CN116280035B - Ocean mobile capturing device and working method thereof - Google Patents
Ocean mobile capturing device and working method thereof Download PDFInfo
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- CN116280035B CN116280035B CN202310530455.3A CN202310530455A CN116280035B CN 116280035 B CN116280035 B CN 116280035B CN 202310530455 A CN202310530455 A CN 202310530455A CN 116280035 B CN116280035 B CN 116280035B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
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- Chemical & Material Sciences (AREA)
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a marine mobile capturing device and a working method thereof, and belongs to the field of recovery of marine unmanned systems. The invention can solve the problem of autonomous recovery of an offshore unmanned system, and the marine mobile capturing device comprises a floating body and a fixed clamp, wherein one end of the floating body is rotationally connected with the fixed clamp, and an electric push rod for pushing the floating body to rotate is also arranged on the fixed clamp; the two floating bodies are respectively a first floating body and a second floating body, and an interface for clamping and fixing the unmanned system at sea is formed between the first floating body and the second floating body. The bottoms of the floating body and the fixed clamp are provided with full-rotation propellers. The ocean mobile capturing device has strong maneuverability, can realize the recovery of an offshore unmanned system, in particular to an unpowered unmanned system, has high degree of autonomy and does not need the intervention of operators. The ocean mobile capturing device also has autonomous navigation connection capability, can autonomously realize dynamic positioning, and can realize capturing of a remote unmanned system.
Description
Technical Field
The invention relates to the field of recovery of an offshore unmanned system, in particular to a marine mobile capturing device for recovery of the offshore unmanned system and a working method of the capturing device.
Background
With the rapid development of science and technology and the continuous deep understanding of unmanned systems, marine observation and detection are increasingly based on unmanned systems at sea. The current offshore unmanned systems are mainly divided into a power type and an unpowered type, wherein power devices such as a propeller are carried by the power type unmanned systems, and the unmanned systems can freely move, such as unmanned ships, underwater vehicles, robots and the like; unpowered without a power unit, and without its own ability to autonomously move, such as a surface buoy, submerged buoy, surface drifting equipment, etc.
Although the application of the offshore unmanned system is more and more widespread in the field of ocean observation and detection, the deployment and recovery technology matched with the offshore unmanned system is in a relatively lagged state. The existing cloth recycling technology mainly comprises manual recycling, hanging type recycling and slideway type recycling technologies.
The manual recovery is that the mother ship is close to the offshore unmanned system for manual salvage, and in actual work, the mother ship is very difficult to be close to the offshore unmanned system, and the requirements on sea conditions are extremely high, and in addition, the manual salvage efficiency is extremely low. The suspended recovery is similar to manual work, the mooring rope is directly acted on the offshore unmanned system, the requirement on sea conditions is high, the mother ship platform is required to be stopped and stationary, multiple persons are required to assist, manual unhooking and other operations are needed, the degree of autonomy is low, the time and difficulty are relatively high, the efficiency is low, the safety is low, and the suspended recovery is not suitable for recovery of the unmanned system under complex sea conditions. The slipway is that a long slope slipway is arranged at the stern of the mother ship platform, in the butt joint guiding process, the influence of wake flow and sea wave is overcome by manual auxiliary remote control operation, the mother ship moves violently under high sea conditions, the stern rises away from the water surface, an unmanned system is difficult to enter the slipway, and autonomy is weak. In addition, the slideway type is not suitable for an unpowered offshore unmanned system.
How to rapidly, efficiently and independently distribute and recycle an offshore unmanned system in a dynamic environment, in particular to an unpowered offshore unmanned system, is a key technical problem to be solved.
Disclosure of Invention
Based on the technical problems, the invention provides a marine mobile capturing device and a working method of the capturing device.
The technical scheme adopted by the invention is as follows:
the marine movement capturing device comprises a floating body and a fixed clamp, wherein one end of the floating body is rotationally connected with the fixed clamp, and an electric push rod for pushing the floating body to rotate is further arranged on the fixed clamp;
the two floating bodies are respectively a first floating body and a second floating body, and an interface for clamping and fixing the unmanned system at sea is formed between the first floating body and the second floating body.
Preferably, the fixing clamp comprises a top clamping plate and a bottom clamping plate, and the top clamping plate and the bottom clamping plate are arranged in parallel; a fixing rod is connected between the two ends of the top clamping plate and the bottom clamping plate, and the fixing rod is perpendicular to the top clamping plate and the bottom clamping plate;
one end of the floating body is inserted into a gap between the top clamping plate and the bottom clamping plate, the end is called a fixed end, a first through hole is formed in the fixed end of the floating body, a pin shaft is arranged between the top clamping plate and the bottom clamping plate, and the pin shaft penetrates through the first through hole.
Preferably, the electric putter includes the body of rod and is used for driving the flexible cylinder body of rod straight line, and the body of rod is connected with the cylinder body, and the end and the dead lever rotation of cylinder body are connected, the end and the other end fixed connection of body of rod.
Preferably, the tail end of the cylinder body is connected with a fixed block, a second through hole is formed in the fixed block, and the fixed rod penetrates through the second through hole;
the tail end of the rod body is connected with the floating body through a fixing ring, the fixing ring comprises a ring body, the ring body is sleeved on the floating body, a connecting handle is arranged on the outer side of the ring body, the ring body and the connecting handle are of an integrated structure, and the connecting handle is connected with the rod body;
the floating body is columnar, and the axis of the floating body is parallel to the axis of the electric push rod;
the fixed end of the first floating body and the fixed end of the second floating body are respectively arranged at the left end and the right end of the fixed clamp.
Preferably, the bottoms of the floating body and the fixed clamp are provided with full-rotation propellers; the full-rotation propeller comprises a propeller body, wherein a blade is arranged at the tail part of the propeller body, a motor is arranged on the propeller body, a rotating shaft of the motor is vertically upwards, a fixed disc is arranged at the tail end of the rotating shaft of the motor, and the fixed disc is connected with a floating body or a fixed clamp.
Preferably, a flexible connection is also provided between the first floating body and the second floating body.
Preferably, a telescopic rod is arranged above the center of the top clamping plate, the telescopic rod is vertically arranged, the bottom end of the telescopic rod is fixedly connected with the top clamping plate, and the top end of the telescopic rod is connected with a horizontal compression rod or a horizontal compression plate for limiting the top of the offshore unmanned system.
Preferably, a light source, a power supply, an antenna and a control device are arranged above the top clamping plate, and the control device is respectively connected with the full-rotation propeller, the motor and the electric push rod.
Preferably, the fixing clamp is connected with a lifting crane through a mooring rope, and the lifting crane is arranged on the mother ship platform.
A method of operating a marine mobile capture apparatus as described above, comprising the steps of:
a1, arranging the ocean mobile capturing device on the water surface through a lifting crane;
a2, starting a full-rotation propeller through a control device, and enabling the ocean mobile capturing device to drive into a position close to an offshore unmanned system under the thrust action of the full-rotation propeller;
a3, the marine mobile capturing device carries out accurate docking capturing on the marine unmanned system;
a4, recycling the ocean mobile capturing device to the mother ship platform through a lifting crane;
step a3 comprises the steps of:
a31 controls the opening of the interface between the first float and the second float
The rod body of the electric push rod is controlled to shrink through the control device, and when the rod body shrinks, the first floating body and the second floating body are pulled to move outwards; meanwhile, the two full-rotation propellers at the bottoms of the first floating body and the second floating body are adjusted in direction by controlling the motor to rotate, thrust is inward, and the opening of the interface is realized;
a32 dynamic positioning of ocean mobile capturing device
The rotation angle of a motor on each full-rotation propeller and the rotation speed of blades of the full-rotation propeller are adjusted in real time through a control device, so that the dynamic positioning of the ocean mobile capturing device is realized, and an offshore unmanned system enters an interface between the first floating body and the second floating body;
a33 controls the closing of the interface between the first float and the second float
The rod body of the electric push rod is controlled to extend through the control device, and when the rod body extends, the first floating body and the second floating body are pushed to move inwards; meanwhile, the two full-rotation propellers at the bottoms of the first floating body and the second floating body are enabled to adjust directions by controlling the motor to rotate, thrust is outwards, combination of interfaces is achieved, and an offshore unmanned system is clamped.
The beneficial technical effects of the invention are as follows:
(1) The invention designs the capture type retraction device of the offshore unmanned system, which can move autonomously, can be positioned dynamically and can be deformed, the device has strong maneuverability, the recovery of the offshore unmanned system, especially the recovery of the unmanned system, can be realized, the degree of autonomy is high, and the intervention of operators is not needed.
(2) The marine mobile capturing device has autonomous navigation connection capability, can autonomously realize dynamic positioning, can realize capturing of a remote unmanned system, does not need to stop a ship, can adapt to higher navigational speed and complex sea conditions, is rapid and efficient, has strong adaptability, greatly reduces application cost, and is rapid and efficient in recycling the marine unmanned system.
(3) The device can be deformed to adapt to the application of the offshore unmanned systems with different sizes and structures, and can meet the requirement of autonomous deployment and recovery of various offshore unmanned systems.
(4) The device can be simultaneously configured on the mother ship platform for realizing synchronous recovery of a plurality of unmanned systems.
Drawings
The invention is further described with reference to the drawings and detailed description which follow:
FIG. 1 is a schematic diagram of the principle of the structure of a marine mobile capturing device according to the present invention;
FIG. 2 is a schematic elevational view of the structure of FIG. 1;
FIG. 3 is a schematic side view of the structure of FIG. 1;
FIG. 4 is a schematic top view of the structure of FIG. 1;
FIG. 5 is a schematic view of the bottom structure of FIG. 1;
FIG. 6 is a schematic diagram of the structural principle of the full-rotation propeller of the present invention;
FIG. 7 is a schematic diagram showing the state of interface combination between a first floating body and a second floating body according to the present invention;
FIG. 8 is a schematic diagram showing an open state of an interface between a first floating body and a second floating body according to the present invention;
FIG. 9 shows the thrust direction of a full-swing propeller with the interface between the first and second floats open in the present invention;
FIG. 10 illustrates the thrust direction of a full-swing propeller when the interfaces between the first and second floats are combined in the present invention;
FIG. 11 is a schematic view of the principle of the structure of the marine mobile capturing device of the present invention connected to a mother ship platform by mooring lines;
FIG. 12 is a schematic view of the structure of the marine mobile capturing device of the present invention recovered to a mother ship platform;
FIG. 13 is a schematic view showing a structure in which a plurality of marine mobile capturing devices are arranged on a mother ship platform according to the present invention;
fig. 14 is a flow chart of the method of operation of the marine mobile capturing device of the present invention.
In the figure: the marine unmanned aerial vehicle comprises a 1-fixed clamp, a 2-electric push rod, a 3-first floating body, a 4-second floating body, a 5-marine unmanned system, a 6-interface, a 7-full-rotation propeller, an 8-flexible connecting piece, a 9-power supply, a 10-antenna, a 11-control device, a 12-mooring rope, a 13-lifting crane, a 14-mother ship platform and a 15-light source;
101-a top clamping plate, 102-a bottom clamping plate, 103-a fixed rod, 104-a pin shaft, 105-a telescopic rod and 106-a horizontal compression rod;
201-a rod body, 202-a cylinder body, 203-a fixed block and 204-a fixed ring;
701-a propeller body, 702-a paddle, 703-a motor, 704-a rotating shaft, 705-a fixed disk.
Detailed Description
The ocean mobile capturing device comprises a floating body and a fixing clamp 1, wherein one end of the floating body is rotationally connected with the fixing clamp 1, and an electric push rod 2 for pushing the floating body to rotate is further arranged on the fixing clamp 1. The two floating bodies are respectively a first floating body 3 and a second floating body 4, an interface 6 for clamping and fixing the offshore unmanned system 5 is formed between the first floating body 3 and the second floating body 4, and the interface 6 is in a V shape.
The fixing clamp 1 comprises a top clamping plate 101 and a bottom clamping plate 102, and the top clamping plate 101 and the bottom clamping plate 102 are arranged in parallel. A fixing rod 103 is connected between both ends of the top clamping plate 101 and the bottom clamping plate 102, and the fixing rod 103 is arranged perpendicular to the top clamping plate 101 and the bottom clamping plate 102. One end of the floating body is inserted into a gap between the top clamping plate and the bottom clamping plate, the end is called a fixed end, a first through hole is formed in the fixed end of the floating body, a pin 104 is arranged between the top clamping plate 101 and the bottom clamping plate 102, and the pin 104 passes through the first through hole. This arrangement allows on the one hand the end of the float to be connected to the fixing clamp and on the other hand the float to be rotated in a horizontal plane relative to the pin 104 on the fixing clamp.
The electric push rod 2 comprises a rod 201 and a cylinder 202 for driving the rod to linearly stretch out and draw back, wherein the rod 201 is connected with the cylinder 202, the tail end of the cylinder 202 is rotationally connected with the fixed rod 103, and the tail end of the rod 201 is fixedly connected with the other end of the floating body. Specifically, the end of the cylinder 202 is connected with a fixing block 203, a second through hole is provided on the fixing block 203, and the fixing rod 103 passes through the second through hole. The tail end of the rod body 201 is connected with the floating body through a fixing ring 204, the fixing ring 204 comprises a ring body, the ring body is sleeved on the floating body, a connecting handle is arranged on the outer side of the ring body, the ring body and the connecting handle are of an integrated structure, and the connecting handle is connected with the tail end of the rod body 201. The floating body is columnar, and the axis of the floating body is parallel to the axis of the electric push rod 2. The fixed end of the first floating body 3 and the fixed end of the second floating body 4 are respectively arranged at the left end and the right end of the fixed clamp 1. The V-shaped interface between the first floating body 3 and the second floating body 4 can be controlled to open and close by the electric push rod 2.
The bottom of the floating body and the bottom of the fixed clamp are respectively provided with a full-rotation propeller 7. The full-rotation propeller 7 comprises a propeller body 701, a blade 702 is arranged at the tail of the propeller body 701, a motor 703 is arranged on the propeller body 701, and a rotating shaft 704 of the motor 703 is vertically upwards. A fixed disc 705 is arranged at the tail end of the rotating shaft 704 of the motor, and the fixed disc 705 is connected with a floating body or a fixed clamp. The motor 703 and the blade 702 are fixed together and can rotate 360 degrees around the rotation shaft 704. More specifically, three full-circle propellers 7 are provided, wherein two full-circle propellers are respectively arranged below the tail ends of the first floating body 3 and the second floating body 4, and the other full-circle propeller is arranged at an intermediate position below the bottom clamping plate 102 of the fixed clamp. The three full-rotation propellers are integrally distributed on one circumference.
In the invention, the first floating body 3 and the second floating body 4 provide buoyancy, the front end is fixed by the fixed clamp 1, the rear end can be opened and closed to present a V shape, and the V-shaped opening has a plurality of functions, so that the marine unmanned system 5 can be conveniently guided to enter; secondly, providing directional stability; and thirdly, the V-shaped opening can deform, so that the clamping of an offshore unmanned system can be realized, and the safety recovery capability is improved. The fixing clamp 1 includes a top clamping plate 101 and a bottom clamping plate 102, and fixes the front end of the floating body up and down.
The electric push rod in the ocean mobile capturing device can realize the expansion and the contraction, and the purpose of the expansion and the contraction is to realize the opening and the closing of the floating body. The electric push rod stretches out to enable the floating bodies at two sides to move inwards, so that combination is realized; the electric push rod contracts to pull the fixing ring 204, so that the floating body is opened.
The full-rotation propeller 7 can apply force with variable magnitude at any angle, so that the ocean movement capturing device can freely move in any direction. The automatic dynamic positioning of the ocean mobile capturing device can be realized, namely the ocean mobile capturing device is controlled to gradually approach to the docking target position, then the position and the heading are maintained, and the control precision is high.
The dynamic positioning method is realized by adjusting the angle and the rotation speed of each full-circle propeller 7 in real time. As shown in fig. 5, in order to realize the dynamic positioning of the O-point, when it is detected that the ocean movement capturing device is shifted to the positive Y-axis direction, the axis of the full-rotation propeller should be rotated to be parallel to the Y-axis, the thrust direction is towards the positive Y-axis direction, and the corresponding rotational speed of the paddle is set, so that the ocean movement capturing device moves towards the opposite Y-axis direction, and the dynamic positioning is realized.
The V-shaped interface between the first floating body 3 and the second floating body 4 has the functions of opening and combining deformation, namely the opening and closing angles of the V-shaped interface can be changed randomly so as to adapt to different offshore unmanned systems. The V-shaped interface deformation can also be realized by the combined action of the electric push rod 2 and the full-rotation propeller 7. When the V-shaped interface is required to be opened, the two electric push rods 2 shrink to respectively pull the first floating body 3 and the second floating body 4 to expand outwards, and at the moment, the directions of the two full-rotation propellers 7 below the first floating body 3 and the second floating body 4 are adjusted, as shown in fig. 9, the two floating bodies move relatively, and the V-shaped interface is opened. When the V-shaped interfaces are needed to be combined, the electric push rod 2 stretches out to push the first floating body 3 and the second floating body 4 to move inwards in a combined mode, at the moment, the direction of the two full-rotation propellers 7 below the first floating body 3 and the second floating body 4 is adjusted, the thrust is outwards, and as shown in fig. 10, the two floating bodies move relatively, and the V-shaped interfaces are combined.
As a further design of the invention, a flexible connection 8 is also provided between the fixed ends of the first floating body 3 and the second floating body 4. The flexible connecting piece 8 can adopt structures such as flexible rubber rods, on one hand, the connection between the first floating body 3 and the second floating body 4 can be realized, and on the other hand, the function of limiting and buffering can be realized when the offshore unmanned system 5 is inserted into the V-shaped interface.
Still further, be provided with telescopic link 105 in the center top of top splint 101, telescopic link 105 is vertical arrangement, has the flexible function, and telescopic link 105's bottom and top splint 101 fixed connection, telescopic link 105's top is connected and is used for carrying out the spacing horizontal depression bar 106 in top to the unmanned system in sea. By means of the up-and-down extension of the extension rod 105, the up-and-down fixing and clamping of the offshore unmanned system 5 can be achieved. Specifically, the offshore unmanned system 5 enters the interface 6 and is clamped by the first floating body 3 and the second floating body 4 at two sides, the first floating body 3 and the second floating body 4 are positioned at the middle lower part of the offshore unmanned system 5, and at the moment, the top of the offshore unmanned system 5 is limited and fixed through the horizontal compression rod 106, so that the stable clamping of the offshore unmanned system 5 can be realized, and the capturing of the offshore unmanned system 5 is completed.
Further, a light source 15, a power supply 9, an antenna 10 and a control device 11 are arranged above the top clamping plate 101, and the control device 11 is respectively connected with the full-rotation propeller 7, the motor 703 and the electric push rod 2. The light source 15 may be a high visibility light source, powered by the power supply 9. The high-visibility light source can provide a guiding signal to realize the long-distance docking guiding of the marine mobile capturing device and the marine unmanned system, and can also meet night operation.
Further, the fixing clamp 1 is connected with a lifting crane 13 through a mooring rope 12, and the lifting crane 13 is mounted on a mother ship platform 14. As shown in fig. 11-13, the marine mobile capture apparatus works in conjunction with a mother ship platform, wherein the mother ship platform 14 is a work support mother ship; the lifting crane 13 is connected with the ocean movement capturing device through the mooring rope 12, and has the functions of lifting and laying. The mooring rope needs to have certain bearing capacity, neutral buoyancy or positive buoyancy, can be of fixed length and variable length, and can be unfolded through a self-tensioning winch. The marine mobile capturing device has the autonomous mobile capability, can move away from the mother ship according to a certain course, moves to the vicinity of the marine unmanned system, and realizes docking capture with the unmanned system. In addition, the ocean mobile capturing device has the functions of dynamic positioning, deformability and the like, a plurality of ocean mobile capturing devices can be distributed on a mother ship platform, synchronous recovery of a plurality of offshore unmanned systems is achieved, and the working efficiency is greatly improved.
The invention designs a capturing type retraction device of an offshore unmanned system, which can move independently, can be positioned dynamically and can be deformed, the device is matched with a mother ship to operate, the offshore unmanned system is captured remotely, and the quick, efficient, autonomous and unmanned deployment and recovery of various offshore unmanned systems are realized. Compared with the traditional cloth-placing recovery mode, the device is particularly suitable for recovery of an unpowered offshore unmanned system, has high degree of autonomy, does not need intervention of operators, and has wide application range; the mother ship platform does not need to stop the ship, can adapt to higher navigational speed and complex sea conditions, is rapid and efficient, has strong adaptability and greatly reduces the application cost; the device has autonomous navigation docking capability and can capture an offshore unmanned system far away from a mother ship platform. The device can be matched with the electric push rod 2 and the full-rotation propeller 7 to carry out structural deformation so as to adapt to the application of the offshore unmanned systems with different sizes and structures, and can stabilize the device in water disturbed by waves through an expansion structure, and has better maneuverability and trafficability after the device is contracted; the device can also realize a plurality of simultaneous applications, and can realize synchronous recovery of a plurality of unmanned systems by matching with a mother ship platform.
The invention also provides a working method of the marine mobile capturing device, when the marine mobile capturing device is used for recovering an offshore unmanned system, firstly, the marine mobile capturing device is placed on the water surface, and the marine mobile capturing device starts to work; then, the ocean mobile capturing device is driven into the position of an offshore unmanned system, and accurate docking capturing is completed; then, a controller controls the lifting crane 13 to wind up the mooring rope 12, so that the marine mobile capturing device carries an offshore unmanned system to lift; finally, recovery is completed, and the whole system is placed on a mother ship.
Specifically, the working method comprises the following steps:
a1, the marine mobile capturing device is deployed to the water surface by lifting the crane 13.
a2, starting the full-rotation propeller 7 through the control device, and driving the ocean movement capturing device into a position close to the offshore unmanned system 5 under the thrust action of the full-rotation propeller 7.
a3, the marine mobile capturing device carries out accurate docking capturing on the marine unmanned system 5.
a4 retrieve the marine mobile capturing device to the mother vessel platform 14 by lifting the crane 13.
Step a3 comprises the steps of:
a31 controls the opening of the interface between the first float and the second float
The control device 11 controls the rod body of the electric push rod 2 to shrink, and when the rod body shrinks, the first floating body 3 and the second floating body 4 are pulled to move outwards. Meanwhile, the motor 703 is controlled to rotate, so that the two full-rotation propellers at the bottoms of the first floating body 3 and the second floating body 4 are adjusted in direction, thrust is inward, and the opening of the interface is realized.
a32 dynamic positioning of ocean mobile capturing device
The dynamic positioning of the ocean mobile capturing device is realized by adjusting the rotation angle of the motor 703 on each full-rotation propeller 7 and the rotation speed of the blades 702 of the full-rotation propeller in real time through the control device, and the offshore unmanned system 5 enters an interface between the first floating body 3 and the second floating body 4.
a33 controls the closing of the interface between the first float and the second float
The rod body of the electric push rod 2 is controlled to extend through the control device, and when the rod body extends, the first floating body 3 and the second floating body 4 are pushed to move inwards. Meanwhile, by controlling the motor 703 to rotate, the two full-rotation propellers 7 at the bottoms of the first floating body 3 and the second floating body 4 are adjusted in direction, thrust is outward, interface combination is realized, and the offshore unmanned system is clamped.
The parts not described in the above modes can be realized by adopting or referring to the prior art.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. A marine mobile capturing device, characterized by: the floating body is rotatably connected with the fixed clamp, and an electric push rod for pushing the floating body to rotate is further arranged on the fixed clamp;
the two floating bodies are respectively a first floating body and a second floating body, and an interface for clamping and fixing an offshore unmanned system is formed between the first floating body and the second floating body;
the fixing clamp comprises a top clamping plate and a bottom clamping plate, and the top clamping plate and the bottom clamping plate are arranged in parallel; a fixing rod is connected between the two ends of the top clamping plate and the bottom clamping plate, and the fixing rod is perpendicular to the top clamping plate and the bottom clamping plate;
one end of the floating body is inserted into a gap between the top clamping plate and the bottom clamping plate, the end is called a fixed end, a first through hole is formed in the fixed end of the floating body, a pin shaft is arranged between the top clamping plate and the bottom clamping plate, and the pin shaft penetrates through the first through hole;
the electric push rod comprises a rod body and a cylinder body for driving the rod body to linearly stretch out and draw back, the rod body is connected with the cylinder body, the tail end of the cylinder body is rotationally connected with the fixed rod, and the tail end of the rod body is fixedly connected with the other end of the floating body;
the tail end of the cylinder body is connected with a fixed block, a second through hole is formed in the fixed block, and the fixed rod penetrates through the second through hole; the tail end of the rod body is connected with the floating body through a fixing ring, the fixing ring comprises a ring body, the ring body is sleeved on the floating body, a connecting handle is arranged on the outer side of the ring body, the ring body and the connecting handle are of an integrated structure, and the connecting handle is connected with the rod body;
the floating body is columnar, and the axis of the floating body is parallel to the axis of the electric push rod;
the fixed end of the first floating body and the fixed end of the second floating body are respectively arranged at the left end and the right end of the fixed clamp;
the bottoms of the floating body and the fixed clamp are provided with full-rotation propellers; the full-rotation propeller comprises a propeller body, wherein a blade is arranged at the tail part of the propeller body, a motor is arranged on the propeller body, a rotating shaft of the motor is vertically upwards, a fixed disc is arranged at the tail end of the rotating shaft of the motor, and the fixed disc is connected with a floating body or a fixed clamp;
the total number of the three full-rotation propellers is three, and the three full-rotation propellers are integrally distributed on one circumference;
a flexible connecting piece is arranged between the first floating body and the second floating body;
a telescopic rod is arranged above the center of the top clamping plate, the telescopic rod is vertically arranged, the bottom end of the telescopic rod is fixedly connected with the top clamping plate, and the top end of the telescopic rod is connected with a horizontal compression bar or a horizontal pressing plate for carrying out top limit on the offshore unmanned system;
a light source, a power supply, an antenna and a control device are arranged above the top clamping plate, and the control device is respectively connected with the full-rotation propeller, the motor and the electric push rod;
the fixed clamp is connected with the lifting crane through a mooring rope, and the lifting crane is arranged on the mother ship platform.
2. A method of operating a marine mobile capture apparatus according to claim 1, comprising the steps of:
a1, arranging the ocean mobile capturing device on the water surface through a lifting crane;
a2, starting a full-rotation propeller through a control device, and enabling the ocean mobile capturing device to drive into a position close to an offshore unmanned system under the thrust action of the full-rotation propeller;
a3, the marine mobile capturing device carries out accurate docking capturing on the marine unmanned system;
a4, recycling the ocean mobile capturing device to the mother ship platform through a lifting crane;
step a3 comprises the steps of:
a31 controls the opening of the interface between the first float and the second float
The rod body of the electric push rod is controlled to shrink through the control device, and when the rod body shrinks, the first floating body and the second floating body are pulled to move outwards; meanwhile, the two full-rotation propellers at the bottoms of the first floating body and the second floating body are adjusted in direction by controlling the motor to rotate, thrust is inward, and the opening of the interface is realized;
a32 dynamic positioning of ocean mobile capturing device
The rotation angle of a motor on each full-rotation propeller and the rotation speed of blades of the full-rotation propeller are adjusted in real time through a control device, so that the dynamic positioning of the ocean mobile capturing device is realized, and an offshore unmanned system enters an interface between the first floating body and the second floating body;
a33 controls the closing of the interface between the first float and the second float
The rod body of the electric push rod is controlled to extend through the control device, and when the rod body extends, the first floating body and the second floating body are pushed to move inwards; meanwhile, the two full-rotation propellers at the bottoms of the first floating body and the second floating body are enabled to adjust directions by controlling the motor to rotate, thrust is outwards, combination of interfaces is achieved, and an offshore unmanned system is clamped.
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