the bolts 811 on both sides from the middle of the fixing nut 810 to release the lock on the partition 809, and then pull the partition 809 out from the middle of the collection box 808 so that the garbage and debris can be processed from the lower outlet.

[0081] Controlled by the unmanned vessel's entry and exit signals from the dock, stepper motor 901 drives the bidirectional lead screw 902 to rotate in both directions. With the assistance of limit rod 905, the movable sleeves 903 on both sides move away from / near the outer wall of the bidirectional lead screw 902. Through spring rod 904 and collar 906, the nylon rollers 907 move away from / near the outer wall of the electromagnetic adsorption module 6 in sync, wiping away and cleaning the debris attached to the outer wall of the electromagnetic adsorption module 6. This prevents the debris from forming an insulating layer that covers the outer wall of the electromagnetic adsorption module 6 and hinders docking. When the unmanned vessel enters the dock, the nylon rollers 907 on both sides move in the opposite direction to the inner walls of the dock door 4, leaving space for the unmanned vessel to enter and ensuring the stability of the circuit contact when the unmanned vessel docks and charges with the electromagnetic adsorption module 6.

[0082] When the unmanned vessel leaves the docking platform 1, the force originally applied to the docking plate 5 disappears, and the docking plate 5 moves to the side closer to the grille door 2. During this process, it will come into contact with the two nylon rollers 907. With the assistance of the spring rod 904 and the collar 906, the two nylon rollers 907 rotate 90 degrees to a horizontal state, ensuring the stable reset of the docking plate 5.

[0083] Finally, after refueling, the unmanned vessel sends out a departure signal. The control module 13 controls stepper motor 701 and stepper motor 901 to operate in opposite directions, causing the grille door 2 and the dock door 4 to rotate in opposite directions and open. The unmanned vessel is then released from its restraints and sails out of the docking platform 1 to conduct subsequent patrols and monitoring.

[0084] The embodiments of the present invention have been described above, but the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the embodiments described above, all of which are within the protection scope of the embodiments described above.

Claims

1. A mooring and fixing device for unmanned vessels, characterized in that, include: The docking platform (1), grille door (2), stand (3), dock door (4), docking plate (5) and electromagnetic adsorption module (6) provide temporary berthing and fixation for unmanned ships through the intelligent dock; The docking processing mechanism (7) includes a stepper motor (701) and a sector rail (702). The stepper motor (701) is fixedly installed at the top of the hinge shaft of the grille gate (2). The sector rail (702) is fixedly connected to the bottom of the docking platform (1). A right-angle rod (703) is fixedly connected to the bottom of the end of the grille gate (2) away from the hinge shaft. The outer wall of the right-angle rod (703) is slidably connected to the middle of the inner wall of the sector rail (702). The grille gate (2) is triggered to rotate and open by the unmanned vessel docking signal. Before docking, the grille gate (2) is rotated to process the debris on the water surface at the docking entrance. The parking support mechanism (8) includes a worm (801) and a worm wheel (802). The worm (801) is fixedly sleeved on the outer wall of the hinge shaft of the grille door (2). The worm wheel (802) is rotatably connected to the inside of the parking platform (1) and meshes with the worm (801). The outer walls of the electromagnetic adsorption module (6) are hinged with hinge frames (806) on both sides. The pre-processing mechanism (9) includes a second stepper motor (901) and a bidirectional lead screw (902), wherein the bidirectional lead screw (902) is fixedly connected to the drive end of the second stepper motor (901); The docking processing mechanism (7) also includes: The bearing (704) has its inner steel ring fixedly installed on the outer wall of the right-angle rod (703) away from the grille door (2). The outer steel ring of the bearing (704) is fixedly installed with a gear (705). The bottom of the fan-shaped rail (702) is evenly provided with several teeth (706). The gear (705) rotates along the track of the fan-shaped rail (702) and meshes with the teeth (706) in pairs. A comb roller (707) is snapped onto the side of the gear (705) away from the right-angle rod (703).

2. The unmanned vessel mooring and fixing device according to claim 1, characterized in that: The berthing platform (1) has rectangular holes (804) in the middle of both sides. The inner walls of the rectangular holes (804) on both sides are slidably connected to U-shaped hanging plates (805). The ends of the hinge frames (806) on both sides away from the docking plate (5) are hinged in the middle of the U-shaped hanging plates (805). The rotation and opening of the synchronous grille door (2) triggers the extension of the hinge frame (806) when the unmanned boat enters, thus providing support for the berthing of the unmanned boat. The stepper motor (901) is fixedly installed on the outer wall of the stand (3). The bidirectional lead screw (902) is rotatably connected to the middle of the stand (3), and the outer walls at both ends are fixedly connected to the dock door (4). The stepper motor (901) is driven by the unmanned vessel's entry and exit signal to drive the bidirectional lead screw (902) to rotate, so that the dock door (4) opens and closes at the top of the stand (3).

3. The unmanned vessel mooring and fixing device according to claim 2, characterized in that: The mooring support mechanism (8) also includes: The screw (803) is fixedly connected to the middle of the worm gear (802) and rotatably connected to the inside of a rectangular hole (804) on one side. The middle of one end of the U-shaped hanging plate (805) is threaded to the outer wall of the screw (803), and the middle of the rectangular hole (804) on the other side is fixedly connected to a guide rod (813). The middle of the other end of the U-shaped hanging plate (805) is slidably connected to the outer wall of the guide rod (813).

4. The unmanned vessel mooring and fixing device according to claim 3, characterized in that: The bottom of the U-shaped hanging plate (805) is fixedly connected to a wave plate (807), and the bottom of the parking platform (1) is fixedly connected to a collection frame (808) on the inner side of the fan-shaped rail (702). A partition (809) is inserted below the inner wall of the collection frame (808).

5. The unmanned vessel mooring and fixing device according to claim 4, characterized in that: The two sides of the collection frame (808) are fixedly connected with fixing nuts (810), and the middle of the fixing nuts (810) on both sides is threaded with bolts (811). The two sides of the partition (809) are provided with threaded holes (812), and the opposite ends of the bolts (811) on both sides are threaded to the inner walls of the threaded holes (812) on both sides.

6. The unmanned vessel mooring and fixing device according to claim 5, characterized in that: The pre-processing mechanism (9) further includes: A pair of movable sleeves (903) are threaded to the outer walls of the bidirectional lead screw (902) on both sides. A spring rod (904) is hinged to the bottom of each movable sleeve (903). A collar (906) is hinged to the bottom of each spring rod (904). A limit rod (905) is fixedly connected to the middle of the two sides of the upright (3) below the bidirectional lead screw (902).

7. The unmanned vessel mooring and fixing device according to claim 6, characterized in that: Both sides of the collar (906) are sleeved on the outer wall of the limiting rod (905), and the bottom of both sides of the collar (906) is fixedly connected to a nylon roller (907). The outer wall of the nylon roller (907) on both sides is on the same straight line as the outer side of the electromagnetic adsorption module (6).

8. The unmanned vessel mooring and fixing device according to claim 7, characterized in that: The parking platform (1) has a slider seat (10) fixedly installed on both the upper and lower sides of the end away from the grille door (2). The middle of both sides of the slider seat (10) is slidably connected to the guide frame (11). The guide frame (11) is connected to the slider seat (10) through the connecting spring (12). The end of the guide frame (11) away from the slider seat (10) is hinged to the inner side of the docking plate (5). The inner wall of the guardrail of the parking platform (1) is fixedly installed with a control module (13). The control module (13) is electrically connected to the electromagnetic adsorption module (6), stepper motor one (701) and stepper motor two (901).

9. The unmanned vessel mooring and fixing device according to claim 8, characterized in that: The grille door (2) is rotatably connected to the middle of the front side of the parking platform (1), the stand (3) is fixedly installed on the top of the parking platform (1) near the electromagnetic adsorption module (6), the docking plate (5) is slidably connected to the inner wall of the parking platform (1), and the electromagnetic adsorption module (6) is fixedly installed on the middle of the outer side of the docking plate (5).

10. A method for mooring and securing an unmanned vessel, applied to the unmanned vessel mooring and securing device described in claim 9, characterized in that, Includes the following steps: Step 1: After selecting the mooring position for the entire intelligent dock, drive steel piles into the waterway below the location and then erect the entire dock on top of the steel piles. Adjust and position the dock using anchor chains. When the unmanned vessel's battery is low, control the unmanned vessel to return to the dock via radar signals within the dock. Upon receiving a signal that the unmanned vessel is approaching, the control module (13) controls stepper motor 1 (701) to drive the grille gate (2) to rotate outward and open. During this process, the grille gate (2) is opened via right-angle rod (703) and While the bearing (704) drives the gear (705) to rotate 90 degrees along the arc trajectory of the sector rail (702), the gear (705) rotates at the bottom of the sector rail (702) under the meshing transmission of the teeth (706), driving the comb roller (707) to move and rotate inside the sector area of ​​the sector rail (702), and wrapping away the flexible strip-shaped debris floating on the water surface at the entrance area of ​​the unmanned boat, ensuring that the path of the entrance area is free of debris when the unmanned boat enters the docking platform (1); Step 2: After the unmanned boat enters, its front charging interface is attracted to the electromagnetic adsorption module (6) to replenish energy. During the docking process, the impact force generated by the unmanned boat contacting the docking plate (5) is acted on the connecting spring (12) by the guide frames (11) on both sides through the slider seat (10), so that the connecting spring (12) deforms to buffer the impact force. Step 3: During the process of the unmanned boat entering the dock for docking and charging, under the control of the entry signal, the stepper motor 2 (901) drives the bidirectional lead screw (902) to rotate in the forward direction. With the cooperation of the spring rod (904), the limit rod (905) and the collar (906), the nylon rollers (907) on both sides move in the opposite direction through the movable sleeve (903), moving from the original position close to the center of the electromagnetic adsorption module (6) to both sides, and cleaning the outer wall of the electromagnetic adsorption module (6) in the moving path; Step 4: After the unmanned boat enters the charging area, the control module (13) controls the stepper motor (701) to drive the grille gate (2) to rotate and close, locking the unmanned boat's docking area. During this process, the worm gear (801) on the outer wall of the hinge shaft of the grille gate (2) drives the worm wheel (802) to rotate, so that the screw (803) fixedly connected to the worm wheel (802) rotates inside the rectangular hole (804). With the cooperation of the guide rod (813) in the rectangular hole (804) on the other side, the two ends of the U-shaped hanging plate (805) move along the inner wall of the rectangular holes (804) on both sides towards the grille gate (2), driving the two sets of hinge frames (806) to extend and unfold, forming support for the bottom of the unmanned boat underwater. Step 5: As the U-shaped hanging plate (805) moves, the wave plate (807) moves closer to the side of the grille door (2), pushing the debris on the extension path of the hinge frame (806) on both sides. As the hinge frame (806) on both sides extends into place, the wave plate (807) can push and collect the debris into the inside of the collection frame (808), ensuring the smoothness of the extension path of the hinge frame (806). Step 6: After the unmanned vessel finishes refueling, it sends out a departure signal. The control module (13) controls the stepper motor 1 (701) and the stepper motor 2 (901) to operate in opposite directions, so that the grille door (2) and the dock door (4) rotate in opposite directions and open. The unmanned vessel is released from the restriction and fixed and sails out of the docking platform (1).

Images