CN106314691A - Unmanned-water-surface-aircraft deploying and recovering method - Google Patents
Unmanned-water-surface-aircraft deploying and recovering method Download PDFInfo
- Publication number
- CN106314691A CN106314691A CN201610863849.0A CN201610863849A CN106314691A CN 106314691 A CN106314691 A CN 106314691A CN 201610863849 A CN201610863849 A CN 201610863849A CN 106314691 A CN106314691 A CN 106314691A
- Authority
- CN
- China
- Prior art keywords
- water surface
- unmanned water
- surface aircraft
- aircraft
- lash ship
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 59
- 238000011084 recovery Methods 0.000 claims description 23
- 239000004020 conductor Substances 0.000 claims description 18
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 3
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 3
- 241001330002 Bambuseae Species 0.000 claims description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 3
- 239000011425 bamboo Substances 0.000 claims description 3
- 238000005266 casting Methods 0.000 claims description 3
- 208000037805 labour Diseases 0.000 abstract 1
- 238000004064 recycling Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention relates to an aircraft deploying and recovering method, in particular to an unmanned-water-surface-aircraft deploying and recovering method. By means of the unmanned-water-surface-aircraft deploying and recovering method, the mode that when a traditional unmanned water surface aircraft is deployed and recovered, labors need to operate on the unmanned water surface aircraft is changed, and meanwhile damage to unmanned water surface aircraft through cage-type recycling is avoided. The deploying and recovering method is easy operate, short in deploying and recovering time and high in success rate.
Description
Technical field
The present invention relates to aircraft and lay recovery method, particularly relate to unmanned water surface aircraft and lay recovery method.
Background technology
Although present stage unmanned water surface aircraft can independently return lash ship, but reclaimer is sufficiently complex.Traditional recovery
Mode has two kinds: cage reclaims and guide tracked recovery.Cage recovery is the size of the unmanned water surface aircraft reclaimed as required
Doing a specific cage, during recovery, transfer cage and open to cage to the water surface, unmanned water surface aircraft, hydraulic wireline winch will hang
Cage is sling；Guide tracked recoverer is to utilize the hooking device carried on unmanned boat, links up with under operator on unmanned boat
Operation.Cage reclaims shortcoming: being required for specific unmanned boat and do specific cage, cost is high, when unmanned boat enters cage, grasps ship
Difficulty is high, is easily damaged the underwater sound equipment of boat bottom and various sensor device.Guide tracked recovery shortcoming: install guide rail needs right
Lash ship carries out bigger transformation, increases difficulty, and receiving ship time needs personnel to link up with to unmanned boat, and difficulty is big, and operation on the sea is endangered
Dangerous greatly.
Summary of the invention
The technical problem to be solved in the present invention is how to overcome the deficiencies in the prior art, it is provided that a kind of unmanned water surface aircraft
Lay recovery method.
The present invention the technical scheme is that for achieving the above object
Unmanned water surface aircraft lays recovery method, and described unmanned water surface aircraft is provided with taper drift module, including
The method that lash ship and the lifting module being arranged on lash ship edge lay recovery to unmanned water surface aircraft, step is as follows:
(1) entrance of suspending after lash ship adjustment direction is laid recovery SBR, and carry out location of casting anchor；
(2) manipulation unmanned water surface aircraft so that it is head is consistent towards heading to lash ship, and unmanned water surface is navigated by water
Device travels to lash ship larboard 5 meters；
(3) conductor rope restricted in bucket using long bamboo pole to be arranged in unmanned water surface aircraft takes out；
(4) after the conductor rope taken out in obtaining step (3) on lash ship, by conductor rope through being arranged on lifting module on lash ship
The fixed pulley of end, and be connected to be arranged on the hand winch below lifting module；
(5) rotate the hand winch in step (4), by tightening up conductor rope, unmanned water surface aircraft is moved to lifting mould
The underface of block end fixed pulley, or slightly angle；
(6) hydraulic wireline winch in manipulation lifting module, links up with carry along step (5) at the loop wheel machine of lifting module ends
In the conductor rope that tightens up transfer, until the taper sash weight module in unmanned water surface aircraft receives loop wheel machine hook, be arranged on sash weight
Loop wheel machine is linked up with auto lock by the forced locking device in module；
(7) start hydraulic wireline winch, unmanned water surface aircraft is hung the water surface, to lash ship deck；
(8) unmanned water surface aircraft lay contrary with reclaimer operation step.
Further, described lifting module uses cantilever crane.
Further, the forced locking device in described taper sash weight module, it is used for locking loop wheel machine hook, prevents from making in lifting
In industry, there is loop wheel machine hook dropping situations.
Further, described unmanned water surface aircraft is manipulated by wireless remote controller, on described wireless remote controller
Being provided with green indicating lamp and yellow indicator lamp, described green indicating lamp persistently flashes, and represents that described forced locking device has been locked
Tightly, it is possible to carry out lifting operation, described yellow indicator lamp persistently flashes, and represents that forced locking device has unclamped, treats described nothing
When people's navigation unit by water lifts to the deck of lash ship, it is possible to take out loop wheel machine hook from described unmanned water surface aircraft, and can
With by conductor rope reinstatement.
It is an advantage of the current invention that changing traditional unmanned water surface aircraft needs when folding and unfolding manually to arrive unmanned water surface
Carry out the mode operated in aircraft, avoid simultaneously and use cage to reclaim the infringement that unmanned water surface aircraft is brought, this
Bright employing lay that recovery method is simple to operate, the used time is short, success rate is high to lay recovery.
Accompanying drawing explanation
Fig. 1 removal process of the present invention schematic diagram.
Detailed description of the invention
Unmanned water surface aircraft lays recovery method, and described unmanned water surface aircraft 1 is provided with taper drift module 11, bag
Include lash ship 2 and method that the lifting module 21 that is arranged on lash ship 2 edge lays recovery to unmanned water surface aircraft 1, step
Rapid as follows:
(1) entrance of suspending after lash ship 2 adjustment direction is laid recovery SBR, and carry out location of casting anchor；
(2) manipulation unmanned water surface aircraft 1 so that it is head is towards heading to consistent with lash ship 2, and is navigated by unmanned water surface
Row device 1 travels to lash ship 2 larboard 5 meters；
(3) conductor rope 12 restricted in bucket using long bamboo pole to be arranged in unmanned water surface aircraft 1 takes out；
(4), after the conductor rope 12 taken out in obtaining step (3) on lash ship, conductor rope 12 is hung through being arranged on lash ship 2
The fixed pulley 211 of die-filling piece of 21 ends, and be connected to be arranged on the hand winch 212 below lifting module 21；
(5) rotate the hand winch 212 in step (4), by tightening up conductor rope 12, unmanned water surface aircraft 1 is moved to
The underface of lifting module 21 end fixed pulley 211, or slightly angle；
(6) manipulation lifting module 21 in hydraulic wireline winch, by carry lifting module 21 end loop wheel machine hook 213 along
The conductor rope 12 tightened up in step (5) is transferred, until the taper drift module 11 in unmanned water surface aircraft 1 receives loop wheel machine hook
213,213 auto locks linked up with by loop wheel machine by the forced locking device being arranged in taper drift module 11；
(7) start hydraulic wireline winch, unmanned water surface aircraft 1 is hung the water surface, to lash ship 2 deck；
(8) unmanned water surface aircraft 1 lay contrary with reclaimer operation step.
Described lifting module 21 uses cantilever crane, the forced locking device in described taper drift module 11, hangs for locking
Machine hook 213, prevents in lifting operation, occurs loop wheel machine to link up with 213 dropping situations.
Described unmanned water surface aircraft 1 is manipulated by wireless remote controller, and described wireless remote controller is provided with green
Color display lamp and yellow indicator lamp, described green indicating lamp persistently flashes, and represents that described forced locking device has been locked, it is possible to
Carrying out lifting operation, described yellow indicator lamp persistently flashes, and represents that forced locking device has unclamped, treats that described unmanned water surface navigates
When row device 1 lifts to the deck of lash ship 2, it is possible to take out loop wheel machine hook 213 from described unmanned water surface aircraft 1, it is possible to
By conductor rope 12 reinstatement.
Above-described embodiment simply to illustrate that the technology design of the present invention and feature, its objective is to be to allow in this area
Those of ordinary skill will appreciate that present disclosure and implements according to this, can not limit the scope of the invention with this.All
It is the change according to the equivalence done by the essence of present invention or modification, all should contain within the scope of the present invention.
Claims (4)
1. unmanned water surface aircraft lays recovery method, described unmanned water surface aircraft is provided with taper drift module, its feature
It is: include the method that lash ship and the lifting module being arranged on lash ship edge lay recovery to unmanned water surface aircraft,
Step is as follows:
(1) entrance of suspending after lash ship adjustment direction is laid recovery SBR, and carry out location of casting anchor；
(2) manipulation unmanned water surface aircraft so that it is head is consistent towards heading to lash ship, and by unmanned water surface aircraft row
Sail to lash ship larboard 5 meters；
(3) conductor rope restricted in bucket using long bamboo pole to be arranged in unmanned water surface aircraft takes out；
(4) after the conductor rope taken out in obtaining step (3) on lash ship, by conductor rope through being arranged on lifting module ends on lash ship
Fixed pulley, and be connected to be arranged on the hand winch below lifting module；
(5) rotate the hand winch in step (4), by tightening up conductor rope, unmanned water surface aircraft is moved to lifting module end
The underface of portion's fixed pulley, or slightly angle；
(6) hydraulic wireline winch in manipulation lifting module, receives carry at the loop wheel machine hook of lifting module ends in step (5)
Tight conductor rope is transferred, until the taper sash weight module in unmanned water surface aircraft receives loop wheel machine hook, is arranged on sash weight module
In forced locking device loop wheel machine is linked up with auto lock；
(7) start hydraulic wireline winch, unmanned water surface aircraft is hung the water surface, to lash ship deck；
(8) unmanned water surface aircraft lay contrary with reclaimer operation step.
Unmanned water surface aircraft the most according to claim 1 lays recovery method, it is characterised in that: described lifting module is adopted
Use cantilever crane.
Unmanned water surface aircraft the most according to claim 1 lays recovery method, it is characterised in that: described taper sash weight mould
Forced locking device in block, is used for locking loop wheel machine hook, prevents in lifting operation, and loop wheel machine hook dropping situations occurs.
Unmanned water surface aircraft the most according to claim 1 lays recovery method, it is characterised in that: described unmanned water surface navigates
Row device is manipulated by wireless remote controller, and described wireless remote controller is provided with green indicating lamp and yellow indicator lamp, institute
Stating green indicating lamp persistently to flash, represent that described forced locking device has been locked, it is possible to carry out lifting operation, described yellow refers to
Show that lamp persistently flashes, represent that forced locking device has unclamped, treat that the lifting of described unmanned water surface aircraft is to the deck of lash ship
Time, it is possible to from described unmanned water surface aircraft, take out loop wheel machine hook, it is possible to by conductor rope reinstatement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610863849.0A CN106314691A (en) | 2016-09-28 | 2016-09-28 | Unmanned-water-surface-aircraft deploying and recovering method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610863849.0A CN106314691A (en) | 2016-09-28 | 2016-09-28 | Unmanned-water-surface-aircraft deploying and recovering method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106314691A true CN106314691A (en) | 2017-01-11 |
Family
ID=57820934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610863849.0A Pending CN106314691A (en) | 2016-09-28 | 2016-09-28 | Unmanned-water-surface-aircraft deploying and recovering method |
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| CN (1) | CN106314691A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976525A (en) * | 2017-03-21 | 2017-07-25 | 哈尔滨工程大学 | Unmanned boat quickly retracting device |
| CN107027719A (en) * | 2017-04-28 | 2017-08-11 | 李新亚 | Electric fishing gear operated by one person |
| CN108163150A (en) * | 2017-12-25 | 2018-06-15 | 东南大学 | Self-locking connecting device and its application in unmanned boat recycling is laid |
| CN108482587A (en) * | 2018-02-09 | 2018-09-04 | 东南大学 | The method that unmanned boat recycles laying system and carries out unmanned boat recycling using the system |
| CN108820136A (en) * | 2018-05-29 | 2018-11-16 | 上海大学 | A kind of unmanned boat based on remote controler lays recovery control system and method |
| CN109319071A (en) * | 2018-10-29 | 2019-02-12 | 广州文冲船厂有限责任公司 | A kind of recycling of unmanned boat submarine navigation device lays method |
| CN109353455A (en) * | 2018-11-19 | 2019-02-19 | 淮海工学院 | An automatic deployment and recovery device for underwater vehicles |
| CN109367707A (en) * | 2018-10-26 | 2019-02-22 | 河海大学 | Device and method for recovering autonomous underwater vehicle by unmanned ship based on guide cable |
| CN109835807A (en) * | 2017-11-29 | 2019-06-04 | 江苏科技大学 | The unmanned draw off gear and implementation method of floating body are carried in automatic positioning |
| CN110466688A (en) * | 2019-08-27 | 2019-11-19 | 珠海云洲智能科技有限公司 | A kind of navigational equipment lays recovery system and navigational equipment lays recovery method |
| CN110816788A (en) * | 2019-10-28 | 2020-02-21 | 中船华南船舶机械有限公司 | Single-rope recovery method for armored cable deep submergence vehicle |
| CN111847136A (en) * | 2020-06-28 | 2020-10-30 | 青岛海洋地质研究所 | Seismic cable laying and recovery device and method for geophysical exploration ship with A-frame |
| CN111846117A (en) * | 2020-07-21 | 2020-10-30 | 哈尔滨理工大学 | Surface unmanned boat autonomous recovery device and recovery method |
| CN114435545A (en) * | 2022-03-16 | 2022-05-06 | 上海交通大学 | Aircraft retraction device with power positioning function and recovery and deployment method |
| WO2024029828A1 (en) * | 2022-08-02 | 2024-02-08 | 국립부경대학교 산학협력단 | Underwater robot for underwater glider recovery and underwater glider recovery method using same |
| WO2024029826A1 (en) * | 2022-08-02 | 2024-02-08 | 국립부경대학교 산학협력단 | Gripper device for retrieving underwater glider |
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| US3250563A (en) * | 1964-10-02 | 1966-05-10 | Breeze Corp | Cargo hook |
| US3445133A (en) * | 1967-04-10 | 1969-05-20 | Bucyrus Erie Co | Hoist line hook |
| CN203581349U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Recovery system of autonomous underwater vehicle |
| CN105620676A (en) * | 2016-02-03 | 2016-06-01 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle collecting and releasing device |
| CN105711749A (en) * | 2016-02-03 | 2016-06-29 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle laying and retrieving method |
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- 2016-09-28 CN CN201610863849.0A patent/CN106314691A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3250563A (en) * | 1964-10-02 | 1966-05-10 | Breeze Corp | Cargo hook |
| US3445133A (en) * | 1967-04-10 | 1969-05-20 | Bucyrus Erie Co | Hoist line hook |
| CN203581349U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Recovery system of autonomous underwater vehicle |
| CN105620676A (en) * | 2016-02-03 | 2016-06-01 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle collecting and releasing device |
| CN105711749A (en) * | 2016-02-03 | 2016-06-29 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle laying and retrieving method |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976525B (en) * | 2017-03-21 | 2018-12-25 | 哈尔滨工程大学 | Unmanned boat quickly retracting device |
| CN106976525A (en) * | 2017-03-21 | 2017-07-25 | 哈尔滨工程大学 | Unmanned boat quickly retracting device |
| CN107027719A (en) * | 2017-04-28 | 2017-08-11 | 李新亚 | Electric fishing gear operated by one person |
| CN109835807A (en) * | 2017-11-29 | 2019-06-04 | 江苏科技大学 | The unmanned draw off gear and implementation method of floating body are carried in automatic positioning |
| CN108163150B (en) * | 2017-12-25 | 2019-06-18 | 东南大学 | Self-locking connecting device and its application in the recovery and deployment of unmanned boats |
| CN108163150A (en) * | 2017-12-25 | 2018-06-15 | 东南大学 | Self-locking connecting device and its application in unmanned boat recycling is laid |
| CN108482587A (en) * | 2018-02-09 | 2018-09-04 | 东南大学 | The method that unmanned boat recycles laying system and carries out unmanned boat recycling using the system |
| CN108820136A (en) * | 2018-05-29 | 2018-11-16 | 上海大学 | A kind of unmanned boat based on remote controler lays recovery control system and method |
| CN109367707A (en) * | 2018-10-26 | 2019-02-22 | 河海大学 | Device and method for recovering autonomous underwater vehicle by unmanned ship based on guide cable |
| CN109319071A (en) * | 2018-10-29 | 2019-02-12 | 广州文冲船厂有限责任公司 | A kind of recycling of unmanned boat submarine navigation device lays method |
| CN109353455A (en) * | 2018-11-19 | 2019-02-19 | 淮海工学院 | An automatic deployment and recovery device for underwater vehicles |
| CN110466688A (en) * | 2019-08-27 | 2019-11-19 | 珠海云洲智能科技有限公司 | A kind of navigational equipment lays recovery system and navigational equipment lays recovery method |
| CN110466688B (en) * | 2019-08-27 | 2023-11-03 | 珠海云洲智能科技股份有限公司 | Navigation equipment cloth recycling system and navigation equipment cloth recycling method |
| CN110816788A (en) * | 2019-10-28 | 2020-02-21 | 中船华南船舶机械有限公司 | Single-rope recovery method for armored cable deep submergence vehicle |
| CN111847136A (en) * | 2020-06-28 | 2020-10-30 | 青岛海洋地质研究所 | Seismic cable laying and recovery device and method for geophysical exploration ship with A-frame |
| CN111846117A (en) * | 2020-07-21 | 2020-10-30 | 哈尔滨理工大学 | Surface unmanned boat autonomous recovery device and recovery method |
| CN114435545A (en) * | 2022-03-16 | 2022-05-06 | 上海交通大学 | Aircraft retraction device with power positioning function and recovery and deployment method |
| CN114435545B (en) * | 2022-03-16 | 2024-11-05 | 上海交通大学 | Aircraft retracting and deploying device with dynamic positioning function, and recovery and deployment method |
| WO2024029828A1 (en) * | 2022-08-02 | 2024-02-08 | 국립부경대학교 산학협력단 | Underwater robot for underwater glider recovery and underwater glider recovery method using same |
| WO2024029826A1 (en) * | 2022-08-02 | 2024-02-08 | 국립부경대학교 산학협력단 | Gripper device for retrieving underwater glider |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170111 |
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