CN216969940U - Aircraft retraction device with power positioning function - Google Patents

Abstract

The utility model provides an aircraft retracting device with a dynamic positioning function, which comprises a cradle body, a crane and a navigation control module. The cradle body includes a boat-shaped body, and the interior of the boat-shaped body has an accommodation space for parking the aircraft; the crane; It is arranged on the mother ship and can drive the boat-shaped body to move; the navigation control module is signal-connected to the crane, and includes a collection system, a monitoring system, a control system and an execution system arranged on the boat-shaped body. The retractable device solves the problem of severe relative movement between the general marine vehicle and the mother ship under high sea conditions, and it is difficult to capture and recover. , to avoid the adverse effect of the movement of the mother ship on the retractable device.

Description

Aircraft retractable device with dynamic positioning function

technical field

The utility model relates to the field of marine unmanned aircraft, in particular to an aircraft retractable device with dynamic positioning function.

Background technique

In recent years, small marine vehicles have been more and more widely used in scientific research and engineering fields such as marine environment monitoring, seabed topography scanning, submarine cable laying, deep-sea exploration, and polar exploration. The small marine vehicles usually referred to include surface unmanned boats, UUVs, ROVs, AUVs, ARVs and even manned submersibles, etc. They are equipped with different sensors because of their different tasks, and their design shapes are therefore different. This brings a lot of difficulties to the recovery and deployment of the aircraft. Generally, small marine vehicles are carried by the mother ship (scientific research ship, engineering ship, etc.) to the operating sea area and released. After completing the task, the vehicle returns to the surrounding of the mother ship and is recovered. The recovery and deployment methods of marine vehicles can be divided into hoisting type, slide type and docking type. The devices are all hanging type. Due to the influence of environmental factors such as wind, waves, and currents at sea, the craft itself and the mother ship are in constant shaking motion during the recovery and deployment process, and the craft often falls off, collides with the hull, and even causes the mother ship and the craft itself. Serious events such as damage and loss of aircraft; for most surface unmanned boats and deep-sea submersibles, during the recovery and deployment process, it is necessary to board the aircraft for manual unhooking, which has a high risk factor. In addition, the general marine vehicle is mounted on the deck of the mother ship, which is affected by the movement of the mother ship's own six degrees of freedom, and the vehicle is easy to shake and fall off and cause damage.

Faced with the difficulty of recovering and deploying marine vehicles at sea, in the existing engineering practice, in addition to selecting a time when the sea conditions are better, common coping strategies include setting up a structure for easy hanging on the top of the vehicle, and designing a special lifting and recycling method. device etc. For example, the patent document CN108482587A discloses an unmanned boat recovery and deployment system and a method of using the system for unmanned boat recovery, which designs a conical positioning boss and a hanging hook structure. The unmanned boat structure is combined to achieve positioning, thereby realizing the locking of the hook without manual assistance, avoiding the dangerous operation of personnel boarding the unmanned boat to fix the sling. However, this method is not universal for specially designed aircraft, and it is difficult to accurately hoist the hook into the boss under severe sea conditions, so the practicability is limited; for example, the patent document CN105711749B discloses an unmanned surface navigation A conical pendant is also designed, and a cable launching system is arranged on the unmanned boat to fix the unmanned boat and hook without manual assistance. When the relative movement range of the vehicle and the mother ship is large, there is a problem that the conical pendant is difficult to align and fix with the unmanned ship; for example, the patent document CN113460274A discloses an AUV autonomous recovery/layout device and its realization method, and a set of mechanical The claw structure is used to replace the original crane of the mother ship, and the recovery and deployment operations are realized by grasping the AUV (Autonomous underwater vessel) by mechanical claws, but this technology has not actually solved the problem that the relative movement of the vehicle and the mother ship during the recovery process is large and difficult to capture. Another example is the patent document CN105223960A which discloses an unmanned boat deployment and recovery device, mainly by designing a set of hoisting motion compensation devices controlled by multiple servo motors, so as to realize the whole box-shaped The stability of the unmanned boat deployment structure under the action of the mother ship and the waves ensures the safety of the unmanned boat deployment process. However, the structural adjustment range adopted by this technology is limited, and the motion compensation ability will decline when the device enters the water and is affected by waves, and the device and the crane are flexibly connected; another example is the patent document CN105905245B. The suspended cage is designed with a buoyancy box structure and can float autonomously. However, in this technical design, the suspended cage does not have a propeller device and a power system, so it has no autonomous positioning and self-propulsion capabilities, and it is difficult to ensure navigation when the sea conditions are high. It cannot avoid the problem that the cage and the vehicle collide with each other, or even damage the hull of the mother ship. Patent document CN107499460A also designs an aircraft recovery cage, which adds a remote controllable automatic door structure compared to the previous cage, but there are similar problems.

To sum up the various existing marine vehicle recovery and deployment devices and technologies, the main unsolved problem lies in the relative movement between the vehicle and the recovery and deployment device and the mother ship during the recovery and deployment process, so it is impossible to further reduce the navigation. Sea condition requirements for the recovery and deployment process of the device. At the same time, the over-specialized device design does not have wide applicability, and usually can only be used for specially designed aircraft, and the structural design is unreasonable.

Utility model content

Aiming at the defects in the prior art, the purpose of the present invention is to provide an aircraft retractable device with dynamic positioning function.

According to the utility model, a vehicle retractable device with dynamic positioning function is provided, comprising:

The main body of the cradle includes a boat-shaped body, and the boat-shaped body has an accommodating space inside, and the accommodating space is used for parking the aircraft;

a crane configured on the mother ship and capable of driving said boat-shaped body to move between the mother ship deck and the stowed position;

The navigation control module, which is connected to the crane by signal, includes:

a collection system, arranged on the boat-shaped body;

a monitoring system, including a wireless communication module arranged on the ship-shaped body and an upper industrial computer connected to the wireless communication module and arranged on the mother ship;

a control system, including a navigation controller, a remote controller and an emergency controller, wherein the navigation controller is arranged on the ship-shaped body; the remote controller and the emergency controller are respectively connected to the navigation controller by signals;

An execution system includes a thruster device, a guide device and a ballast device installed on the ship-shaped body, the thruster device can change the speed and attitude of the ship-shaped body, and the ballast device controls the ship's shape through ballast water The draft of the body, the guide device is arranged at the end of the accommodation space and has a closed state and an open state, when the guide device is in the open state, the craft can enter and exit the accommodation space, when the guide device is in the open state When the device is in the closed state, the aircraft is not allowed to enter or leave the accommodation space.

Preferably, the thruster device includes a plurality of stern longitudinal thrusters, bow lateral thrusters, and respective electronic governors corresponding to the stern longitudinal thrusters and bow lateral thrusters, and the stern longitudinal thrusters The thruster can provide the power to move forward, backward or turn longitudinally of the boat-shaped body, and the lateral thruster of the bow can provide the power to move laterally or turn.

Preferably, the guide device includes two doors hinged on the starboard and starboard sides of the boat-shaped body, a guide door switch motor capable of driving the two doors to open and close, and a hydraulic pin device capable of locking and unlocking the two doors .

Preferably, the ballast device includes a plurality of ballast water tanks respectively arranged at the bow and stern of the boat-shaped body, and a ballast water pump connected to each of the ballast water tanks.

Preferably, one or more rows of side elastic guide devices and one or more rows of bottom elastic guide devices are arranged on the inside of the boat-shaped body along its length direction, for guiding the longitudinal movement of the craft and/or restricting the sailing Lateral movement of the device.

Preferably, the bottom of the boat-shaped body has a bottom cavity matching the structure of the aircraft itself and a cradle bottom plate that can be detachably fixed on the bottom cavity.

Preferably, one or more transverse reinforcing ribs are arranged on the boat-shaped body;

The boat-shaped body is provided with a plurality of lifting lugs;

The bottom of the boat-shaped body is provided with a plurality of nautical fixing holes, and the nautical fixing holes are used to lock the boat-shaped body on the mother ship.

Preferably, the top of the boat-shaped body has a marking ball or a reflective or colored shell.

Preferably, the boat-shaped body is made of a metal shell, a metal truss or a buoyant material.

Preferably, the acquisition system includes any one or more of the following components:

The sensor is arranged on the boat-shaped body;

a camera, arranged on the top of the boat-shaped body;

Dual antenna high precision GPS;

accelerometer module;

a lidar, arranged on the top of the boat-shaped body;

The depth gauge is arranged at the bottom of the boat-shaped body.

Compared with the prior art, the utility model has the following beneficial effects:

1. The present utility model solves the problem of severe relative movement between the general marine vehicle and the mother ship under high sea conditions by adopting a cradle-type retractable device with dynamic positioning function; The lifting device of the mother ship adopts a soft connection method to decouple the movement of the two, so as to avoid the adverse effect of the movement of the mother ship on the retractable device.

2. By adopting the navigation control module including the acquisition system, the monitoring system, the control system and the execution system, the present utility model can realize the adjustment of the position, attitude, speed, and draft of the device with multiple degrees of freedom of movement. It solves the problems of low efficiency, high risk and high cost such as artificially assisted unhooking in the recovery process of marine vehicles in the past. During the docking process of the retractable device, the movement and attitude are stable, ensuring high The recycling and deployment process under sea conditions is carried out safely and efficiently.

3. The utility model solves the problem that the cradle-type retractable device has a large plane movement due to environmental influences (wind, wave, current load) during the docking process of the marine vehicle and the cradle-type retractable device, and it is difficult to realize the docking.

4. The utility model adopts the universal design of the detachable slot-type bottom hollow structure and a large number of anti-collision elastic guiding devices, which can be adapted to the hull with sensor and the hull without sensor, and is suitable for the recycling cloth of most marine vehicles. It can be put away, and it avoids the collision and damage of itself and even the cradle during the recycling process, and has good versatility.

5. By adopting the design of the navigation fixing device, the utility model can reliably fix the marine unmanned equipment and the retractable device on the deck of the mother ship, and solve the problem that the marine unmanned equipment and the retractable device are slippery due to the movement of six degrees of freedom during the navigation of the mother ship. Falling problem.

6. The utility model adopts the design of the guide device of the double guide door, which limits the movement range of the aircraft in the process of entering and leaving the cradle device and during the lifting process, reducing the difficulty of the aircraft entering and leaving the cradle device, and ensuring the safety of recycling and deployment.

7. By adopting the ballast device design of multiple groups of ballast water tanks in different positions, the utility model can realize the adjustment of the draught and the position of the center of gravity of the cradle device itself, adapt to the recovery and deployment of aircraft with different draughts and floating states, and ensure the recovery Safety during deployment and lifting.

8. The utility model adopts the shape design of the floating dock cabin and a plurality of dynamic position control propellers to realize the dynamic position and attitude of the retractable device under high sea conditions under the condition that the retractable device is decoupled from the motion of the mother ship but not decoupled. The stability of the aircraft ensures efficient and stable recovery and deployment of the aircraft under high sea conditions.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

Fig. 1 is a three-dimensional schematic diagram of the utility model, wherein the guiding device is in a closed state;

Fig. 2 is a three-dimensional schematic diagram of the utility model, wherein the guiding device is in an open state;

Fig. 3 is the side structure schematic diagram of the utility model;

4 is a schematic top view of the structure of the utility model, wherein the cradle bottom plate is not installed on the boat-shaped body;

5 is a schematic side view of the utility model along the axial direction, wherein the cradle bottom plate has been installed on the boat-shaped body;

6 is a schematic diagram of the lifting process of the retractable device in the utility model;

Fig. 7 is the structural schematic diagram when the sling is relaxed during the lifting process of the retractable device in the utility model;

FIG. 8 is a schematic diagram of the retractable and retractable process of the aircraft in the utility model;

9 is a side schematic view of an aircraft with a sensor suspended below the utility model;

10 is a schematic diagram of the dynamic positioning of the retractable device in the utility model;

11 is a schematic diagram of a frame structure composed of a navigation control module in the present invention.

The figure shows:

1-Mother ship 109-Cradle floor

2-Crane 110-Cradle floor positioning pin

3-Hook 111-Ballast tank

4-craft 120-accommodating space

5-Sling 200-Stern longitudinal thruster

100-boat-shaped body 201-bow side thruster

101-Guide device 202-Guide door switch motor

102-lifting lug 300-navigation controller

103-Side elastic guide device 301-Communication antenna

104-Navigation fixing hole 302-Camera

105-hydraulic pin device 303-sign ball

106-Lateral stiffener 304-GPS antenna

107-Bottom elastic guide 305-Lidar

108- Bottom Empty Slot

Detailed ways

The present utility model will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

Example 1:

The utility model provides an aircraft retracting device with dynamic positioning function, which includes a cradle body, a crane 2 and a navigation control module. The cradle body includes a boat-shaped body 100, and the boat-shaped body 100 has an accommodating space 120 inside, and the accommodating space 120 is used for For parking the aircraft, the interior of the boat-shaped body 100 is preferably arranged with one or more rows of side elastic guide devices 103 and one or more rows of bottom elastic guide devices 107 along its length direction, for guiding the aircraft 4 to enter the accommodating space from the outside Longitudinal movement at 120 and/or limit lateral movement of the vehicle 4 in the accommodation space 120 .

The crane 2 is configured on the mother ship 1 and can drive the boat-shaped body 100 to move between the mother ship deck and the stowed position, wherein the boat-shaped body 100 preferably has a plurality of lifting lugs 102 to facilitate hook connection when the crane 2 is hoisted; sailing; The control module signal is connected to the crane 2, and the navigation control module can control the movement of the crane 2, and can collect the position, attitude, and movement information of the ship-shaped body 100 and the relative position information between the ship-shaped body 100 and the mother ship 1, and can collect the information of the relative position between the ship-shaped body 100 and the mother ship 1 according to the set The positioning and escort parameters output corresponding control signals so that the aircraft 4 is at the set position, thereby realizing the recovery and/or deployment of the aircraft 4 .

As shown in FIG. 11 , the navigation control module includes a collection system, a monitoring system, a control system and an execution system. The collection system is used to collect the position, attitude, motion information of the ship-shaped body 100 and the relative position information with the mother ship 1; The wireless communication module on the ship-shaped body 100 and the upper industrial computer connected to the wireless communication module and arranged on the mother ship 1, the upper industrial computer can collect the information of the acquisition system in real time through the wireless communication module and can set the relative relationship between the cradle main body and the mother ship 1. Stabilizing distance parameters, speed and heading parameters; the control system includes a navigation controller 300, a remote controller and an emergency controller. The navigation controller 300 can output corresponding propeller control signals according to the set positioning and escort parameters, thereby enabling the aircraft to 4 is in the set position; the remote controller and the emergency controller are respectively connected to the navigation controller 300 by signals, the remote controller is used for remote control of the heading controller 300, and the emergency controller is used for control when the remote controller fails.

Further, the execution system includes a thruster device, a guide device 101 and a ballast device installed on the ship-shaped body 100 , the thruster device can change the speed and attitude of the ship-shaped body 100 , and the ballast device controls the movement of the ship-shaped body 100 through ballast water. The draft, the guide device 101 is arranged at the end of the accommodating space 120 and has a closed state and an open state. When the guide device 101 is in the open state, the aircraft 4 can enter and exit the accommodating space 120. When the guide device 101 is in the closed state, it is not allowed The aircraft 4 enters and exits the accommodating space 120 .

The thruster device includes a plurality of stern longitudinal thrusters 200 , bow lateral thrusters 201 , and respective electronic governors corresponding to the stern longitudinal thrusters 200 and bow lateral thrusters 201 , and the stern longitudinal thrusters 200 can To provide the power for the boat-shaped body 100 to move forward, backward or turn longitudinally, the bow lateral thruster 201 can provide the power for lateral movement or turning.

The guide device 101 includes two doors hinged on the starboard and port sides of the boat-shaped body 100, a guide door switch motor 202 capable of driving the opening and closing of the two doors, and a hydraulic pin device 105 capable of locking and unlocking the two doors; the ballast device includes A plurality of ballast water tanks 111 and a ballast water pump connected to each ballast water tank 111 are respectively arranged at the bow and stern of the ship-shaped body 100 .

The bottom of the boat-shaped body 100 has a bottom cavity 108 that matches the structure of the aircraft 4 itself and a cradle bottom plate 109 that can be detachably fixed on the bottom cavity 108. When suspending the sensor under the aircraft 4, it can be matched through the bottom cavity 108 , does not affect the vehicle 4 to be carried in the boat-shaped body 100 ; one or more transverse reinforcement ribs 106 are arranged on the boat-shaped body 100 , which can improve the overall strength of the boat-shaped body 100 .

The bottom of the boat-shaped body 100 has a plurality of nautical fixing holes 104 for locking the boat-shaped body 100 when the boat-shaped body 100 is placed on the deck of the mother ship.

Specifically, the acquisition system includes a sensor, a camera 302, a dual-antenna high-precision GPS 304, an accelerometer module, a lidar 305, and a depth gauge. The sensor is arranged on the boat-shaped body 100 and is used to collect the position, attitude, and motion information of the boat-shaped body 100 itself, as well as related information. The relative position information of the mother ship 1; the camera 302 is arranged on the top of the boat-shaped body 100; the lidar 305 is arranged on the top of the boat-shaped body 100; the depth gauge is arranged on the bottom of the boat-shaped body 100.

The recovery operation of the aircraft with dynamic positioning function in the utility model is as follows:

Step 101, start the navigation control module on the boat-shaped body 100, select whether to open the bottom hollow 108 of the boat-shaped body 100 according to the type of the recovered vehicle 4, and use the sling 5 to connect the crane 2 on the mother ship 1 with the boat-shaped body 108. The body 100 is connected and ready for recycling;

Step 102, lift the boat-shaped body 100 by the crane 2, control the crane 2 on the mother ship 1 to rotate to lift the boat-shaped body 100 outboard, and put the boat-shaped body 100 into the water after it stabilizes. The distance from the side is greater than L/2+D, where L is the longitudinal length of the main body of the cradle, and D is the safety distance, wherein, when performing step 102, connect the execution system through the upper industrial computer, and input the target position information of the aircraft 4 : If the mother ship 1 is anchored at sea, the distance ΔX between the vehicle 4 and the mother ship 1 and the relative heading angle Δθ between the vehicle 4 and the mother ship 1 should be set; if the mother ship 1 has a certain speed, the speed V of the mother ship 1 should also be set , so that the craft 4 is accompanied by the same speed and course, wherein the speed of the mother ship 1 is less than or equal to the maximum speed of the ship-shaped body 100 itself.

Step 103, input the target position information of the aircraft 4 through the upper industrial computer of the navigation control module, and control the crane 2 to continue to release the crane rope, so that the boat-shaped body 100 floats on the sea completely relying on its own buoyancy, and the relationship between the boat-shaped body 100 and the crane rope is The connection between them is in a loose state and the movement is not restricted by the crane rope. The navigation control module compares its own position and attitude information with the target position and attitude information according to its own acquisition system and calculates the execution system of the navigation control module. The thrust that should be distributed by the thruster unit on the thruster unit is finally converted into the throttle signal of the thruster unit to control the thruster unit to complete positioning and/or escort;

Step 104, open the guiding device 101 of the execution system by remote control, and give the draft and the center of gravity adjustment signal of the ship-shaped body 100 by remote control according to the draft size and the floating state of the recovered vehicle 4, so that the execution system Adjust the draft and floating state of the boat-shaped body 100 so that the target recovery vehicle 4 can drive into the accommodation space 120 inside the boat-shaped body 100;

Step 105, the target aircraft 4 drives into the accommodating space 120 automatically, or manually controls the aircraft 4 to drive into the accommodating space 120 and controls to close the guide device 101;

In step 106, the boat-shaped body 100 is lifted by the crane 2 so that the aircraft 4 and the boat-shaped body 100 are lifted out of the water together and finally hoisted to a predetermined storage position on the deck of the mother ship 1; If the overall center of gravity of the boat-shaped body 100 is offset and a smooth lifting cannot be achieved, the lifting should be canceled and the boat-shaped body 100 and the vehicle 4 should be put into the sea again. The lifting operation shall be carried out after the requirements of safe lifting;

Step 107 , fix the boat-shaped body 100 placed in the predetermined storage position, close the navigation control module of the cradle, and complete the recovery process.

The deployment operation of the aircraft with dynamic positioning function of the utility model is as follows:

Step 201, start the navigation control module, unlock the boat-shaped body 100 placed in the predetermined storage position on the deck of the mother ship 1, and connect the crane 2 on the mother ship 1 to the boat-shaped body 100;

Step 202, control the crane 2 to lift the boat-shaped body 100 and rotate the crane 2 to lift the boat-shaped body 100 carrying the vehicle 4 outboard and put it into the water. During the hoisting process, keep the distance between the center of gravity of the boat-shaped body 100 and the side of the mother ship 1 greater than L /2+D, where L is the longitudinal length of the main body of the cradle, and D is the safety distance, where, in actual operation, the target position information of the aircraft 4 is input on the upper industrial computer. If the mother ship 1 is in the state of anchoring at sea, then The distance ΔX between the ship-shaped body 100 and the mother ship 1, and the relative heading angle Δθ between the ship-shaped body 100 and the mother ship 1 should be set; if the mother ship 1 has a certain speed, the speed V of the mother ship 1 should also be set, so that the craft 4 sails with the same speed. sailing, wherein the speed of the mother ship 1 is less than or equal to the maximum speed of the ship-shaped body 100 itself.

In step 203, the target position information of the aircraft 4 is input through the upper industrial computer of the navigation control module, and the crane 2 is controlled to continue to release the crane rope, so that the boat-shaped body 100 floats on the sea completely by its own buoyancy. The connection between them is in a slack state and the movement is not restricted by the crane rope. The navigation control module compares its own position and attitude information with the target position and attitude information according to its own acquisition system and calculates to obtain the execution system of the navigation control module. The thrust that should be distributed by the thruster unit on the thruster unit is finally converted into the throttle signal of the thruster unit to control the thruster unit to complete positioning and/or escort;

Step 204, open the guiding device 101 of the execution system by remote control, and give the draft and the center of gravity adjustment signal of the ship-shaped body 100 by remote control according to the draft size and the floating state of the recovered vehicle 4, so that the execution system Adjusting the draft and the floating state of the boat-shaped body 100, so that the aircraft 4 located inside the boat-shaped body 100 is in a state of fully autonomous navigation;

Step 205 , actively control the boat-shaped body 100 to move forward through the remote control, so that the craft 4 passively exits the boat-shaped body 100 from the open guide device 101; After the boat-shaped body 100, the remote control guide device 101 is closed and locked again;

Step 206, lift the boat-shaped body 100 by the crane 2, so that the boat-shaped body 100 is lifted out of the water surface and finally hoisted to a predetermined storage position on the deck of the mother ship 1. During the process of lifting out of the water, if it is found that the center of gravity of the boat-shaped body 100 is shifted, it cannot be To achieve smooth lifting, the lifting should be cancelled and the boat-shaped body 100 should be put into the sea again, and the center of gravity of the boat-shaped body 100 should be adjusted by remote control again to meet the requirements of safe lifting, and then the lifting operation should be carried out again;

Step 207 , fix the boat-shaped body 100 placed in the predetermined storage position, close the navigation control module of the cradle, and complete the recovery process.

Example 2:

This embodiment is a preferred example of Embodiment 1.

In this embodiment, the main body of the cradle includes a boat-shaped body 100 . As shown in FIGS. 1 to 10 , the bow of the boat-shaped body 100 has a streamlined diversion shape, the stern part is square, and the bottom is V-shaped with a lower convex in the middle and a concave on both sides. The upper opening of the V-shaped structure is greater than 90° and less than 180°, preferably greater than 120°. The boat-shaped body 100 forms an accommodating space 120 inside, and the cradle-shaped accommodating space 120 can be used for parking the aircraft 4 .

The boat-shaped body 100 can be made of metal shell, metal truss or other buoyant materials, and the strength should be sufficient to support the self-weight of the mounted vehicle 4 and resist a certain degree of waves; the guiding device 101 is arranged at the stern of the boat-shaped body 100, and has two doors, respectively It is hinged with the starboard and port sides of the boat-shaped body 100 to form a double-leaf door structure. As shown in Figure 1 and Figure 2, the guide device 101 is in the closed state and the open state respectively; when the guide device 101 is in the closed state, the hydraulic pin device 105 is used to push out or The locking or unlocking of the guide device 101 is achieved by retracting the positioning pin.

Inside the boat-shaped body 100 are arranged a plurality of side elastic guiding devices 103 and bottom elastic guiding devices 107, all of which are mainly composed of elastic materials, to guide the craft in and out of the boat-shaped body 100, and rely on their own friction to prevent the craft from colliding The role of the inner side and bottom of the boat-shaped body 100; four or more lifting lugs 102 are provided at the top edge of the boat-shaped body 100 for fixing the crane cables; a square bottom hollow slot is opened at the lower rear of the boat-shaped body 100 108, in order to adapt to the measuring instruments suspended under different aircraft 4, as shown in Figure 4, Figure 8, Figure 9; there is also a removable cradle bottom plate 109, which can completely fill the bottom hollow 108 by means of slots, such as As shown in FIG. 4 and FIG. 5 , the positioning pins 110 on the bottom plate of the cradle are used to fix with bolts, so that whether to open the bottom hollow 108 can be selected according to the type of aircraft 4 that is deployed and recovered.

One or more transverse reinforcing ribs 106 are arranged on the boat-shaped body 100, which are arranged on the outside of the complete cross-section of the boat-shaped body 100 (non-bottom hollow part), and thicken the cross-section of the boat-shaped body 100 to strengthen the lateral strength of the device It is used to make up for the loss of lateral strength of the overall structure caused by the hollow groove 108 at the bottom.

The ballast water tank 111 is arranged inside the boat-shaped body 100 in a completely embedded manner, and does not affect the shape of the boat-shaped body 100 . A plurality of ballast water tanks 111 are arranged, and the plurality of ballast water tanks 111 are located at the bow and stern of the ship-shaped body 100 respectively. As shown in FIG. 3 and FIG. The water pump pumps in or out the seawater, which can realize the adjustment of the draft and the center of gravity of the main body of the cradle. The sailing fixing hole 104 is a hole on the bottom side of the boat-shaped body 100. When the cradle body is parked on the deck of the mother ship 1, it can cooperate with the corresponding pinning device on the mother ship 1, and the front and rear pins are inserted into the corresponding sailing fixing holes 104, thereby restricting the The cradle body moves as shown in Figure 5.

The navigation control module includes acquisition system, monitoring system, control system and execution system. The acquisition system includes various sensors arranged around the boat-shaped body 100 for collecting the position, attitude, motion information of the cradle body, and relative position information with the mother ship 1 , including the camera 302 arranged on the top of the boat-shaped body 100 , the dual-antenna height Accuracy GPS 304 , accelerometer module IMU, lidar 305 arranged at the top, and depth gauge arranged at the bottom of the boat-shaped body 100 , etc.

The monitoring system includes a short-range wireless communication module arranged on the ship-shaped body 100 and an upper industrial computer arranged on the mother ship 1. The wireless communication module includes a communication antenna 301, and the staff on the mother ship 1 can collect records and records in real time through the short-range wireless communication module. View various sensor information of the acquisition system, and can set parameters such as the relative stable distance, speed and heading between the main body of the vehicle's retractable cradle and the mother ship 1.

The control system includes a navigation controller 300 for retracting the main body of the cradle, a remote controller and an emergency controller, wherein the navigation controller 300 mainly outputs the corresponding propeller control signals according to the positioning and escort parameters that have been set by the staff to make the navigation The vehicle is stabilized at the set position (set the distance ΔX from the mother ship 1, the speed V, and the relative heading angle Δθ between itself and the mother ship 1). The remote controller can directly manually control the retractable cradle of the aircraft, including its navigation control, ballast control and pilot door switch control; when the navigation controller 300 fails, the emergency controller can take over instead of the navigation controller, which only has The basic manual control function ensures the recovery of the retractable cradle of the aircraft in an emergency. The execution system includes a thruster device, a guide device and a ballast device, wherein the thruster device includes a stern longitudinal thruster 200, a bow lateral thruster 201, and a stern longitudinal thruster 200 and a bow lateral thruster 201 respectively Corresponding to the electronic governor, the stern longitudinal thruster 200 can provide the power Fy in the positive and negative directions of the Y-axis as shown in FIG. The power Fx in the negative direction and the rotational moment Mxy in the X-Y plane only need at least two left and right bow longitudinal thrusters 200 and one bow lateral thruster 201 to realize the autonomous dynamic positioning function of the cradle. Not limited to the design of three thrusters, adding more longitudinal and lateral thrusters can also achieve the same positioning function. The three thrusters marked in the figure are only an implementation case of this device.

Further, the guide device 101 includes a hydraulic pin device 105 and a guide door switch motor 202, wherein the guide door switch motor 202 is located at the hinged connection between the guide device 101 and the boat-shaped body 100, and the rotation of the guide door switch motor 202 can drive the guide door switch The ballast device includes ballast water tanks and ballast water pumps and other equipment that controls the draught depth of the cradle body through ballast water. Seawater is pumped in or out to adjust the draught and center of gravity of the cradle body. For example, if you want to increase the draught of the cradle body and move the center of gravity of the cradle body to the stern, you should control all the water pumps in the ballast tanks to pump. Pump seawater, and control the stern ballast water tank of the cradle main body to pump more seawater than the bow ballast water tank until the draft and center of gravity adjustment requirements are met.

The four ballast water tanks arranged as shown in Figures 3 and 4 are only an example of the implementation of the device, and more ballast water tanks arranged at the bow, stern and side of the device can also achieve the same draught and The function of adjusting the center of gravity; in addition, a marker ball 303 is arranged on the top of the boat-shaped body 100 near the guide device 101. The marker ball 303 can be made of a reflective or colored shell according to requirements, which can be used for the aircraft 4 Identify and locate. The aircraft 4 can obtain the real-time pose information of the device through the marking ball 303 by means of machine vision, optical recognition, etc., thereby realizing autonomous driving into or out of the cradle. The device of the present invention does not limit the types of identification marks to be arranged. In the actual application process, according to the function of the recovered aircraft 4, the marking ball 303 can be replaced with a positioning two-dimensional code or a large area of the surface of the device can be painted to mark The design of the small ball 303 is only an implementation example of the device. In addition, the power supply of the navigation control module can be powered by the onboard lithium battery or the power supply of the mother ship 1 cable according to the actual use requirements.

The principle of marine vehicle recovery is as follows:

Step 101, start the navigation control module on the main body of the cradle for the marine vehicle to retract; choose whether to open the empty slot 108 at the bottom of the cradle according to the type of the recovered vehicle; use the sling 5 to connect the hook 3 of the crane of the mother ship 1 to the main body of the cradle; The plurality of lifting lugs 102 of the cradle are connected, and the fixing pins on the nautical fixing holes 104 at the bottom of the cradle body are removed to complete the unlocking and prepare for the recovery operation.

Step 102 , the main body of the cradle is lifted to retract the cradle of the marine vehicle, the crane 2 of the mother ship 1 rotates to hoist the device outboard, and the device is slowly put into the water after the device no longer shakes and is relatively stable. During this process, the distance between the center of gravity of the main body of the cradle and the side of the mother ship 1 should be kept greater than L/2+D, where L is the longitudinal length of the main body of the cradle, and D is the safety distance (D is not less than 0.2L in the third sea state, and the fourth Under sea conditions, D is not less than 0.3L) to ensure that the main body of the cradle will not collide with the hull of the mother ship 1 during the hoisting process.

It should be noted that when performing step 102, the staff remotely connects to the execution system on the mother ship 1 through the upper industrial computer, and inputs the target stable position information of the marine vehicle: if the mother ship 1 is in the state of anchoring on the sea surface, it should be set with the mother ship. The distance ΔX of 1, the relative heading angle Δθ between itself and the mother ship 1; if the mother ship 1 has a certain speed, the speed V of the mother ship 1 should also be set, so that the craft can accompany the ship at the same speed. At this time, the speed of the mother ship 1 cannot be greater than the maximum speed of the main body of the retractable cradle itself, otherwise, the aircraft recovery and deployment operation cannot be performed.

Step 103, further release the crane rope, so that the main body of the retractable cradle of the aircraft is completely floating on the sea surface by its own buoyancy. Decoupling, the main body of the cradle is not constrained by the movement of the hook 3, and the movement of the vehicle to retract the cradle is decoupled from the movement of the mother ship 1. Start the active control system for the dynamic position of the main body of the cradle, according to the target stable position parameters set in step 103, the navigation control module compares with the target position and attitude according to its own position and attitude information obtained by its own acquisition system, and calculates to obtain the response of each thruster. The distributed thrust, the execution system further converts the distributed thrust into the throttle signal of each thruster, and controls the thruster to complete positioning or escort. Among them, the two stern longitudinal thrusters 200 can both provide longitudinal thrust Fy, and at the same time, the torque Mxy in the X-Y plane can be provided by differential rotation of the left and right thrusters; the bow lateral thrusters 201 can provide lateral thrust Fx , and it also generates a torque Mxy in the X-Y plane when propelling laterally. The stern longitudinal thruster 200 and the bow lateral thruster 201 cooperate with each other to maintain the same speed as the mother ship 1 while maintaining a stable relative position between itself and the mother ship 1 in the X-Y plane, as shown in FIGS. 8 and 9 .

In step 104, the staff opens the hydraulic pin device 105 by remote control, starts the switch motor of the guide door, and the two guide doors each rotate outward to reach about 150°, opening in a trumpet shape, which is convenient for receiving the aircraft into the main body of the cradle, as shown in Figure 2 shown. In addition, according to the draft size and floating state of the recovered vehicle, the draught depth and the center of gravity adjustment signal of the main body of the cradle is given through the remote control, so that each ballast water pump can pump in or out seawater, and then adjust the draft and floating state of the main body of the cradle. , so that the target recovery vehicle can drive into the accommodating space 120 inside the main body of the cradle.

In step 105, the target aircraft drives in autonomously, or drives the aircraft to the vicinity of the recovery device by manually controlling it, and waits for a recovery command. Further, the aircraft can learn the relative position and attitude information of the two cradle guide doors by identifying the marking ball 303 or other identification marks (two-dimensional code, etc.) located on the main body of the cradle, and send the information to the aircraft control system in real time. , so as to autonomously drive into the main body of the cradle from the middle of the two guide doors. During this process, the guiding device 101 , the side elastic guiding device 103 and the bottom elastic guiding device 107 can restrict the movement of the aircraft to a certain extent, so as to ensure that the aircraft can safely drive into the main body of the cradle. After the aircraft drives into the main body of the cradle, the pilot door switch motor is remotely activated again, the pilot door is closed, and the hydraulic pin device 105 is remotely locked.

Step 106 , the hook 3 is lifted, the sling between the hook 3 and the cradle ear 102 is tightened again, the cradle body and the marine vehicle are lifted out of the water together and finally hoisted to the predetermined storage position on the deck of the mother ship 1 . In the process of hoisting out of water, if it is found that the center of gravity of the vehicle and the main body of the cradle is offset and cannot be lifted smoothly, the hoisting should be canceled, the device and the vehicle should be put into the sea again, and the pressures of each pressure should be adjusted by the remote controller again. The ballast of the water-carrying tank 111, and then adjust the center of gravity of the device and the vehicle as a whole to meet the requirements of safe lifting, and then carry out the lifting operation. At the same time, the elastic guiding device 103 on the side and the elastic guiding device 107 on the bottom of the cradle body can prevent the aircraft inside from damaging itself or the structure of the cradle body due to shaking and impact during the recovery process.

Step 107 , reinsert the fixing pin into the marine fixing hole 104 of the cradle to complete the marine fixing. Disengage the hook 3, close the navigation control module of the cradle, and complete the recovery process.

The principle of deployment of marine vehicles is as follows:

Step 201, start the marine vehicle to retract the navigation control module on the main body of the cradle; use the sling 5 to connect the hook 3 of the crane of the mother ship 1 to the plurality of lifting lugs 102 on the cradle, and connect the nautical fixing holes 104 on the bottom of the cradle. Fixed pin removed, unlocked and ready for recycling.

In step 202, the main body of the cradle is lifted to retract the cradle of the marine vehicle, the crane 2 of the mother ship 1 rotates to hoist the device outboard, and the device is slowly put into the water after the device no longer shakes and is relatively stable. The distance between the center of gravity of the main body of the cradle and the side of the mother ship 1 is to be kept greater than L/2+D, where L is the longitudinal length of the main body of the cradle, and D is the safety distance (D not less than 0.2L in the third sea state, D not less than 0.2L in the fourth sea state 0.3L), so as to ensure that the main body of the cradle will not collide with the hull of the mother ship 1 during the hoisting process, wherein, when performing step 202, the staff remotely connects the execution system on the mother ship 1 through the upper industrial computer, and inputs the target of the marine vehicle. Position information, if the mother ship 1 is in the state of anchoring on the sea surface, the distance ΔX from the mother ship 1 and the relative heading angle Δθ between itself and the mother ship 1 should be set; if the mother ship 1 has a certain speed, the speed V of the mother ship 1 should also be set to make the navigation escort at the same speed and heading. At this time, the speed setting of the mother ship 1 is smaller than the maximum speed of the main body of the cradle itself, otherwise the vehicle recovery and deployment operation cannot be performed.

In step 203, the crane rope is further released, so that the main body of the retractable cradle of the aircraft is completely floating on the sea surface by its own buoyancy. Decoupling, the main body of the cradle is not constrained by the movement of the hook 3, and the movement of the vehicle to retract the cradle is decoupled from the movement of the mother ship 1. Start the active control system for the dynamic position of the main body of the cradle, and according to the target stable position parameters set in step 103, the navigation control module compares with the target position and attitude according to its own position and attitude information obtained by the acquisition system, and calculates the amount that should be allocated by each thruster. The thrust, the execution system further converts the allocated thrust into the throttle signal of each thruster, and controls the thruster to complete positioning or escort. The two stern longitudinal thrusters 200 can both provide longitudinal thrust Fy, and at the same time, the differential rotation of the left and right stern longitudinal thrusters 200 can provide torque Mxy in the X-Y plane; the bow lateral thrusters 201 can provide lateral thrust Fy. to the thrust Fx, and it also produces a torque Mxy in the X-Y plane when thrusting laterally. The stern longitudinal thruster 200 and the bow lateral thruster 201 cooperate with each other to maintain the same speed as the mother ship 1 while maintaining a stable relative position between itself and the mother ship 1 in the X-Y plane, as shown in FIGS. 8 and 9 .

Step 204, the staff opens the hydraulic pin device 105 by remote control, activates the guide door switch motor 202, and the two guide doors are rotated outward to about 150° respectively, opening in the shape of a horn, and the opening width should ensure that the internal vehicle can drive out. . In addition, according to the draft size and floating state of the released vehicle, the draught depth and center of gravity adjustment signal of the main body of the cradle is given through the remote control, so that each ballast water pump can pump in or out of seawater, and then adjust the draft and floating state of the cradle. Make the internal vehicle in a state of fully autonomous navigation.

Step 205 , the cradle body is actively controlled to move forward by remote control, so that the aircraft passively withdraws from the cradle body from the open guide device 101 ; or the aircraft is controlled to actively withdraw from the cradle body from the open guide device 101 . After the aircraft completely leaves the main body of the cradle, the pilot door switch motor is remotely activated again, the pilot door is closed, and the hydraulic pin device 105 is remotely locked.

Step 206 , the hook 3 is lifted, the sling 5 between the hook 3 and the cradle ear 102 is tightened again, and the cradle body is lifted out of the water and finally hoisted to a predetermined storage position on the deck of the mother ship 1 . In the process of lifting out of water, if it is found that the center of gravity of the main body of the cradle is offset and cannot be lifted smoothly, the lifting should be canceled and the main body of the cradle should be put into the sea again, and the pressure of each ballast water tank 111 should be adjusted again through the remote control. load, and then adjust the center of gravity of the main body of the cradle to meet the requirements of safe lifting, and then carry out the lifting operation.

Step 207 , reinsert the fixing pin into the marine fixing hole 104 of the cradle to complete the marine fixing. Disengage the hook 3, close the navigation control module of the cradle, and complete the recovery process.

In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying the indicated device Or elements must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation of the present application.

The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essential content of the present invention. The embodiments of the present application and features in the embodiments may be arbitrarily combined with each other without conflict.

Claims (10)

1. An aircraft retraction device having a powered positioning function, comprising:

a cradle body comprising a boat-shaped body (100), said boat-shaped body (100) having inside an accommodation space (120), said accommodation space (120) being for parking a vehicle (4);

a crane (2) arranged on the mother vessel (1) and capable of driving the boat-shaped body (100) to move between the mother vessel deck and the storage position;

a navigation control module, signal connected to the crane (2), comprising:

an acquisition system arranged on the boat-shaped body (100);

the monitoring system comprises a wireless communication module arranged on the ship-shaped body (100) and an upper industrial personal computer connected with the wireless communication module and arranged on the mother ship (1);

a control system comprising a navigation controller (300), a remote controller and an emergency controller, the navigation controller (300) being arranged on the boat-shaped body (100); the remote controller and the emergency controller are respectively in signal connection with the navigation controller (300);

execution system comprising a thruster device mounted on the boat (100) and able to vary the speed and attitude of the boat (100), a guide device (101) to control the draught of the boat (100) by means of ballast water, and a ballast device, the guide device (101) being arranged at the end of the housing space (120) and having a closed condition and an open condition, the vehicle being able to enter and exit the housing space (120) when the guide device (101) is in the open condition, the vehicle being not allowed to enter and exit the housing space (120) when the guide device (101) is in the closed condition.

2. The vehicle launch and launch device with dynamic positioning function according to claim 1, characterised in that said thruster means comprise a plurality of stern (200), bow (201) and stern (200), bow (201) lateral thrusters, respectively corresponding electronic speed regulators, said stern (200) being able to provide the power for longitudinal advance, longitudinal retreat or turning of the boat (100), said bow (201) lateral thrusters being able to provide the power for transverse movement or turning.

3. The vehicle launch device with dynamic positioning function according to claim 1, characterized in that said guiding device (101) comprises two doors hinged on the side of the boat (100) on the port and starboard sides, a guiding door opening and closing motor (202) able to drive the two doors to open and close, and a hydraulic pin device (105) able to lock and unlock the two doors.

4. The vehicle launch and launch device with dynamic positioning function according to claim 1, characterised in that said ballast means comprise a plurality of ballast tanks (111) arranged respectively at the bow and at the stern of said boat-shaped body (100) and a ballast pump connected to each of said ballast tanks (111).

5. The vehicle stowing device with dynamic positioning function according to claim 1, characterized in that the interior of the boat (100) has arranged along its length one or more rows of side springers (103), one or more rows of bottom springers (107) for guiding the longitudinal movement of the vehicle and/or limiting the lateral movement of the vehicle.

6. The vehicle launch and launch device with dynamic positioning function according to claim 1, characterised in that the bottom of said boat-shaped body (100) has a bottom slot (108) that fits the structure of the vehicle itself and a cradle bottom plate (109) that can be removably fixed on said bottom slot (108).

7. The dynamic positioning enabled vehicle launch device according to claim 1 wherein the boat-shaped body (100) has one or more transverse stiffeners (106) disposed thereon;

the boat-shaped body (100) is provided with a plurality of lifting lugs (102);

the bottom of the ship-shaped body (100) is provided with a plurality of navigation fixing holes (104), and the navigation fixing holes (104) are used for locking the ship-shaped body (100) on a mother ship.

8. The vehicle launch and launch device with dynamic positioning functionality according to claim 1 wherein said boat shaped body (100) has a marker bead (303) or a reflective or colored skin on top.

9. The dynamic positioning enabled aircraft launching device according to claim 1, characterized in that the boat shaped body (100) is made of metal hull, metal truss or buoyancy material.

10. The powered positioning vehicle launch and launch device according to claim 1 wherein said acquisition system comprises any one or more of the following:

a sensor arranged on the boat-shaped body (100);

a camera (302) arranged on top of the boat-shaped body (100);

a dual antenna high precision GPS (304);

an accelerometer module;

a lidar (305) arranged on top of the boat-shaped body (100);

a depth gauge arranged at the bottom of the boat-shaped body (100).

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