An autonomous water surface net laying device and method

Abstract

The present application relates to a kind of water surface autonomous netting device and method, the water surface autonomous netting device includes shell, propulsion mechanism, state sensing mechanism and the clamping mechanism for clamping intercept net, the shell has the mounting structure for unmanned aerial vehicle hoisting, the propulsion mechanism and the state sensing mechanism are all installed in the shell, the shell includes the receiving cabin to be used to the intercept net is contained, the clamping mechanism is located in the receiving cabin, the propulsion mechanism can be adjusted according to the positioning information detected by the state sensing mechanism propulsion direction and propulsion speed, the receiving cabin can be opened according to the positioning information hatch to release the intercept net, the clamping mechanism can be released according to the positioning information clamping to make the intercept net separate from the receiving cabin.The water surface autonomous netting device and method provided by the present application solve the problem that the existing netting method has higher cost and is difficult to net in shallow water or complex water area.

Description

Technical Field

[0001] This invention relates to the field of net-laying interception equipment technology, and in particular to a device and method for autonomous net-laying on the water surface. Background Technology

[0002] With increasingly frequent marine activities, the need to intercept unauthorized surface or underwater moving targets in ports, nearshore facilities, and submarine pipelines is becoming increasingly urgent. As a non-destructive barrier, netting has broad application prospects in this field.

[0003] The current common solution is to use a surface or underwater platform to towed net deployment device, which relies on surface ships or large underwater vehicles to tow the interception net to the waters where it needs to be intercepted. However, this solution is costly, and because the operation of the transport platform is restricted in shallow or complex waters, it is difficult to deploy the interception net in shallow or complex waters. Summary of the Invention

[0004] The main objective of this invention is to propose an autonomous net-laying device and method for water surfaces, aiming to solve the problems of high cost and difficulty in laying nets in shallow or complex water areas by existing net-laying methods.

[0005] To achieve the above objectives, the present invention proposes an autonomous net deployment device for water surfaces, comprising a housing, a propulsion mechanism, a status sensing mechanism, and a clamping mechanism for holding the interception net. The housing has an installation structure for hoisting by an unmanned aerial vehicle (UAV). The propulsion mechanism and the status sensing mechanism are both installed inside the housing. The housing includes a storage compartment for accommodating the interception net. The clamping mechanism is located inside the storage compartment. The propulsion mechanism can adjust its propulsion direction and speed according to the positioning information detected by the status sensing mechanism. The storage compartment can open its door according to the positioning information to release the interception net. The clamping mechanism can release its clamp according to the positioning information to allow the interception net to detach from the storage compartment.

[0006] According to some embodiments of the present invention, the state sensing mechanism includes an angle detection component, a depth detection component, and a position detection component. The propulsion mechanism can adjust the propulsion direction and propulsion speed according to the depth information detected by the depth detection component, the heading angle information detected by the angle detection component, and the two-dimensional position information detected by the position detection component. The storage compartment can open the hatch according to the depth information detected by the depth detection component and the roll angle information detected by the angle detection component. The clamping mechanism can release the clamp according to the two-dimensional position information detected by the position detection component.

[0007] According to some embodiments of the present invention, the device further includes a main control module, a power supply module, and a drive assembly. The storage compartment is provided with a partition that divides the interior of the storage compartment into a first cavity and a second cavity for accommodating the interception net. The main control module, the power supply module, the angle detection assembly, the depth detection assembly, and the position detection assembly are all located in the first cavity. The clamping mechanism is located in the second cavity. The storage compartment has a net-laying port communicating with the second cavity. The door of the storage compartment is driven to connect with the drive assembly and is driven by the drive assembly to close the net-laying port. The propulsion mechanism, the state sensing mechanism, the clamping mechanism, and the drive assembly are all electrically connected to the main control module and to the power supply module.

[0008] According to some embodiments of the present invention, the separator is equipped with a water inlet valve that can be electrically connected to the main control module, the first cavity and the second cavity are connected through the water inlet valve, and the water inlet valve can be controlled to switch on and off according to the clamping state of the clamping mechanism.

[0009] According to some embodiments of the present invention, a counterweight is also included. The counterweight is fixed to the inner wall of the first cavity. The main control module, the power supply module and the status sensing mechanism are all installed on the counterweight. The counterweight is arranged on the same side as the net opening of the storage compartment.

[0010] Furthermore, the present invention also provides an autonomous net deployment method, based on the autonomous net deployment device for water surface as described in any one of the above claims, comprising the following steps:

[0011] After the autonomous net-laying device is deployed to the target water area, the positioning information of the autonomous net-laying device is acquired in real time. The positioning information includes angle information, two-dimensional position information, acceleration information and depth information. The angle information includes roll angle and heading angle.

[0012] Based on the angle information, acceleration information, depth information, two-dimensional position information, and the position information of the netting points, the control unit opens the hatch to release the interception net and controls the propulsion mechanism to drive the device to travel.

[0013] Based on the two-dimensional location information and the location information of the netting points, the clamping mechanism is controlled to release the clamp so that the interception net can be released from the device, thus completing the netting operation.

[0014] According to some embodiments of the present invention, controlling the opening of the hatch of the receiving compartment to release the interception net and controlling the operation of the propulsion mechanism to drive the device to navigate based on the angle information, the acceleration information, the depth information, the two-dimensional position information, and the position information of the net deployment points includes:

[0015] The buoyancy state of the device is determined based on the acceleration information and the depth information.

[0016] When the device is in a stable floating state and the roll angle is within the preset angle range, control the storage compartment to open the hatch to release the interception net.

[0017] The propulsion mechanism is controlled to drive the device to navigate based on the heading angle, the two-dimensional position information, and the position information of the network points.

[0018] According to some embodiments of the present invention, after controlling the opening of the hatch of the receiving compartment to release the interception net and controlling the operation of the propulsion mechanism to drive the device to navigate based on the angle information, the acceleration information, the depth information, the two-dimensional position information, and the position information of the net deployment points, the method further includes:

[0019] The operating parameters of the drive motor of the propulsion mechanism are acquired in real time;

[0020] The operating status of the propulsion mechanism is determined based on the operating parameters;

[0021] When a malfunction is detected in the propulsion mechanism, the clamping mechanism is controlled to release the clamp.

[0022] According to some embodiments of the present invention, the device for controlling the clamping mechanism to release the clamping mechanism to disengage the interception net based on the two-dimensional location information and the location information of the net deployment points includes:

[0023] The cumulative travel distance of the device is determined based on real-time two-dimensional position information;

[0024] The distance between the current position of the device and the location of the network points is determined based on the current two-dimensional position information and the location information of the network points.

[0025] When the cumulative travel distance is greater than 95% of the total length of the interception net and the interval distance is less than the distance threshold, the clamping mechanism is controlled to release the clamp so that the interception net is detached from the device.

[0026] According to some embodiments of the present invention, after the clamping mechanism is released from clamping to allow the intercepting net to detach from the device based on the two-dimensional location information and the location information of the net deployment points, the method further includes:

[0027] After confirming that the interception net has completely detached from the device, the water inlet valve is opened to allow liquid to enter the first chamber and cause the device to sink to the bottom of the water.

[0028] The present invention has at least the following beneficial effects:

[0029] In this invention, the device is hoisted onto a drone via a mounting structure on the shell. The drone then transports and deploys the entire device to the target water area. The autonomous net-laying device's status sensing mechanism acquires its positioning information in real time. Once the device is confirmed to be stably floating on the water, the storage compartment opens its door to release the interception net. The propulsion mechanism activates to drive the device, continuously adjusting its direction and speed based on the real-time device positioning information and the location of the net-laying point. When the device approaches the net-laying point, the clamping mechanism releases its grip, allowing the interception net to detach from the storage compartment, completing the net-laying operation. This invention uses a drone to airdrop the autonomous net-laying device to the target water area, avoiding limitations imposed by shallow or complex water conditions. Compared to towing nets using surface or underwater platforms, this method is more cost-effective. Furthermore, relying on the propulsion mechanism to drive the autonomous net-laying device to the vicinity of the net-laying point enables precise net-laying. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the autonomous water surface net deployment device in an embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the structure of a water surface autonomous net deployment device provided in an embodiment of the present invention;

[0033] Figure 3 for Figure 2 A schematic diagram of the internal structure of the autonomous water surface net deployment device in the middle;

[0034] Figure 4 for Figure 3 A magnified view of part A in the diagram;

[0035] Figure 5 This is a flowchart illustrating the first embodiment of the autonomous network deployment method of the present invention;

[0036] Figure 6 This is a flowchart illustrating the second embodiment of the autonomous network deployment method of the present invention;

[0037] Figure 7 This is a flowchart illustrating the third embodiment of the autonomous mesh deployment method of the present invention;

[0038] Figure 8 This is a flowchart illustrating the fourth embodiment of the autonomous network deployment method of the present invention;

[0039] Figure 9 This is a flowchart illustrating the fifth embodiment of the autonomous network deployment method of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] 100-Autonomous net deployment device; 1-Shell; 11-Reception compartment; 111-Door; 112-First cavity; 113-Second cavity; 114-Net deployment port; 12-Separator; 13-Buffer mechanism; 14-Connecting compartment; 2-Propulsion mechanism; 21-Drive motor; 22-Propeller; 23-Fly deflector; 24-Rudder; 3-Status sensing mechanism; 31-Angle detection component; 311-Gyroscope; 312-Electronic compass; 32-Depth detection component; 33-Position detection component; 34-Acceleration sensor; 35-Speed ​​detection component; 4-Clamping mechanism; 5-Main control module; 6-Power supply module; 7-Drive component; 8-Inlet valve; 9-Counterweight; 200-Interception net. Detailed Implementation

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0044] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0045] This invention provides a device and method for autonomous net deployment on the water surface. Figures 1 to 9 This is a specific embodiment of the autonomous water surface net deployment device and method provided by the present invention.

[0046] like Figures 1 to 4 As shown, this embodiment of the invention provides a water surface autonomous net deployment device 100, including a housing 1, a propulsion mechanism 2, a status sensing mechanism 3, and a clamping mechanism 4 for clamping an interception net 200. The housing 1 has an installation structure for hoisting by a UAV. The propulsion mechanism 2 and the status sensing mechanism 3 are both installed inside the housing 1. The housing 1 includes a storage compartment 11 for accommodating the interception net 200. The clamping mechanism 4 is disposed inside the storage compartment 11. The propulsion mechanism 2 can adjust the propulsion direction and propulsion speed according to the positioning information detected by the status sensing mechanism 3. The storage compartment 11 can open the hatch 111 according to the positioning information to release the interception net 200. The clamping mechanism 4 can release the clamp according to the positioning information to allow the interception net 200 to detach from the storage compartment 11.

[0047] In this invention, the device is hoisted onto a drone via an installation structure on the housing 1. The drone then transports and deploys the entire device to the target water area. The state sensing mechanism 3 of the autonomous net-laying device 100 acquires the device's positioning information in real time. After confirming that the device is stably floating on the water surface, the storage compartment 11 opens its door 111 to release the interception net 200. The propulsion mechanism 2 starts operating to drive the device and continuously adjusts its propulsion direction and speed based on the real-time device positioning information and the location information of the net-laying point. When the device reaches the vicinity of the net-laying point, the clamping mechanism 4 releases its clamp to allow the interception net 200 to detach from the storage compartment 11, completing the net-laying operation. This invention uses a drone to airdrop the autonomous net-laying device 100 to the target water area, avoiding limitations imposed by shallow or complex water conditions. Compared to towing nets via surface or underwater platforms, this method is more cost-effective. Furthermore, relying on the propulsion mechanism 2 to drive the autonomous net-laying device 100 to the vicinity of the net-laying point enables precise net-laying.

[0048] It should be noted that the material of the interception net 200 is ultra-high molecular weight polyethylene fiber, which is rectangular when unfolded. The upper part of the net body of the interception net 200 is equipped with floats, and the lower part is equipped with a counterweight chain. The floats and the counterweight chain together keep the interception net 200 in a vertical position in the water, so as to cooperate with the towing and unfolding of the water surface autonomous net laying device 100.

[0049] In some embodiments, such as Figure 2As shown, the housing 1 also includes a buffer mechanism 13 and a connecting compartment 14. The buffer mechanism 13 and the connecting compartment 14 are respectively connected to both ends of the storage compartment 11. The propulsion mechanism 2 is installed at the end of the connecting compartment 14 away from the storage compartment 11. The mounting structure is located on the connecting compartment 14 or the storage compartment 11. With this configuration, when the UAV hoists the autonomous water surface net-laying device 100, the buffer mechanism 13 faces downwards, which can buffer the device when it enters the water, preventing damage to the components inside the housing 1 from excessive impact. Specifically, the buffer mechanism 13 is filled with cushioning materials such as aluminum foam.

[0050] Furthermore, in some embodiments, such as Figure 2 As shown, the cross-sections of the storage compartment 11, the buffer mechanism 13, and the connecting compartment 14 are all circular and coaxially arranged. The buffer mechanism 13 and the connecting compartment 14 are both tapered from their connection point with the storage compartment 11 towards the direction away from the storage compartment 11. This arrangement reduces the impact force when the device enters the water, and the coaxial arrangement makes the device's attitude more stable when entering and floating in the water.

[0051] In this embodiment, the device's positioning information includes angle information, two-dimensional position information, acceleration information, and depth information. The angle information includes roll angle and heading angle. Therefore, as... Figure 3 and Figure 4 As shown, the state sensing mechanism 3 includes an angle detection component 31, a depth detection component 32, and a position detection component 33. The propulsion mechanism 2 can adjust the propulsion direction and speed according to the depth information detected by the depth detection component 32, the heading angle information detected by the angle detection component 31, and the two-dimensional position information detected by the position detection component 33. The storage compartment 11 can open the hatch 111 according to the depth information detected by the depth detection component 32 and the roll angle information detected by the angle detection component 31. The clamping mechanism 4 can release the clamping according to the two-dimensional position information detected by the position detection component 33. Specifically, the state sensing mechanism 3 also includes an accelerometer 34 for detecting the acceleration of the device. The angle detection component 31 includes a gyroscope 311 and an electronic compass 312. The gyroscope 311 can detect the roll angle of the device, and the electronic compass 312 can detect the heading angle of the device. The depth detection component 32 is a depth sensor, and the position detection component 33 is a GPS positioning chip. The clamping mechanism 4 is existing technology, and its specific structure will not be described in detail.

[0052] Preferably, in some embodiments, such as Figure 2As shown, the propulsion mechanism 2 includes a drive motor 21, a propeller 22, and a ring-shaped fairing 23. The drive motor 21 is located inside the connecting compartment 14. The propeller 22 is fixedly connected to the output shaft of the drive motor 21. The fairing 23 is arranged around the outside of the propeller 22. The output shaft of the drive motor 21 is coaxially arranged with the fairing 23 and the connecting compartment 14. The outer wall of the connecting compartment 14 is provided with multiple rudders 24 spaced apart in its circumference. Each rudder 24 is driven to rotate and mounted on the outer wall of the connecting compartment 14 by a stepper motor. With this configuration, the fairing 23 acts as a flow straightener. The angle of the corresponding rudder 24 is adjusted by the stepper motor, and the propeller 22 is driven to rotate by the drive motor 21, thereby adjusting the propulsion direction. At the same time, the propulsion speed is adjusted by adjusting the rotational speed of the propeller 22.

[0053] In some embodiments, such as Figure 3 and Figure 4 As shown, the autonomous net-laying device 100 for the water surface also includes a main control module 5, a power supply module 6, and a drive assembly 7. The storage compartment 11 is provided with a partition 12, which divides the interior of the storage compartment 11 into a first cavity 112 and a second cavity 113 for accommodating the interception net 200. The main control module 5, the power supply module 6, the angle detection assembly 31, the depth detection assembly 32, and the position detection assembly 33 are all located in the first cavity 112. The clamping mechanism 4 is located in the second cavity 113. The storage compartment 11 has a net-laying port 114 that communicates with the second cavity 113. The door 111 of the storage compartment 11 is driven to connect with the drive assembly 7 and is driven by the drive assembly 7 to close the net-laying port 114. The propulsion mechanism 2, the status sensing mechanism 3, the clamping mechanism 4, and the drive assembly 7 are all electrically connected to the main control module 5 and to the power supply module 6. This configuration, through the separator 12, divides the storage compartment 11 into two cavities, preventing short circuits caused by liquid contact with electronic components during netting operations, and the air within the first cavity 112 provides buoyancy. Specifically, the drive assembly 7 includes two telescopic rods spaced apart. The outer rod of the telescopic rod is rotatably connected to the inner wall of the storage compartment 11, and the inner rod is rotatably connected to the inner wall of the hatch 111. The telescopic rods can be either electric or hydraulic push rods.

[0054] Furthermore, such as Figure 3 and Figure 4As shown, the state sensing mechanism 3 further includes a speed detection element 35 for detecting the output shaft speed of the drive motor 21. The speed detection element 35 is electrically connected to the main control module 5. Specifically, the speed detection element 35 is a Hall speed sensor. The main control module 5 can adjust the power of the drive motor 21 of the propulsion mechanism 2 in real time according to the feedback signal of the Hall speed sensor, so that the speed of the device is stabilized within a preset speed range. Furthermore, the main control module 5 can determine the cumulative travel distance of the device by combining the output shaft speed of the drive motor 21 detected by the Hall speed sensor with the two-dimensional position information detected in real time by the position detection element 33.

[0055] To ensure the concealment of the net deployment location, the autonomous net deployment device 100 needs to be submerged after completing the net deployment operation. Therefore, in some embodiments, such as... Figure 3 and Figure 4 As shown, a water inlet valve 8, electrically connected to the main control module 5, is installed on the separator 12. The first cavity 112 and the second cavity 113 are connected through the water inlet valve 8. The water inlet valve 8 can be controlled to open and close according to the clamping state of the clamping mechanism 4. With this configuration, after the netting operation is completed, the main control module 5 controls the water inlet valve 8 to open, allowing the liquid in the second cavity 113 to enter the first cavity 112. This serves two purposes: firstly, it allows the air in the first cavity 112 to be expelled, causing the device to sink to the bottom; secondly, it causes the various electronic components in the first cavity 112 to short-circuit upon contact with water, thereby destroying the device.

[0056] The hatch 111 of the receiving compartment 11 will only open to release the intercepting net 200 when the device is in a stable floating state and the net release port 114 is facing downwards. Therefore, in some embodiments, such as Figure 3 As shown, the autonomous net-laying device 100 also includes a counterweight 9, which is fixed to the inner wall of the first cavity 112. The main control module 5, the power supply module 6, and the status sensing mechanism 3 are all mounted on the counterweight 9. The counterweight 9 is located on the same side as the net-laying port 114 of the storage compartment 11. By setting the counterweight 9 on the same side as the net-laying port 114, the center of gravity of the device can be changed so that the roll angle of the device can be automatically adjusted so that the net-laying port 114 faces downwards.

[0057] Those skilled in the art will understand that the above-described structure does not constitute a limitation on the autonomous water surface netting device 100, and may include more or fewer components than described above, or combine certain components, or have different component arrangements.

[0058] like Figure 5 As shown, based on the autonomous net deployment device 100 on the water surface, this embodiment of the invention also provides an autonomous net deployment method, including the following steps:

[0059] Step S10: After the autonomous net-laying device 100 is deployed to the target water area, the positioning information of the autonomous net-laying device 100 is acquired in real time. The positioning information includes angle information, two-dimensional position information, acceleration information and depth information. The angle information includes roll angle and heading angle.

[0060] It should be noted that the roll angle of the device can be detected in real time by the gyroscope 311, the heading angle of the device can be detected in real time by the electronic compass 312, the two-dimensional position information can be detected in real time by the position detection component 33, the acceleration information can be detected in real time by the accelerometer 34, and the depth information can be detected in real time by the depth detection component 32.

[0061] Step S20: Based on the angle information, acceleration information, depth information, two-dimensional position information, and the position information of the netting points, control the storage compartment 11 to open the hatch 111 to release the interception net 200 and control the propulsion mechanism 2 to drive the device to sail.

[0062] It should be noted that, as Figure 1 As shown, after the autonomous net-laying device 100 is deployed to the target water area, it first enters the water and then floats up. When the device floats stably on the water surface and the net-laying port 114 is set downwards, the storage compartment 11 is controlled to open the hatch 111 to release the interception net 200. The propulsion mechanism 2 operates to drive the device to sail in the direction close to the net-laying point.

[0063] Step S60: Based on the two-dimensional location information and the location information of the netting points, control the clamping mechanism 4 to release the clamp so that the interception net 200 is released from the device, and complete the netting operation.

[0064] It should be noted that when the device travels to the vicinity of the net deployment point, the clamping mechanism 4 is controlled to release the clamp so that the interception net 200 is detached from the device.

[0065] In this invention, the autonomous net-laying method includes the following steps: after the autonomous net-laying device 100 is deployed to the target water area, the positioning information of the autonomous net-laying device 100 is acquired in real time. The positioning information includes angle information, two-dimensional position information, acceleration information, and depth information. The angle information includes roll angle and heading angle. Based on the angle information, acceleration information, depth information, two-dimensional position information, and the position information of the net-laying point, the receiving compartment 11 is controlled to open the hatch 111 to release the interception net 200, and the propulsion mechanism 2 is controlled to operate to drive the device. Based on the two-dimensional position information and the position information of the net-laying point, the clamping mechanism 4 is controlled to release the clamp so that the interception net 200 is detached from the device, completing the net-laying operation. This invention uses a drone to airdrop the autonomous net-laying device 100 to the target water area, which is not limited by shallow or complex water areas. Compared with the method of towing the net using a surface or underwater platform, the cost is lower. At the same time, relying on the propulsion mechanism 2 to drive the autonomous net-laying device 100 to the vicinity of the net-laying point, precise net-laying can be achieved.

[0066] refer to Figure 6 , Figure 6 This is a flowchart illustrating the second embodiment of the autonomous network deployment method of the present invention.

[0067] Based on the first embodiment described above, the autonomous network deployment method in this embodiment includes the following in step S20:

[0068] Step S21: Determine the floating / sinking state of the device based on the acceleration information and the depth information.

[0069] It should be noted that after the device enters the water, the acceleration sensor 34 continuously detects the impact acceleration signal. When the impact acceleration amplitude drops from the peak value at the moment of entry into the water to less than the preset stable threshold, it indicates that the device has completed the water entry impact buffering. At the same time, the depth detection component 32 detects the water depth of the device. When the water depth is less than the preset threshold, it indicates that the device has floated to the surface. Only when the above two conditions are met at the same time is the device determined to be in a stable floating state.

[0070] Step S22: When the device is in a stable floating state and the roll angle is within the preset angle range, control the storage compartment 11 to open the hatch 111 to release the interception net 200.

[0071] It should be noted that, since the counterweight 9 and the net release port 114 of the storage compartment 11 are set on the same side, the device will automatically adjust the roll angle under the gravity of the counterweight 9 until the roll angle is within the preset angle range. At this time, the net release port 114 of the storage compartment 11 is set downward, and the storage compartment 11 can be controlled to open the hatch 111 so that the interception net 200 is released from the net release port 114 under its own gravity.

[0072] Step S23: Control the propulsion mechanism 2 to drive the device to navigate based on the heading angle, the two-dimensional position information, and the position information of the netting points.

[0073] It should be noted that the propulsion mechanism 2 includes a drive motor 21, a propeller 22, a rudder 24, and a stepper motor. The drive motor 21 is located inside the connecting compartment 14. The propeller 22 is fixedly connected to the output shaft of the drive motor 21. The outer wall of the connecting compartment 14 is provided with a plurality of rudders 24 at intervals in its circumference. Each rudder 24 is driven to rotate and mounted on the outer wall of the connecting compartment 14 by a stepper motor. By controlling the corresponding stepper motor to adjust the angle of the corresponding rudder 24, and by driving the propeller 22 to rotate by the drive motor 21, the heading angle of the device can be adjusted, so that the device sails in the direction closer to the netting point to reduce the sailing distance.

[0074] It should be noted that the net-laying time is calculated based on the total length and net-laying speed of the interception net 200, the travel distance is calculated based on the two-dimensional position information and the position information of the net-laying point, the travel speed is calculated based on the net-laying time and the travel distance, and the rotational speed of the drive motor 21 is calculated based on the travel speed. The drive motor 21 is controlled to operate so that the net is laid just as the device travels to the net-laying point.

[0075] It should be noted that, due to the influence of the water flow speed in the water area, and the fact that a small part of the intercepting net 200 is in the storage cavity when the clamping mechanism 4 is not released, there is a deviation between the actual time when the device sails to the net placement point and the time when the net is completed. Therefore, it is necessary to adjust the speed of the drive motor 21 in real time to achieve real-time adjustment of the sailing speed.

[0076] refer to Figure 7 , Figure 7 This is a flowchart illustrating the third embodiment of the autonomous mesh deployment method of the present invention.

[0077] Based on the first embodiment described above, the autonomous network deployment method of this embodiment further includes, after step S20:

[0078] Step S30: Obtain the operating parameters of the drive motor 21 of the propulsion mechanism 2 in real time.

[0079] It should be noted that the operating parameters of the drive motor 21 include speed and drive current. The speed can be obtained by the rotation detection device, and the drive current can be obtained by the current sampling function built into the drive circuit of the drive motor 21.

[0080] Step S40: Determine the operating status of the propulsion mechanism 2 based on the operating parameters.

[0081] It should be noted that if the drive motor 21 stops for more than a preset time or stalls due to overcurrent, it indicates that the propeller 22 is stuck and the propulsion mechanism 2 has malfunctioned.

[0082] Step S50: When it is determined that the propulsion mechanism 2 has malfunctioned, control the clamping mechanism 4 to release the clamp.

[0083] It should be noted that after the propulsion mechanism 2 malfunctions, the device loses its towing power and cannot continue to tow and deploy the net of its full length. If the intercepting net 200 is not released at this time, the front end of the intercepting net 200 will still be clamped and locked by the clamping mechanism 4, and the whole net will be bound to the malfunctioning device. Eventually, it will drift or sink to the bottom with the device, and the entire intercepting net 200 will become completely ineffective. After the intercepting net 200 is released immediately, the net that has been released can maintain a vertically deployed posture in the water by relying on its own upper float and lower counterweight chain. Even if there is a deviation between the position and the preset trajectory, it can still form an intercepting barrier in the current water area, preserving the operational value of the net as much as possible and avoiding complete failure of the mission.

[0084] It should be noted that the drive motor 21 may stop rotating because the propeller 22 is entangled by aquatic plants or debris on the water surface. Before controlling the clamping mechanism 4 to release the clamp, the drive motor 21 can be briefly reversed and then rotated forward to try again, attempting to clear the aquatic plants and debris entangled in the propeller 22. If it returns to normal after 2 to 3 retries, the net-laying process can continue. If the retries fail, the clamping mechanism 4 can be controlled to release the clamp.

[0085] refer to Figure 8 , Figure 8 This is a flowchart illustrating the fourth embodiment of the autonomous mesh deployment method of the present invention.

[0086] Based on the first embodiment described above, the autonomous network deployment method in this embodiment includes the following in step S60:

[0087] Step S61: Determine the cumulative travel distance of the device based on the real-time two-dimensional position information.

[0088] It should be noted that the cumulative travel distance of the device can be determined by combining the output shaft rotation number of the drive motor 21 detected by the rotation speed detection device 35 with the real-time two-dimensional position information, making the value more accurate.

[0089] Step S62: Determine the distance between the current position of the device and the location of the meshing points based on the current two-dimensional position information and the location information of the meshing points.

[0090] Step S63: When the cumulative travel distance is greater than 95% of the total length of the interception net 200 and the interval distance is less than the distance threshold, control the clamping mechanism 4 to release the clamp so that the interception net 200 is released from the device.

[0091] It should be noted that if the cumulative travel distance is greater than 95% of the total length of the interception net 200, it indicates that most of the interception net 200 has been released. If the interval distance is less than the distance threshold, it indicates that the device is near the net deployment point. At this time, the clamping mechanism 4 can be controlled to release the clamp so that the interception net 200 can be removed from the device and the net deployment operation can be completed.

[0092] refer to Figure 9 , Figure 9 This is a flowchart illustrating the fifth embodiment of the autonomous network deployment method of the present invention.

[0093] Based on the first embodiment described above, the autonomous network deployment method in this embodiment further includes, after step S60:

[0094] Step S70: After confirming that the interception net 200 has completely detached from the device, control the water inlet valve 8 to open so that liquid enters the first chamber 112 and causes the device to sink to the bottom of the water.

[0095] It should be noted that by setting a photoelectric sensor at the net outlet 114, it is possible to detect whether the intercepting net 200 has completely detached from the device.

[0096] It should be noted that after the autonomous net-laying device 100 on the water surface completes the net-laying operation, the device is submerged to the bottom to ensure the concealment of the net-laying location.

[0097] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0098] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0099] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0100] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A water surface autonomous net deployment device, characterized in that, The device includes a housing, a propulsion mechanism, a status sensing mechanism, and a clamping mechanism for holding an interceptor net. The housing has an installation structure for hoisting the UAV. The propulsion mechanism and the status sensing mechanism are both installed inside the housing. The housing includes a storage compartment for accommodating the interceptor net. The clamping mechanism is located inside the storage compartment. The propulsion mechanism can adjust its propulsion direction and speed according to the positioning information detected by the status sensing mechanism. The storage compartment can open its door according to the positioning information to release the interceptor net. The clamping mechanism can release its clamp according to the positioning information to allow the interceptor net to detach from the storage compartment.

2. The autonomous water surface net deployment device as described in claim 1, characterized in that, The state sensing mechanism includes an angle detection component, a depth detection component, and a position detection component. The propulsion mechanism can adjust the propulsion direction and propulsion speed according to the depth information detected by the depth detection component, the heading angle information detected by the angle detection component, and the two-dimensional position information detected by the position detection component. The storage compartment can open the hatch according to the depth information detected by the depth detection component and the roll angle information detected by the angle detection component. The clamping mechanism can release the clamp according to the two-dimensional position information detected by the position detection component.

3. The autonomous water surface net deployment device as described in claim 2, characterized in that, It also includes a main control module, a power supply module, and a drive assembly. The storage compartment is equipped with a partition that divides the interior of the storage compartment into a first cavity and a second cavity for accommodating the interception net. The main control module, the power supply module, the angle detection assembly, the depth detection assembly, and the position detection assembly are all located in the first cavity. The clamping mechanism is located in the second cavity. The storage compartment has a net-laying port that communicates with the second cavity. The door of the storage compartment is driven to connect with the drive assembly and is driven by the drive assembly to close the net-laying port. The propulsion mechanism, the status sensing mechanism, the clamping mechanism, and the drive assembly are all electrically connected to the main control module and to the power supply module.

4. The autonomous water surface net deployment device as described in claim 3, characterized in that, The separator is equipped with a water inlet valve that can be electrically connected to the main control module. The first cavity and the second cavity are connected through the water inlet valve. The water inlet valve can be switched on and off according to the clamping state of the clamping mechanism.

5. The autonomous water surface net deployment device as described in claim 3, characterized in that, It also includes a counterweight block, which is fixed to the inner wall of the first cavity. The main control module, the power supply module and the status sensing mechanism are all installed on the counterweight block. The counterweight block is located on the same side as the net opening of the storage compartment.

6. A method for autonomous net deployment, based on the autonomous water surface net deployment device as described in any one of claims 1 to 5, characterized in that, Includes the following steps: After the autonomous net-laying device is deployed to the target water area, the positioning information of the autonomous net-laying device is acquired in real time. The positioning information includes angle information, two-dimensional position information, acceleration information and depth information. The angle information includes roll angle and heading angle. Based on the angle information, acceleration information, depth information, two-dimensional position information, and the position information of the netting points, the control unit opens the hatch to release the interception net and controls the propulsion mechanism to drive the device to travel. Based on the two-dimensional location information and the location information of the netting points, the clamping mechanism is controlled to release the clamp so that the interception net can be released from the device, thus completing the netting operation.

7. The autonomous network deployment method as described in claim 6, characterized in that, The method of controlling the opening of the hatch of the receiving compartment to release the interception net and controlling the operation of the propulsion mechanism to drive the device to navigate, based on the angle information, acceleration information, depth information, two-dimensional position information, and the position information of the net deployment points, includes: The buoyancy state of the device is determined based on the acceleration information and the depth information. When the device is in a stable floating state and the roll angle is within the preset angle range, control the storage compartment to open the hatch to release the interception net. The propulsion mechanism is controlled to drive the device to navigate based on the heading angle, the two-dimensional position information, and the position information of the network points.

8. The autonomous network deployment method as described in claim 6, characterized in that, After controlling the opening of the hatch of the receiving compartment to release the interception net and controlling the operation of the propulsion mechanism to drive the device to sail based on the angle information, acceleration information, depth information, two-dimensional position information, and the position information of the net deployment points, the method further includes: The operating parameters of the drive motor of the propulsion mechanism are acquired in real time; The operating status of the propulsion mechanism is determined based on the operating parameters; When a malfunction is detected in the propulsion mechanism, the clamping mechanism is controlled to release the clamp.

9. The autonomous network deployment method as described in claim 6, characterized in that, The device for controlling the clamping mechanism to release the clamp and allow the interception net to detach from the device based on the two-dimensional location information and the location information of the net deployment points includes: The cumulative travel distance of the device is determined based on real-time two-dimensional position information; The distance between the current position of the device and the location of the network points is determined based on the current two-dimensional position information and the location information of the network points. When the cumulative travel distance is greater than 95% of the total length of the interception net and the interval distance is less than the distance threshold, the clamping mechanism is controlled to release the clamp so that the interception net is detached from the device.

10. The autonomous network deployment method as described in claim 6, characterized in that, After controlling the clamping mechanism to release the clamp based on the two-dimensional location information and the location information of the deployment points to allow the interception net to detach from the device, the method further includes: After confirming that the interception net has completely detached from the device, the water inlet valve is opened to allow liquid to enter the first chamber and cause the device to sink to the bottom of the water.

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