An unmanned ship emergency anchor throwing system

Abstract

The application provides an unmanned ship emergency anchor throwing system and relates to the technical field of unmanned ships. The unmanned ship emergency anchor throwing system comprises a ship body, a ship anchor mechanism, an unhooking mechanism and an anchor throwing control assembly. The unhooking mechanism is hung on the ship anchor mechanism, and the unhooking mechanism can throw the anchor through two modes of an unhooking push rod and a pull rope. The anchor throwing control assembly comprises an unmanned ship main control box, a power supply module, an unhooking mechanism control device and a detection sensor. When the unhooking push rod of the unmanned ship emergency anchor throwing system fails or the anchor throwing force is insufficient, resulting in anchor throwing failure, the system automatically switches to the pull rope mode to unhook and perform anchor throwing operation, thereby improving the success rate of anchor throwing and the stability of equipment operation. The anchor is thrown by using the unhooking mechanism, the use of a hydraulic or electric anchor device is reduced, and the influence of the weight of the equipment on the weight of the unmanned ship is reduced.

Description

Technical Field

[0001] This application relates to the field of unmanned surface vessel (USV) technology, and more specifically, to an emergency anchoring system for USVs. Background Technology

[0002] If an unmanned surface vessel (USV) loses control during navigation or mission execution, it needs to be anchored in an emergency to prevent it from drifting aimlessly with the waves and causing safety hazards, thus minimizing losses. Additionally, some special-purpose USVs require a fixed position for operations after reaching their destination, which also necessitates anchoring.

[0003] Traditional anchoring systems use hydraulic or electric winches to raise and lower the anchor chain, thus achieving the purpose of anchoring. Unmanned surface vessels (USVs) are generally small, and their overall weight must be considered during design to minimize its impact on draft, speed, range, and load-bearing capacity. Since USVs are typically small and use lightweight anchors, anchor winches result in a heavier anchoring system, significantly affecting the overall weight and center of gravity of the USV. However, when retrieving the anchor, personnel are already on board for maintenance or operations, allowing for manual or auxiliary equipment retrieval. Therefore, how to perform emergency anchoring on USVs without designed anchor winches becomes a technical problem that needs to be solved. On the other hand, the success rate of emergency anchoring needs to be considered, as there is no human intervention when anchoring on a USV. A single anchoring method is prone to failure due to equipment malfunction, insufficient anchoring force, or the lack of follow-up anchoring procedures. Therefore, it is necessary to improve the stability of the equipment operation. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes an emergency anchoring system for unmanned surface vessels (USVs). When the unhooking push rod of the emergency anchoring system malfunctions or the anchoring force is insufficient, resulting in anchoring failure, it automatically switches to a rope-pulling method for unhooking and anchoring, thereby improving the success rate of anchoring and thus enhancing the stability of equipment operation. The use of a unhooking mechanism for anchoring reduces the use of hydraulic or electric anchor winches, minimizing the impact of equipment weight on the weight of the USV.

[0005] An emergency anchoring system for unmanned surface vessels according to an embodiment of this application includes: a hull, an anchor mechanism, a disengagement mechanism, and an anchoring control assembly.

[0006] The anchor mechanism is located at the stern of the hull; the unhooking mechanism engages the anchor mechanism and can anchor by means of both a release push rod and a pull rope; the anchoring control assembly includes an unmanned surface vessel (USV) main control box, a power supply module, a release mechanism control device, and detection sensors. The power supply module supplies power to the USV main control box and the release mechanism control device, which are electrically connected. The detection sensors are connected to the release mechanism control device and detect the action of the release mechanism. The release mechanism is connected to the release mechanism control device, which controls the release push rod and pull rope of the release mechanism to move respectively.

[0007] According to some embodiments of this application, the unhooking mechanism control device includes an automatic unhooking control board, a microcontroller, a power module, a CAN communication module, a power distribution control module, an unhooking electromagnetic coil, a brushless motor drive module, and a rope-pulling drive motor. The microcontroller, the power module, the CAN communication module, the power distribution control module, and the brushless motor drive module are integrated on the automatic unhooking control board. The power module, the CAN communication module, the power distribution control module, and the brushless motor drive module are connected to the microcontroller. The unmanned surface vessel's main control box and the microcontroller transmit information through the CAN communication module. The microcontroller controls the power distribution control module and the brushless motor drive module respectively. The power distribution control module controls the unhooking electromagnetic coil. The unhooking electromagnetic coil controls the unhooking push rod action of the unhooking mechanism. The brushless motor drive module controls the rope-pulling action of the unhooking mechanism and controls the rope-pulling drive motor. The power supply module supplies power to the CAN communication module, the microcontroller, the power distribution control module, and the brushless motor drive module respectively through the power module.

[0008] According to some embodiments of this application, the automatic unhooking control board also integrates a program download module and a reset circuit, which are connected to the microcontroller.

[0009] According to some embodiments of this application, the CAN communication module and the unmanned surface vessel main control box are connected via a CAN bus.

[0010] According to some embodiments of this application, an anchor chain compartment is provided at the rear of the hull, and the anchor mechanism includes an anchor, an anchor chain, and a release line assembly. The anchor chain is housed in the anchor chain compartment, one end of the anchor chain is fixed in the anchor chain compartment, the stern end of the anchor is connected to the other end of the anchor chain, one end of the release line assembly is fixed to the stern end of the anchor, and the other end of the release line assembly is hung on the release mechanism.

[0011] According to some embodiments of this application, the unhooking mechanism includes a base structure, a swing-type unhooking structure, an angle locking structure, and a dual-force unlocking structure;

[0012] The swing-type unhooking structure is disposed at the front end of the base structure, and the main hook part of the swing-type unhooking structure is rotatably disposed at the front end of the swing-type unhooking structure, and the main hook part of the swing-type unhooking structure hooks the anchor mechanism;

[0013] The angle locking structure is located inside the upper end of the swing-type unhooking structure. Under the action of gravity, the angle locking structure swings forward and downward. After the angle locking structure swings down, the bottom end of the angle locking structure locks the rear end of the main hook part of the swing-type unhooking structure.

[0014] The dual-force release structure is located at the rear end of the swing-type release structure and is connected to the middle of the angle locking structure. The dual-force release structure can pull the angle locking structure to swing backward and upward by pulling the rope. The dual-force release structure can also pull the angle locking structure to swing backward and upward by releasing the release push rod. The angle locking structure can be released from locking of the main hook part of the swing-type release structure by the release push rod and the rope.

[0015] According to some embodiments of this application, the swing-type release structure includes a mounting base, a swing-type release, and a main hook pin. Two mounting bases are provided, and the two mounting bases are disposed opposite to each other at the front end of the base structure. The main hook pin passes through the lower side of the front end of the two mounting bases. The middle part of the lower end of the swing-type release is rotatably sleeved on the main hook pin. The bottom end of the angle locking structure is locked against the upper side of the rear part of the lower end of the swing-type release.

[0016] According to some embodiments of this application, an anti-disengagement mechanism is provided at the upper end of the mounting base. The anti-disengagement mechanism includes a release pin, a release, an elastic metal sheet, and a limiting block. The release pin passes through the upper side of the front end of the two mounting bases. The release sleeve is rotatably connected to the release pin. The elastic metal sheet is provided at the lower side of the release. The limiting block is fixedly connected to the inner side of the mounting base. One end of the elastic metal sheet is pressed against the limiting block. The elastic metal sheet pushes the release upward to swing. The front end of the release can press against the inner wall of the upper end of the swinging release hook.

[0017] According to some embodiments of this application, the angle locking structure includes an angle locking member and a connecting lug. The upper end of the angle locking member is rotatably connected to the upper end of the swing-type release structure. The lower end of the angle locking member has a locking slot, which locks the rear end of the main hook portion of the swing-type release structure. The front end of the connecting lug is rotatably connected to the middle part of the angle locking member, and the rear end of the connecting lug is rotatably connected to the dual-force release structure.

[0018] According to some embodiments of this application, the dual-force unlocking structure includes a dual-force unlocking component, an unlocking pin, a torsion spring, a conductive lug, and a drive rod. The unlocking pin rotatably passes through the upper side of the rear end of the swing-type unlocking structure. The upper side of the rear end of the dual-force unlocking component is rotatably sleeved on the unlocking pin. The torsion spring is sleeved on the unlocking pin. One end of the torsion spring is connected to the swing-type unlocking structure, and the other end of the torsion spring is connected to the dual-force unlocking component. The elastic force of the torsion spring can push the upper end of the dual-force unlocking component to swing forward. The front end of the conductive lug is rotatably connected to the lower end of the dual-force unlocking component. The drive rod is fixedly connected to the base structure, and the rear end of the conductive lug is rotatably connected to the output end of the drive rod.

[0019] According to some embodiments of this application, the dual-force unlocking component includes a dual-force unlocking plate and a pull rod. The pull rod is fixedly connected to the upper side of the dual-force unlocking plate, and the pull rope is fixedly connected to the top of the pull rod. A first connecting hole is opened at the front end of the dual-force unlocking plate, and the rear end of the angle locking structure is rotatably connected to the first connecting hole. A second connecting hole is opened on the upper side of the rear end of the dual-force unlocking plate, and the unlocking pin is rotatably connected to the second connecting hole. A third connecting hole is opened on the lower side of the rear end of the dual-force unlocking plate, and the front end of the conductive ear is rotatably connected to the third connecting hole.

[0020] The beneficial effects of this application are:

[0021] The unmanned surface vessel (USV) main control box is responsible for controlling the unhooking mechanism and its control device. The USV main control box sends commands to the unhooking mechanism control device via CAN communication. The unhooking mechanism control device then controls the operation of the unhooking push rod. The unhooking mechanism control device drives the unhooking push rod, which in turn drives the unhooking mechanism to operate, ultimately enabling the USV to anchor.

[0022] The detection sensor installed on the unhooking mechanism is responsible for detecting whether the unhooking mechanism has completed the anchoring operation. If the detection sensor detects that the anchoring operation has failed, the unhooking mechanism control device sends a failure notification to the unmanned surface vessel's main control box via CAN communication. The CAN communication then sends commands to the unhooking mechanism control device, which operates the rope-pulling motor to drive the rope, enabling emergency operation of the rope in the unhooking mechanism. Ultimately, this allows the unmanned surface vessel to anchor. Unhooking is achieved through both the unhooking push rod and the rope pulling method. If the unhooking push rod malfunctions or the anchoring force is insufficient, resulting in anchoring failure, the system automatically switches to the rope pulling method for unhooking. Anchoring operations improve the success rate of anchoring, thereby enhancing the stability of equipment operation. Since unmanned surface vessels (USVs) are remotely operated, they require no manual intervention in the absence of malfunctions. Therefore, this emergency anchoring system automatically and intelligently releases the anchor when the USV is detected to be out of control. It employs both hook-release and rope-pulling anchoring methods, complementing each other to maintain a stable anchoring success rate. Both anchoring methods are electrically controlled, enabling remote control operation of the USV in an unmanned state. Using a hook-release mechanism reduces the need for hydraulic or electric anchor winches, minimizing the impact of equipment weight on the USV's overall weight.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of an unmanned surface vessel emergency anchoring system according to an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of an unmanned surface vessel emergency anchoring system according to an embodiment of this application;

[0027] Figure 3 This is a three-dimensional structural schematic diagram of the unhooking mechanism according to an embodiment of this application;

[0028] Figure 4 This is a three-dimensional structural diagram of the swing-type unhooking structure according to an embodiment of this application;

[0029] Figure 5 According to the embodiments of this application Figure 4 An enlarged 3D structural diagram at point A in the middle;

[0030] Figure 6 This is a three-dimensional structural diagram of the connection between the swing-type hook and the main hook pin according to an embodiment of this application;

[0031] Figure 7 This is a three-dimensional structural diagram showing the connection between the swing-type unhooking structure and the angle locking structure according to an embodiment of this application;

[0032] Figure 8 This is a three-dimensional structural diagram showing the connection between the angle locking structure and the dual-force unlocking structure according to an embodiment of this application;

[0033] Figure 9 This is a three-dimensional structural schematic diagram of the dual-force unlocking component according to an embodiment of this application.

[0034] Icons: 100 - Hull; 110 - Anchor chain locker; 200 - Anchor mechanism; 210 - Anchor; 220 - Anchor chain; 230 - Anchor release line assembly; 300 - Release mechanism; 310 - Base structure; 320 - Swing-type release structure; 321 - Mounting base; 322 - Swing-type release; 3221 - Main hook body; 3222 - Locking block; 3223 - Engaging angle; 323 - Main hook pin; 324 - Anti-derailment mechanism; 3241 - Derailment pin; 3242 - Derailment; 3243 - Elastic metal sheet; 3244 - Limiting block; 330 - Angle locking structure; 331 - Angle locking component; 3311 - Locking pin; 3312 - Angle locking block; 3313 - Transition groove; 332 - Engaging opening; 333 - Connecting lug; 3331 - Connecting pin ; 3332-Connecting ear plate; 340-Dual-force unlocking structure; 341-Dual-force unlocking component; 3411-Dual-force unlocking plate; 3412-Pull rod; 3413-First connecting hole; 3414-Second connecting hole; 3415-Third connecting hole; 342-Unlocking pin; 343-Torsion spring; 344-Conduction ear seat; 345-Drive rod; 400-Anchoring control assembly; 410-Unmanned surface vessel main control box; 420-Power supply module; 430-Unhooking mechanism control device; 431-Automatic unhooking control board; 432-Microcontroller; 433-Power supply module; 434-CAN communication module; 435-Power distribution control module; 436-Unhooking electromagnetic coil; 437-Brushless motor drive module; 438-Pull rope drive motor; 440-Detection sensor. Detailed Implementation

[0035] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] The following description, with reference to the accompanying drawings, describes an unmanned surface vessel emergency anchoring system according to an embodiment of this application.

[0038] Please see Figures 1 to 9 The unmanned surface vessel emergency anchoring system according to the embodiments of this application includes: a hull 100, an anchor mechanism 200, a disengagement mechanism 300, and an anchoring control assembly 400.

[0039] Anchor mechanism 200 is located at the stern end of hull 100;

[0040] The unhooking mechanism 300 hooks the anchor mechanism 200, and the unhooking mechanism 300 can anchor the ship by means of both unhooking push rod and pulling rope;

[0041] The anchoring control assembly 400 includes an unmanned surface vessel main control box 410, a power supply module 420, a disengagement mechanism control device 430, and detection sensors 440;

[0042] The power supply module 420 supplies power to the unmanned surface vessel main control box 410 and the unhooking mechanism control device 430. The unmanned surface vessel main control box 410 and the unhooking mechanism control device 430 are electrically connected. The detection sensor 440 is connected to the unhooking mechanism control device 430 and detects the action of the unhooking mechanism 300. The unhooking mechanism 300 is connected to the unhooking mechanism control device 430, and the unhooking mechanism control device 430 controls the unhooking push rod and the pulling rope of the unhooking mechanism 300 to act respectively.

[0043] The unmanned surface vessel (USV) main control box 410 is responsible for controlling the unhooking mechanism 300 and the unhooking mechanism control device 430. The USV main control box 410 sends commands to the unhooking mechanism control device 430 via CAN communication. The unhooking mechanism control device 430 then operates the unhooking push rod. The unhooking mechanism control device 430 drives the unhooking push rod to operate, thereby enabling the unhooking mechanism 300 to operate and ultimately achieving the anchoring operation of the USV.

[0044] The detection sensor 440 installed on the unhooking mechanism 300 is responsible for detecting whether the unhooking mechanism 300 has completed the anchoring work. If the detection sensor 440 detects that the anchoring work has failed, the unhooking mechanism control device 430 sends a notification of failure to the unmanned surface vessel main control box 410 via CAN communication. The command to the unhooking mechanism control device 430 is implemented through CAN communication, and the unhooking mechanism control device 430 operates the rope drive motor 438 to drive the rope, realizing the emergency operation of the rope in the unhooking mechanism 300, and finally realizing the anchoring work of the unmanned surface vessel. This invention uses both a release lever and a pull rope for unhooking. When the release lever malfunctions or the anchoring force is insufficient, resulting in anchoring failure, it automatically switches to the pull rope method for unhooking, thus improving the success rate of anchoring and enhancing the stability of equipment operation. Since the unmanned surface vessel (USV) is remotely operated, it does not require manual intervention in its various tasks when there are no faults. Therefore, this emergency anchoring system automatically and intelligently unhooks when the USV is detected to be out of control. The complementary use of both the release lever and pull rope methods to maintain a stable anchoring success rate is essential. Both anchoring methods are electrically controlled, which can meet the remote control operation requirements of the USV in an unmanned state. The use of the release mechanism 300 for anchoring reduces the use of hydraulic or electric anchor winches, thus reducing the impact of equipment weight on the weight of the USV.

[0045] Please see Figures 1 to 2The unhooking mechanism control device 430 includes: an automatic unhooking control board 431, a microcontroller 432, a power module 433, a CAN communication module 434, a power distribution control module 435, an unhooking electromagnetic coil 436, a brushless motor drive module 437, and a rope drive motor 438. The microcontroller 432, power module 433, CAN communication module 434, power distribution control module 435, and brushless motor drive module 437 are integrated on the automatic unhooking control board 431. The power module 433, CAN communication module 434, power distribution control module 435, and brushless motor drive module 437 are connected to the microcontroller 432. The unmanned surface vessel main control box 410 and... Microcontrollers 432 communicate with each other via CAN communication module 434. Microcontrollers 432 control power distribution control module 435 and brushless motor drive module 437 respectively. Power distribution control module 435 controls unhooking solenoid coil 436, which in turn controls the unhooking push rod action of unhooking mechanism 300. Brushless motor drive module 437 controls the rope pulling action of unhooking mechanism 300 and also controls rope drive motor 438. Power supply module 420 supplies power to CAN communication module 434, microcontrollers 432, power distribution control module 435, and brushless motor drive module 437 via power supply module 433. Automatic unhooking control board 431 also integrates a program download module and a reset circuit, which are connected to microcontrollers 432. CAN communication module 434 and unmanned surface vessel main control box 410 are connected via CAN bus.

[0046] The unmanned surface vessel (USV) main control box 410 is responsible for controlling the unhooking mechanism 300 and the unhooking mechanism control device 430; it communicates with the CAN communication module 434 via CAN communication to send commands to the microcontroller 432 (MCU), and operates the power distribution control module 435 to operate the unhooking push rod via the unhooking solenoid coil 436; the unhooking push rod is driven by the unhooking solenoid coil 436 to drive the unhooking mechanism 300, ultimately enabling the USV to anchor; the detection sensor 440 installed on the unhooking mechanism 300 is responsible for detecting... The system detects whether the unhooking mechanism 300 has completed the anchoring operation. If the detection sensor 440 identifies that the anchoring operation has failed, the microcontroller 432 (MCU) sends a notification of failure to the unmanned surface vessel main control box 410 via CAN communication. The unmanned surface vessel main control box 410 then communicates with the CAN communication module 434 via CAN communication to issue commands to the microcontroller 432 (MCU), which in turn operates the brushless motor drive module 437 to drive the rope pull motor 438 to pull the rope, thereby enabling the emergency operation of the rope pull in the unhooking mechanism 300 and ultimately achieving the anchoring operation of the unmanned surface vessel. Unanchoring is achieved through both a release lever and a pull rope. If the release lever malfunctions or the anchoring force is insufficient, resulting in anchoring failure, the system automatically switches to the pull rope method to resume anchoring, improving the success rate and thus enhancing the stability of the equipment. Since the unmanned surface vessel (USV) is remotely operated, its operations require no manual intervention in the absence of malfunctions. Therefore, this emergency anchoring system automatically and intelligently releases the anchor when the USV is detected to be out of control. The complementary use of both release lever and pull rope methods to maintain a stable anchoring success rate is essential. Both anchoring methods are electrically controlled, enabling remote control operation of the USV in an unmanned state. The use of the 300 release mechanism reduces the need for hydraulic or electric anchor winches, minimizing the impact of equipment weight on the USV's overall weight.

[0047] Please see Figures 1 to 2 An anchor chain compartment 110 is provided at the rear of the hull 100. The anchor mechanism 200 includes an anchor 210, an anchor chain 220, and a release line assembly 230. The anchor chain 220 is housed in the anchor chain compartment 110. One end of the anchor chain 220 is fixed in the anchor chain compartment 110, and the other end is connected to the stern of the anchor 210. One end of the release line assembly 230 is fixed to the stern of the anchor 210, and the other end is hooked onto the release mechanism 300.

[0048] Please see Figures 1 to 9 The unhooking mechanism 300 includes: a base structure 310, a swing-type unhooking structure 320, an angle locking structure 330, and a dual-force unlocking structure 340.

[0049] Please see Figures 1 to 3A swing-type release structure 320 is located at the front end of the base structure 310, with the main hook portion of the swing-type release structure 320 rotatably positioned at the front end. An angle locking structure 330 is located inside the upper part of the swing-type release structure 320. Under the action of gravity, the angle locking structure 330 swings forward and downward. After the angle locking structure 330 swings down, its bottom end locks the rear end of the main hook portion of the swing-type release structure 320. A dual-force release structure 340 is also present. Located at the rear end of the swing-type unhooking structure 320, the dual-force unlocking structure 340 is connected to the middle of the angle locking structure 330. The dual-force unlocking structure 340 can be driven by a rope-driven motor 438 to pull the angle locking structure 330 to swing backward and upward. It can also be driven by a unhooking push rod to swing backward and upward. Both methods release the angle locking structure 330 from the main hook portion of the swing-type unhooking structure 320. The unhooking electromagnetic coil 436 controls the unhooking push rod, which drives the angle locking structure 330 to swing backward and upward. The lower end of the angle locking structure 330 moves away from the rear end of the main hook portion of the swing-type unhooking structure 320, releasing the angle locking structure 330 from the swing-type unhooking structure 320 and thus releasing the anchor 210 to facilitate ship anchoring. The rope-driven motor 438 pulls the upper end of the double-force release structure 340 backward via the rope. The double-force release structure 340 then causes the lower end of the angle locking structure 330 to swing backward. The lower end of the angle locking structure 330 moves away from the rear end of the main hook portion of the swing-type release structure 320, releasing the angle locking structure 330 from locking the swing-type release structure 320. The main hook portion of the swing-type release structure 320 then swings forward under gravity, releasing the main hook portion from locking the anchor 210. The anchor 210 then slides into the water under gravity, anchoring the ship. This achieves the purpose of rope-based anchor release. Even if the release push rod fails to release the anchor, if the anchor is not released, rope-based release can still be used to successfully complete the anchor release operation and improve the stability of the equipment operation.

[0050] Please see Figures 1 to 4The swing-type release structure 320 includes a mounting base 321, a swing-type release 322, and a main hook pin 323. Two mounting bases 321 are provided, positioned opposite each other at the front end of the base structure 310. The main hook pin 323 passes through the lower side of the front end of both mounting bases 321. The middle part of the lower end of the swing-type release 322 is rotatably sleeved onto the main hook pin 323. The bottom end of the angle locking structure 330 locks the upper side of the rear of the lower end of the swing-type release 322. The main hook pin 323 extends beyond the front end of the base structure 310, providing sufficient space for the swing-type release 322 to rotate, facilitating the release operation. The swing-type unhooking 322 is the main hook part of the swing-type unhooking structure 320. The lower end of the angle locking structure 330 leaves the upper side of the rear of the lower end of the swing-type unhooking 322, releasing the angle locking structure 330 from locking the swing-type unhooking 322. This allows the front end of the swing-type unhooking 322 to swing forward around the main hook pin 323 under the action of gravity, causing the anchor 210 to leave the swing-type unhooking 322 and achieving the purpose of releasing the anchor 210.

[0051] Please see Figures 1 to 5 An anti-disengagement mechanism 324 is provided at the upper end of the mounting base 321. The anti-disengagement mechanism 324 includes a release pin 3241, a release 3242, an elastic metal sheet 3243, and a limiting block 3244. The release pin 3241 passes through the upper side of the front end of the two mounting bases 321. The release 3242 is rotatably connected to the release pin 3241. The elastic metal sheet 3243 is located on the lower side of the release 3242. The limiting block 3244 is fixedly connected to the inner side of the mounting base 321. One end of the elastic metal sheet 3243 is pressed against the limiting block 3244. The elastic metal sheet 3243 pushes the release 3242 upward to swing. The front end of the release 3242 can press against the inner wall of the upper end of the swing-type release hook 322. Since the swing-type release hook 322 needs to be attached to the anchor 210, when the bottom of the angle locking structure 330 locks the swing-type release hook 322, an opening for attaching the anchor needs to be reserved at the top of the swing-type release hook 322. After the anchor 210 is attached, the opening needs to be sealed to reduce the possibility of the anchor 210 coming off the opening due to external force. When the anchor 210 is attached, the release hook 3242 swings downward under force, increasing the elasticity of the elastic metal piece 3243. After the attachment point of the anchor 210 passes the release hook 3242, the release hook 3242 returns to its original position under the elasticity of the elastic metal piece 3243, and the front end of the release hook 3242 presses against the inner wall of the top of the swing-type release hook 322, thereby sealing the opening at the top of the swing-type release hook 322. This reduces the possibility of the anchor 210 accidentally coming off the swing-type release hook 322.

[0052] Please see Figures 1 to 6The swing-type release hook 322 includes a main hook body 3221 and a locking block 3222. The lower end of the main hook body 3221 is rotatably sleeved on the main hook pin 323. The locking block 3222 is fixedly connected to the rear part of the lower end of the main hook body 3221. The upper side of the rear end of the locking block 3222 is provided with an engagement angle 3223. The engagement angle 3223 of the locking block 3222 engages with the bottom end of the angle locking structure 330. The angle between the upper side of the engagement angle 3223 and the contact surface of the angle locking structure 330 is less than the self-locking angle. The weight of the anchor 210 acts on the main hook body 3221, causing it to be subjected to forward pressure. The main hook body 3221 tends to swing forward and downward around the main hook pin 323. The locking block 3222 and the main hook body 3221 are an integral structure. The locking block 3222 tends to move backward and upward. The upper side of the locking angle 3223 of the locking block 3222 exerts pressure on the contact surface of the angle locking structure 330. Since the angle between the upper side of the locking angle 3223 and the contact surface of the angle locking structure 330 is less than the self-locking angle, the angle locking structure 330 and the locking block 3222 form an angle lock. The greater the force on the main hook body 3221, the more stable the anchor 210 locks, reducing the occurrence of accidental anchor derailment.

[0053] Please see Figures 1 to 7 The angle locking structure 330 includes an angle locking member 331 and a connecting ear 333. The upper end of the angle locking member 331 is rotatably connected to the upper end of the swing-type release structure 320. The lower end of the angle locking member 331 has a locking slot 332. The locking slot 332 of the angle locking member 331 locks the rear end of the main hook part of the swing-type release structure 320. The front end of the connecting ear 333 is rotatably connected to the middle part of the angle locking member 331, and the rear end of the connecting ear 333 is rotatably connected to the double-force release structure 340. The upper end of the angle locking member 331 is rotatably connected to the upper ends of the two mounting bases 321. The engagement port 332 of the angle locking member 331 is adapted to the engagement angle 3223 of the locking block 3222. The force exerted by the engagement angle 3223 of the locking block 3222 on the upper side of the engagement port 332 of the angle locking member 331 is affected by the self-locking angle of the contact surface, so that the angle locking member 331 and the locking block 3222 form an angle self-lock, reducing the occurrence of accidental anchorage.

[0054] Please see Figures 1 to 8The angle locking component 331 includes a locking pin 3311 and an angle locking block 3312. The locking pin 3311 passes through the upper end of the swing-type release structure 320. The upper end of the angle locking block 3312 is rotatably connected to the locking pin 3311. A locking slot 332 is opened on the front side of the lower end of the angle locking block 3312. Transition grooves 3313 are opened on both sides of the middle part of the angle locking block 3312. The front end of the connecting ear 333 is rotatably connected to the middle part of the angle locking block 3312. The connecting ear 333 can swing within the transition groove 3313. The upper end of the angle locking block 3312 rotates around the locking pin shaft 3311, and the lower end of the angle locking block 3312 swings forward and downward under the action of gravity. When the main hook body 3221 returns to its original position under the action of external force, the locking block 3222 pushes the angle locking block 3312, so that the locking angle 3223 of the locking block 3222 automatically engages with the engagement port 332 at the lower end of the angle locking block 3312, so that the locking angle 3223 and the engagement port 332 form an angle self-locking. The return process of the main hook body 3221 is simple, reducing the complicated operation of the return of the main hook body 3221.

[0055] Please see Figures 1 to 8 The connecting ear 333 includes a connecting pin 3331 and a connecting ear plate 3332. The front and rear ends of the two connecting ear plates 3332 are connected by the connecting pin 3331. The connecting pin 3331 at the front end of the connecting ear plate 3332 rotates through the middle of the angle locking member 331, and the connecting pin 3331 at the rear end of the connecting ear plate 3332 rotates through the double-force unlocking structure 340. The transition groove 3313 provides space for the movement of the connecting ear plate 3332. When the double-force unlocking structure 340 swings, it drives the connecting ear plate 3332. The connecting ear plate 3332 drives the connecting pin 3331 at the front end of the connecting ear plate 3332. The connecting pin 3331 at the front end of the connecting ear plate 3332 pulls the angle locking block 3312 to swing backward and upward against gravity.

[0056] Please see Figures 1 to 8 The dual-force unlocking structure 340 includes a dual-force unlocking component 341, an unlocking pin 342, a torsion spring 343, a transmission ear 344, and a drive rod 345. In this embodiment, the unlocking push rod is set as the drive rod 345. The unlocking pin 342 rotatably passes through the upper side of the rear end of the swing-type unlocking structure 320. The upper side of the rear end of the dual-force unlocking component 341 is rotatably sleeved on the unlocking pin 342. The torsion spring 343 is sleeved on the unlocking pin 342. One end of the torsion spring 343 is connected to the swing-type unlocking structure 320, and the other end of the torsion spring 343 is connected to the dual-force unlocking component 341. The elastic force of the torsion spring 343 can push the upper end of the dual-force unlocking component 341 to swing forward. The front end of the transmission ear 344 is rotatably connected to the lower end of the dual-force unlocking component 341. The drive rod 345 is fixedly connected to the base structure 310, and the rear end of the transmission ear 344 is rotatably connected to the output end of the drive rod 345.

[0057] When the drive rod 345 is disengaged, the output end of the drive rod 345 is pushed out. The output end of the drive rod 345 pushes the double-force unlocking member 341 to rotate around the unlocking pin 342 through the transmission ear 344. The connecting pin 3331 at the rear end of the connecting ear plate 3332 swings upward under the drive of the double-force unlocking member 341. The connecting ear plate 3332 pulls the lower end of the angle locking block 3312 to swing backward around the locking pin 3311, so that the engagement port 332 of the angle locking block 3312 gradually leaves the engagement angle 3223 of the locking block 3222. When the pull rope is released from its anchor, the pull rope applies force to the upper end of the double-force release member 341, and the pull rope pulls the double-force release member 341 to swing backward. The double-force release member 341 rotates around the release pin 342. The connecting pin 3331 at the rear end of the connecting ear plate 3332 swings upward under the drive of the double-force release member 341. The connecting ear plate 3332 pulls the lower end of the angle locking block 3312 to swing backward around the locking pin 3311, so that the engagement port 332 of the angle locking block 3312 gradually leaves the engagement angle 3223 of the locking block 3222. After the tension of the pull rope and drive rod 345 is released, the double-force release member 341 returns to its original position under the return of the torsion spring 343. The double-force release member 341 pushes the lower end of the angle locking block 3312 to swing forward and return to its original position through the connecting pin 3331. The angle locking block 3312 returns to its original position under the action of gravity and elastic force, reducing the occurrence of the angle locking block 3312 being accidentally stuck.

[0058] Please see Figures 1 to 9 The dual-force unlocking component 341 includes a dual-force unlocking plate 3411 and a pull rod 3412. The pull rod 3412 is fixedly connected to the upper side of the dual-force unlocking plate 3411, and the pull rope is fixedly connected to the top of the pull rod 3412. The front end of the dual-force unlocking plate 3411 has a first connecting hole 3413. The rear end of the angle locking structure 330 is rotatably connected to the first connecting hole 3413. The upper rear end of the dual-force unlocking plate 3411 has a second connecting hole 3414. The unlocking pin 342 is rotatably connected to the second connecting hole 3414. The lower rear end of the dual-force unlocking plate 3411 has a third connecting hole 3415. The front end of the conductive ear seat 344 is rotatably connected to the third connecting hole 3415.

[0059] Specifically, the working principle of this unmanned surface vessel (USV) emergency anchoring system is as follows: The USV main control box 410 controls the unhooking mechanism 300 and the unhooking mechanism control device 430; it communicates with the CAN communication module 434 on the automatic unhooking control board 431 via CAN communication to send commands to the microcontroller 432 (MCU), which in turn operates the power distribution control module 435 to drive the unhooking push rod via the unhooking solenoid coil 436; the unhooking push rod is driven by the unhooking solenoid coil 436, which in turn drives the unhooking mechanism 300 to operate, ultimately achieving the anchoring operation of the USV; the detection sensor 440 installed on the unhooking mechanism 300 is responsible for detecting whether the unhooking mechanism 300 has completed the anchoring operation. If the detection sensor 440 identifies that the anchoring operation has failed, the microcontroller 432 (MCU) sends a notification of failure to the USV main control box 410 via CAN communication, and sends commands to the microcontroller 432 (MCU) via CAN communication with the CAN communication module 434 on the automatic unhooking control board 431. The brushless motor drive module 437 operates, which in turn drives the rope drive motor 438 to pull the rope, enabling the emergency operation of the rope in the unhooking mechanism 300. This ultimately allows the unmanned surface vessel (USV) to anchor. Unhooking is achieved by controlling both the unhooking push rod and the rope. When the unhooking push rod malfunctions or the anchoring force is insufficient, resulting in anchoring failure, the system automatically switches to the rope method to unhook and perform the anchoring operation, thus improving the success rate of anchoring and enhancing the stability of the equipment. Since the USV is remotely operated, it does not require manual intervention in its various tasks when there are no faults. Therefore, it is essential to use this emergency anchoring system to automatically and intelligently unhook the USV when it is detected as out of control. The two methods of anchoring, unhooking push rod and rope, complement each other to maintain a stable anchoring success rate. Both anchoring methods are electrically controlled, which can meet the remote control operation of the USV in an unmanned state. Using the unhooking mechanism 300 for anchoring reduces the use of hydraulic or electric anchor winches, thus reducing the impact of equipment weight on the weight of the USV.

[0060] The solenoid coil 436 controls the drive rod 345, pushing out its output end. The output end of the drive rod 345, through the conduction lug 344, pushes the double-force release plate 3411 to rotate around the release pin 342. The double-force release plate 3411 causes the lower end of the angle locking block 3312 to swing backward around the locking pin 3311, releasing the angle locking block 3312 from the locking block 3222. This causes the main hook body 3221 to swing forward around the main hook pin 323 under gravity, causing the anchor 210 to leave the main hook body 3221, achieving the purpose of releasing the anchor 210 with the release push rod. If the drive rod 345 fails and the anchor is not released, the rope drive motor 438 pulls the pull rod 3412 through the rope, thus releasing the double-force release. The locking plate 3411 rotates around the unlocking pin 342, and the first connecting hole 3413 of the double-force unlocking plate 3411 moves upward. The double-force unlocking plate 3411 drives the connecting pin 3331 through the first connecting hole 3413. The connecting pin 3331 pulls the lower end of the angle locking block 3312 around the locking pin 3311 through the connecting ear plate 3332, causing the locking port 332 of the angle locking block 3312 to gradually leave the locking angle 3223 of the locking block 3222, releasing the angle locking block 3312 from the locking block 3222. This causes the main hook body 3221 to swing forward around the main hook pin 323 under the action of gravity, causing the anchor 210 to leave the main hook body 3221, thus achieving the purpose of releasing the rope anchor 210. Anchor 210 slides into the water under the influence of gravity to anchor the ship, thereby achieving the purpose of pulling the rope to release the anchor, so as to complete the anchoring work. If the drive rod 345 fails to release the anchor, it can also release the anchor by pulling the rope, so as to complete the release work smoothly and improve the stability of the equipment operation.

[0061] When the main hook body 3221 returns to its original position, the tension of the pull rope and drive rod 345 is released. The double-force release plate 3411, under the return of the torsion spring 343, pushes the lower end of the angle locking block 3312 forward to return to its original position via the connecting pin 3331. Simultaneously, under the action of gravity, the upper end of the angle locking block 3312 rotates around the locking pin 3311, and the lower end of the angle locking block 3312 swings forward and downward under the action of gravity. The angle locking block 3312 returns to its original position under the combined action of gravity and spring force. The main hook body 3221 returns to its original position upward under the action of external force. The locking block 3222 pushes the angle locking block 3312, causing the locking angle 3223 of the locking block 3222 to automatically engage with the engagement slot 332 at the lower end of the angle locking block 3312, so that the locking angle 3223 and the engagement slot 332 form an angle. The weight of the anchor acts on the main hook body 3221, causing it to be subjected to forward pressure. The main hook body 3221 tends to swing forward and downward around the main hook pin 323. The locking block 3222 and the main hook body 3221 are an integral structure. The locking block 3222 tends to move backward and upward. The upper side of the locking angle 3223 of the locking block 3222 exerts pressure on the contact surface of the locking opening 332 of the angle locking block 3312. Since the angle between the upper side of the locking angle 3223 and the contact surface of the locking opening 332 is less than the self-locking angle, the locking opening 332 and the locking block 3222 form an angle lock. The greater the force on the main hook body 3221, the more stable the anchor lock is, reducing the occurrence of accidental anchor slippage. In addition, the return process of the main hook body 3221 is simple, reducing the complexity of the return operation of the main hook body 3221.

[0062] The above are merely embodiments of this application and are not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

Claims

1. An emergency anchoring system for an unmanned surface vessel, comprising a hull, characterized in that, Also includes: Anchor mechanism, which is located at the stern of the ship; The unhooking mechanism is a mechanism that holds the ship's anchor. The unhooking mechanism can drop anchor by either pushing the unhooking rod or pulling the rope. The anchoring control assembly includes an unmanned surface vessel (USV) main control box, a power supply module, a disengagement mechanism control device, and detection sensors. The power supply module supplies power to the USV main control box and the disengagement mechanism control device, which are electrically connected. The detection sensors are connected to the disengagement mechanism control device to detect the action of the disengagement mechanism. The disengagement mechanism is connected to the disengagement mechanism control device, which controls the disengagement push rod and pull rope of the disengagement mechanism to move respectively. in, The unhooking mechanism includes a base structure, a swing-type unhooking structure, an angle locking structure, and a dual-force unlocking structure; The swing-type unhooking structure is located at the front end of the base structure. The main hook part of the swing-type unhooking structure is rotated and located at the front end of the swing-type unhooking structure. The main hook part of the swing-type unhooking structure hooks onto the anchor mechanism. An angle locking structure is located inside the upper part of the swing-type unhooking structure. Under the action of gravity, the angle locking structure swings forward and downward. After the angle locking structure swings down, the bottom end of the angle locking structure locks the rear end of the main hook part of the swing-type unhooking structure. The dual-force release structure is located at the rear end of the swing-type release structure and is connected to the middle of the angle locking structure. The dual-force release structure can pull the angle locking structure to swing backward and upward by pulling the rope. The dual-force release structure can also pull the angle locking structure to swing backward and upward by releasing the release push rod. The angle locking structure can be released from locking the main hook part of the swing-type release structure by the release push rod and pulling the rope. The dual-force unlocking structure includes a dual-force unlocking component, an unlocking pin, a torsion spring, a transmission lug, and a drive rod. The unlocking pin rotates through the upper side of the rear end of the swing-type unlocking structure. The upper side of the rear end of the dual-force unlocking component is rotated and sleeved on the unlocking pin. The torsion spring is sleeved on the unlocking pin. One end of the torsion spring is connected to the swing-type unlocking structure, and the other end of the torsion spring is connected to the dual-force unlocking component. The elastic force of the torsion spring can push the upper end of the dual-force unlocking component to swing forward. The front end of the transmission lug is rotated and connected to the lower end of the dual-force unlocking component. The drive rod is fixedly connected to the base structure, and the rear end of the transmission lug is rotated and connected to the output end of the drive rod. The dual-force unlocking device includes a dual-force unlocking plate and a pull rod. The pull rod is fixedly connected to the upper side of the dual-force unlocking plate, and the pull rope is fixedly connected to the top of the pull rod. A first connecting hole is opened at the front end of the dual-force unlocking plate, and the rear end of the angle locking structure is rotatably connected to the first connecting hole. A second connecting hole is opened on the upper side of the rear end of the dual-force unlocking plate, and the unlocking pin is rotatably connected to the second connecting hole. A third connecting hole is opened on the lower side of the rear end of the dual-force unlocking plate, and the front end of the conduction ear is rotatably connected to the third connecting hole.

2. The unmanned surface vessel emergency anchoring system according to claim 1, characterized in that, The unhooking mechanism control device includes an automatic unhooking control board, a microcontroller, a power module, a CAN communication module, a power distribution control module, an unhooking electromagnetic coil, a brushless motor drive module, and a rope drive motor. The microcontroller, power module, CAN communication module, power distribution control module, and brushless motor drive module are integrated on the automatic unhooking control board. The power module, CAN communication module, power distribution control module, and brushless motor drive module are connected to the microcontroller. The unmanned surface vessel's main control box and the microcontroller transmit information through the CAN communication module. The microcontroller controls the power distribution control module and the brushless motor drive module respectively. The power distribution control module controls the unhooking electromagnetic coil, which controls the unhooking push rod action of the unhooking mechanism. The brushless motor drive module controls the rope pulling action of the unhooking mechanism and controls the rope drive motor. The power supply module supplies power to the CAN communication module, microcontroller, power distribution control module, and brushless motor drive module respectively through the power module.

3. The unmanned surface vessel emergency anchoring system according to claim 2, characterized in that, The automatic unhooking control board also integrates a program download module and a reset circuit, which are connected to the microcontroller.

4. The unmanned surface vessel emergency anchoring system according to claim 2, characterized in that, An anchor chain locker is located at the stern of the hull. The anchor mechanism includes the anchor, anchor chain, and release line assembly. The anchor chain is stored in the anchor chain locker. One end of the anchor chain is fixed in the anchor chain locker, and the other end is connected to the stern of the anchor. One end of the release line assembly is fixed to the stern of the anchor, and the other end is hooked onto the release mechanism.

5. The unmanned surface vessel emergency anchoring system according to claim 1, characterized in that, The swing-type release structure includes a mounting base, a swing-type release, and a main hook pin. There are two mounting bases, which are positioned opposite each other at the front end of the base structure. The main hook pin passes through the lower side of the front end of the two mounting bases. The middle part of the lower end of the swing-type release is rotatably sleeved onto the main hook pin. The bottom end of the angle locking structure locks the upper side of the rear part of the lower end of the swing-type release.

6. The unmanned surface vessel emergency anchoring system according to claim 5, characterized in that, An anti-disengagement mechanism is provided at the upper end of the mounting base. The anti-disengagement mechanism includes a release pin, a release, an elastic metal sheet, and a limiting block. The release pin passes through the upper side of the front end of the two mounting bases. The release sleeve is rotatably connected to the release pin. The elastic metal sheet is located on the lower side of the release. The limiting block is fixedly connected to the inner side of the mounting base. One end of the elastic metal sheet is pressed against the limiting block. The elastic force of the elastic metal sheet pushes the release to swing upward. The front end of the release can press against the inner wall of the upper end of the swing-type release hook.

7. The unmanned surface vessel emergency anchoring system according to claim 1, characterized in that, The angle locking structure includes an angle locking component and a connecting ear. The upper end of the angle locking component is rotatably connected to the upper end of the swing-type release structure. The lower end of the angle locking component has a locking slot, which locks the rear end of the main hook part of the swing-type release structure. The front end of the connecting ear is rotatably connected to the middle part of the angle locking component, and the rear end of the connecting ear is rotatably connected to the dual-force release structure.

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