CN117799769A - Unmanned son-mother boat system and distribution and recovery method thereof - Google Patents
Unmanned son-mother boat system and distribution and recovery method thereof Download PDFInfo
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- CN117799769A CN117799769A CN202310139850.9A CN202310139850A CN117799769A CN 117799769 A CN117799769 A CN 117799769A CN 202310139850 A CN202310139850 A CN 202310139850A CN 117799769 A CN117799769 A CN 117799769A
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- 238000011084 recovery Methods 0.000 title claims abstract description 22
- 238000004064 recycling Methods 0.000 claims abstract description 5
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- 238000005096 rolling process Methods 0.000 description 2
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Abstract
The invention relates to an unmanned son-mother boat system and a deployment and recovery method thereof, comprising a mother boat; and a plurality of sub-boats mounted on the mother boat; the tail part of the mother boat is provided with an inclined mother boat deck, and a plurality of groups of longitudinal rails are arranged on the mother boat deck; the mother boat deck is located the vertical track middle part top that corresponds the group and sets up the capstan winch, twines on the capstan winch has the haulage rope, and the controllable son ship of haulage rope is connected and is realized pulling, still includes, and the fixed mother boat deck divides the multiunit that is in each group vertical track both sides and just fixes the son ship side by side. The invention provides an unmanned son-mother boat system and a deployment method thereof, which can provide a brand new solution for the requirement of simultaneously starting one mother boat and a plurality of son boats to execute complex tasks, the requirements on the deck space for storing the submarines and the number of the distributing devices on the mother boats are greatly reduced, the cost required by the operation task is greatly saved, and meanwhile, the distributing and recycling are simple and efficient, so that the method is suitable for popularization.
Description
Technical Field
The invention relates to the technical field of unmanned boats, in particular to an unmanned son-mother boat system and a deployment and recovery method thereof.
Background
The unmanned ship is a water surface motion platform capable of autonomous navigation and performing various tasks such as measurement, detection, search and rescue in the ocean or inland river environment, and has the advantages of small size, high flexibility and the like, so that the unmanned ship has very rapid development in recent years.
According to the difference of unmanned ship execution task and unmanned ship scale, the current unmanned ship's mode of laying at home and abroad mainly divide into pier shore base layout and carry on the manned mother ship and carry out the layout. The prior art direction of unmanned boats on mother ships mainly comprises cage type deployment, hanger type deployment, slideway type deployment, docking cabin type deployment and the like, and the deployment modes all need a shipman on the mother ship to operate a deployment device or mechanism arranged on the mother ship in a mechanical or remote control mode, so that the prior art direction is not substantially different from the prior mature mode of deploying the unmanned boats.
With the development of unmanned boats of various sizes from small, medium and large, it is sometimes necessary to perform complex tasks simultaneously by a medium and large unmanned boat (generally about 10 m or more) capable of performing multiple tasks and a plurality of small unmanned boats (generally less than 3 m) capable of performing a single task, according to the characteristics of the task.
According to the prior art, a mode is that a plurality of unmanned boats are simultaneously laid on a wharf base, and the unmanned boats have the defects that the small unmanned boats are limited in general endurance, the unmanned boats can autonomously navigate to a target water area to execute tasks and return, and the radius of the tasks is smaller; the other mode is that the unmanned boats are simultaneously carried on a manned mother ship, and the unmanned boats are distributed one by one through a distribution device on the mother ship after the mother ship sails to a target water area, so that the unmanned boats have the defects of higher requirements on a deck space for storing the unmanned boats on the mother ship and the distribution device, higher required cost, large labor intensity and low working efficiency because manual transportation is adopted when the submarines are recovered.
Therefore, we propose an unmanned son-mother boat system and a deployment and recovery method thereof.
Disclosure of Invention
Aiming at the defects in the prior art, the applicant provides an unmanned son-mother boat system and a deployment and recovery method thereof, which can simultaneously drive one mother boat and a plurality of son boats to execute complex tasks, greatly reduce the requirements on the deck space for storing the son boats on the mother boat and the number of deployment devices, and simultaneously have simple and efficient deployment and recovery and are suitable for popularization.
The technical scheme adopted by the invention is as follows:
an unmanned son-mother boat system comprising: mother boat; and a plurality of sub-boats mounted on the mother boat; the tail part of the mother boat is provided with an inclined mother boat deck, a plurality of groups of parallel longitudinal rails which are convenient for the son boat to move are arranged on the mother boat deck, and the bottom of the son boat is provided with a bottom groove corresponding to the longitudinal rails; the mother boat deck is located the vertical track middle part top that corresponds the group and sets up the capstan winch, twines on the capstan winch has the haulage rope, and the controllable son ship of haulage rope is connected and is realized pulling, still includes, and the fixed mother boat deck divides the multiunit that is in each group vertical track both sides and just fixes the son ship side by side.
As a further improvement of the above technical scheme:
and a plurality of submarines are distributed in a matrix.
The inclination angle of the mother boat deck is about 5-10 degrees.
Each group of the longitudinal rails at least comprises one longitudinal rail, if and only if the longitudinal rails are multiple, the longitudinal rails are mutually parallel, and a plurality of pulleys which longitudinally rotate are equidistantly arranged on the longitudinal rails.
The width of the bottom groove is larger than the distance between a plurality of longitudinal rails in the same group, and the concave rope groove is arranged in the middle of the bottom groove, so that the haulage rope can conveniently drag the sub-boats distributed below.
The front end of the bottom wall of the sub-boat is provided with an inclined structure, and a pulley at the lowest end of the longitudinal rail extends out of the tail end of the deck of the mother boat.
The number of the fixing devices in each group is at least two, and the two fixing devices are positioned at two sides of the submarines.
Both sides of the sub-boat are provided with fixing grooves which are convenient for the fixing devices to be embedded and clamped.
Fixing device includes the fixed bolster, fixed bolster fixed mounting is on the mother ship deck, be connected with sharp electric putter on the fixed bolster, and sharp electric putter distributes along sub-ship direction of movement, the drive end of sharp electric putter is connected with the spring bolt that can rotate, the spring bolt can realize with fixed groove's joint fixedly along with the drive of sharp electric putter, thereby the spring bolt card is gone into in the fixed groove of sub-ship both sides steadily the sub-ship, the upper end of fixed bolster still sets up one row and the tangent gyro wheel part of sub-ship, still be provided with proximity switch on the fixing device, and be provided with the fixing system that can control each fixing device on the mother ship.
The unmanned son and mother boat 1 deployment and recovery method comprises the following steps:
the S1 distribution method comprises the following steps: s1.1, autonomous sailing of a mother boat to a target water area, and obtaining a deployment signal by the mother boat; s1.2, fixing devices on two sides of a sub-boat at the rearmost end of the mother boat receive deployment signals of the mother boat, and a lock tongue on the fixing device is pulled out of a fixing groove of the sub-boat, so that the fixation of the sub-boat and the mother boat is released, the sub-boat enters water backwards along a longitudinal track under the action of gravity, and deployment of the sub-boat is completed; s1.3, after the deployment of the sub-boat at the rearmost end is finished, the proximity switch sends out a signal, the sub-boat at the position is deployed, and the deployment of the sub-boat at the rear end is sequentially performed at the same time, so that the deployment requirement is finished;
s2, the recovery method comprises the following steps: s2.1, on a wharf dyke or a mother boat, an operator connects a hook on a hauling rope to a sub boat, and starts a winch to move the hauling sub boat to two longitudinal tracks, and simultaneously ensures that a bottom groove at the bottom of the sub boat is clamped on a pulley of the longitudinal track; s2.2, after the submarines move to the corresponding positions, after signals are received through the proximity switch, starting the linear electric push rod, inserting the lock bolts into the fixing grooves on the two sides of the submarines, and locking one submarines; s2.3, completing the steps in sequence until all recycling is completed.
The beneficial effects of the invention are as follows:
the invention provides an unmanned son-mother boat system and a deployment method thereof, which can provide a brand-new solution for the requirement of simultaneously starting one mother boat and a plurality of son boats to execute complex tasks, namely, the invention can solve the defects of limited endurance of the son boats and smaller radius of the execution tasks, can greatly reduce the requirements on the deck space for storing the son boats and the number of deployment devices on the mother boats, greatly saves the cost required by the operation tasks, and has simple and efficient deployment and recovery, thereby being suitable for popularization.
Meanwhile, the invention has the following advantages:
(1) The mother boat is used for driving the plurality of son boats to move to the target area, energy is saved, meanwhile, the plurality of son boats are conveniently distributed and recovered, and the mother boat has strong practicability.
(2) The winch is arranged above the mother boat deck in the middle of the two longitudinal tracks in the same group, a traction rope is wound on the winch, a hook is arranged on the traction rope, a corresponding butt joint structure is arranged on the sub-boat, the sub-boat can be fixed in a traction mode through the winch and the traction rope, and the main function is that when the sub-boat is recovered, the sub-boat is brought back to the corresponding longitudinal track through the traction of the winch.
(3) In order to reduce the collision damage to mother boat and son boat when conveniently recycling son boat, the bottom wall front end of son boat is provided with the slope structure, and the pulley that is located the upper and lower end of longitudinal track extends the end of mother boat deck to can preferentially contact with the pulley when son boat, thereby shift rolling friction with sliding friction, reduce the collision, conveniently retrieve.
(4) The fixation and arrangement efficiency of the submarines can be realized; when the mother boat is independently sailed on the water surface, the son boat can be firmly fixed on the mother boat through the fixing device; when the mother boat reaches a target water area for executing tasks, the son boats and the mother boat can be separated through the fixing device, and the son boats can smoothly enter water backwards along the longitudinal track on the inclined mother boat deck and by means of self gravity, so that the son boats are laid out.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a side view of fig. 1.
Fig. 4 is a partial enlarged view of a portion a in fig. 2.
Fig. 5 is a partial enlarged view of the portion B in fig. 3.
Wherein: 1. mother boat; 101. a mother boat deck; 2. a longitudinal rail; 201. a pulley; 3. a sub-boat; 301. a bottom groove; 302. a fixing groove; 303. rope grooves; 4. a fixing device; 401. a fixed bracket; 402. a bolt; 403. a linear electric push rod; 404. a roller member; 5. a winch; 501. a traction rope.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
Example 1
As shown in fig. 1-2, this embodiment discloses an unmanned son-mother boat system, which includes a middle-large mother boat 1, on which a plurality of small son boats 3 are mounted on the mother boat 1, and the plurality of son boats 3 are distributed in a matrix.
The tail part of the mother boat 1 is an inclined mother boat deck 101, and the inclination angle of the inclined mother boat deck 101 is about 5-10 degrees; the inclined mother boat deck 101 is provided with a plurality of groups of parallel longitudinal rails 2, each group of longitudinal rails 2 at least comprises one longitudinal rail 2, if and only if the longitudinal rails 2 are a plurality of longitudinal rails 2, the longitudinal rails 2 are mutually parallel, and a plurality of longitudinally rotating pulleys 201 are arranged on each longitudinal rail 2 at equal intervals, so that the son boats 3 can conveniently move on the inclined mother boat deck 101 through the pulleys 201, and automatic arrangement is realized.
The bottom of the sub-boat 3 is provided with bottom grooves 301, the width of the bottom grooves 301 is slightly larger than the distance between two longitudinal rails 2 in the same group, and the sub-boat 3 is carried on the mother boat 1 in such a way that the bottom grooves 301 at the bottom of the sub-boat are clamped above pulleys 201 of the two longitudinal rails 2;
simultaneously, winch 5 is arranged above the middle of two longitudinal rails 2 of the same group on mother boat deck 101, traction rope 501 is wound on winch 5, a hook is arranged on traction rope 501, a corresponding butt joint structure is arranged on sub boat 3, sub boat 3 can be fixed in a traction mode through winch 5 and traction rope 501, and the main function is that when sub boat 3 is recovered, sub boat 3 is brought back to the corresponding longitudinal rail 2 through traction of winch 5.
In addition, a concave rope groove 303 is arranged in the middle of the bottom groove 301, so that the hauling rope 501 can conveniently pull the submarines 3 distributed below.
In order to reduce the collision damage to the mother boat 1 and the son boat 3 when the son boat 3 is conveniently recycled, the front end of the bottom wall of the son boat 3 is provided with an inclined structure, and the pulley 201 at the lowest end on the longitudinal track 2 extends out of the tail end of the mother boat deck 101, so that when the son boat 3 can be preferentially contacted with the pulley 201, sliding friction is changed into rolling friction, collision is reduced, and the son boat is convenient to recycle.
The mother boat 1 is adopted to drive the plurality of sub boats 3 to move to a target area, so that energy is saved, meanwhile, the plurality of sub boats 3 are conveniently distributed and recovered, and the mother boat has strong practicability.
Example 2
The fixing mode between the unmanned son and mother boats 1 in the embodiment comprises a plurality of groups of fixing devices 4 which are fixed on two sides of the same group of longitudinal rails 2 side by side and fix the son boats 3, the number of each group of fixing devices 4 is at least two, and the two fixing devices 4 are arranged on two sides of the son boats 3.
The two sides of the submarines 3 are respectively provided with a front fixing groove 302 and a rear fixing groove 302, and the fixing device 4 can be controlled to be clamped into the fixing grooves 302 so as to fix the submarines 3.
The fixing device 4 consists of a fixing bracket 401, a lock tongue 402, a linear electric push rod 403, a roller component 404 and a rotating shaft; the fixed support 401 is fixedly arranged on the mother boat deck 101, the linear electric push rods 403 are connected to the fixed support 401, and the linear electric push rods 403 are distributed along the moving direction of the sub boat 3, so that the transverse space can be reduced, and the space utilization rate can be improved. In addition, a rotatable lock tongue 402 is connected to the driving end of the linear electric push rod 403, and the lock tongue 402 can be fastened and fixed to the fixing groove 302 along with the driving of the linear electric push rod 403, and the lock tongue 402 is fastened into the fixing grooves 302 on both sides of the yacht 3, so that the yacht 3 is stably fixed.
Meanwhile, the row of roller components 404 tangential to the sub-boats 3 are further arranged at the upper end of the fixing support 401, so that the sub-boats 3 can be limited from moving left and right, collision with the fixing support 401 can be prevented when the sub-boats 3 slide downwards, and particularly, in an environment with large sea waves, the sub-boats 3 can be separated from the longitudinal rails 2 when being fluctuated, and at the moment, the sub-boats 3 can be limited through the sub-boats 3, so that a good limiting effect is achieved when the sub-boats are laid and recovered.
The fixing device 4 is also provided with a proximity switch, by means of which proximity switch the mother boat 1 can be provided with a status signal that it has been deployed.
The function of the fixing means 4 is as follows: when the mother boat 1 is sailing on the water surface, the son boat 3 can be firmly fixed on the mother boat 1 through the fixing device 4; when the mother boat 1 reaches the target water area for executing the task, the son boats 3 can be separated from the mother boat 1 through the fixing device 4, and the son boats 3 can smoothly enter water backwards along the longitudinal rails 2 on the inclined mother boat deck 101 and by means of self gravity, so that the son boats 3 are laid out.
The fixing device 4 can realize the automatic control of the mother boat 1 on the fixing device 4 by integrating the interface provided for the remote control of the mother boat 1; the proximity switch mounted on the fixture 4 may provide the mother boat 1 with the following status signals: the fixing device 4 is locked with the sub-boat 3, and the fixing device 4 is unlocked with the sub-boat 3, so that the mother boat 1 can give corresponding action instructions to the fixing device 4 according to the requirements of the operation task.
Example 3
The unmanned son-mother boat system of the embodiment, the method for fixing a plurality of son boats on one mother boat 1 and automatically arranging the son boats one by one, comprises the following operation steps:
the son boats are distributed with water from the mother boat 1
S1.1, the mother boat 1 independently sails to a target water area for executing a task, and the mother boat 1 independently control system judges that deployment of the sub boats 3 can be carried out;
s1.2, fixing devices 4 on two sides of a sub-boat 3 at the rearmost end of the mother boat 1 receive deployment signals of the mother boat 1, a lock tongue 402 on the fixing devices 4 is pulled out from a fixing groove 302 of the sub-boat 3, so that the fixation of the sub-boat 3 and the mother boat 1 is released, the sub-boat 3 smoothly enters water backwards along a longitudinal track 2 on an inclined mother boat deck 101 and by means of self gravity, and deployment of the sub-boat 3 is completed;
and S1.3, after the deployment of the sub-boat 3 positioned at the rearmost end is finished, the proximity switch sends out a signal, the sub-boat 3 at the position is deployed, and the deployment of the sub-boats 3 which are positioned at the rear is sequentially performed at the same time, so that the deployment requirement is finished.
(II) sub-boat recovery method
S2.1 on a wharf dyke or a mother boat 1, an operator connects a hook on a hauling rope 501 to a sub boat 3, and starts a winch 5 to move the hauling sub boat 3 onto two longitudinal rails 2, and simultaneously ensures that a bottom groove 301 at the bottom of the sub boat 3 is clamped on pulleys 201 of the two longitudinal rails 2;
s2.2, after the submarines 3 move to the corresponding positions, after receiving signals through the proximity switch, starting the linear electric push rod 403, inserting the lock bolts 402 into the fixing grooves 302 on two sides of the submarines 3, and completing locking of one submarines 3;
s2.3, completing the steps in sequence until all recycling is completed.
The invention provides an unmanned son-mother boat system and a deployment method thereof, which can provide a brand new solution for the requirement of simultaneously starting one mother boat 1 and a plurality of son boats 3 to execute complex tasks, namely, the defects of limited endurance of the son boats 3 and smaller radius of the execution tasks can be overcome, the requirements on the deck space for storing the son boats 3 on the mother boat 1 and the number of deployment devices can be greatly reduced, the cost required by the operation tasks is greatly saved, and the deployment and recovery are simple and efficient, and are suitable for popularization.
The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.
Claims (10)
1. An unmanned son-mother boat system, comprising:
a mother boat (1);
and a plurality of sub-boats (3) mounted on the mother boat (1);
the tail of the mother boat (1) is provided with an inclined mother boat deck (101), a plurality of groups of parallel longitudinal rails (2) which are convenient for the son boat (3) to move are arranged on the mother boat deck (101), and the bottom of the son boat (3) is provided with a bottom groove (301) corresponding to the longitudinal rails (2);
a winch (5) is arranged above the middle part of the longitudinal track (2) of the corresponding group of the mother boat deck (101), a traction rope (501) is wound on the winch (5), the traction rope (501) is controllably connected with the son boat (3) to realize traction and dragging,
the mother boat deck (101) is divided into a plurality of groups of fixing devices (4) which are arranged on two sides of each group of longitudinal rails (2) side by side and are used for fixing the submarines (3).
2. An unmanned son-mother boat system and deployment and recovery method thereof as claimed in claim 1, wherein: a plurality of submarines (3) are distributed in a matrix.
3. An unmanned son-mother boat system and deployment and recovery method thereof as claimed in claim 1, wherein: the parent boat deck (101) is inclined at an angle of about 5 ° -10 °.
4. An unmanned son-mother boat system and deployment and recovery method thereof as claimed in claim 1, wherein: each group of the longitudinal rails (2) at least comprises one longitudinal rail (2), if and only if the longitudinal rails (2) are multiple, the longitudinal rails (2) are mutually parallel, and a plurality of pulleys (201) which longitudinally rotate are equidistantly arranged on the longitudinal rails (2).
5. An unmanned son and mother boat system and deployment and recovery method thereof as set forth in claim 4, wherein: the width of the bottom groove (301) is larger than the distance between a plurality of longitudinal rails (2) in the same group, and an upward concave rope groove (303) is formed in the middle of the bottom groove (301), so that a haulage rope (501) can conveniently drag a sub-boat (3) distributed below.
6. An unmanned son and mother boat system and deployment and recovery method thereof as set forth in claim 5, wherein: the front end of the bottom wall of the sub-boat (3) is provided with an inclined structure, and a pulley (201) positioned at the lowest end of the longitudinal track (2) extends out of the tail end of the mother boat deck (101).
7. An unmanned son-mother boat system and deployment and recovery method thereof as claimed in claim 1, wherein: the number of the fixing devices (4) in each group is at least two, and the two fixing devices (4) are arranged at two sides of the submarines (3).
8. An unmanned son-mother boat system and deployment and recovery method thereof as claimed in claim 1, wherein: both sides of the sub-boat (3) are provided with fixing grooves (302) which are convenient for the fixing devices (4) to be embedded and clamped.
9. An unmanned son-mother boat system and deployment and recovery method thereof as claimed in claim 1, wherein: fixing device (4) include fixed bolster (401), fixed bolster (401) fixed mounting is on mother's ship deck (101), be connected with sharp electric putter (403) on fixed bolster (401), and sharp electric putter (403) are along sub-ship (3) direction of movement distribution, the drive end of sharp electric putter (403) is connected with can pivoted spring bolt (402), spring bolt (402) can realize with fixed joint of fixed groove (302) along with the drive of sharp electric putter (403) fixed, thereby spring bolt (402) card is gone into in fixed groove (302) of sub-ship (3) both sides and is fixed sub-ship (3) steadily, the upper end of fixed bolster (401) still sets up one row and sub-ship (3) tangent gyro wheel part (404), still be provided with proximity switch on fixing device (4), and be provided with the fixing system that can control each fixing device (4) on mother's ship (1).
10. The unmanned son and mother boat 1 deployment and recovery method is characterized by comprising the following steps of:
s1, the arrangement method comprises the following steps:
s1.1, autonomous sailing of a mother boat (1) to a target water area is performed, and after a deployment signal is obtained by the mother boat (1);
s1.2, fixing devices (4) on two sides of a sub-boat (3) at the rearmost end of the mother boat (1) receive a deployment signal of the mother boat (1), a lock tongue (402) on the fixing device (4) is pulled out from a fixing groove (302) of the sub-boat, so that the fixation of the sub-boat (3) and the mother boat (1) is released, the sub-boat (3) is backwardly launched along a longitudinal rail (2) under the action of gravity, and deployment of the sub-boat (3) is completed;
s1.3, after the deployment of the sub-boat (3) positioned at the rearmost end is finished, the proximity switch sends out a signal, the sub-boat (3) at the position is deployed, and the deployment of the sub-boats (3) positioned at the rear is sequentially carried out at the same time, so that the deployment requirement is finished;
s2, the recovery method comprises the following steps:
s2.1 on a wharf embankment or a mother boat (1), an operator connects a hook on a hauling rope (501) to a sub boat (3), and moves the hauling sub boat (3) onto two longitudinal rails (2) by starting a winch (5), and simultaneously ensures that a bottom groove (301) at the bottom of the sub boat (3) is clamped on a pulley (201) of the longitudinal rail (2);
s2.2, after the submarines (3) move to the corresponding positions, after receiving signals through the proximity switch, starting the linear electric push rod (403), inserting the lock tongue (402) into the fixed grooves (302) on two sides of the submarines (3), and locking one submarines (3) is completed;
s2.3, completing the steps in sequence until all recycling is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310139850.9A CN117799769A (en) | 2023-02-20 | 2023-02-20 | Unmanned son-mother boat system and distribution and recovery method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310139850.9A CN117799769A (en) | 2023-02-20 | 2023-02-20 | Unmanned son-mother boat system and distribution and recovery method thereof |
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| Publication Number | Publication Date |
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| CN117799769A true CN117799769A (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310139850.9A Pending CN117799769A (en) | 2023-02-20 | 2023-02-20 | Unmanned son-mother boat system and distribution and recovery method thereof |
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| Country | Link |
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| CN (1) | CN117799769A (en) |
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- 2023-02-20 CN CN202310139850.9A patent/CN117799769A/en active Pending
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