CN115503591A - Automatic unmanned ship laying and recycling device and method - Google Patents

Abstract

The invention belongs to the technical field of underwater unmanned equipment, and discloses automatic unmanned ship laying and recovering equipment and a method, wherein the recovering equipment comprises a recovering device, a transferring device and a traction device which are connected by electric signals, wherein the transferring device is used for moving to the position right below an unmanned ship to be recovered, fixing the unmanned ship to be recovered, and lifting the unmanned ship to be recovered to float to the water surface; the traction device is used for drawing the transfer device loaded with the unmanned ship to be recovered back into the recovery device along a preset path; during operation, transfer device can be according to its lateral wall height of depth of water automatically regulated to transfer device can move and fix it and lift under waiting to retrieve unmanned ship. The invention can be applied to water areas with different depths and used for transferring underwater unmanned equipment with different sizes.

Description

An automatic unmanned ship deploying and recovering equipment and method

technical field

The invention belongs to the technical field of underwater unmanned equipment, and more specifically relates to an automatic unmanned ship deployment and recovery equipment and method.

Background technique

In the existing technology, taking the cross-sea cluster facilities as an example, when the unmanned ship is moving on the sea surface, it will be affected by factors such as large wind and waves outside, which will lead to a decrease in the stability and safety of the platform. The manned ship is recovered to land to avoid Taiwan, and the maintenance of the hull during normal use also requires regular recovery and release of the unmanned ship. At present, the recovery and deployment of unmanned ships requires the use of ship-holding machines to carry out upper and lower row operations at specific shipyard wharfs. The operating space is very limited and the cost is high. When the unmanned ship needs to be moved to other sea areas for use, additional coordination of specialized transfer equipment is required for land transfer.

In the patent CN109178224A, a method of deploying a recovery device and an unmanned ship is provided, by tilting the slideway and the recovery platform and protruding into the water; the recovery mechanism is far away from the recovery platform and protruding into the water, and the fixing mechanism maintains the recovery mechanism The relative position of the slideway; the unmanned ship enters the recovery mechanism, and the unmanned ship is connected with the recovery mechanism; the lifting mechanism drives the slideway to be parallel to the recovery platform; the fixing mechanism releases the cooperation with the recovery mechanism; the dragging mechanism moves the recovery mechanism to the Recycling platform drag. Thus, the effect of smoothly, effectively and smoothly recovering the unmanned ship to the recovery platform is achieved.

In the existing technical solutions, the recovery and deployment of unmanned ships requires the use of super-large equipment such as ship holding machines for up and down operations at specific shipyard wharfs, and unmanned ships generally need to automatically move to shallow water areas and automatically return to the shore In the recovery organization, it is impossible to recover and transfer at one time by deploying recovery equipment. If it is used in deep sea areas, it is necessary to coordinate additional special transfer equipment to transfer the unmanned ship to the near shore, and then use hoisting, towing, etc. to transport it ashore and then use other equipment for land transfer. This type of scheme is complicated to operate. It requires a lot of large-scale equipment to cooperate with each other, which is difficult to recycle and has a small scope of application.

Contents of the invention

Aiming at the defects of the prior art, the purpose of the present invention is to provide an automatic unmanned ship deploying and recovering equipment and method to solve the problem of retrieving and deploying the unmanned ship in the prior art, which requires the use of a ship-holding machine at a specific shipyard wharf. , Lower row operation, and when the unmanned ship needs to be moved to other sea areas for use, additional coordination of special transfer equipment is required for land transfer.

In order to achieve the above object, the present invention provides an automatic unmanned ship deployment and recovery equipment, the recovery equipment includes a recovery device connected by electrical signals, a transfer device and a traction device, wherein the transfer device is used to move to the unmanned ship to be recovered. directly below the manned ship, fix the unmanned ship to be recovered, and lift the unmanned ship to be recovered to the water surface; the traction device is used to move the transfer device carrying the unmanned ship to be recovered along a preset path Traction back into the recovery device; when working, the transfer device can automatically adjust the height of its side wall according to the water depth, so that the transfer device can move to the unmanned ship to be recovered to fix and lift it.

Further, the transfer device includes a bottom plate, the side wall is movably connected to the bottom plate on one side; the bottom plate is used to fix and lift the unmanned ship to be recovered, and a power mechanism is also arranged on it. The power mechanism can drive the side wall to rotate so that the angle between the side wall and the bottom plate changes; preferably, the power mechanism is a hydraulic power mechanism; more preferably, the side wall can rotate at 0 degrees Flip within -90 degrees.

Further, the side walls include at least one pair, and are arranged symmetrically on both sides of the bottom plate; preferably, the side walls are hollow plates; more preferably, the bottom plate is also a hollow plate.

Further, the side walls are a pair of U-shaped plates, and the U-shaped plates include an intermediate connecting plate and two end plates, and the end plates are vertically arranged at both ends of the intermediate connecting plate; The connecting plate is unilaterally connected to the long side of the bottom plate; each of the U-shaped plates can rotate around the corresponding long side, and when the middle connecting plate is rotated to be perpendicular to the bottom plate, a pair of the U-shaped plates The U-shaped plate and the bottom plate form a rectangular box with an upper opening.

Further, the transfer device is also provided with a thrust device, the thrust device is used to adjust the posture of the transfer device, and push the transfer device to move directly below the unmanned ship to be recovered; preferably , a detachable bracket is also arranged in the transfer device, and the bracket is used to fix the unmanned ship to be recovered.

Further, a buoyancy device is provided on the side wall, and the buoyancy device is used to provide an upward buoyancy force for the transfer device.

Further, the buoyancy device includes an air bag and an air pump, the air pump is arranged in the transfer device, and can inflate the air bag to make the transfer device float.

Further, the recovery device includes a recovery platform, and the recovery platform is provided with a retractable device and a traction track, and the retractable device is used to pull the transfer device to move along the traction track to the recovery platform; Preferably, the recovery device is also provided with a limit structure, the limit structure is used to limit the transfer device on the recovery platform; more preferably, the recovery device is a movable device.

Further, rolling parts are also arranged under the bottom plate, and the rolling parts can cooperate with the traction track to realize sliding.

According to another aspect of the present invention, a method for deploying and recovering an automated unmanned ship is also disclosed, the method can be executed on a kind of equipment for deploying and recovering an automated unmanned ship as described in any one of the foregoing, the steps of the method include :

The transfer device is lowered into the water along the preset path, and the transfer device sinks under the action of gravity until it is close to the unmanned ship to be recovered;

The transfer device adjusts the height of its side wall based on the depth of the water level to move to directly below the unmanned ship to be recovered, and then moves upward to lift the unmanned ship to be recovered until it emerges from the water;

The traction device cooperates with the transfer device carrying the unmanned ship, and pulls the transfer device back to the interior of the recovery device along a preset path.

Compared with the prior art, the above technical solution conceived by the present invention mainly has the following advantages:

1. The automatic unmanned ship deployment recovery equipment of the present invention includes a recovery device, a transfer device and a traction device, wherein the transfer device is used to move to the right below the unmanned ship to be recovered, fix the unmanned ship, and place it again Lift the unmanned ship to the surface of the water, and the traction device is used to pull the transfer device carrying the unmanned ship back to the recovery device along the preset path; and the transfer device can automatically adjust the height of its side wall according to the water depth during the movement , so that the transfer device can move directly under the unmanned ship. In this way, through the flexible underwater transfer device, the unmanned ship can be directly transferred from underwater to the water area where the return device is located, and the transfer device carrying the unmanned ship can be recovered to the recovery device through the traction device that can cooperate with the transfer device middle. Moreover, since the height of the side wall of the transfer device is adjustable, it can adjust the height of the side wall according to the water depth of the water area where the unmanned ship is located, so that it can move right under the unmanned ship and lift it up. Therefore, the present invention is not restricted by the water area, and the unmanned ship can be directly transferred from the water to the recovery device without other equipment.

2. The present invention is arranged on the propulsion device on the transfer device, which can adjust the posture and position of the transfer device in the water, so that it can move and be positioned directly under the unmanned ship, which is convenient for the transfer device to subsequently lift and transfer the unmanned ship ashore . The overall buoyancy of the transfer device is also adjusted by arranging a buoyancy device on the side wall of the transfer device, that is, an inflatable airbag, so as to realize the rise and fall of the transfer device in the water, and then realize the function of directly recovering the unmanned ship from the water .

3. The side walls of the transfer device of the present invention are a pair of U-shaped plates, and the U-shaped plates are also hollow plates, and are connected with the hydraulic power device on the bottom plate. The U-shaped plates include a middle connecting plate and two end plates. The plate and the end plate are vertically arranged at both ends of the middle connecting plate; the middle connecting plate is connected to the long side of the bottom plate; When the middle connecting plates of the two U-shaped plates are all rotated to be perpendicular to the bottom plate, a pair of U-shaped plates and the bottom plate can form a rectangular box with an upper opening, which can accommodate an unmanned ship. And because the bottom plate and the side wall are both hollow plates, during the ascent process, the sundries left in the water can leak out through the hollow gaps to ensure that the bottom plate is clean and tidy, and when the transfer device leaves the water surface, there will be no stagnant water inside. Further reduce upward resistance. The hydraulic power unit can provide sufficient stability and driving force for the side wall with large size and heavy weight, so as to ensure the stability of the transfer device when it moves underwater.

4. The recovery device in the present invention is a mobile device. After recovering the transfer device carrying the unmanned ship to the recovery platform on it, the unmanned ship can be directly transported to other areas and deployed again. It avoids the need to use the ship holding machine to carry out the operation of the upper and lower rows at the specific shipyard wharf for the recovery and deployment of the unmanned ship, which is not limited by the operating site and saves costs. In addition, rolling parts are arranged under the bottom plate of the transfer device, and the rolling parts can cooperate with the traction track to realize sliding, so that the traction device pulls the transfer device more smoothly and safely.

5. In the deployment and recovery method of the present invention, the transfer device is lowered into the water along a preset path, and the height of its side wall is adjusted based on the water level depth, so that the transfer device can move to directly below the unmanned ship to be recovered, and then the transfer device Move upwards to lift the unmanned ship to be recovered until it emerges from the water, and finally the traction device pulls the transfer device carrying the unmanned ship back into the recovery device along a preset path. The control method is simple and easy to operate, and the structure of the devices involved is simple, there are no more precision devices, the overall energy consumption of the control process is low, and it can realize the rapid deployment of unmanned ships on the waterside of general slopes and waters of different water depths with recycling.

Description of drawings

Fig. 1 is a schematic structural diagram of the deployment and recovery equipment of the automated unmanned ship in the embodiment of the present invention;

Fig. 2 is an expanded schematic view of the transfer device in the embodiment of the present invention.

In the figure: 1-front edge, 2-traction compartment, 3-retractable device, 4-transfer device, 5-unmanned ship, 6-side wall, 7-bottom plate, 8-oil cylinder, 9-propeller, 10- Airbag, 11-bracket.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Example 1

This embodiment provides an automatic unmanned ship deployment and recovery equipment, the recovery equipment includes a recovery device, a transfer device and a traction device, wherein the recovery device is connected to an external central controller, and the transfer device is provided with a device capable of receiving the central control device. The control module of the control command issued, and the transfer device can supply power to other actuators installed inside it; the transfer device can slide into the water and sink along the predetermined trajectory, and move horizontally to the right below the unmanned ship to be recovered, transfer The device can also fix the unmanned ship to be recovered on it, and lift the unmanned ship to be recovered until it emerges from the water. The traction device is used to pull the transfer device carrying the unmanned ship to be recovered back to the recovery device along a preset path Inside; when working, the transfer device can automatically adjust the height of its side wall according to the water depth, so that the height of the transfer device can be lowered, so that in shallow water areas, the transfer device can also move to the unmanned ship to be recovered and lift it.

As a preferred embodiment, the transfer device includes a bottom plate, the side wall and the bottom plate are unilaterally movably connected by a connector; the bottom plate is used to fix and lift the unmanned ship to be recovered, and a power mechanism and a position sensor are also arranged on it. The power mechanism is used for Drive the side wall to rotate around the edge connected to the bottom plate so that the side wall is in a horizontal or vertical state relative to the bottom plate. The position sensor is used to detect the depth of the transfer device from the bottom of the water; when the transfer device is put into the water, if the position sensor The detected water depth is shallow, and when the transfer device cannot move to the bottom of the unmanned ship to be recovered, the transfer device will control its side wall to slowly unfold until the side wall is level with the bottom plate, or make the gap between the side wall and the bottom plate after the side wall is unfolded. The included angle is greater than 0° and less than 90°, so that the transfer device can be adjusted to a certain height according to the actual water depth. In this embodiment, the above-mentioned power mechanism is preferably a hydraulic power mechanism, which has a stable power output, can make the movement process of the side wall stable and smooth, and avoid damage to the connecting parts between the side wall and the bottom plate.

As a preferred embodiment, the side wall includes at least a pair of hollow plates symmetrically arranged on both sides of the bottom plate. When the side wall is perpendicular to the bottom plate, the transfer device is in a concave shape; Both the wall and the bottom plate are designed as hollow plates, so that water and impurities can leak out from the hollow holes, and the surface of the bottom plate can be kept clean after being exposed to the water surface.

As a preferred embodiment, the side walls can also be designed as a pair of U-shaped plates. The U-shaped plates include a middle connecting plate and two short end plates, and the end plates are vertically arranged at the two ends of the middle connecting plate; the middle connecting plate and the The long side of the bottom plate is connected on one side; each U-shaped plate can rotate around its corresponding long side. When the middle connecting plate is rotated to be perpendicular to the bottom plate, the opposite end plates of the two U-shaped plates are just connected and connected. The length of the rear end plate is exactly equal to the length of the short side of the bottom plate, so that a pair of U-shaped plates and the bottom plate form a rectangular box with an upper opening. In this way, it can be ensured that the unmanned ship can be kept inside the transfer device when lifting the unmanned ship. Stable, both the end plate and the side wall can play a limiting role.

As a preferred embodiment, the transfer device is also provided with a thrust device, which can provide thrust, adjust the posture of the transfer device, keep it horizontal, and push it to the bottom of the unmanned ship to be recovered.

As a preferred embodiment, the aforesaid side wall is also provided with a buoyancy device, and the recovery device can control the buoyancy device to provide a preset floating force for the transfer device according to different sizes of unmanned ships, so that it can support the unmanned ship Lift up the water. The buoyancy device includes an air bag and an air pump. The air pump is arranged in the transfer device, which is powered by the transfer device. After receiving the control signal, the transfer device can control the air pump to inflate the air bag through the pipeline according to the preset inflation time or preset inflation amount. , so that the transfer device can float to the surface of the water. During the floating process, the side wall can rotate until it is perpendicular to the bottom plate. During the rotation process, because the air bag is constantly inflated, there are two power sources for the rotation of the side wall, one is the power mechanism connected to the side wall, and the other is It is an airbag that provides buoyancy, therefore, more energy saving during sidewall recovery.

As a preferred embodiment, the recovery device includes a recovery platform, and the recovery platform is provided with a retractable device and a traction track, and the retractable device can pull the transfer device to move along the traction track to the recovery platform; The bit structure is used to fix the transfer device on the recovery platform; there are also rolling parts under the bottom plate of the transfer device, which can cooperate with the traction track to realize sliding, reduce the resistance during the traction process, and save energy consumption.

The working principle of deploying the recovery equipment in the foregoing embodiments is: lower the transfer device into the water along a preset path; based on the water level, the transfer device adjusts the height of its side wall so that the transfer device can move to the unmanned ship to be recovered. directly below, then the transfer device moves upwards to lift the unmanned ship to be recovered until it emerges from the water; finally the traction device cooperates with the shipping device to pull the transfer device carrying the unmanned ship back to the recovery device along the preset path Inside.

Example 2

This embodiment provides an automatic and easy-to-storage unmanned ship deployment and recovery equipment. As shown in FIG.

The traction locomotive 1 is fixedly connected with the traction carriage 2, and the traction carriage 2 is fixedly provided with a retractable device 3, and the retractable device 3 is connected with the transfer device 4 through a telescopic steel wire rope. Among them, the tractor head 1 is provided with a central controller and a power module connected thereto. The central controller is equipped with a variety of control programs. The equipment sends control commands, and the power supply module provides power for the entire system; the traction compartment 2 is provided with a track that cooperates with the wheels below the transfer device 4, so that the transfer device 4 moves along the track. When deploying the transfer device 4 into the water, the retractable device 3 will slowly release the wire rope that pulls the transfer device 4 during deployment, and under the cooperation of the gravity of the transfer device 4, put the transfer device 4 into the water; During the process of recovering the transfer device 4 from the water by the retractable device 3, the retractable device 3 continuously retracts the wire rope of the traction transfer device, so that the transfer device 4 is close to the carriage, and the carriage can be properly tilted so that the wheels under the transfer device 4 are in line with the interior of the carriage. The track overlap fits, and the transfer device 4 is slid to a fixed position in the traction compartment 2 along the track in the compartment.

In this embodiment, the side wall 6 and the bottom plate 7 in the transfer device 4 are connected by connecting parts such as hinged bearings, hinges, etc., and the hydraulic cylinder 8 arranged on the bottom plate is used to provide the side wall with unfolding and closing power. , that is, the telescopic shaft of the hydraulic cylinder 8 is connected to the side wall. When the telescopic shaft is extended, the angle between the side wall and the horizontal plane becomes smaller, the transfer device 4 is unfolded, and when the telescopic shaft is retracted, the angle between the side wall and the horizontal plane becomes larger. The transfer unit is closed. This design can flexibly adjust the height of the transfer device so that it can flexibly move to the bottom of the unmanned ship and lift the unmanned ship upwards, which greatly reduces the requirements for the environmental water depth during deployment and recovery.

In this embodiment, the transfer device is also provided with propellers 9, which are arranged in the transfer device 4 and fixed on the side wall 6, and the propellers 9 are arranged in pairs, and each pair of propellers is arranged symmetrically On the inner wall of both side walls. When the side wall 6 is in the unfolded state in water, that is, when it is horizontal to the horizontal plane or forms an acute angle with the horizontal plane, multiple pairs of propellers 9 can provide lateral thrust for the transfer device 4, so as to realize the movement of the transfer device 4 in the horizontal direction when it is underwater , and then it can be realized that the transfer device 4 is positioned directly below the unmanned ship 5, so that the transfer device 4 can lift and recover the unmanned ship 5.

In this embodiment, airbags 10 are also provided, and there are multiple airbags 10, which are arranged symmetrically inside the two side walls. When recovering the unmanned ship, the controller controls the air pump on the transfer device to inflate the air bag 10, thereby changing the overall buoyancy of the transfer device 4 so that it can drive the unmanned ship to float up. The buoyancy can be determined according to the size of the unmanned ship. Calculation and adjustment are more convenient for the deployment, recovery and transfer of unmanned ships, which greatly improves the transfer efficiency of unmanned ships.

In this embodiment, the transfer device 4 is provided with a bracket 11 that can be flexibly disassembled and replaced. The bracket 11 is arc-shaped, and the inner side of the arc is used to fix the unmanned hull. The mounting plate is installed on the base plate 7 and can be freely disassembled and replaced. When deploying or recovering ships or other equipment of different sizes, the deployment and recovery of water surface detection equipment or water surface construction equipment of other sizes can be fixed by replacing the bracket with a suitable size.

In this embodiment, the side wall 6 of the transfer device 4 is hollowed out, so that the resistance of the water when the transfer device 4 retracts the side wall 6 in the water will be smaller, further improving the stability of the transfer device 4 during movement. The bottom plate 7 of the transfer device 4 is also hollowed out, so that when the transfer device 4 moves up and down in the water in the vertical direction, the resistance of the water is also reduced, further improving the stability of the transfer device 4 . Moreover, the design of the hollow plate can make the inside of the transfer device 4 leave the water surface without stagnation of running water, and at the same time, the remaining sundries on the water surface can leak out through the hollowed-out gap to ensure that the bottom plate 7 is clean and tidy.

In this embodiment, a control cabin is also provided in the traction device 4, and the control cabin can supply power to the execution device installed in the transfer device 4, and can also receive control commands from the controller, and control other power devices based on the control commands. The device includes a hydraulic cylinder 8, an air pump, a propeller and the like. A hydraulic station is also arranged in the control cabin, and the hydraulic station is used to control the expansion and contraction of the piston or telescopic shaft of the hydraulic cylinder 8 to drive the side wall 6 in the transfer device 4 to expand to the outside of the transfer device or to retract to the inside of the transfer device. At the same time, the control cabin is also equipped with a control module, which can remotely receive commands from the controller, and then control the operation of the air pump and propeller.

In short, the overall structure of the deployment and recovery equipment in the present invention is simple, easy to operate, there are no more precision devices, the overall energy consumption is low, and it can realize the rapid deployment of unmanned ships on the waterside of general slopes or in waters with different water depths with recycling.

Those skilled in the art can easily understand that the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention are all Should be included within the protection scope of the present invention.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (10)

1. The automatic unmanned ship laying and recovering equipment is characterized by comprising a recovering device, a transferring device and a traction device which are connected through electric signals, wherein the transferring device is used for moving to the position right below an unmanned ship to be recovered, fixing the unmanned ship to be recovered, and lifting and floating the unmanned ship to be recovered to the water surface; the traction device is used for drawing the transfer device loaded with the unmanned ship to be recovered back into the recovery device along a preset path; during operation, transfer device can be according to its lateral wall height of depth of water automatically regulated to transfer device can move and fix it and lift under waiting to retrieve unmanned ship.

2. The automated unmanned ship deployment and recovery apparatus of claim 1, wherein said transfer device comprises a bottom plate, and said side wall is unilaterally movably connected to said bottom plate; the bottom plate is used for fixing and lifting the unmanned ship to be recovered, and the power mechanism is arranged on the bottom plate and can drive the side wall to rotate so as to change an included angle between the side wall and the bottom plate; preferably, the power mechanism is a hydraulic power mechanism; more preferably, the sidewalls are capable of being flipped within a range of 0 degrees to 90 degrees.

3. The automated unmanned ship deployment and retrieval apparatus of claim 2, wherein the side walls comprise at least one pair and are symmetrically disposed on both sides of the bottom plate; preferably, the side wall is a hollowed-out plate; more preferably, the bottom plate is also a hollow plate.

4. The automatic unmanned ship deployment and recovery equipment of claim 2, wherein said side walls are a pair of U-shaped plates, said U-shaped plates comprising a middle connecting plate and two end plates, said end plates being respectively vertically disposed at two ends of said middle connecting plate; the middle connecting plate is connected with the long edge of the bottom plate in a single-sided manner; each U-shaped plate can rotate around the long edge corresponding to the U-shaped plate, and when the middle connecting plate rotates to be perpendicular to the bottom plate, the pair of U-shaped plates and the bottom plate form a rectangular box body with an upper opening.

5. The automatic unmanned ship deployment and recovery equipment of claim 1, wherein the transfer device is further provided with a thrust device, and the thrust device is used for adjusting the pose of the transfer device and pushing the transfer device to move to a position right below the unmanned ship to be recovered; preferably, still be provided with the detachable bracket in the transfer device, the bracket is used for fixing wait to retrieve unmanned ship.

6. The automated unmanned ship deployment and retrieval apparatus of claim 1, wherein the sidewall is provided with a buoyancy device for providing a floating power to the transfer device.

7. The automated unmanned ship deployment and recovery apparatus of claim 6, wherein said buoyancy device comprises an air bag and an inflator, said inflator being disposed within said transfer device and being capable of inflating said air bag to float said transfer device.

8. The automatic unmanned ship laying and recovering device of claim 1, wherein the recovering device comprises a recovering platform, a retracting device and a traction rail are arranged on the recovering platform, and the retracting device is used for drawing the transferring device to move onto the recovering platform along the traction rail; preferably, the recovery device is further provided with a limiting structure, and the limiting structure is used for limiting the transfer device on the recovery platform; more preferably, the recovery device is a mobile device.

9. The automatic unmanned ship deployment and recovery equipment of any one of claims 2 to 8, wherein a rolling component is further arranged under the bottom plate, and the rolling component can be matched with the traction rail to realize sliding.

10. An automated unmanned ship deployment and recovery method, capable of being performed on an automated unmanned ship deployment and recovery apparatus according to any one of claims 1 to 9, the method comprising the steps of:

the transfer device is placed into water along a preset path and sinks under the action of gravity until the transfer device approaches the unmanned ship to be recovered;

the transfer device adjusts the height of the side wall of the transfer device based on the water level depth to move to the position right below the unmanned ship to be recovered, and then moves upwards to lift the unmanned ship to be recovered until the unmanned ship floats out of the water surface;

the traction device is matched with the transfer device loaded with the unmanned ship, and the transfer device is pulled back to the interior of the recovery device along a preset path.

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