NL2039855A

NL2039855A - A Movable Unmanned Boat Retracting Motion Compensation System Based on A-Frame

Info

Publication number: NL2039855A
Application number: NL2039855A
Authority: NL
Inventors: Zhang Chenhe; Chen Haiquan; Sun Yuqing; Wang Shenghai; Han Guangdong; Liu Dong; Wei Yi; Li Jian; Kuang Qiji; Zhang Hongpeng
Original assignee: Univ Dalian Maritime
Priority date: 2024-09-13
Filing date: 2025-02-25
Publication date: 2025-04-17
Also published as: CN118928648A; NL2039855B1

Abstract

The invention provides a movable unmanned boat retracting motion compensation system based on A-frame, which comprises: hoisting device, which is used for hoisting the unmanned boat, wherein the hoisting device adjusts the position of a sling in real time by combining the position of the unmanned boat with a sling moving mechanism and a propeller, and connects and ﬁxes the unmanned boat by a docking ﬁxing device; Control unit, which is used for receiving the video information of the camera and the data information of the tension sensor and the angle sensor in the unmanned boat hoisting process, generating corresponding control signals according to the video information of the camera and the data information of the tension sensor and the angle sensor in the unmanned boat hoisting process, and sending the control signals to the hoisting device and the compensation vehicle to remotely control the hoisting device and the compensation vehicle. The invention can further improve the safety, stability and convenience of the unmanned boat hoisting operation by applying the hoisting device combined with the rope-driven anti-swing of the movable compensation vehicle and cooperating with the control unit.

Description

A Movable Unmanned Boat Retracting Motion Compensation System Based on A-

Frame

TECHNICAL FIELD

The invention relates to the technical field of unmanned boat deployment and recovery, in particular to a movable unmanned boat retracting motion compensation system based on A-frame.

BACKGROUND

Retraction is an important link in the use of unmanned boats, and its safety and reliability are directly related to whether unmanned boats can successfully complete their tasks. At present, there are three main ways to retract unmanned boats: one is the hanging stowing technology, which is relatively mature and has less requirements for the mother ship hull, but the disadvantage is that the stowing speed is greatly affected by sea conditions, and it is difficult to align the brackets in bad sea conditions, which requires manual hooking and unhooking, and the stowing process takes a long time; The second is the docking technology, which can adapt to the complex water surface conditions and has a high speed, but it requires a higher structure of the mother ship, which requires the mother ship to be equipped with a large dock; The third is the stern slideway retraction technology, which is less affected by the water surface condition and has a faster retraction speed, but it is difficult to control the centering when the unmanned boat approaches the stern slideway.

However, most of the above-mentioned operation methods need manual assistance, and the unmanned boat has not been actively retracted, and the retraction operation is easily affected by the change of sea conditions, which increases the difficulty and risk of the retraction process, and it is easy to cause capture failure, inaccessible or even collision and damage of unmanned boats, which seriously endangers the safety of operators and equipment.

SUMMARY

According to the technical problem that the existing unmanned boat retracting scheme is easily affected by the change of sea conditions, a movable unmanned boat retracting motion compensation system based on A-frame is provided. According to the invention,

the tension is adjusted in real time by the anti-swing cable installed on the compensation vehicle and moves in coordination with the main sling and the A-frame, so that the swing phenomenon of the unmanned boat in the deployment and recovery operation is suppressed.

The technical means adopted by the invention are as follows:

A movable unmanned boat retracting motion compensation system based on A-frame includes:

The hoisting device is used for hoisting the unmanned boat, and the position of the sling is adjusted in real time by combining the position of the unmanned boat with a sling moving mechanism and a propeller, and the unmanned boat is connected and fixed by a docking fixing device;

The compensation vehicle is used for restraining the swing phenomenon of the unmanned boat in the hoisting process through the anti-swing cable;

The control unit is used for receiving the video information of the camera and the data information of the tension sensor and the angle sensor in the unmanned boat hoisting process, generating corresponding control signals according to the video information of the camera and the data information of the tension sensor and the angle sensor in the unmanned boat hoisting process, and sending the control signals to the hoisting device and the compensation vehicle to remotely control the hoisting device and the compensation vehicle.

Further, the hoisting device comprises an A-frame, a sling mounting frame, a sling moving mechanism, a first stopper, a main sling, a propeller mounting frame, an anti- swing cable connecting frame, a propeller, a camera, a docking fixing device, a motor, an angle sensor, a remote control module of hoisting device and a wireless signal transmission module of hoisting device;

The bottom ends of the A-frame are mounted on the ship, the sling mounting frame is mounted on the top lower surface of the A-frame, the sling moving mechanism is slidably mounted on the sling mounting frame, the first stopper is mounted on the sling moving mechanism, the sling moving mechanism is connected with the upper end of the main sling, the lower end of the main sling is connected with the propeller mounting frame, and the lower end of the propeller mounting frame is provided with a anti-swing cable connecting frame, the propeller is installed around the propeller mounting frame, the anti-swing cable connecting frame is connected with one end of the anti-swing cable,

and the other end of the anti-swing cable is connected with the compensation vehicle; cameras are installed on both sides of the anti-swing cable connecting frame; the docking fixing device is installed at the lower part of the anti-swing cable connecting frame, and another docking fixing device is installed on the unmanned boat. A motor is respectively arranged at both sides of the sling mounting frame, below the sling moving mechanism and in the docking fixing device.

Further, an angle sensor is installed below the sling moving mechanism, the propeller and the motor are respectively connected with the remote control module of hoisting device, and the camera and the angle sensor are respectively connected with the wireless signal transmission module of hoisting device.

Further, that compensation vehicle comprise a compensation vehicle frame, a cable winch, a anti-swing cable, a second stopper, a tension sensor, a universal wheel, a fixing device, a counterweight box, a shell, a wireless signal transmission module of compensation vehicle and a remote control module of compensation vehicle;

A cable winch and a counterweight box are installed below the inside of the frame of the compensation vehicle, the cable winch is connected with the anti-swing cable, a second stopper and a tension sensor are installed above the outside of the frame of the compensation vehicle, universal wheels are installed around the bottom of the frame of the compensation vehicle, two fixing devices are installed on both sides of the bottom of the frame of the compensation vehicle, and shells are installed around and at the top of the frame of the compensation vehicle.

Further, the tension sensor is connected with the wireless signal transmission module of compensation vehicle, and the cable winch is connected with the remote control module of compensation vehicle.

Further, the control unit comprises a control cabinet, a data receiving module, a data processing module and a communication module, wherein the control cabinet is installed on a ship; the data receiving module is used for receiving data information from the wireless signal transmission module of hoisting device and the wireless signal transmission module of compensation vehicle; the data processing module is connected with the data receiving module for inputting and outputting control signals and processing the control signals in real time; and the communication module is connected with the data processing module to output control signals to the hoisting device and compensation vehicle.

Compared with the prior art, the invention has the following advantages:

The invention provides a movable unmanned boat retracting motion compensation system based on A-frame. In the system, the hoisting device, the compensation vehicle and the control unit are used for cooperation, and each structure is interconnected and operates independently, so that the unmanned boat hoisting operation with high stability and high efficiency is realized. Compared with the traditional operation mode, the safety, stability and convenience of unmanned boat hoisting operation can be further improved by applying the hoisting device combined with the rope-driven anti-swing of the movable compensation vehicle and cooperating with the control unit.

BRIEF DESCRIPTION OF DRAWINGS

In order to more clearly explain the embodiments of the present invention or the technical scheme in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention, and for ordinary people in the field, other drawings can be obtained according to these drawings without paying creative labor.

Fig. 1 1s a schematic structural diagram of the movable unmanned boat retracting motion compensation system of the present invention.

Fig. 2 is a schematic structural diagram of the hoisting device of the present invention.

Fig. 3 is a schematic structural diagram of the compensation vehicle of the present invention.

Fig. 4 is a structural block diagram of the control unit of the present invention.

Fig. 5 is a working schematic diagram of the movable unmanned boat retracting motion compensation system of the present invention.

In the figures: 1, hoisting device; 11, A-frame; 12, sling mounting frame; 13, sling moving mechanism; 14, first stopper; 15, main sling; 16, propeller mounting frame; 17, anti-swing cable connecting frame; 18, propeller; 19, camera; 110, docking fixing device; 111, motor; 112, angle sensor; 113, remote control module of hoisting device; 114, wireless signal transmission module of hoisting device; 2, compensation vehicle; 21, compensation vehicle frame; 22, cable winch; 23, anti-swing cable; 24, second stopper; 25, tension sensor; 26, universal wheel; 27, fixing device; 28, counterweight box; 29, shell; 210, wireless signal transmission module of compensation vehicle; 211, remote control module of compensation vehicle; 3, control unit.

DETAILED DESCRIPTION OF EMBODIMENTS

It should be noted that the embodiments in the present invention and the features in the embodiments can be combined with each other without conflict. The present invention will be described in detail with reference to the attached drawings and embodiments.

In order to make the purpose, technical scheme and advantages of the embodiment of the present invention more clear, the technical scheme in the embodiment of the present invention will be described clearly and completely with the attached drawings.

Obviously, the described embodiment is only a part of the embodiment of the present mvention, but not all the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application or uses. Based on the practical embodiments in the present invention, all other embodiments obtained by ordinary people in the field without creative work belong to the scope of protection of the present invention.

It should be noted that the terminology used here is only for describing specific embodiments, and 1s not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is also intended to include the plural form unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and/or "including" are used in this specification, they specify the presence of features, steps, operations, devices, components and/or combinations thereof.

Unless otherwise specified, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that for the convenience of description, the dimensions of each part shown in the drawings are not drawn according to the actual proportional relationship. The technologies, methods and equipment known to ordinary technicians in related fields may not be discussed in detail, but under appropriate circumstances, the technologies, methods and equipment shall be regarded as part of the authorization letter. In all embodiments shown and discussed herein, any specific values should be interpreted as illustrative only and not as a limitation.

Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters indicate similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, back, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom" are usually based on the orientation or positional relationship shown in the attached drawings, just for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these orientation words

For the convenience of description, spatially relative terms such as "above", "at the top of”, "on the upper surface of” and "upper" can be used here to describe the spatial positional relationship between a device or feature as shown in the figure and other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation of the device depicted in the drawings. For example, if the devices in the drawings are inverted, devices described as "above" or "at the top of" other devices or structures will be positioned as "below" or "at the bottom of" other devices or structures. Thus, the exemplary term "above" can include both directions of "above" and "below". The device can also be positioned in other different ways (rotated by 90 degrees or in other orientations), and the spatial relative description used here is explained accordingly.

In addition, it should be noted that the words "first" and "second" are used to define parts only for the convenience of distinguishing the corresponding parts. Unless otherwise stated, the above words have no special meaning, so they cannot be understood as limiting the protection scope of the invention.

As shown in Fig. 1, a movable unmanned boat retracting motion compensation system based on A-frame is provided, which includes a hoisting device 1, a compensation vehicle 2 and a control unit 3. Wherein that hoisting device 1 and the compensation vehicle 2 are installed on the ship, and the control unit 3 control the operation of the hoisting device 1 and the compensation vehicle 2. The hoisting device 1 is used for hoisting the unmanned boat, adjusting the position of the sling in real time by combining the position of the unmanned boat with the sling moving mechanism 13 and the propeller 18, and connecting and fixing the unmanned boat with the docking fixing device 110;

The compensation vehicle 2 is used for restraining the swinging phenomenon of the unmanned boat in the hoisting process; The control unit 3 is used to receive the video information of the camera 19 and the data information of the tension sensor 25 and the angle sensor 112 during the unmanned boat hoisting, and remotely control the hoisting device 1 and the compensation vehicle 2.

As shown in Fig. 2, the hoisting device 1 includes an A-frame 11, a sling mounting frame 12, a sling moving mechanism 13, a first stopper 14, a main sling 15, a propeller mounting frame 16, an anti-swing cable connecting frame 17, a propeller 18, a camera 19, a docking fixing device 110, a motor 111, an angle sensor 112, a remote control module of hoisting device 113 and a wireless signal transmission module of hoisting device 114. The A-frame 11 is installed on a ship and used for bearing the hoisting device 1. The sling mounting frame 12 is installed on the A-frame 11 for bearing a sling moving mechanism 13, which is installed on the sling mounting frame 12 for storing slings and can be displaced in the horizontal direction on the sling mounting frame 12. The first stopper 14 is installed on the sling moving mechanism 13 for limiting the orientation of the main sling 15 and preventing the main sling 15 from rubbing, the main sling 15 is connected between the sling moving mechanism 13 and the propeller mounting frame 16 for hoisting unmanned boats, the propeller mounting frame 16 is connected by the main sling 15 for mounting the propeller 18, the anti-swing cable connecting frame 17 is installed below the propeller mounting frame 16 for connecting the anti-swing cable, the propeller 18 is installed around the propeller mounting frame 16 for adjusting the position of the docking fixing device 110, and the cameras 19 are installed at both sides of the anti-swing cable connecting frame 17 for monitoring the position of the docking fixing device 110 and the unmanned boat, the docking fixing device 110 is installed below the anti-swing cable connecting frame 17 and in the unmanned boat, and the unmanned boat can be fixed by two-part docking rotation. The motors 111 are installed on both sides of the sling mounting frame 12, below the sling moving mechanism 13 and in the docking fixing device 110, and are used for driving the left-right movement of the sling moving mechanism 13, loosening and tightening of the main sling and the rotation movement of the docking fixing device 110. The angle sensor 112 is installed below the sling moving mechanism 13 for monitoring the angle of the main sling, the remote control module of hoisting device 113 is connected with the propeller 18 and the motor 111, and is used for receiving the control signals from the control unit 3 at a remote end, so as to control the working states of the propeller 18 and the motor 111. The wireless signal transmission module of hoisting device 114 is connected with the camera 19 and the angle sensor 112, and is used for transmitting the collected data information and video information to the control unit 3.

As shown in Fig. 3, the compensation vehicle 2 includes a compensation vehicle frame 21, a cable winch 22, a anti-swing cable 23, a second stopper 24, a tension sensor 25, a universal wheel 26, a fixing device 27, a counterweight box 28, a shell 29, a wireless signal transmission module of compensation vehicle 210 and a remote control module of compensation vehicle 211; The cable winch 22 is installed below the compensation vehicle frame 21 to loosen and tighten the anti-swing cable 23, which is connected between the compensation vehicle 2 and the anti-swing cable connecting frame 17 to suppress the swing phenomenon of the unmanned boat during the hoisting, the second stopper 24 is installed above the compensation vehicle frame 21 to limit the orientation of the anti-swing cable 23 and prevent the anti-swing cable 23 from rubbing, the tension sensor 25 is installed above the compensation vehicle frame 21 to monitor the tension value of the anti-swing cable 23 in real time, and the universal wheels 26 are installed around the bottom of the compensation vehicle frame 21 to move the compensation vehicle 2, the fixing devices 27 are installed on both sides of the bottom of the compensation vehicle frame 21 to fix the compensation vehicle 2 on the deck of the ship to prevent it from overturning in the working process, the counterweight box 28 1s installed under the compensation vehicle frame 21 to enhance the stability of the compensation vehicle 2, and the shell 29 is installed around and at the top of the compensation vehicle frame 21 to protect the compensation vehicle 2 and its internal devices. The wireless signal transmission module of compensation vehicle 210 is connected with the tension sensor 25 for transmitting the collected tension information to the control unit 3, and the remote control module of compensation vehicle 211 is connected with the cable winch 22 for remotely receiving the control signal of the control unit 3.

As shown in Fig. 4, the control unit 3 collects data information from the wireless signal transmission module of hoisting device 114 and the wireless signal transmission module of compensation vehicle 210 in real time through the data receiving module, performs data processing through the data processing module, and outputs control signals in combination with the instructions of the operator, and the control signals are transmitted to the remote control module of hoisting device 113 and the remote control module of compensation vehicle 211 through the communication module, firstly, according to the orientation of the unmanned boat, the A-frame 11 arrives at the designated position, and the main sling 15 is lowered to approach the unmanned boat. The propeller 18 works to connect the docking fixing device 110 with the unmanned boat, and the main sling 15 rises. Secondly, the compensation vehicle 2 is fixed on the ship, and the cable winch 22 controls the anti-swing cable 23 to cooperate with the main sling 15 to release and tighten it to achieve the purpose of restraining the swing. Finally, the hoisting device 1 hoisted the unmanned boat onto the deck with the cooperation of the compensation vehicle 2.

As shown in Fig. 5, the device disclosed by the invention specifically adopts the following process when realizing the deployment and recovery operation: im the conventional recovery process, operators push the compensation vehicle 2 to a specific position on the deck and fix it on the deck through the fixing device 27, then the control unit 3 controls the A-frame 11 to move above the unmanned boat, the main sling 15 descends to approach the unmanned boat, and the camera 19 recognizes the position of the unmanned boat. The collected video information is transmitted to the control unit 3 through the wireless signal transmission module of hoisting device 114. The data receiving module, data processing module and communication module start to work and send control signals to the remote control module of hoisting device 113 to control the sling moving mechanism and propeller to make the docking and fixing device approach and connect the unmanned boat. After the camera 19 detects that the unmanned boat 1s successfully connected with the docking and fixing device 110, the control unit 3 continues to send control signals to the remote control module of hoisting device 113 and the remote control of the compensation vehicle through the communication module, subsequently, the main sling 15 and the anti-swing cable 23 cooperate with the A-frame 11 to hoist the unmanned boat onto the deck. During this process, the wireless signal transmission module of compensation vehicle 210 and the wireless signal transmission module of hoisting device 114 transmit the values of the tension sensor 25 and the angle sensor 112 to the control unit 3 in real time, so that the control unit 3 can control the cable winch 22 to make corresponding anti-swing actions to prevent the anti-swing cable 23 from exceeding its maximum tension value, and then the operators withdraw the compensation vehicle and that is the end of the unmanned boat recovery process. For the deployment process of unmanned boat, similar to the recovery process, the operator pushes the compensation vehicle 2 to a specific position on the deck and fixes it to the deck through the fixing device 27. The control unit 3 controls the A-frame 11 and the sling moving mechanism 13 to lift the unmanned boat out of the boat and move it above the preset landing point, and then the main sling 15 and the anti-swing cable 23 are loosen to the water surface in cooperation. During this process, the tension sensor 25 and the angle sensor 112 transmit the collected data information to the control unit 3 in real time, the control unit 3 adjusts the operation of the hoisting device 1 and the compensation vehicle 2 in real time according to the data information. When the camera 19 detects that the unmanned boat is in contact with the water surface, the control unit 3 controls the docking fixing device 110 to release the unmanned boat, and the unmanned boat drives out, and the operators withdraw the compensation vehicle 2, and the deployment process ends.

Finally, it should be explained that the above embodiments are only used to illustrate the technical scheme of the invention, but not to limit it; Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical scheme described in the foregoing embodiments can still be modified, or some or all of its technical features can be equivalently replaced; However, these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of various embodiments of the present invention.

Claims

Conclusions

1. A movable compensation system for the pulling-in motion of an unmanned boat based on an A-frame, comprising: a hoist (1) used for hoisting the unmanned boat, and the hoist (1) adjusts the position of a hoisting strap in real time by combining the position of the unmanned boat with a hoisting strap moving mechanism (13) and a propeller (18), and connects and fixes the unmanned boat by a docking attachment device (27); wherein the compensation vehicle (2) is used for controlling the swinging phenomenon of the unmanned boat during the hoisting process by means of the anti-swing cable (23); the control unit (3) is used for receiving the video information of the camera (19) and the data information of the tension sensor (25) and the angle sensor (112) in the unmanned boat hoisting process, and for generating corresponding control signals according to the video information of the camera (19) and the data information of the tension sensor (25) and the angle sensor (112) in the unmanned boat hoisting process, and for transmitting the control signals to the hoisting device (100).

2. A movable A-frame unmanned boat retraction compensation system according to claim 1, wherein the hoist (1) comprises an A-frame (11), a sling mounting frame (12), a sling moving mechanism (13), a first stopper (14), a main sling (15), a propeller mounting frame (16), an anti-sway cable connecting frame (17), a propeller (18), camera (19), docking attachment device (27), motor (111), angle sensor (112), hoist remote control module (113) and hoist wireless signal transmission module (114); the lower ends of the A-frame (11) are mounted on the ship, the sling mounting frame (12) is mounted on the upper lower surface of the A-frame (11), the sling moving mechanism (13) is slidably mounted on the sling mounting frame (12), the first stopper (14) is mounted on the sling moving mechanism (13), the sling moving mechanism (13) is connected to the upper end of the main sling (15), the lower end of the main sling (15) is connected to the propeller mounting frame (16), and the lower end of the propeller mounting frame (16) is provided with an anti-

sling cable connecting frame (17), the propeller (18) is installed around the propeller mounting frame (16), the anti-sling cable connecting frame (17) is connected to one end of the anti-sling cable (23), and the other end of the anti-sling cable (23) is connected to the compensation vehicle (2); cameras (19) are installed on both sides of the anti-sling cable connecting frame (17); the dock fixing device (27) is installed on the lower part of the anti-sling cable connecting frame (17), and another dock fixing device (27) is installed on the unmanned boat; a motor (111) is respectively installed on both sides of the sling fixing frame (12), under the sling moving mechanism (13) and in the dock fixing device (27).

3. A movable A-frame unmanned boat retraction compensation system according to claim 2, characterized in that an angle sensor (112) is installed under the hoisting mechanism (13), the propeller (18) and the motor (111) are respectively connected to the remote control module of the hoist (113), and the camera (19} and the angle sensor (112) are respectively connected to the wireless signal transmission module of the hoist (114).

4. A movable A-frame unmanned boat retraction compensation system according to claim 1, characterized in that the compensation vehicle (2) comprises a compensation vehicle frame (21), a cable winch (22), an anti-sway cable (23), a second stopper (24), a tension sensor (25), a universal wheel (26), a fixing device (27), a counterweight box (28), a scale (29), a wireless signal transmission module of the compensation vehicle (210), a remote control module of the compensation vehicle (211); a cable winch (22) and a counterweight box (28) are installed under the inside of the compensation vehicle frame (21), the cable winch (22) is connected to the anti-sway cable (23), a second stopper (24) and a tension sensor (25) are installed above the outside of the compensation vehicle frame (21), and universal wheels (26) are installed around the bottom of the compensation vehicle frame (21); a mounting device (27) is provided on both sides of the bottom of the compensation vehicle frame (21) respectively, and a scale (29) is provided around and on the top of the compensation vehicle frame (21).

5. A movable compensation system for the retraction movement of an unmanned boat based on an A-frame according to claim 4, characterized in that the tension sensor (25) is connected to the wireless signal transmission module of the compensation vehicle (210), and the cable winch (22) is connected to the remote control module of the compensation vehicle (211).

6. A movable A-frame unmanned boat retraction compensation system according to claim 1, characterized in that the control unit (3) comprises a control box, a data receiving module, a data processing module and a communication module, the control box being installed on a ship and the data receiving module, the data processing module and the communication module being installed in the control box; the data receiving module is used for receiving data information from the wireless signal transmission module of the hoist (114) and the wireless signal transmission module of the compensation vehicle (210); the data processing module is connected to the data receiving module for inputting and outputting control signals and processing the control signals in real time; and the communication module is connected to the data processing module for outputting the control signals to the hoist (1) and the compensation vehicle (2).