ROV (Remote Operated Vehicle) mechanism for releasing and recovering unmanned ship

Abstract

The utility model relates to an unmanned ship release and recovery ROV mechanism which is arranged on an unmanned ship to release or recover an ROV, the unmanned ship is provided with a parking garage, and the unmanned ship release and recovery ROV mechanism comprises a wire twisting assembly, a release assembly, a transfer assembly and an alignment assembly; wherein the wire twisting assembly is arranged in the parking garage and connected with the ROV through a cable, the releasing assembly is arranged in the parking garage and used for pushing the ROV out of an opening of the parking garage, the transferring assembly is arranged on the unmanned ship in a sliding mode, and the alignment assembly is arranged on the transferring assembly; according to the mechanism for releasing and recovering the ROV of the unmanned ship, the ROV is precisely conveyed to the opening of the parking garage of the unmanned ship or the same height of the water surface through the transfer assembly, and the position of the ROV is calibrated in the direction parallel to the water surface through the alignment assembly, so that the technical effect of precisely recovering or releasing the ROV is achieved; and therefore, the inclusiveness of the unmanned ship to the occupied space and the set position of the parking garage is higher.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of ROV recovery and release, and particularly relates to a mechanism for releasing and recovering ROV by an unmanned ship. BACKGROUND

[0002] ROV (Remotely Operated Vehicle) is a robot specially used in underwater environment, which is usually operated by a remote control by an operator. ROV is widely used in marine research, oil and gas exploration, submarine engineering, search and rescue tasks, and environmental monitoring.

[0003] In the prior art, an unmanned ship is usually used to carry ROV to a designated sea area for operation. A parking garage needs to be arranged on the unmanned ship to park the ROV. If the parking garage is arranged on the unmanned ship to occupy a large space, the carrying space of other operating equipment on the unmanned ship will be occupied, and the ROV is easy to be separated from the parking garage in the wind and wave.

[0004] However, if the parking garage is arranged on the unmanned ship to occupy a small space, the ROV needs to improve the positioning accuracy during the recovery or release process. CONTENT OF THE UTILITY MODEL

[0005] In view of the deficiencies in the related art, the application provides a mechanism for releasing and recovering ROV by an unmanned ship. The ROV is accurately transported to the same height of the opening of the parking garage or the water surface of the unmanned ship by a transfer assembly, and the position of the ROV is calibrated in the direction parallel to the water surface by a positioning assembly, so as to accurately recover or release the ROV, and the parking garage on the unmanned ship has stronger inclusiveness for the occupied space and the arrangement position.

[0006] The application provides a mechanism for releasing and recovering ROV by an unmanned ship, which is arranged on the unmanned ship to release or recover ROV. The unmanned ship is provided with a parking garage to park the ROV. At least one side of the parking garage is provided with an opening. The mechanism for releasing and recovering ROV by the unmanned ship comprises:

[0007] A winding assembly is arranged in the parking garage and connected with the ROV through a cable.

[0008] A release assembly is arranged in the parking garage and used to push the ROV out of the opening of the parking garage.

[0009] A transfer assembly is slidingly arranged on the unmanned ship and used to transfer the ROV to the same height of the opening of the parking garage or the water surface of the unmanned ship.

[0010] An aligning assembly is provided on the transfer assembly, and is used to drive the ROV to align with the parking garage opening in a direction parallel to the water surface.

[0011] In some embodiments, the aligning assembly comprises:

[0012] A first electric cylinder is provided on the transfer assembly, and further comprises a first cylinder body, an input end and an output end.

[0013] Two first aligning members, one of which is connected with the first cylinder body, and the other is connected with the output end of the first electric cylinder.

[0014] In some embodiments, the aligning assembly comprises:

[0015] A second electric cylinder is provided on the transfer assembly, and further comprises a second cylinder body, an input end and an output end.

[0016] Two second aligning members, one of which corresponds to the parking garage opening and is fixedly connected with the transfer assembly, and the other is connected with the output end of the second electric cylinder.

[0017] In some embodiments, a first sliding rail is provided on the unmanned ship, and the transfer assembly comprises:

[0018] A mounting seat is provided on the unmanned ship.

[0019] A first motor is provided on the mounting seat, and the output end of the first motor is connected with the first sliding rail, and the first motor is used to drive the mounting seat to slide on the first sliding rail.

[0020] A carrying member is provided on the mounting seat.

[0021] In some embodiments, the transfer assembly further comprises:

[0022] A rotating member is rotatably provided at one end of the carrying member away from the mounting seat.

[0023] A second motor is provided on the carrying member or the rotating member, and is used to drive the rotating member to rotate relative to the carrying member.

[0024] In some embodiments, a second sliding rail is provided in the parking garage, and the releasing assembly comprises:

[0025] A pushing member is slidingly provided on the second sliding rail.

[0026] A synchronous pulley is arranged in the parking garage and connected with the pushing member;

[0027] A third motor is arranged in the parking garage, the output end of the third motor is connected with the pushing member through the synchronous pulley, and the third motor is used to drive the pushing member to slide along the second slide rail in the direction away from or close to the opening of the parking garage.

[0028] In some embodiments, the unmanned ship release and recovery ROV mechanism further comprises:

[0029] A fixed seat is arranged on the inner wall of the parking garage;

[0030] A telescopic member is slidingly arranged in the fixed seat;

[0031] A fourth motor is arranged in the fixed seat and connected with the telescopic member, and the fourth motor is used to drive the telescopic member to extend out of or retract into the fixed seat.

[0032] In some embodiments, the wire assembly comprises:

[0033] A wire reel is rotatably arranged in the parking garage, and the wire reel is connected with the ROV through a cable;

[0034] A fifth motor is arranged on one side of the wire reel, and the output end of the fifth motor is connected with the wire reel.

[0035] In some embodiments, the unmanned ship release and recovery ROV mechanism further comprises:

[0036] A monitoring assembly is arranged on the unmanned ship and is in communication connection with a control center, and the monitoring assembly is used to monitor the process of release and recovery of the ROV.

[0037] In some embodiments, a plurality of drainage holes are arranged on the carrying member and the rotating member.

[0038] In summary, the unmanned ship release and recovery ROV mechanism of the present application provides an unmanned ship release and recovery ROV mechanism, which accurately transports the ROV to the same height of the parking garage opening or the water surface of the unmanned ship through the transfer assembly, and calibrates the position of the ROV in the direction parallel to the water surface through the alignment assembly, thereby achieving the technical effect of accurately recovering or releasing the ROV, and further making the inclusion of the space and the setting position of the parking garage on the unmanned ship stronger; the first electric cylinder drives the two first alignment members to relatively and synchronously approach, thereby quickly calibrating the position of the ROV to align the parking garage opening; the second electric cylinder drives the one second alignment member to approach the other fixed second alignment member, thereby accurately calibrating the position of the ROV to align the parking garage opening; the first motor drives the carrier to move in the direction perpendicular to the water surface, thereby transferring the ROV to any height; the second motor drives the rotating member to rotate different angles relative to the carrier to assist the movement of the ROV to the carrier or prevent the ROV from sliding off the carrier; the third motor drives the ROV to slide along the second slide rail in the direction of approaching the parking garage opening through the synchronous pulley and the pushing member, thereby assisting the ROV to be released.

[0039] Additional features and advantages of the application will be set forth in the description that follows, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the application. The objectives and other advantages of the application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0040] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application, and, together with the description, do not limit the application. In the drawings:

[0041] Figure 1 It is a perspective view of the unmanned ship release and recovery ROV mechanism of the present application;

[0042] Figure 2 It is a front view of the unmanned ship release and recovery ROV mechanism of the present application;

[0043] Figure 3 It is a top view of the unmanned ship release and recovery ROV mechanism of the present application;

[0044] Figure 4 It is a structure schematic view of the wire assembly of the unmanned ship release and recovery ROV mechanism of the present application;

[0045] Figure 5 It is a connection structure schematic view of the release assembly and the second slide rail of the unmanned ship release and recovery ROV mechanism of the present application;

[0046] Figure 6Figure 2 is a schematic view of a connection structure between a transfer assembly and a first sliding rail of a release and recovery ROV mechanism of the unmanned ship of the present application;

[0047] Figure 7 Figure 3 is a schematic view of a partial structure of the transfer assembly of the release and recovery ROV mechanism of the unmanned ship of the present application;

[0048] Figure 8 Figure 4 is a schematic view of an alignment assembly of the release and recovery ROV mechanism of the unmanned ship of the present application.

[0049] In the drawings:

[0050] 100, a wire assembly; 101, a wire reel; 102, a fifth motor; 200, a release assembly; 201, a pushing member; 202, a synchronous pulley; 203, a third motor; 300, a transfer assembly; 301, a mounting seat; 302, a first motor; 303, a carrying member; 304, a rotating member; 305, a second motor; 400, an alignment assembly; 401, a first electric cylinder; 402, a first alignment member; 500, a monitoring assembly; 600, an unmanned ship; 601, a first sliding rail; 602, a second sliding rail; 603, a parking garage. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0052] In the description of the present application, it should be understood that the terms “center”, “transverse”, “longitudinal”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0053] The terms “first”, “second”, “third” are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with “first”, “second”, “third” can explicitly or implicitly include one or more of the features.

[0054] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium; can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. Embodiment one

[0056] Reference is made to the accompanying drawings Figures 1 to 8 shown, Figure 1 is a perspective view of the unmanned ship release and recovery ROV mechanism of the present application; Figure 2 is a front view of the unmanned ship release and recovery ROV mechanism of the present application; Figure 3 is a top view of the unmanned ship release and recovery ROV mechanism of the present application; Figure 4 is a structural schematic view of the wire assembly 100 of the unmanned ship release and recovery ROV mechanism of the present application; Figure 5 is a schematic view of the connection structure of the release assembly 200 and the second sliding rail 602 of the unmanned ship release and recovery ROV mechanism of the present application; Figure 6 is a schematic view of the connection structure of the transfer assembly 300 and the first sliding rail 601 of the unmanned ship release and recovery ROV mechanism of the present application;

[0057] Figure 7 is a schematic view of the local structure of the transfer assembly 300 of the unmanned ship release and recovery ROV mechanism of the present application;

[0058] Figure 8 is a schematic view of the alignment assembly 400 of the unmanned ship release and recovery ROV mechanism of the present application; the following Figures 1 to 8 The specific embodiments of the present application are described.

[0059] Reference is made to the accompanying drawings Figures 1 to 3As shown, the present application provides a kind of unmanned ship release and recovery ROV mechanism, be arranged on an unmanned ship 600 to release or recover ROV, and the unmanned ship 600 is equipped with parking garage 603 to park ROV, and at least one side of parking garage 603 is equipped with opening, and the unmanned ship release and recovery ROV mechanism includes wire winding assembly 100, release assembly 200, transfer assembly 300 and alignment assembly 400;Wherein, wire winding assembly 100 is arranged in parking garage 603 and is connected with ROV by cable, release assembly 200 is arranged in parking garage 603 and is used to push ROV out of the opening of parking garage 603, transfer assembly 300 is slidably arranged on the unmanned ship 600, and transfer assembly 300 is used to transfer ROV to the same height as the opening of parking garage 603, or transfer ROV to the same height as the water surface of the unmanned ship 600, and alignment assembly 400 is arranged on transfer assembly 300, and alignment assembly 400 is used to drive ROV to align the opening of parking garage 603 along the direction parallel to the water surface.

[0060] Reference is made to the accompanying drawings Figure 8 As shown, in some embodiments, alignment assembly 400 includes first electric cylinder 401 and two first alignment members 402, first electric cylinder 401 is arranged on transfer assembly 300, and first electric cylinder 401 further includes first cylinder body, input end and output end, wherein one first alignment member 402 is connected with first cylinder body, and the other first alignment member 402 is connected with the output end of first electric cylinder 401.

[0061] Specifically, first electric cylinder 401 includes first cylinder body, input end and output end, the input end of first electric cylinder 401 is electrically connected with a power supply, and the output end of first electric cylinder 401 makes linear reciprocating motion relative to the first cylinder body when energized, therefore, the first cylinder body is connected with a first alignment member 402, and the output end of first electric cylinder 401 is connected with the other first alignment member 402, the first cylinder body drives the two first alignment members 402 to move synchronously in the direction of relatively far away or relatively close when energized, thereby driving the ROV located between the two first alignment members 402 to move quickly to the position aligned with the opening of parking garage 603 of the unmanned ship 600.

[0062] First electric cylinder 401 includes but is not limited to linear electric cylinder, servo electric cylinder and pneumatic electric cylinder;Wherein, linear electric cylinder drives screw rod or rack through rotation of motor, so as to realize linear motion. It can accurately control the position of output end, and is suitable for occasions requiring high-precision positioning.

[0063] Servo electric cylinder uses servo motor as power source, which can provide high speed and high precision motion control. It is usually equipped with feedback devices such as encoder to ensure accurate control of position and speed.

[0064] Pneumatic electric cylinder as a kind of light and fast driving mode, it drives piston through compressed air to realize linear motion of output end.

[0065] The first alignment member 402 is used to align the ROV to the opening of the parking garage 603 in the direction parallel to the water surface; optionally, the two first alignment members 402 are arranged in a shape with a certain curvature to better adapt to the outer contour of the ROV and reduce damage to the ROV; optionally, in order to reduce the impact on the ROV, the first alignment member 402 is made of soft material, including but not limited to rubber or sponge, to provide a cushioning effect.

[0066] It should be noted that when the recovered ROV enters the parking garage 603, the first electric cylinder 401 drives the relative movement of the two first alignment members 402 to the first preset position, and the first preset position refers to the minimum distance between the two first alignment members 402 is not less than the maximum outer diameter of the ROV, and the positions between the two first alignment members 402 correspond to the opening of the parking garage 603. The first preset position should be selected according to the setting of the parking garage 603.

[0067] Referring to FIG. 6, the first alignment member 402 is used to align the ROV to the opening of the parking garage 603 in the direction parallel to the water surface; optionally, the two first alignment members 402 are arranged in a shape with a certain curvature to better adapt to the outer contour of the ROV and reduce damage to the ROV; optionally, in order to reduce the impact on the ROV, the first alignment member 402 is made of soft material, including but not limited to rubber or sponge, to provide a cushioning effect. Figure 1 With Figure 6 As shown in FIG. 6, in some embodiments, the unmanned ship 600 is provided with a first sliding rail 601, and the transfer assembly 300 includes a mounting seat 301, a first motor 302, and a carrier 303. The mounting seat 301 is arranged on the unmanned ship 600, the first motor 302 is arranged on the mounting seat 301, the output end of the first motor 302 is connected with the first sliding rail 601, the first motor 302 is used to drive the mounting seat 301 to slide on the first sliding rail 601, and the carrier 303 is arranged on the mounting seat 301.

[0068] Specifically, the first sliding rail 601 perpendicular to the water surface is arranged on the outer wall of the unmanned ship 600, the first motor 302 is fixedly arranged on the mounting seat 301, the output end of the first motor 302 is connected with the first sliding rail 601, and the carrier 303 parallel to the water surface is fixedly arranged on the mounting seat 301. The carrier 303 is used to carry the ROV, the mounting seat 301 and the carrier 303 are driven by the first motor 302 to move in the direction perpendicular to the water surface, so as to drive the ROV to move in the direction relatively far away from or close to the water surface, and thus the height of the ROV relative to the water surface is changed in the releasing or recovering process.

[0069] The first motor 302 includes but is not limited to a servo motor, a stepping motor, and a direct-current brushless motor. The servo motor can provide high-precision position control and good speed regulation capability. The stepping motor is used in open-loop control and cost-sensitive occasions, and can provide incremental position control. The direct-current brushless motor is used in high-efficiency and long-life applications, and has lower maintenance requirements and higher power density.

[0070] Optionally, the unmanned ship 600 is provided with two first slide rails 601 which are perpendicular to the water surface and are located at two ends of the opening of the parking garage 603. Two first motors 302 are fixedly arranged on two mounting seats 301 respectively, and the output ends of the two first motors 302 are connected with the two first slide rails 601 respectively. Two ends of a carrying member 303 are fixedly arranged on the two mounting seats 301 respectively, so as to ensure the stability of the ROV transfer process.

[0071] Referring to the accompanying drawings Figure 7 As shown in some embodiments, the transfer assembly 300 further comprises a rotating member 304 and a second motor 305. The rotating member 304 is arranged at one end of the carrying member 303 away from the mounting seat 301. The second motor 305 is arranged on the carrying member 303 or the rotating member 304, and is used to drive the rotating member 304 to rotate relative to the carrying member 303.

[0072] Specifically, the rotating member 304 is arranged at one end of the carrying member 303 away from the mounting seat 301, and is driven to rotate relative to the carrying member 303 by the second motor 305. The second motor 305 includes but is not limited to a servo motor, a stepping motor and a direct current brushless motor.

[0073] When the ROV recovery operation is performed, the rotating member 304 is rotated relative to the carrying member 303 to be below the water surface, so as to form an inclined surface extending downward from the top surface of the carrying member 303 to the water surface, thereby facilitating the ROV assisting in the operation to rush up the carrying member 303 through the above-mentioned extended inclined surface for recovery.

[0074] When the carrying member 303 carrying the ROV moves from the water surface to the position of the parking garage 603, or when the carrying member 303 carrying the ROV moves from the position of the parking garage 603 to the water surface, the rotating member 304 is rotated relative to the carrying member 303 to be above the top surface of the carrying member 303, so as to form an inclined surface extending upward from the top surface of the carrying member 303, thereby preventing the ROV from sliding off the carrying member 303 due to wind and wave surges.

[0075] In some embodiments, a plurality of drainage holes are arranged on the carrying member 303 and the rotating member 304. The drainage holes are used to drain the water splashed on the carrying member 303 due to the rotation of the rotating member 304 or the movement of the ROV, so as to reduce the carrying weight of the carrying member 303 and prolong the service life of the first motor 302.

[0076] Referring to the accompanying drawings Figure 1 With Figure 5As shown, in some embodiments, the parking garage 603 is provided with a second sliding rail 602, the release assembly 200 includes a poking member 201, a synchronous pulley 202 and a third motor 203, the poking member 201 is slidingly arranged on the second sliding rail 602, the synchronous pulley 202 is arranged in the parking garage 603 and connected with the poking member 201, the third motor 203 is arranged in the parking garage 603, the output end of the third motor 203 is connected with the poking member 201 through the synchronous pulley 202, and the third motor 203 is used to drive the poking member 201 to slide along the second sliding rail 602 away from or close to the opening of the parking garage 603.

[0077] Specifically, the parking garage 603 is provided with a second sliding rail 602 parallel to the water surface, the poking member 201 is slidingly arranged on the second sliding rail 602, and two synchronous pulleys 202 are arranged on one side of the second sliding rail 602. The third motor 203 includes but is not limited to a servo motor, a stepping motor and a direct current brushless motor. The third motor 203 is connected with the synchronous pulley 202 through a belt or a chain. When the third motor 203 is powered on and operated, it drives the poking member to move along the second sliding rail 602.

[0078] In the execution of the release ROV operation, the third motor 203 drives the poking member 201 to slide along the second sliding rail 602 to close to the opening of the parking garage 603, so as to push the ROV out of the parking garage 603 through the poking member 201.

[0079] In some embodiments, the unmanned ship release and recovery ROV mechanism further includes a fixed seat, an extension member and a fourth motor. The fixed seat is arranged on the inner wall of the parking garage 603. The extension member is slidingly arranged in the fixed seat. The fourth motor is arranged in the fixed seat and connected with the extension member. The fourth motor is used to drive the extension member to extend out of or retract into the fixed seat.

[0080] Specifically, the fixed seat is hollow inside and at least one end is open. The fixed seat is arranged on the inner wall of the parking garage 603. The extension member is slidingly arranged in the fixed seat. The fourth motor is arranged in the fixed seat. The output end of the fourth motor is connected with the extension member, which is used to control the extension member to extend out of or retract into the fixed seat, so as to release or limit the movement of the ROV in the parking garage 603. The fourth motor includes but is not limited to a servo motor, a stepping motor and a direct current brushless motor.

[0081] In the execution of the release ROV operation, first, the fourth motor is used to control the extension member to retract into the fixed seat, so as to release the limitation of the ROV in the parking garage 603, and the action of the ROV is no longer limited. Then the poking member can push the ROV out of the parking garage 603.

[0082] In the execution of the recovery ROV operation, the ROV enters the parking garage 603, and the fourth motor controls the extension of the telescopic part to extend the parking garage 603, thereby limiting the movement of the ROV in the parking garage 603, preventing the ROV from sliding out of the parking garage 603 due to wind and wave.

[0083] Referring to the accompanying drawings Figure 4 As shown in some embodiments, the wire assembly 100 includes a wire reel 101 and a fifth motor 102, the wire reel 101 is arranged in the parking garage 603, the wire reel 101 is connected to the ROV through the cable, and the fifth motor 102 is arranged on one side of the wire reel 101, and the output end of the fifth motor 102 is connected to the wire reel 101.

[0084] Specifically, when the wire reel 101 rotates relative to the parking garage 603, the length of the cable between the wire reel 101 and the ROV is shortened or lengthened to cooperate with the recovery or release of the ROV, and the fifth motor 102 is arranged on the wire reel 101 or the parking garage 603 to drive the wire reel 101 to rotate relative to the parking garage 603, which is used to pull the ROV into the parking garage 603 during ROV recovery, or prevent the cable from winding during ROV release, and the fifth motor 102 includes but is not limited to a servo motor, a stepper motor and a DC brushless motor.

[0085] The wire reel 101 includes but is not limited to an automatic tension control wire reel, a multi-layer wire reel, and an anti-winding wire reel; wherein the automatic tension control wire reel is equipped with an automatic tension control system, which can automatically adjust the tension of the cable as needed to ensure smooth movement of the cable during release and recovery.

[0086] The multi-layer wire reel is used to store longer cables in limited space, and the multi-layer wire reel is designed in a multi-layer structure to allow the cable to wind on multiple layers.

[0087] The anti-winding wire reel is used to reduce the risk of winding of the cable during release and recovery, and the anti-winding wire reel avoids winding by cooperating with the fifth motor 102 to slowly release the cable.

[0088] The cable includes but is not limited to a multi-core communication cable, an armored cable, and a self-floating cable; wherein the multi-core communication cable contains multiple independent wires for transmitting data, video signals and control commands, and can also transmit power for the ROV to use, and transfer the pulling force to guide the recovery of the ROV.

[0089] The armored cable is wrapped with metal wires or steel belts outside the insulation layer to improve the durability and pressure resistance of the cable, and facilitate the transfer of pulling force to guide the recovery of the ROV.

[0090] The self-floating cable has neutral buoyancy or slight positive buoyancy, which is used to reduce the drag force on the ROV and facilitate the management of the cable in water.

[0091] Reference is made to the accompanying drawings Figures 1 to 3 As shown in some embodiments, the unmanned ship release and recovery ROV mechanism further comprises a monitoring assembly 500 disposed on the unmanned ship 600 and in communication with a control center, the monitoring assembly 500 being configured to monitor the process of ROV release and recovery.

[0092] Specifically, the monitoring assembly 500 comprises a high-definition camera system, a sensor suite, a data communication system, and control software. The high-definition camera system includes, but is not limited to, multi-angle cameras and underwater cameras. The multi-angle cameras are installed at the opening of the parking garage 603 of the unmanned ship 600 to provide multiple perspectives of the ROV release and recovery process. The underwater cameras are used for underwater observation to monitor the status of the ROV and the cable during the release and recovery process.

[0093] The sensor suite includes, but is not limited to, pressure sensors, tension sensors, and attitude sensors. The pressure sensors are used to monitor the pressure changes in the underwater environment to ensure that the ROV is within a safe operating range. The tension sensors are installed on the cable to monitor the tension of the cable to prevent excessive stretching or slackening. The attitude sensors are used to monitor the attitude of the ROV, including pitch, roll, and yaw angles.

[0094] The data communication system includes a wireless communication module and a wired communication interface. The wireless communication module establishes a real-time data link with a control center through satellite or mobile networks. The wired communication interface establishes a high-speed data communication with the ROV through the cable to transmit control commands and sensor data.

[0095] The control software includes, but is not limited to, a graphical user interface (GUI) and an automatic monitoring algorithm. The graphical user interface provides an intuitive control panel through which the operators of the control center can monitor the status of the ROV and the operation of the unmanned ship 600. The automatic monitoring algorithm automatically detects abnormal conditions such as cable entanglement or ROV position deviation through software algorithms and issues warnings to the operators.

[0096] In the process of releasing the ROV, the unmanned ship release and recovery ROV mechanism first retracts the fixing seat through the fourth motor control telescopic part, thereby removing the restriction on the ROV in the parking garage 603, then makes the third motor 203 drive the pusher 201 to slide along the second slide rail 602 to the direction close to the opening of the parking garage 603 through the synchronous belt pulley 202, thereby pushing the ROV to the carrier 303 outside the parking garage 603 through the pusher 201, then drives the mounting seat 301 and the carrier 303 to move in the direction perpendicular to the water surface through the first motor 302, thereby driving the ROV to move to the direction relatively close to the water surface, until the top surface of the carrier 303 is flush with the water surface, and finally drives the rotating part 304 to rotate relative to the carrier 303 to be below the water surface through the second motor 305, thereby forming an inclined surface extending downward from the top surface of the carrier 303 to the water surface, so that the ROV completes the release through the above-mentioned extended inclined surface.

[0097] In the process of recovering the ROV, the unmanned ship release and recovery ROV mechanism first drives the rotating part 304 to rotate relative to the carrier 303 to be below the water surface through the second motor 305, thereby forming an inclined surface extending downward from the top surface of the carrier 303 to the water surface; drives the winch 101 to shorten the cable between the winch 101 and the ROV through the fifth motor 102, thereby making the ROV rush onto the carrier 303 through the above-mentioned extended inclined surface, and after being located between the two first alignment parts 402, drives the rotating part 304 to rotate relative to the carrier 303 to be above the top surface of the carrier 303 through the second motor 305, thereby forming an inclined surface extending upward from the top surface of the carrier 303, preventing the ROV from sliding off the carrier 303 due to wind and wave surges.

[0098] Then, the two first alignment parts 402 are simultaneously moved to the direction relatively close to each other through the first cylinder, thereby driving the ROV located between the two first alignment parts 402 to move quickly to the position aligned with the opening of the parking garage 603 of the unmanned ship 600, and then driving the mounting seat 301 and the carrier 303 to move in the direction perpendicular to the water surface through the first motor 302, thereby driving the ROV to move to the direction relatively close to the parking garage 603, until the top surface of the carrier 303 is flush with the bottom wall of the parking garage 603, and continuing to drive the winch 101 to shorten the cable between the winch 101 and the ROV through the fifth motor 102, thereby making the ROV enter the parking garage 603, and finally controlling the telescopic part to extend the fixing seat through the fourth motor, thereby restricting the movement of the ROV in the parking garage 603, and completing the recovery. Specific embodiment two

[0100] The application also provides an unmanned ship release and recovery ROV mechanism, which is different from the specific embodiment one in that the alignment assembly 400 is different, and the remaining technical features are the same as those of the specific embodiment one.

[0101] In some embodiments, the alignment assembly 400 comprises a second electric cylinder and two second alignment members, the second electric cylinder is arranged on the transfer assembly 300, and the second electric cylinder further comprises a second cylinder body, an input end and an output end, wherein one of the second alignment members corresponds to the opening of the parking garage 603 and is fixedly connected with the transfer assembly 300, and the other of the second alignment members is connected with the output end of the second electric cylinder.

[0102] Specifically, the second electric cylinder includes but is not limited to a linear electric cylinder, a servo electric cylinder and a pneumatic electric cylinder; the second electric cylinder comprises a second cylinder body, an input end and an output end, the input end of the second electric cylinder is electrically connected with a power supply, and the output end of the second electric cylinder makes linear reciprocating motion relative to the second cylinder body when in operation with power supply, therefore, one of the second alignment members corresponds to the opening of the parking garage 603 and is fixedly connected with the transfer assembly 300, and the output end of the second electric cylinder is connected with the other of the second alignment members, the output end of the second cylinder body drives one of the second alignment members to move towards the fixed second alignment member when in operation with power supply, thereby driving the ROV between the two second alignment members to move accurately to the position aligned with the opening of the parking garage 603 of the unmanned ship 600.

[0103] The second alignment members are used to drive the ROV to align with the opening of the parking garage 603 in the direction parallel to the water surface; optionally, the two second alignment members are arranged to have a certain arc shape to better adapt to the outer contour of the ROV and reduce damage to the ROV; optionally, in order to reduce the impact on the ROV, the second alignment members are made of soft material, including but not limited to rubber or sponge, to provide a buffering effect.

[0104] It should be noted that when the two second alignment members assist the recovered ROV to enter the parking garage 603, the second electric cylinder drives one of the second alignment members to move relative to the other fixed second alignment member to a second preset position, the second preset position refers to that the minimum distance between the two second alignment members is not less than the maximum outer diameter of the ROV, and the position between the two second alignment members corresponds to the opening of the parking garage 603, and the second preset position should be selected according to the setting of the parking garage 603.

[0105] In summary, the application provides an unmanned ship release and recovery ROV mechanism, which can accurately transport the ROV to the same height of the parking garage 603 opening or the water surface of the unmanned ship 600 through the transfer assembly 300, and can calibrate the position of the ROV in the direction parallel to the water surface through the alignment assembly 400, so as to achieve the technical effect of accurately recovering or releasing the ROV, and further make the unmanned ship 600 have stronger inclusiveness for the occupying space and setting position of the parking garage 603; the first electric cylinder 401 drives the two first alignment members 402 to relatively and synchronously approach, so as to quickly calibrate the position of the ROV, so that it is aligned with the opening of the parking garage 603; the second electric cylinder drives the one second alignment member to approach the other fixed second alignment member, so as to accurately calibrate the position of the ROV, so that it is aligned with the opening of the parking garage 603; the first motor 302 drives the carrier 303 to move in the direction perpendicular to the water surface, so as to transfer the ROV to any height; the second motor 305 drives the rotating member 304 to rotate different angles relative to the carrier 303, so as to assist the ROV to move to the carrier 303 or prevent the ROV from sliding off the carrier 303; the third motor 203 drives the ROV to slide along the second slide rail 602 in the direction close to the opening of the parking garage 603 through the synchronous pulley 202 and the pushing member 201, so as to assist the ROV to be released.

[0106] Finally, it should be noted that: the embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to.

[0107] The above embodiments are only used to illustrate the technical solutions of the application and not to limit them; although the application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the specific embodiments of the application can be modified or some technical features can be replaced by equivalent replacements; without departing from the spirit of the technical solutions of the application, they should be covered in the technical solution range of the application claimed.

Claims

1. An unmanned vessel releasing and recovering ROV mechanism, which is installed on an unmanned vessel to release or recover ROV, wherein the unmanned vessel is provided with a parking garage for parking the ROV, and the parking garage has an opening on at least one side, characterized in that: The unmanned boat release and recovery ROV mechanism includes: A stranded wire assembly, the stranded wire assembly being disposed in the parking garage and connected to the ROV via a cable; a release assembly disposed in the parking garage and configured to push the ROV out of the parking garage opening; A transfer assembly, the transfer assembly being slidably mounted on the unmanned vessel, and being used to transfer the ROV to the same height as the parking garage opening, or to transfer the ROV to the same height as the water surface on which the unmanned vessel is traveling; An alignment component is provided on the transfer component and is used for driving the ROV to align with the parking garage opening in a direction parallel to the water surface.

2. The unmanned boat release and recovery ROV mechanism according to claim 1, characterized in that: The alignment component includes: A first electric cylinder, the first electric cylinder is disposed on the transfer assembly, and the first electric cylinder further comprises a first cylinder body, an input end, and an output end; Two first alignment members, one of which is connected to the first cylinder body, and the other is connected to the output end of the first electric cylinder.

3. The unmanned boat release and recovery ROV mechanism according to claim 1, characterized in that: The alignment component includes: A second electric cylinder, the second electric cylinder is disposed on the transfer assembly, the second electric cylinder further comprising a second cylinder body, an input end, and an output end; Two second alignment parts, wherein one of the second alignment parts corresponds to the parking garage opening and is fixedly connected to the transfer component, and the other second alignment part is connected to the output end of the second electric cylinder.

4. The unmanned boat release and recovery ROV mechanism according to claim 2 or 3, characterized in that: The unmanned vessel is provided with a first slide rail, and the transfer assembly includes: A mounting seat, the mounting seat being provided on the unmanned vessel; a first motor, wherein the first motor is disposed on the mounting seat, an output end of the first motor is connected to the first slide rail, and the first motor is used to drive the mounting seat to slide on the first slide rail; A carrier is arranged on the mounting seat.

5. The unmanned boat release and recovery ROV mechanism according to claim 4, characterized in that: The transport assembly further comprises: a rotating member, the rotating member being rotatably disposed at an end of the carrier member away from the mounting seat; The second motor is provided on the carrier or the rotating member, and is used for driving the rotating member to rotate relative to the carrier.

6. The unmanned boat release and recovery ROV mechanism according to claim 1, characterized in that: A second slide rail is provided in the parking garage, and the release assembly includes: a driving member, the driving member being slidably disposed on the second slide rail; A synchronous pulley, which is arranged in the parking garage and connected to the driving member; The third motor is arranged in the parking garage, and the output end of the third motor is connected to the driving member through the synchronous pulley. The third motor is used to drive the driving member to slide along the second slide rail in a direction away from or close to the parking garage opening.

7. The unmanned boat release and recovery ROV mechanism according to claim 1, characterized in that: Also includes: A fixing seat, the fixing seat being arranged on the inner wall of the parking garage; a telescopic member, the telescopic member being slidably disposed in the fixing seat; A fourth motor is disposed in the fixing seat and connected to the telescopic member, and is used to drive the telescopic member to extend or retract into the fixing seat.

8. The unmanned boat release and recovery ROV mechanism according to claim 1, characterized in that: The stranded wire assembly comprises: A capstan drum, the capstan drum being rotatably disposed in the parking garage and connected to the ROV via a cable; The fifth motor is arranged at one side of the winding drum, and the output end of the fifth motor is connected to the winding drum.

9. The unmanned boat release and recovery ROV mechanism according to claim 1, characterized in that: Also includes: A monitoring component is provided on the unmanned vessel and is in communication with a control center, and is used to monitor the process of releasing and recovering the ROV.

10. The unmanned boat release and recovery ROV mechanism according to claim 5, characterized in that: A plurality of drainage holes are formed on the carrying member and the rotating member.

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