Visual intelligence device and method for stern deployment of buoys

Abstract

The application discloses a visual intelligent device for tail releasing of buoys, which comprises a portal frame, the portal frame is arranged in a symmetrical structure, symmetrical rollers are arranged on the two sides of the portal frame respectively, each roller is fixedly connected with a motor through an extension frame, the output shaft of the motor is fixedly connected with a winding wheel, the winding wheel is connected with the connecting hole at one end of a connecting rod through a first connecting rope, all the connecting rods are arranged in a cross shape, the connecting rod is L-shaped, the other end of the connecting rod is fixedly connected with an electric push rod mounting plate, and the application relates to the technical field of a buoy releasing device and specifically relates to a visual intelligent device and method for tail releasing of buoys. The driving assembly controls the releasing and winding assembly, the flexible releasing and winding of the second connecting rope are realized, when the second connecting rope is released, the buoy is not disturbed by water flow impact during the water entry process and can keep a stable posture, when the second connecting rope is tightened, the buoy limiting assembly is firmly locked with the fixing block, and the stability of the buoy during the movement before suspension and water entry is ensured.

Description

Technical Field

[0001] This invention relates to the field of buoy deployment equipment technology, and more specifically, to a visual intelligent device and method for deploying buoys at the stern of a ship. Background Technology

[0002] In marine monitoring and hydrological surveys, deploying buoys at the stern is a crucial method for acquiring marine environmental data. When lifting buoys using a gantry crane at the stern, the swaying of the vessel due to waves causes the buoys to easily sway during the lifting and lowering process. While small buoys can be stabilized manually by pulling ropes in good sea conditions, medium and large buoys are much more difficult to stabilize manually. Although my country has a small number of vessels capable of deploying large buoys, their sterns only have a large gantry crane with a base on the aft deck and a moon pool at the stern, which does not guarantee the safety of the equipment and personnel involved in lifting the buoys. With the nation's strategic deployment towards the deep sea, the difficulty of deploying medium and large buoys in the deep sea remains. This invention aims to ensure that the buoy's swaying trend can be quickly sensed and judged by a vision system located in the center of the gantry crane. By adjusting the tension on the buoy, the swaying amplitude of the buoy with the ship is significantly reduced, thereby ensuring the safety of the buoy from lifting to lowering. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a visual intelligent device and method for deploying buoys at the stern of a ship. By controlling the deployment and retraction components through the drive components, the second connecting rope can be flexibly deployed and retracted. When the second connecting rope is relaxed, the buoy is not affected by the water flow during the water entry process and can maintain a stable posture. When it is tightened, the buoy limiting component is firmly locked to the fixing block, ensuring the stability of the buoy during the suspension and movement before entering the water.

[0004] A visual intelligent device for deploying buoys at the stern of a ship includes a gantry frame with a symmetrical structure. Symmetrical rollers are arranged on both sides of the gantry frame. Each roller is fixedly connected to a motor via an extension frame. The output shaft of the motor is fixedly connected to a winding reel. The winding reel is connected to a connecting hole at one end of a connecting rod via a first connecting rope. All connecting rods are arranged in a cross shape and are L-shaped. The other end of each connecting rod is fixedly connected to an electric push rod mounting plate. The electric push rod mounting plate is connected to a pressure block via a drive assembly. The pressure block is used to press down on the upper side of the buoy. Several fixing blocks with positioning holes are fixedly installed on the side edge. The fixing blocks are evenly arranged around the circumference and can be connected to the buoy limiting component. The buoy limiting component is connected to the retraction component through a second connecting rope. The retraction component is connected to the drive component. The drive component can drive the retraction component to move, thereby tightening or loosening the second connecting rope. When the second connecting rope is loosened, it is convenient for the buoy to be unaffected by the water flow when entering the water. When the second connecting rope is tightened, it is convenient to lock the buoy limiting component and the fixing blocks, which facilitates the suspension of the buoy and its movement before entering the water.

[0005] The crossbar of the connecting rod is also equipped with an inclination sensor and a controller. The inclination sensor and the controller transmit data. The controller controls the motor to drive the winding wheel to rotate, thereby adjusting the winding and unwinding of the first connecting rope and facilitating the adjustment of the horizontal angle of the connecting frame to keep it in a horizontal state.

[0006] Furthermore, the drive assembly includes a second electric push rod, which is fixed to the electric push rod mounting plate. The lower end of the telescopic rod of the second electric push rod is fixedly connected to a round shaft, and the lower end of the round shaft is fixedly connected to a fixing plate. The lower side of the fixing plate is fixedly connected to a pressure block through a set of circumferentially evenly arranged protruding rods. The pressure block is used to press down the upper side of the buoy.

[0007] Furthermore, the buoy limiting assembly includes a first electric push rod, a moving shaft, and a fixed block. The fixed block is inverted U-shaped and can accommodate the positioning block. The first electric push rod is fixed to one side of the fixed block. The telescopic rod of the first electric push rod passes through one side of the fixed block. The end of the telescopic rod of the first electric push rod is fixedly connected to the moving shaft. The moving shaft can be inserted into the positioning hole of the positioning block. The positioning hole of the positioning block matches the moving shaft. A connecting block is fixed to the upper side of the fixed block. The connecting block is connected to the lower end of the second connecting rope. The upper end of the second connecting rope is connected to the retraction assembly.

[0008] Furthermore, the retractable assembly includes a cross-shaped rod, the center of which is fixedly connected to the upper part of the circular shaft. The ends of the cross-shaped rod are rotatably connected to one end of a third connecting rod, and the other end of the third connecting rod is rotatably connected to one end of a crank arm. The crank arm is V-shaped, and its inflection point is rotatably connected to the corner of the connecting frame. The connecting frame is L-shaped, with the upper end of the vertical rod of the connecting frame fixedly connected to the electric push rod mounting plate. The other end of the connecting frame is fixedly connected to the outer wall of the fixing ring. The other end of the connecting frame is rotatably connected to the upper end of a first connecting rod. The other end of the crank arm is rotatably connected to one end of a second connecting rod, and the other end of the second connecting rod is rotatably connected to the lower end of the first connecting rod. The second connecting rod is fixedly connected to the end of the horizontal bar of the extending arm, which is L-shaped. The ends of the vertical rod of the extending arm are fixedly connected to the upper ends of the second connecting rope.

[0009] Furthermore, the crossbar of the connecting frame and the second connecting rod are arranged in parallel.

[0010] Furthermore, there are four connecting rods.

[0011] Furthermore, there are four fixing blocks.

[0012] Furthermore, it also includes a camera, which is installed on one side and the rear side of the gantry to facilitate monitoring the position and angle of the buoy from two different directions. The controller and the camera transmit data, and the controller transmits the images captured by the camera to the display.

[0013] The present invention also provides a method for using a visual intelligent device for deploying buoys at the stern of a ship, characterized by comprising the following steps:

[0014] Step 1: Install the visual intelligent device for deploying buoys at the stern of the ship in a suitable position at the stern of the hull. Ensure that the gantry is stable and fixed. Check that all components are securely connected, including the motor, winding reel, first connecting rope, connecting rod, electric push rod mounting plate, drive assembly, pressure block, buoy limiting assembly, deployment and take-up assembly, second connecting rope, and camera, etc., to ensure that the equipment is in normal working condition.

[0015] Step 2: Place the buoy in a suitable position under the equipment, so that the fixing block on the upper edge of the buoy is connected to the buoy limiting component. Activate the second electric push rod in the drive component. The telescopic rod drives the pressure block to move vertically downward, pressing the pressure block against the upper side of the buoy to achieve initial fixation of the buoy. Activate the first electric push rod in the buoy limiting component. Its telescopic rod pushes the moving shaft into the positioning hole of the fixing block to complete the mechanical locking between the buoy limiting component and the fixing block, ensuring that the buoy will not shake or fall off during suspension and movement.

[0016] Step 3: The tilt sensor detects the tilt angle of the connecting rod in real time and transmits the data to the controller. If the device is detected to be tilted, the controller controls the motor to drive the winding wheel to rotate. By adjusting the winding and unwinding of the first connecting rope, the connecting rod is adjusted to a horizontal state to ensure that the device is in a stable working posture.

[0017] Step 4: Start the motor. The motor drives the winding wheel to rotate through the extension frame, pulling the first connecting rope and driving the L-shaped connecting rods arranged in a cross shape to move, thereby suspending the buoy. The drive component drives the release and take-up component to move, tightening the second connecting rope to ensure that the buoy remains stable during suspension and movement. The control gantry frame drives the rollers and other components to move, moving the buoy and other components to the upper side of the water entry position.

[0018] Step 5: Cameras on one side and the back of the gantry capture the position and angle of the buoy in real time and transmit the data to the controller. The controller then transmits the images to the monitor for display. The operator can monitor the buoy's status in real time through the monitor. If any abnormality is detected, the equipment can be adjusted accordingly through the controller based on the camera image information and tilt sensor data.

[0019] Step Six: When the buoy moves to a suitable deployment position, the drive assembly and buoy are lowered by extending the first connecting rope. When the buoy contacts the upper side of the water surface, the drive assembly drives the retrieval assembly to loosen the second connecting rope, allowing the buoy to enter the water smoothly. During the water entry process, the buoy is not affected by the water flow and maintains a good water entry posture. Then, the buoy limiting assembly is controlled to separate from the fixing block, completing the buoy deployment operation. After the buoy limiting assembly, drive assembly, and retrieval assembly return to the hull, the next buoy deployment operation is carried out.

[0020] Compared with the prior art, the advantages and positive effects of the present invention are:

[0021] The second connecting rope is flexibly extended and retracted by controlling the extension and retraction components through the drive components. When the second connecting rope is relaxed, the buoy is not affected by the water flow during the water entry process and can maintain a stable posture. When it is tightened, the buoy limiting components are firmly locked to the fixing blocks to ensure the stability of the buoy during the suspension and movement before entering the water.

[0022] The tilt sensor installed on the equipment can detect the tilt angle of the connecting rod in real time and transmit the data to the controller. The controller then controls the motor to adjust the winding and unwinding of the first connecting rope, so that the connecting rod can automatically maintain a horizontal state. Even when the hull is swaying, the equipment can be quickly corrected to be level, avoiding buoy deployment errors caused by tilting and significantly improving deployment accuracy.

[0023] Dual cameras mounted on one and the rear of the gantry frame capture real-time images of the buoy's position and angle from different directions. The controller receives the camera data and transmits it to a monitor, allowing operators to visually monitor the deployment process. Simultaneously, the controller combines camera images with tilt sensor data to achieve automated visual feedback control of the equipment, promptly detecting and adjusting for any abnormalities during deployment.

[0024] Four L-shaped connecting rods are arranged in a cross shape to form a symmetrical support structure, which evenly distributes the weight of the buoy and equipment, enhances the overall rigidity of the equipment, and avoids deformation due to single-point stress. Four evenly distributed fixing blocks around the circumference cooperate with the buoy limiting component to ensure that the buoy is subjected to balanced force and prevents displacement when locked.

[0025] The retrieval and deployment assembly uses a linkage mechanism to convert the motion of the drive assembly into the linear motion of the extension arm, enabling precise retrieval and deployment of the second connecting rope. The coordinated movement of each linkage ensures that multiple second connecting ropes are tightened or loosened synchronously, avoiding uneven force on the buoy and effectively improving the working efficiency of the equipment. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0027] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0028] Figure 2 For the present invention Figure 1 A magnified view of a section at point A in the middle;

[0029] Figure 3 This is a partial three-dimensional structural diagram of the present invention;

[0030] Figure 4 For the present invention Figure 3 A magnified view of a section at point B in the middle;

[0031] Figure 5 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 .

[0032] In the diagram: 1. Gantry frame; 101. Roller; 2. Motor; 3. Winding wheel; 4. Connecting rod; 5. Fixing plate; 6. Extending rod; 7. Pressure block; 8. Buoy; 9. Moving rod; 10. Extending arm; 11. Connecting block; 12. Positioning block; 13. First electric push rod; 14. Moving shaft; 15. Fixing block; 16. Second electric push rod; 17. Electric push rod mounting plate; 18. Cross-shaped rod; 19. Round shaft; 20. Fixing ring; 21. Connecting frame; 22. First connecting rod; 23. Second connecting rod; 24. Crank arm; 25. Third connecting rod. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] A visual intelligent device for deploying buoys at the stern of a ship includes a gantry frame 1. The gantry frame 1 is configured with a symmetrical structure, with symmetrical rollers 101 on both sides. Each roller 101 is fixedly connected to a motor 2 via an extension frame. The output shaft of the motor 2 is fixedly connected to a winding wheel 3. The winding wheel 3 is connected to a connecting hole at one end of a connecting rod 4 via a first connecting rope. All connecting rods 4 are arranged in a cross shape and are L-shaped. The other end of each connecting rod 4 is fixedly connected to an electric push rod mounting plate 17. The electric push rod mounting plate 17 is connected to a pressure block 7 via a drive assembly. The pressure block 7 is used to press down on the upper side of the buoy 8. A plurality of fixing blocks 15 with positioning holes are fixedly installed on the upper edge of the buoy 8. The fixing blocks 15 are evenly arranged around the circumference and can be connected to the buoy 8 limiting component. The buoy 8 limiting component is connected to the retraction component through a second connecting rope. The retraction component is connected to the drive component. The drive component can drive the retraction component to move, thereby tightening or loosening the second connecting rope. When the second connecting rope is loosened, the buoy 8 is not affected by the water flow when it enters the water. When the second connecting rope is tightened, the buoy 8 limiting component and fixing blocks 15 are locked, which facilitates the suspension of the buoy 8 and its movement before entering the water.

[0035] An inclination sensor is also provided on the crossbar of the connecting rod 4, and a controller is also included. The inclination sensor and the controller transmit data. The controller controls the motor 2 to drive the winding wheel 3 to rotate, thereby adjusting the winding and unwinding of the first connecting rope and facilitating the adjustment of the horizontal angle of the connecting frame 21 to keep it in a horizontal state.

[0036] In this embodiment, the motor 2 is fixed to the roller 101 via an extension frame, driving the winding wheel 3 to rotate. The first connecting rope pulls the L-shaped connecting rods 4 arranged in a cross shape, thereby driving the electric push rod mounting plate 17 to move. The electric push rod mounting plate 17 controls the pressure block 7 to press down on the buoy 8 through the drive component. At the same time, the buoy 8 limiting component is linked with the retraction component through the second connecting rope. The retraction component realizes the retraction and release of the second connecting rope under the action of the drive component. The tilt sensor detects the tilt angle of the crossbar of the connecting rod 4 in real time and transmits the data to the controller. The controller feeds back and controls the motor 2 to adjust the retraction and release of the first connecting rope so that the connecting rod 4 remains horizontal. The pressure block 7 presses down on the upper side of the buoy 8. The fixing block 15 and the buoy 8 limiting component are locked through the positioning hole to ensure the stability of the buoy 8 when suspended and moved. When the second connecting rope is relaxed, the buoy 8 is not impacted by the water flow when it enters the water. When it is tightened, it is locked, adapting to the needs of the entire deployment process. The tilt sensor is linked with the controller to automatically correct the horizontal state of the equipment, avoiding the tilt of the buoy 8 due to the swaying of the hull, and improving the deployment accuracy.

[0037] The drive assembly includes a second electric push rod 16, which is fixed to the electric push rod mounting plate 17. The lower end of the telescopic rod of the second electric push rod 16 is fixedly connected to a round shaft 19, and the lower end of the round shaft 19 is fixedly connected to a fixing plate 5. The lower side of the fixing plate 5 is fixedly connected to a pressure block 7 through a set of circumferentially evenly arranged protruding rods 6. The pressure block 7 is used to press down the upper side of the buoy 8.

[0038] In this embodiment, the second electric push rod 16 is fixed to the electric push rod mounting plate 17, and its lower end of the telescopic rod is connected to the round shaft 19. The round shaft 19 drives the pressure block 7 to move vertically up and down through the fixing plate 5 and the extension rod 6. When the second electric push rod 16 is energized, the telescopic rod extends and retracts to drive the pressure block 7 to press down or lift up. Through the power output of the electric push rod, the pressure block 7 is stably pressed against the buoy 8 to ensure the stability of the buoy 8 during the movement.

[0039] The buoy 8 limiting assembly includes a first electric push rod 13, a moving shaft 14, and a fixing block 15. The fixing block 15 is inverted U-shaped and can accommodate the positioning block 12. The first electric push rod 13 is fixed to one side of the fixing block 15. The telescopic rod of the first electric push rod 13 passes through one side of the fixing block 15. The end of the telescopic rod of the first electric push rod 13 is fixedly connected to the moving shaft 14. The moving shaft 14 can be inserted into the positioning hole of the positioning block 12. The positioning hole of the positioning block 12 matches the moving shaft 14. A connecting block 11 is fixedly connected to the upper side of the fixing block 15. The connecting block 11 is connected to the lower end of the second connecting rope, and the upper end of the second connecting rope is connected to the launching and retracting assembly.

[0040] In this embodiment, the inverted U-shaped fixing block 15 accommodates the positioning block 12 (the fixing block 15 on the buoy 8), and the first electric push rod 13 pushes the moving shaft 14 to insert into the positioning hole of the positioning block 12 to achieve mechanical locking; the connecting block 11 is connected to the take-up and release assembly through the second connecting rope, and the take-up and release assembly controls the tension of the second connecting rope. In conjunction with locking and releasing, the moving shaft 14 and the positioning hole form a rigid connection to prevent the buoy 8 from shaking or falling off when suspended, and to ensure that the position is fixed before deployment.

[0041] The retractable assembly includes a cross-shaped rod 18, the center of which is fixedly connected to the upper part of the circular shaft 19. The ends of the cross-shaped rod 18 are rotatably connected to one end of a third connecting rod 25, and the other end of the third connecting rod 25 is rotatably connected to one end of a crank arm 24. The crank arm 24 is V-shaped, and its inflection point is rotatably connected to the corner of a connecting frame 21. The connecting frame 21 is L-shaped, and the upper end of the vertical rod of the connecting frame 21 is fixedly connected to the electric push rod mounting plate 17. The other end of the connecting frame 21 is fixedly connected to the outer wall of the fixing ring 20. The other end of the connecting frame 21 is rotatably connected to the upper end of a first connecting rod 22. The other end of the crank arm 24 is rotatably connected to one end of a second connecting rod 23, and the other end of the second connecting rod 23 is rotatably connected to the lower end of the first connecting rod 22. The second connecting rod 23 is fixedly connected to the end of the horizontal bar of the extension arm 10, which is L-shaped. The ends of the vertical rods of the extension arm 10 are fixedly connected to the upper ends of the second connecting rope.

[0042] In this embodiment, the center of the cross-shaped rod 18 is connected to the circular shaft 19 (drive assembly). When the circular shaft 19 rotates or moves, it drives the third connecting rod 25 and the crank arm 24 to move. The crank arm 24 is linked with the extension arm 10 through the first connecting rod 22 and the second connecting rod 23, so that the second connecting rope on the extension arm 10 is retracted and extended. The linkage mechanism converts the motion of the drive assembly into the linear motion of the extension arm 10, so as to achieve precise retraction and extension of the second connecting rope. At the same time, the driving force is increased through the lever principle. The linkages move in coordination to ensure that multiple second connecting ropes are tightened or loosened synchronously, so as to avoid uneven force on the buoy 8.

[0043] The crossbar of the connecting frame 21 and the second connecting rod 23 are arranged in parallel. The crossbar of the connecting frame 21 and the second connecting rod 23 are parallel to form a parallelogram mechanism, which ensures that the crossbar of the extended arm 10 remains horizontal during the movement, avoids uneven tension of the second connecting rope due to changes in the angle of the connecting rod, and ensures that the trajectory of the retrieval and deployment components is stable during the movement, prevents the buoy 8 from deflecting during the retrieval and deployment process, and improves the deployment accuracy.

[0044] There are four connecting rods 4. The four L-shaped connecting rods 4 are arranged in a cross shape and connected to the winding reel 3 through the first connecting rope to form a symmetrical support structure, which evenly distributes the weight of the buoy 8 and the equipment. The cross-shaped layout enhances the overall rigidity of the equipment, avoids deformation caused by single-point stress, and ensures the balance of the buoy 8 when suspended. The four connecting rods 4 can be adjusted together or individually to adapt to the horizontal correction requirements at different angles.

[0045] There are four fixing blocks 15. The four fixing blocks 15 are evenly distributed around the upper edge of the buoy 8, corresponding one-to-one with the four buoy 8 limiting components. They are locked in place by cooperating with the moving shaft 14 through positioning holes. The evenly distributed fixing blocks 15 ensure that the buoy 8 is subjected to balanced force and prevents displacement when locked.

[0046] It also includes a camera, which is installed on one side and the rear side of the gantry 1 to facilitate monitoring the position and angle of the buoy 8 from two different directions. The controller and the camera transmit data, and the controller transmits the images captured by the camera to the display.

[0047] Cameras are installed on one side and the rear of the gantry frame 1 to capture the position and angle of the buoy 8 in real time. The controller receives the camera data and transmits it to the display, allowing users to monitor it intuitively. At the same time, the controller assists in adjusting the equipment based on the image information. The dual cameras acquire the status of the buoy 8 from different angles, making it easy for operators to monitor the deployment process in real time and adjust abnormal situations in a timely manner. By combining the camera images with the tilt sensor data, the automated visual feedback control of the equipment is realized, improving the deployment accuracy and intelligence level.

[0048] The controller controls the drive assembly and the take-up and extend assembly, and the drive motor 2 adopts PID speed control.

[0049] The camera is a high-definition camera (≥60fps, IP68 protection), equipped with a fisheye lens to achieve 180° horizontal field of view coverage, and equipped with an automatic defogging device and an active light source (wavelength 850nm infrared).

[0050] The tilt sensor and camera determine the horizontality of the connecting rod 4 through a swing detection algorithm, which includes the following steps:

[0051] Step 1: Target Segmentation

[0052] The dynamic foreground is extracted by detecting the buoy region 8 using YOLOv8 and combining it with the background subtraction method (MOG2 algorithm).

[0053] Step 2: Motion Analysis

[0054] Optical flow calculation: The Lucas-Kanade algorithm is used to obtain pixel-level motion vector fields;

[0055] Feature tracking: Extract SURF feature points and match the correspondence between adjacent frames;

[0056] Step 3: Parameter Calculation

[0057] Swing amplitude: A=(Δxmax2+Δymax2), where Δx and Δy are the maximum displacement components of the feature point;

[0058] Oscillation direction: θ = arctan(∑vx∑vy) where vx and vy are optical flow vector components.

[0059] When the detected swing amplitude A > the critical threshold (A_th = 0.3L, where L is the length of buoy 8), the tilt sensor and camera transmit data to the controller, which then calculates the target adjustment amount. Where ki is the direction weighting coefficient and φi is the azimuth angle of the i-th rope, the motor 2 is controlled to start and drive the winding wheel 3 to rotate to perform synchronous winding and unwinding actions (maximum speed 0.5m / s), so as to realize the winding and unwinding of the corresponding first connecting rope.

[0060] The method of using this invention is as follows: Install the visual intelligent device for deploying buoys at the stern of the ship at a suitable position at the stern of the ship, ensure that the gantry 1 is stable and fixed, check whether the connection of each component is firm, including the motor 2, winding wheel 3, first connecting rope, connecting rod 4, electric push rod mounting plate 17, drive assembly, pressure block 7, buoy 8 limiting assembly, retraction assembly, second connecting rope and camera, etc., to ensure that the device is in normal working condition;

[0061] Place the buoy 8 in a suitable position below the equipment, so that the fixing block 15 on the upper edge of the buoy 8 is connected to the buoy 8 limiting component. Start the second electric push rod 16 in the drive component. The telescopic rod drives the pressure block 7 to move vertically downward, pressing the pressure block 7 against the upper side of the buoy 8, thus achieving the initial fixation of the buoy 8. Start the first electric push rod 13 in the buoy 8 limiting component. Its telescopic rod pushes the moving shaft 14 into the positioning hole of the fixing block 15, completing the mechanical locking between the buoy 8 limiting component and the fixing block 15, ensuring that the buoy 8 will not shake or fall off during suspension and movement.

[0062] The tilt sensor detects the tilt angle of the connecting rod 4 in real time and transmits the data to the controller. If the device is detected to be tilted, the controller controls the motor 2 to drive the winding wheel 3 to rotate. By adjusting the winding and unwinding of the first connecting rope, the connecting rod 4 is adjusted to a horizontal state to ensure that the device is in a stable working posture.

[0063] Start motor 2. Motor 2 drives the winding wheel 3 to rotate through the extension frame, pulls the first connecting rope, drives the L-shaped connecting rods 4 arranged in a cross shape to move, and then suspends the buoy 8. The drive component drives the release and take-up component to move, tightens the second connecting rope, and ensures that the buoy 8 remains stable during suspension and movement. Control the gantry frame 1 to drive the rollers 101 and other components to move, and move the buoy 8 and other components to the upper side of the water entry position.

[0064] Cameras on one side and the rear of the gantry frame 1 capture the position and angle of the buoy 8 in real time and transmit the data to the controller. The controller then transmits the images to the monitor for display. The operator can monitor the status of the buoy 8 in real time through the monitor. If any abnormality is found, the equipment can be adjusted accordingly through the controller based on the camera image information and tilt sensor data.

[0065] When buoy 8 moves to a suitable deployment position, the drive assembly and buoy 8 are lowered by extending the first connecting rope. When buoy 8 contacts the upper side of the water surface, the drive assembly drives the retrieval assembly to loosen the second connecting rope, allowing buoy 8 to enter the water smoothly. During the water entry process, buoy 8 is not affected by the water flow and maintains a good water entry posture. Then, the buoy 8 limiting assembly is controlled to separate from the fixing block 15, completing the deployment operation of buoy 8. After the buoy 8 limiting assembly, drive assembly, and retrieval assembly return to the hull, the deployment operation of the next buoy 8 is carried out.

[0066] This invention also discloses a method for using a visual intelligent device for deploying buoys at the stern of a ship, characterized by comprising the following steps:

[0067] Step 1: Install the visual intelligent device for deploying buoys at the stern of the ship in a suitable position at the stern of the hull. Ensure that the gantry 1 is stable and fixed. Check that all components are securely connected, including the motor 2, winding wheel 3, first connecting rope, connecting rod 4, electric push rod mounting plate 17, drive assembly, pressure block 7, buoy 8 limit assembly, deployment and retraction assembly, second connecting rope, and camera, etc., to ensure that the equipment is in normal working condition.

[0068] Step 2: Place the buoy 8 in a suitable position under the equipment, so that the fixing block 15 on the upper edge of the buoy 8 is connected to the buoy 8 limiting component. Start the second electric push rod 16 in the drive component. The telescopic rod drives the pressure block 7 to move vertically downward, pressing the pressure block 7 against the upper side of the buoy 8, thus achieving the initial fixation of the buoy 8. Start the first electric push rod 13 in the buoy 8 limiting component. Its telescopic rod pushes the moving shaft 14 to insert into the positioning hole of the fixing block 15, thus completing the mechanical locking between the buoy 8 limiting component and the fixing block 15, ensuring that the buoy 8 will not shake or fall off during suspension and movement.

[0069] Step 3: The tilt sensor detects the tilt angle of the connecting rod 4 in real time and transmits the data to the controller. If the device is detected to be tilted, the controller controls the motor 2 to drive the winding wheel 3 to rotate. By adjusting the winding and unwinding of the first connecting rope, the connecting rod 4 is adjusted to a horizontal state to ensure that the device is in a stable working posture.

[0070] Step 4: Start motor 2. Motor 2 drives the winding wheel 3 to rotate through the extension frame, pulls the first connecting rope, drives the L-shaped connecting rods 4 arranged in a cross shape to move, and then suspends the buoy 8. The drive component drives the release and take-up component to move, tightens the second connecting rope, and ensures that the buoy 8 remains stable during suspension and movement. Control the gantry frame 1 to drive the rollers 101 and other components to move, and move the buoy 8 and other components to the upper side of the water entry position.

[0071] Step 5: The cameras on one side and the rear of the gantry frame 1 capture the position and angle of the buoy 8 in real time and transmit the data to the controller. The controller transmits the image to the monitor for display. The operator monitors the status of the buoy 8 in real time through the monitor. If any abnormality is found, the equipment can be adjusted accordingly through the controller based on the camera image information and tilt sensor data.

[0072] Step Six: When buoy 8 moves to a suitable deployment position, the drive assembly and buoy 8 are lowered by extending the first connecting rope. When buoy 8 contacts the upper side of the water surface, the drive assembly drives the retrieval assembly to loosen the second connecting rope, allowing buoy 8 to enter the water smoothly. During the water entry process, buoy 8 is not affected by the water flow and maintains a good water entry posture. Then, the buoy 8 limiting assembly is controlled to separate from the fixing block 15, completing the deployment operation of buoy 8. After the buoy 8 limiting assembly, drive assembly, and retrieval assembly return to the hull, the next buoy 8 deployment operation is carried out.

[0073] The above-disclosed embodiments are merely specific examples of the present invention. However, the present invention is not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A visual intelligent device for stern deployment of buoys, comprising a gantry (1) arranged in a symmetrical structure, symmetrical rollers (101) being arranged on both sides of the gantry (1), characterized in that, Each said roller (101) is fixedly connected with a motor (2) through an extension frame, an output shaft of the motor (2) is fixedly connected with a winding wheel (3), the winding wheel (3) is connected with a connecting hole at one end of a connecting rod (4) through a first connecting rope, all the connecting rods (4) are arranged in a cross shape, the connecting rod (4) is L-shaped, the other end of the connecting rod (4) is fixedly connected with an electric push rod mounting plate (17), the electric push rod mounting plate (17) is connected with a pressing block (7) through a driving assembly, the pressing block (7) is used for pressing the upper side of the buoy (8), a plurality of fixed blocks (15) provided with positioning holes are fixedly arranged at the upper side edge position of the buoy (8), the fixed blocks (15) are uniformly arranged in a circle, the fixed blocks (15) can be connected with a buoy (8) limiting assembly, the buoy (8) limiting assembly is connected with a winding and unwinding assembly through a second connecting rope, the winding and unwinding assembly is connected with the driving assembly, the driving assembly can drive the winding and unwinding assembly to move so as to tighten or loosen the second connecting rope, when the second connecting rope is loosened, the buoy (8) is not affected by water flow when entering water, when the second connecting rope is tightened, the buoy (8) limiting assembly and the fixed block (15) are locked, the suspension of the buoy (8) and the movement before entering water are facilitated; An inclination sensor is further arranged on the cross rod of the connecting rod (4), a controller is further included, the inclination sensor and the controller perform data transmission, the controller controls the motor (2) and is used for driving the winding wheel (3) to rotate, so as to adjust the winding and unwinding of the first connecting rope, facilitate the adjustment of the horizontal angle of the connecting frame (21), and make the connecting frame (21) keep in a horizontal state; A camera is further included, the camera is installed on one side and the back side of the portal frame (1), so as to monitor the position and angle of the buoy (8) from two different directions, the controller and the camera perform data transmission, the controller transmits the picture shot by the camera to a display for display.

2. A visual intelligence device for stern deployment of buoys according to claim 1, characterized in that, The driving assembly includes a second electric push rod (16), the second electric push rod (16) is fixed on the electric push rod mounting plate (17), a telescopic rod lower end of the second electric push rod (16) is fixedly connected with a circular shaft (19), the lower end of the circular shaft (19) is fixedly connected with a fixed plate (5), the lower side of the fixed plate (5) is fixedly connected with the pressing block (7) through a group of extension rods (6) arranged uniformly in a circle, and the pressing block (7) is used for pressing the upper side of the buoy (8).

3. A visual intelligence device for stern deployment of buoys according to claim 2, characterized in that, The buoy (8) limiting component includes a first electric push rod (13), a moving shaft (14) and a fixed block (15), the fixed block (15) is inverted U-shaped, the fixed block (15) can accommodate the positioning block (12) inside, one side of the fixed block (15) is fixed with the first electric push rod (13), the telescopic rod of the first electric push rod (13) penetrates through one side of the fixed block (15), the telescopic rod end of the first electric push rod (13) is fixedly connected with the moving shaft (14), the moving shaft (14) can be inserted into the positioning hole of the positioning block (12), the positioning hole of the positioning block (12) matches the moving shaft (14), the upper side of the fixed block (15) is fixedly connected with a connecting block (11), the connecting block (11) is connected with the lower end of the second connecting rope, and the upper end of the second connecting rope is connected with the folding assembly.

4. A visual intelligence device for stern deployment of buoys according to claim 3, characterized in that, The folding assembly includes a cross-shaped rod (18), the center of the cross-shaped rod (18) is fixedly connected with the upper part of the circular shaft (19), the ends of the cross-shaped rod (18) are rotationally connected with one end of a third connecting rod (25) respectively, the other end of the third connecting rod (25) is rotationally connected with one end of a crank arm (24) respectively, the crank arm (24) is V-shaped, the crank point of the crank arm (24) is rotationally connected with the corner of a connecting frame (21), the connecting frame (21) is L-shaped, the vertical rod upper end of the connecting frame (21) is fixedly connected with the electric push rod mounting plate (17), the other end of the connecting frame (21) is fixedly connected with the outer wall of a fixed ring (20), the other end of the connecting frame (21) is rotationally connected with the upper end of a first connecting rod (22), the other end of the crank arm (24) is rotationally connected with one end of a second connecting rod (23), the other end of the second connecting rod (23) is rotationally connected with the lower end of the first connecting rod (22), the second connecting rod (23) is fixedly connected with the horizontal rod end of an extending arm (10), the extending arm (10) is L-shaped, and the vertical rod ends of the extending arm (10) are fixedly connected with the upper ends of the second connecting ropes respectively.

5. A visual intelligence device for stern deployment of a buoy according to claim 4, characterized in that, The horizontal rod of the connecting frame (21) and the second connecting rod (23) are arranged in parallel.

6. A visual intelligence device for stern deployment of a buoy according to claim 5, characterized in that, The connecting rods (4) are four.

7. A visual intelligence device for stern deployment of a buoy according to claim 5, characterized in that, The fixed blocks (15) are four.

8. A method of using a visual intelligence device for stern deployment of a buoy according to claim 5, characterized in that, The method comprises the following steps: Step one: install the visual intelligent equipment of the stern cloth buoy on the stern of the ship body, ensure that the gantry (1) is stably fixed, check whether the connection of each part is firm, including the motor (2), the winding wheel (3), the first connecting rope, the connecting rod (4), the electric push rod mounting plate (17), the driving assembly, the pressing block (7), the buoy (8) limiting component, the folding assembly, the second connecting rope and the camera, and ensure that the equipment is in the normal working state; Step two: the buoy (8) is placed in the appropriate position below the device, the fixed block (15) on the upper side of the buoy (8) is connected with the limiting assembly of the buoy (8), the second electric push rod (16) in the driving assembly is started, the telescopic rod drives the pressing block (7) to move vertically downward, the pressing block (7) presses the upper side of the buoy (8), the preliminary fixation of the buoy (8) is realized, the first electric push rod (13) in the limiting assembly of the buoy (8) is started, the telescopic rod of the first electric push rod (13) drives the moving shaft (14) to insert into the positioning hole of the fixed block (15), the mechanical locking of the limiting assembly of the buoy (8) and the fixed block (15) is completed, and it is ensured that the buoy (8) will not shake or fall off during the suspension and movement; Step three: the tilt sensor detects the inclination angle of the cross rod (4) in real time, and transmits the data to the controller, if the device is tilted, the controller controls the motor (2) to drive the winding wheel (3) to rotate, adjusts the extension and retraction of the first connecting rope, adjusts the cross rod (4) to the horizontal state, and ensures that the device is in a stable working posture; Step four: the motor (2) is started, the motor (2) drives the winding wheel (3) to rotate through the extension frame, pulls the first connecting rope, drives the cross-shaped L-shaped connecting rod (4) to move, and then suspends the buoy (8), the driving assembly drives the extension assembly to move, tightens the second connecting rope, ensures that the buoy (8) remains stable during suspension and movement, and controls the gantry (1) to drive the roller (101) to move, and drives the buoy (8) to move to the upper side of the water inlet position; Step five: the cameras on one side and the rear side of the gantry (1) shoot the position and angle of the buoy (8) in real time, and transmit the data to the controller, the controller transmits the picture to the display, the operator monitors the state of the buoy (8) in real time through the display, if the abnormality is found, the device can be adjusted according to the camera image information and the inclination sensor data through the controller; Step six: when the buoy (8) moves to the appropriate deployment position, the buoy (8) and the like are lowered by extending the first connecting rope, when the buoy (8) contacts the upper side of the water surface, the driving assembly drives the extension assembly to relax the second connecting rope, so that the buoy (8) enters the water stably, the buoy (8) is not affected by the water flow during the water entry process, maintains a good water entry posture, then the limiting assembly of the buoy (8) is separated from the fixed block (15), the deployment operation of the buoy (8) is completed, the limiting assembly of the buoy (8) and the driving assembly and the extension assembly return to the ship body to deploy the next buoy (8).

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