Dropping and recovering device of unmanned ship

Abstract

The utility model provides a launching and recovering device of an unmanned boat, which comprises a boat hanging frame (1) mounted on a deck, and is characterized in that an electromagnetic adsorption device (2) correspondingly matched with the unmanned boat (5) is connected onto a sling of the boat hanging frame (1), and at least one horizontal object dynamic monitoring device (4) is further mounted on the boat hanging frame (1). And a control module which is in electric signal connection fit with the boat hanging frame (1), the electromagnetic adsorption device (2) and the horizontal object dynamic monitoring device (4) is arranged in an operation room of the unmanned boat mother ship. The device is simple in structure, convenient to use and capable of rapidly completing withdrawing and releasing of the unmanned ship.

Description

Technical Field

[0001] The utility model relates to the field of launching and retrieving boats, and specifically relates to a launching and retrieving device for unmanned boats. Background Art

[0002] As unmanned boats begin to emerge in various fields, many countries have begun to make overall plans for unmanned surface boats. Today, unmanned boats begin to emerge in various fields and are widely used in water quality monitoring, security patrols and other tasks. With the development of material technology, sensor technology, intelligent control technology and related regulations, unmanned boats are expected to gradually break away from the design ideas of traditional boats and transform into operating systems for specific mission purposes. In the future, unmanned boats will have higher autonomy.

[0003] In order to ensure that the boat can be quickly deployed to a specific area and perform designated operations, it is particularly important to realize the automated lifting of the boat. The traditional boat lifting system mainly relies on manual operation of the crane or other lifting equipment on the ship to realize the retrieval and release of the boat. This requires manual judgment of the boat's lowering and recovery position information to give the speed instruction of the boat's lifting and lowering, and usually requires a suitable lifting point or hook connection device. Since the hook part of the boat's retrieval and release device is unstable in wind and waves, it brings difficulties to hooking, releasing and subsequent operations, and also brings safety risks to the operating crew. With the widespread application of unmanned boats, traditional lifting systems are difficult to meet the operational needs of unmanned boats. Utility Model Content

[0004] The utility model aims to overcome the deficiencies in the prior art and provides a launching and recovering device for an unmanned boat.

[0005] This application provides the following technical solutions:

[0006] A launching and recovering device for an unmanned boat comprises a davit installed on a deck, and is characterized in that an electromagnetic adsorption device corresponding to the unmanned boat is connected to the sling of the davit, at least one surface object dynamic monitoring device is also installed on the davit, and a control module that forms an electrical signal connection and cooperates with the davit, the electromagnetic adsorption device and the horizontal object dynamic monitoring device is provided in the operating room of the unmanned boat mother ship.

[0007] On the basis of the above technical solution, there can be further technical solutions:

[0008] A group of water surface dynamic monitoring devices is installed at one end of the davit, which includes a forward-looking horizontal object dynamic monitoring camera, a downward-looking horizontal object dynamic monitoring camera and a rear-looking horizontal object dynamic monitoring camera.

[0009] An unmanned boat transporting moving device is provided on the deck on one side of the davit.

[0010] The electromagnetic adsorption device comprises a first electromagnet and a second electromagnet, a crossbeam is connected between the first electromagnet and the second electromagnet, and the crossbeam is connected to the sling of the davit.

[0011] The unmanned boat shipping mobile device includes a shipping trolley, on which an unmanned boat placement rack is provided, and a first winch is provided on the deck on one side of the bottom of the boat davit. The steel cable of the first winch is connected to one end of the shipping trolley, and the steel cable of the second winch is connected to the other end of the shipping trolley. The second winch is located in the unmanned boat hangar on the deck.

[0012] The unmanned boat transport moving device comprises: a conveyor belt is arranged on a clamping plate, a group of unmanned boat placement racks are arranged on the conveyor belt, and the active motor of the conveyor belt forms an electrical signal control cooperation with the control module.

[0013] Utility model advantages:

[0014] The utility model has a simple structure and is easy to use, and can quickly complete the recovery and release of the unmanned boat, thereby effectively reducing the work intensity of the staff on the unmanned boat mother ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of Embodiment 1 of the present utility model;

[0016] Figure 2 yes Figure 1 A schematic diagram of the end of the cantilever of the middle davit when in operation;

[0017] Figure 3 yes Figure 1 Schematic diagram of the structure of small and medium-sized vehicles;

[0018] Figure 4 It is a structural schematic diagram of Example 2. DETAILED DESCRIPTION Example

[0019] like Figure 1-3 As shown, a launching and recovering device for an unmanned boat includes a davit 1 installed on the deck a of the unmanned boat mother ship. Its structure is a gravity-dumping davit or other structure in the prior art with a pillar fixedly connected to the deck a, a cantilever 1b is movably connected to the pillar, and a winch is arranged on the cantilever. Since they are all prior art, their detailed structure will not be described in detail here.

[0020] An electromagnetic adsorption device 2 is connected to the end of the sling 1a of the davit 1, and the electromagnetic adsorption device 2 includes a first electromagnet 2a and a second electromagnet 2b, and a crossbeam 2c is connected between the first electromagnet 2a and the second electromagnet 2b, and the crossbeam 2c is connected to the sling of the davit 1. The first electromagnet 2a is distributed along the width of the unmanned boat and is used to adsorb the middle and rear deck of the unmanned boat 5, and the second electromagnet 2b is distributed along the length of the boat and is used to adsorb the front deck of the unmanned boat 5. The housings of the top ends of the first electromagnet 2a and the second electromagnet 2b are both connected with a cable 2d, one end of which is connected to the sling 1a, so as to improve stability.

[0021] The first electromagnet 2a and the second electromagnet 2b together with the crossbeam 2c are distributed in a T shape and the existence of the cable 2d can effectively improve the stability of the unmanned boat 5 when the unmanned boat is adsorbed and lifted.

[0022] A set of horizontal object dynamic monitoring devices 4 are installed at the end of the cantilever 1b of the davit 1, which includes a forward-looking horizontal object dynamic monitoring camera 4a, a downward-looking horizontal object dynamic monitoring camera 4b and a rear-looking horizontal object dynamic monitoring camera 4c. The three cameras detect the implementation conditions in front of, behind and below the cantilever to dynamically monitor the unmanned boat 5 located in these areas, and transmit these video signals to the control module in the operation room of the unmanned boat mother ship by wireless transmission (or wired transmission).

[0023] The unmanned boat shipping mobile device 7 includes a shipping trolley 7a, on the body of which is provided an arc-shaped placement groove 7b corresponding to the bottom surface of the unmanned boat 5. The arc-shaped placement groove 7b is a frame structure, and a group of rubber suction cups 7d are evenly distributed on the arc-shaped placement groove 7b. The suction cups play a certain buffering role when the unmanned boat 5 is released onto the shipping trolley 7a, and at the same time make the unmanned boat more stable when placed on the arc-shaped placement groove.

[0024] A first winch 7c is provided on the deck at one side of the bottom of the boat davit 1. The steel cable of the first winch 7c is connected to one end of the shipping trolley 7a. The steel cable of the second winch is connected to the other end of the shipping trolley 7a. The second winch (not shown in the figure) is located in the unmanned boat garage (not shown in the figure) on the deck. Both winches form electrical signal control cooperation with the control module.

[0025] Working process:

[0026] When the unmanned boat is released, the control module controls the first winch to start and pull the transport cart carrying the unmanned boat under the davit, and then the control module controls the electromagnetic adsorption device to adsorb the unmanned boat.

[0027] The davit lifts the unmanned boat and moves it to the outside of the mother ship and descends toward the sea surface. During this process, the control module uses three cameras to detect the sea conditions in front of, behind and below the unmanned boat, and determines the timing of releasing the unmanned boat, thereby ensuring that the unmanned boat will not capsize when it touches the sea surface.

[0028] When the unmanned boat is recovered, the control module calculates the distance through the program according to the relative position relationship between the electromagnetic adsorption device 2 on the sling 1a and the unmanned boat 5 displayed by the current horizontal object dynamic monitoring camera 4b. When the distance between the two reaches the program setting (50cm), the program automatically powers the electromagnetic adsorption device, and the electromagnetic adsorption device generates magnetic force to capture the unmanned boat.

[0029] In this process, the control module 6 will continue to determine whether the electromagnetic adsorption device has captured the unmanned boat based on the real-time video image displayed by the current horizontal object dynamic monitoring camera 4b. When it is determined that the capture is successful, the control module 6 controls the davit 1 to lift the unmanned boat 5 and move it to the top of the unmanned boat consignment moving device 7 on one side of the bottom of the davit 1, and then cut off the power to release the unmanned boat 5.

[0030] The unmanned boat 5 falls into the arc-shaped placement groove, and the control module 6 controls the second winch to pull the consignment trolley into the unmanned boat garage. A staff member takes the unmanned boat from the arc-shaped placement groove and then fixes it on the boat fixing rack in the garage. Then the control module controls the first winch to start and pull the consignment trolley under the davit again to wait for the capture of a new unmanned boat. Example

[0031] like Figure 4 As shown, the difference between Example 2 and Example 1 lies in the structure of the unmanned boat transport moving device 7, so other identical structures will not be repeatedly described here.

[0032] The unmanned boat transporting device 7 includes: a conveyor belt 8 is provided on the deck a, a group of unmanned boat placing racks 8a are provided on the conveyor belt 8, and a sensor switch (not shown in the figure) is also installed on the conveyor belt 8 below each unmanned boat placing rack 8a, and the sensor switch forms an electrical signal control with the active motor and control module of the conveyor belt 8. The unmanned boat placing rack 8a has the same structure as the arc-shaped placing groove 7b, and a group of rubber suction cups (not shown in the figure) are also uniformly distributed on it.

[0033] Working process:

[0034] When the lifted unmanned boat 5 is placed on the unmanned boat rack, the induction switch sends a signal to the control module to control the active motor of the conveyor belt to rotate forward or reverse, and move the empty unmanned boat rack to the bottom of the davit, waiting for the davit to lift another unmanned boat.

Claims

1. A launching and recovering device for an unmanned boat, comprising a davit (1) mounted on a deck, characterized in that: An electromagnetic adsorption device (2) corresponding to an unmanned boat (5) is connected to the sling of the davit (1), at least one horizontal object dynamic monitoring device (4) is also installed on the davit (1), and a control module that forms an electrical signal connection and cooperation with the davit (1), the electromagnetic adsorption device (2) and the horizontal object dynamic monitoring device (4) is provided in the operating room of the unmanned boat mothership.

2. The unmanned boat launching and recovery device according to claim 1, characterized in that: A group of horizontal object dynamic monitoring devices (4) are installed at one end of the davit (1), comprising a forward-looking horizontal object dynamic monitoring camera (4a), a downward-looking horizontal object dynamic monitoring camera (4b) and a rear-looking horizontal object dynamic monitoring camera (4c).

3. The launching and recovery device of an unmanned boat according to claim 1, characterized in that: An unmanned boat transport moving device (7) is provided on the deck on one side of the boat davit (1).

4. The unmanned boat launching and recovery device according to claim 1, characterized in that: The electromagnetic adsorption device (2) comprises a first electromagnet (2a) and a second electromagnet (2b), a crossbeam (2c) is connected between the first electromagnet (2a) and the second electromagnet (2b), and the crossbeam (2c) is connected to a sling of the davit (1).

5. The unmanned boat launching and recovery device according to claim 3, characterized in that: The unmanned boat shipping mobile device (7) comprises a shipping trolley (7a), an unmanned boat placement frame (7b) is provided on the shipping trolley (7a), a first winch (7c) is provided on the deck at one side of the bottom of the boat davit (1), a steel cable of the first winch (7c) is connected to one end of the shipping trolley (7a), and a steel cable of a second winch is connected to the other end of the shipping trolley (7a), and the second winch is located in the unmanned boat hangar on the deck.

6. The launching and recovering device of an unmanned boat according to claim 3, characterized in that: The unmanned boat transport moving device (7) comprises: a conveyor belt (8) provided on a deck (a); a group of unmanned boat placement racks (8a) provided on the conveyor belt (8); and an active motor of the conveyor belt (8) and a control module forming an electrical signal control coordination.

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