CN116280013A - An unmanned ship for detection and its application method - Google Patents

Abstract

The invention relates to the technical field of unmanned ships for detection, and specifically discloses an unmanned ship for detection and a method for using the same, including a ship body and a launcher hung on the ship body, and the launcher includes a crane connected to the ship body Hanging frame, the telescopic bracket that can be telescopically adjusted is arranged on the hanging frame, the first winding assembly for adjusting the telescopic length is arranged between the hanging frame and the telescopic bracket, and the first winding assembly for adjusting the telescopic length is arranged on the hanging frame. Two winding assemblies, the second winding assembly is used to adjust the inclination angle between the hull and the hanging frame, and the two sides of the hanging frame are provided with roller assemblies. In the present invention, the total length of the telescopic bracket and the hanging frame can be adjusted through the provided hanging frame and the telescopic bracket, combined with the first winding assembly provided, so that the hull can be conveniently put into the water area with a low water level.

Description

An unmanned ship for detection and its application method

technical field

The invention relates to the technical field of an unmanned ship for detection, in particular to an unmanned ship for detection and a method for using the same.

Background technique

An unmanned ship is a fully automatic surface robot that can navigate on the water surface according to preset tasks with the help of precise satellite positioning and its own sensing without remote control; domestic unmanned ships are mostly used for surveying and mapping, hydrology and water quality monitoring. It is a fully automatic surface robot that can navigate on the water surface according to preset tasks with the help of precise satellite positioning and self-sensing without remote control. It is often used in environmental monitoring, water area detection, and regional cruise. Replacing manual detection can greatly improve the efficiency of detection. In the past, scientific research and detection can only be collected by scientific research personnel driving rubber boats. Not only is the detection process very dangerous and difficult, but it will also endanger the lives of scientific research personnel when encountering wind and waves. , the emergence of unmanned ships has solved the above problems.

The unmanned ship used for detection is a kind of robot, which needs to have robotic technologies such as autonomous control, autonomous navigation, and autonomous obstacle avoidance. Unmanned ships need to be equipped with various sensors, such as sonar, cameras, measuring instruments, etc., to achieve tasks such as ocean detection, seabed exploration, and water quality monitoring. Unmanned ships need to communicate with the ground control center to receive instructions and transmit data. Unmanned ships need to carry energy equipment, such as solar panels, fuel generators, etc., to ensure long-term work at sea. Due to the weight limitation of some detection equipment and the self-weight of the unmanned ship, the overall weight of the unmanned ship equipped with detection equipment is inconvenient to transfer, and it needs to be transported to the detection waters by a tow truck. However, for some special detection waters, Transport vehicles are impassable, and it is inconvenient to put unmanned ships in the detection waters with low water level, which may easily cause the unmanned ships to overturn. Therefore, an unmanned ship for detection and its use method are proposed.

Contents of the invention

Based on the technical problems existing in the background technology, the present invention proposes an unmanned ship for detection and its usage method.

An unmanned ship for detection proposed by the present invention includes a hull and a launch rack hanging on the hull, the launch rack includes a hanger connected to the hull, and the hanger is provided with telescopically adjustable A telescopic bracket, a first winding assembly for adjusting the telescopic length is arranged between the hanging frame and the telescopic bracket, a second winding assembly is provided on the hanging frame, and the second winding assembly is used to adjust the hull and The inclination angle between the hangers, the two sides of the hangers are provided with roller assemblies.

As a further optimization of the technical solution, the present invention provides an unmanned ship for detection. The hanger includes a U-shaped tube, and both sides of the U-shaped tube are provided with a hanger assembly, and the hanger assembly includes a plug-in A metal rod set in the U-shaped tube, one end of the metal rod passes through the bend of the U-shaped tube, a hook-shaped part is provided at one end of the metal rod, and hook-shaped parts are provided on both sides of the tail of the hull to match the hook-shaped part The metal rod is provided with a hinged groove near the hook-shaped part, and a stopper is hinged in the hinged groove, and a V-shaped spring plate is arranged in the hinged groove, and one end of the V-shaped spring plate is connected to the stopper. block contact, the end of the metal rod far away from the hook-shaped part is provided with a synchronous sprocket, and the same synchronous chain is set on the synchronous sprockets on the two hanger assemblies, and the end of the metal rod far away from the hook-shaped part is fixed A turntable is provided, and the U-shaped tube is provided with a drive assembly that drives the hanger assembly to move.

In this preferred scheme, keep the hook-shaped part in the situation that the opening is downward in the process of throwing in the hull, drive the hanger assembly to move through the drive assembly, and the stopper will drive the stopper to rotate under the action of the V-shaped spring plate, so as to release the lock on the hanger. Clamping limit, the hanging rod can be separated from the hook-shaped part, and then in the process of recovering the hull, rotate the hanger assembly until the opening of the hook-shaped part is upward, so that the hanging rod can be hung into the hook-shaped part, and then control the drive assembly to work and drive The hanger assembly moves, the U-shaped tube drives the block to move, and cooperates with the hook-shaped part to clamp and fix the hanger.

As a further optimization of the technical solution, the present invention provides an unmanned ship for detection, the U-shaped tube is provided with two symmetrically arranged guide sleeves, and the two guide sleeves are arranged along the length direction of the U-shaped tube. The two guide sleeves are fixed with the same first connecting plate near the inner side of the U-shaped tube, and the two guide sleeves are connected with the same second connecting plate at the ends away from the first connecting plate. The telescopic support It includes a U-shaped frame, the two ends of the U-shaped frame are respectively inserted into two guide sleeves, the two ends of the U-shaped frame are fixed with the same horizontal plate, and the two ends of the horizontal plate are provided with metal sleeves, two The metal sleeve is covered with the same rectangular metal frame.

In this preferred solution, the rectangular metal frame provided can be conveniently hung and fixed on the bank of the water area, or can be used as a handrail, and the roller assembly can be used to drag the hanger and the telescopic bracket to move.

As a further optimization of the technical solution, the present invention is an unmanned ship for detection, the first winding assembly includes a manual strapping device fixed on the horizontal plate, and a winding strap is wound on the manual strapping device. The belt, the end of the U-shaped frame away from the horizontal plate is rotatably provided with a guide wheel, and the winding belt is fixedly connected to the first connecting plate by bypassing the guide wheel.

In this preferred solution, the sliding sliding sleeve can drive the rotation of the first support arm and the second support arm, and adjust the direction of the rollers so that the rollers can contact the ground to facilitate the transfer of the hull.

As a further optimization of the technical solution, the present invention provides an unmanned ship for detection, the U-shaped tube is provided with two symmetrically arranged guide sleeves, and the two guide sleeves are arranged along the length direction of the U-shaped tube. The two guide sleeves are fixed with the same first connecting plate near the inner side of the U-shaped tube, and the two guide sleeves are connected with the same second connecting plate at the ends away from the first connecting plate. The telescopic support It includes a U-shaped frame, the two ends of the U-shaped frame are respectively inserted into two guide sleeves, the two ends of the U-shaped frame are fixed with the same horizontal plate, and the two ends of the horizontal plate are provided with metal sleeves, two The metal sleeve is covered with the same rectangular metal frame.

In this preferred solution, the sliding sliding sleeve can drive the rotation of the first support arm and the second support arm, and adjust the direction of the rollers so that the rollers can contact the ground to facilitate the transfer of the hull.

As a further optimization of the technical solution, the present invention is an unmanned ship for detection, the first winding assembly includes a manual strapping device fixed on the horizontal plate, and a winding strap is wound on the manual strapping device. The belt, the end of the U-shaped frame away from the horizontal plate is rotatably provided with a guide wheel, and the winding belt is fixedly connected to the first connecting plate by bypassing the guide wheel.

As a further optimization of the technical solution, the present invention is an unmanned ship for detection, the second winding assembly includes an electric winch fixed on the first connecting plate, and a steel cable is wound on the electric winch, so The inner side of the U-shaped tube close to the hull is provided with a bow frame, the middle part of the bow frame is provided with a guide wire sleeve for the wire rope to pass through, the upper part of the bow of the hull is provided with a hook, and the end of the steel cable is far away from the electric winch. Fixed connection with the hook.

As a further optimization of the technical solution, the present invention provides an unmanned ship for detection, the roller assembly includes sliding sleeves sleeved on both sides of the U-shaped tube, the sliding sleeve is hinged with a first support arm, the The end of the first support arm away from the sliding sleeve is provided with a rotating shaft, and one end of the rotating shaft is rotatably provided with a second support arm, and the end of the second supporting arm away from the rotating shaft is hinged to the side wall of the U-shaped tube, and the rotating shaft is provided with a roller, The same beam is set between the two sliding sleeves, one of the sliding sleeves is screwed with a positioning pin, and the side wall of the U-shaped tube is provided with a positioning hole matching the positioning pin. Limit stop rings are provided on both sides of the U-shaped tube away from the hull, and spring parts are sleeved between the two ends of the U-shaped tube close to the limit stop rings and the sliding sleeve.

In this preferred solution, by sliding the sliding sleeve, the first support arm and the second support arm can be driven to rotate, and the orientation of the rollers can be adjusted so that the rollers can contact the ground to facilitate the transfer of the hull.

As a further optimization of the technical solution, the present invention is an unmanned ship for detection, the drive assembly includes an electric telescopic rod fixed on the second connecting plate, and the telescopic end of the electric telescopic rod passes through the second connecting plate A third connecting plate is fixed, and the two ends of the third connecting plate form rotational connections with the ends of the two hanger assemblies respectively.

A method for using an unmanned ship for detection, comprising the steps of:

S1, equipment transfer, turn the hull upside down and place it on the hanger frame, and put the hanger frame and telescopic bracket in a tightened state through the first winding assembly, hold the rectangular metal frame, and use the rollers on the roller assembly to move the The hull moves next to the target water area;

S2, put the equipment into place, place the hanger and the telescopic bracket on the shore, and use the electric winch to turn the hull to a certain angle with the hanger, try to keep the hull parallel to the water surface of the target water area, and then release the first The manual strapping device in the first winding component releases the restriction on the winding belt, and the U-shaped tube moves down relative to the U-shaped frame. During this process, the electric winch in the second winding component is continuously adjusted, and the adjustment is made by retracting and unwinding the steel cable. The angle of inclination of the hull, so that the hull can be stably launched into the target water area, and then by controlling the contraction of the electric telescopic rod, the third connecting plate is driven to move, and the two hanger components are moved, thereby moving the two hanger components from the U-shaped pipe end Under the action of the V-shaped spring plate, the stopper rotates away from the hook-shaped part, and then the hanging rod on the hull is separated from the hook-shaped part, and then the hull is controlled to sail to the target detection position on the water surface, and the electric winch is controlled during the process. Loosen the steel cable, and the opening of the hook-shaped part is upward during the throwing process;

S3, equipment recovery, after the inspection of the hull is completed, the hull is controlled to drive to the shore. During this process, the electric winch is controlled to tighten the steel cable, and the rotating turntable drives the hanger assembly to rotate, so that the hook-shaped part can be rotated to achieve the opening of the hook-shaped part. Upwards, with the contraction of the electric winch, the U-shaped tube crosses the bow of the hull, the hook-shaped part is hooked to the hanging rod, and controls the expansion and contraction of the electric telescopic rod, driving the hanger assembly to move, and the end of the U-shaped tube pushes the block to rotate , clamped with the hanging rod, and then wind the take-up belt through the manual strapping device, pull up the U-shaped tube and the hull together, then pull the sliding sleeve, drive the first support arm and the second support arm to rotate, and push the rollers to On the other side of the U-shaped tube, the sliding sleeve is reset under the action of the spring, and the sliding sleeve is positioned by the positioning pin, and then the equipment is transferred by the roller.

In summary, the beneficial effects of the present invention are:

Through the set hanger and telescopic bracket, combined with the set first winding assembly, the total length of the telescopic support and the hanger can be adjusted, so that the hull can be conveniently dropped into waters with a low water level, and the set second winding assembly It can adjust the angle of the hull in the process of sliding down, and can adjust the angle of entry of the hull into the water. At the same time, the second winding assembly can facilitate the recovery of the hull. The set roller assembly can facilitate the transfer and handling of the hull, and facilitate the transfer of the hull to places that are not convenient for transport vehicles to enter. At the same time, it cooperates with the set pylon assembly to facilitate the attachment and separation of the hull, which improves the convenience of launching and recycling the hull.

Description of drawings

Fig. 1 is the structural representation of a kind of detection unmanned ship that the present invention proposes;

Fig. 2 is the structural schematic diagram of a kind of detection unmanned ship hanger, hanger assembly and telescopic bracket that the present invention proposes;

Fig. 3 is a structural schematic diagram of an unmanned ship roller assembly for detection proposed by the present invention;

Fig. 4 is a schematic structural diagram of a second unwinding assembly of an unmanned ship for detection proposed by the present invention;

Fig. 5 is the structural schematic diagram of a kind of detection unmanned ship hanger and telescopic support that the present invention proposes;

Fig. 6 is a schematic structural view of an unmanned ship pylon assembly for detection proposed by the present invention;

Fig. 7 is a schematic diagram of a partial explosion structure of an unmanned ship pylon assembly for detection proposed by the present invention;

Fig. 8 is a schematic structural diagram of a U-shaped tube for detection of an unmanned ship proposed by the present invention.

In the figure: 1, hull; 101, hook; 102, hanging rod; 2, roller assembly; 201, beam; 2011, sliding sleeve; 2012, positioning pin; 202, first support arm; 203, second support arm; 204 , rotating shaft; 205, roller; 3, hanger; 301, U-shaped pipe; 3011, limit stop ring; 3012, spring piece; 302, hanger assembly; 3021, hook-shaped part; 3022, synchronous sprocket; , turntable; 3024, block; 3025, V-shaped spring plate; 303, guide sleeve; 304, first connecting plate; 305, second connecting plate; 306, third connecting plate; 307, electric telescopic rod; 308, Synchronous chain; 4. Telescopic support; 401. U-shaped frame; 402. Horizontal plate; 4021. Metal sleeve; 403. Rectangular metal frame; . Manual strapping device; 6. Second winding assembly; 601. Steel cable; 602. Electric winch; 603. Bow frame; 6031. Guide wire sleeve.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings 1 to 8 in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Example. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Referring to Figures 1-8, an unmanned ship for detection includes a hull 1 and a launch rack hanging on the hull 1, the launch rack includes a hanger 3 connected to the hull 1, and the hanger 3 A telescopic bracket 4 that can be telescopically adjusted is arranged on the top, a first winding assembly 5 for adjusting the telescopic length is arranged between the hanging frame 3 and the telescopic bracket 4, and a second winding assembly 5 is arranged on the hanging frame 3. Component 6, the second winding component 6 is used to adjust the inclination angle between the hull 1 and the hanger 3, where the second winding component 6 can adjust the water entry angle of the hull 1 when the unmanned ship is launched, so as to avoid the hull from entering the water Or tipping over, the two sides of the hanger 3 are provided with roller assemblies 2 .

With reference to accompanying drawing 2, accompanying drawing 5, accompanying drawing 6, accompanying drawing 7 and accompanying drawing 8, described hanger 3 comprises U-shaped pipe 301, and described U-shaped pipe 301 both sides are provided with hanger assembly 302, so The hanger assembly 302 includes a metal rod inserted in the U-shaped tube 301, one end of the metal rod passes through the bend of the U-shaped tube 301, a hook-shaped part 3021 is provided at one end of the metal rod, and the tail of the hull 1 Both sides are provided with a hanging rod 102 that is compatible with the hook-shaped portion 3021, and the metal rod is provided with a hinged groove near the hook-shaped portion 3021, and a stopper 3024 is hinged in the hinged groove. A V-shaped spring plate 3025 is provided, one end of the V-shaped spring plate 3025 is in contact with the stopper 3024, and the end of the metal rod away from the hook-shaped portion 3021 is provided with a synchronous sprocket 3022, and the synchronous sprocket 3022 on the two hanger assemblies 302 The same synchronous chain 308 is sleeved on the sprocket 3022, and the end of the metal rod far away from the hook portion 3021 is fixedly provided with a turntable 3023, and the U-shaped tube 301 is provided with a driving assembly that drives the hanger assembly 302 to move. Keep the hook-shaped part 3021 in the situation of the opening downward in the process of the hull 1, drive the hanger assembly 302 to move through the driving assembly, and the stopper 3024 drives the stopper 3024 to rotate under the effect of the V-shaped spring plate 3025, and releases the suspension of the hanging rod 102. clamping limit, the hanging rod 102 can be separated from the hook-shaped part 3021, and then in the process of recovering the hull 1, the opening of the rotating hanger assembly 302 to the hook-shaped part 3021 is upward, so that the hanging rod 102 can be hung into the hook-shaped part 3021 , and then control the drive assembly to work to drive the hanger assembly 302 to move, the U-shaped tube 301 to drive the block 3024 to move, and cooperate with the hook-shaped portion 3021 to clamp and fix the hanger 102.

Referring to accompanying drawing 2, accompanying drawing 5 and accompanying drawing 8, described U-shaped pipe 301 is provided with two symmetrically arranged guide sleeves 303, and two described guide sleeves 303 are arranged along the length direction of U-shaped pipe 301, The ends of the two guide sleeves 303 close to the inside of the U-shaped pipe 301 are fixed with the same first connecting plate 304, and the ends of the two guide sleeves 303 away from the first connecting plate 304 are connected with the same second connecting plate 305. The telescopic support 4 includes a U-shaped frame 401, and the two ends of the U-shaped frame 401 are respectively inserted in two guide sleeves 303. The two ends of the U-shaped frame 401 are fixed with the same horizontal plate 402. Both ends of the plate 402 are provided with metal sleeves 4021, and the two metal sleeves 4021 are provided with the same rectangular metal frame 403. The rectangular metal frame 403 provided can be conveniently hung and fixed on the bank of the water area, or serve as a The handrail cooperates with the roller assembly 2 to drag the hanger 3 and the telescopic bracket 4 to move.

Referring to accompanying drawing 5, described first rewinding assembly 5 comprises the manual belt device 503 that is fixed on the transverse plate 402, and described manual belt device 503 is provided with winding belt 501, and described U-shaped frame 401 is away from One end of the horizontal plate 402 is rotatably provided with a guide wheel 502 , and the take-up belt 501 bypasses the guide wheel 502 and is fixedly connected to the first connecting plate 304 .

Referring to accompanying drawing 2 and accompanying drawing 4, described second winding assembly 6 comprises the electric capstan 602 that is fixed on the first connecting plate 304, and described electric capstan 602 is wound with steel cable 601, and described U-shaped pipe 301 A bow frame 603 is arranged on the inner side close to one end of the hull 1 for rotation, and the middle part of the bow frame 603 is provided with a guide wire sleeve 6031 for the steel cable 601 to pass through. The end away from the electric winch 602 is fixedly connected with the hook 101 .

Referring to accompanying drawings 2 and 3, the roller assembly 2 includes a sliding sleeve 2011 sleeved on both sides of the U-shaped tube 301, the sliding sleeve 2011 is hinged with a first support arm 202, and the first support arm 202 One end away from the sliding sleeve 2011 is provided with a rotating shaft 204, and one end of the rotating shaft 204 is rotated to be provided with a second support arm 203. Rollers 205 are provided, and the same beam 201 is set between the two sliding sleeves 2011, and a positioning pin 2012 is screwed on one of the sliding sleeves 2011, and the side wall of the U-shaped tube 301 is provided with a positioning pin 2012 matching positioning hole, both sides of the U-shaped tube 301 away from the hull 1 end are provided with a limit stop ring 3011, the two ends of the U-shaped tube 301 are close to the limit stop ring 3011 and between the sliding sleeve 2011. The spring member 3012 is sleeved, and by sliding the sliding sleeve 2011, the first support arm 202 and the second support arm 203 can be driven to rotate, and the orientation of the roller 205 can be adjusted so that the roller 205 can contact the ground to facilitate the transfer of the hull 1.

Referring to accompanying drawing 2, described driving assembly comprises the electric telescoping rod 307 that is fixed on the second connecting plate 305, and the telescoping end of described electric telescopic rod 307 passes through the second connecting plate 305 and is fixed with the 3rd connecting plate 306, and described The two ends of the third connecting plate 306 respectively form a rotational connection with the ends of the two hanger assemblies 302 .

A method for using an unmanned ship for detection, comprising the steps of:

S1, equipment transfer, turn the hull 1 upside down on the hanger 3, and pass the first winding assembly 5, put the hanger 3 and the telescopic bracket 4 in a tightened state, hold the rectangular metal frame 403, pass The roller 205 on the roller assembly 2 moves the hull 1 to the target water area;

S2, put the equipment into place, put the hanger 3 and the telescopic bracket 4 on the shore, and use the electric winch 602 to turn the hull 1 to a certain angle with the hanger 3, and try to keep the water surface between the hull 1 and the target water area Parallel, then loosen the manual strap 503 in the first winding assembly 5, release the restriction on the winding belt 501, the U-shaped tube 301 moves down relative to the U-shaped frame 401, and this process constantly adjusts the second winding assembly 6 The electric winch 602 in the middle adjusts the inclination angle of the hull 1 by retracting and releasing the steel cable 601, so that the hull 1 can be stably dropped into the target water area, and then the third connecting plate 306 is driven to move by controlling the contraction of the electric telescopic rod 307, driving the two One hanger assembly 302 moves, thereby two hanger assemblies 302 are stretched out certain length from U-shaped pipe 301 ends, and stopper 3024 rotates away from hook-shaped part 3021 under the effect of V-shaped spring plate 3025, and then on hull 1 The hanging rod 102 is separated from the hook-shaped part 3021, and then the hull 1 is controlled to sail to the target detection position on the water surface. During the process, the electric winch 602 is controlled to release the steel cable 601, and the opening of the hook-shaped part 3021 in the throwing process is upward;

S3, equipment recovery, after the inspection of the hull 1 is completed, the hull 1 is controlled to drive to the shore, during this process, the electric winch 602 is controlled to tighten the steel cable 601, and the rotating turntable 3023 drives the hanger assembly 302 to rotate, so that the hook 3021 rotates 180 degrees, the opening of the hook-shaped part 3021 is realized upward. With the contraction of the electric winch 602, the U-shaped pipe 301 crosses the bow of the hull 1, the hook-shaped part 3021 is articulated with the hanging rod 102, and the electric telescopic rod 307 is controlled to expand and contract. Drive the hanger assembly 302 to move, the end of the U-shaped tube 301 pushes the stopper 3024 to rotate, clamps it with the hanging rod 102, and then winds the winding belt 501 through the manual strapping device 503 to pull the U-shaped tube 301 and the hull 1 together Then pull the sliding sleeve 2011, drive the first support arm 202 and the second support arm 203 to rotate, push the roller 205 to the other side of the U-shaped tube 301, and then reset the sliding sleeve 2011 under the action of the spring member 3012, by positioning The pins 2012 position the sliding sleeve 2011 and then the rollers 205 transfer the device.

For the convenience of description, spatially relative terms may be used here, such as "on ...", "over ...", "on the surface of ...", "above", etc., to describe The spatial positional relationship between one device or feature shown and other devices or features. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, devices described as "above" or "above" other devices or configurations would then be oriented "beneath" or "above" the other devices or configurations. under other devices or configurations". Thus, the exemplary term "above" can encompass both an orientation of "above" and "beneath". The device may be oriented differently (turned 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein, for example, can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (10)

1. An unmanned ship for detection, comprising a hull (1) and a release rack hung on the hull (1), characterized in that the release rack includes a hanger (3) connected to the hull (1) ), the hanging frame (3) is provided with a telescopic bracket (4) that can be telescopically adjusted, and a first winding for adjusting the telescopic length is provided between the hanging frame (3) and the telescopic bracket (4) assembly (5), the hanger (3) is provided with a second winding assembly (6), and the second winding assembly (6) is used to adjust the distance between the hull (1) and the hanger (3) Angle of inclination, roller assemblies (2) are provided on both sides of the hanger (3). 2. The unmanned ship for detection according to claim 1, characterized in that, the hanger (3) includes a U-shaped tube (301), and both sides of the U-shaped tube (301) are arranged There is a hanger assembly (302), the hanger assembly (302) includes a metal rod inserted in the U-shaped tube (301), one end of the metal rod passes through the bend of the U-shaped tube (301), and the A hook-shaped part (3021) is provided at one end of the metal rod, and hanging rods (102) matching the hook-shaped part (3021) are provided on both sides of the tail of the hull (1), and the metal rod is close to the hook-shaped part ( 3021) is provided with a hinge groove, and a stopper (3024) is hinged in the hinge groove, and a V-shaped spring plate (3025) is arranged in the hinge groove, and one end of the V-shaped spring plate (3025) is connected with the stopper (3024) contact, the end of the metal rod away from the hook (3021) is provided with a synchronous sprocket (3022), and the synchronous sprockets (3022) on the two hanger assemblies (302) are sleeved with the same The synchronous chain (308), the end of the metal rod away from the hook (3021) is fixed with a turntable (3023), and the U-shaped tube (301) is provided with a drive assembly to drive the hanger assembly (302) to move. 3. The unmanned ship for detection according to claim 2, characterized in that, the U-shaped pipe (301) is provided with two symmetrically arranged guide sleeves (303), and the two guides The sleeve (303) is arranged along the length direction of the U-shaped tube (301), and the two guide sleeves (303) are fixed with the same first connecting plate (304) near the inner side of the U-shaped tube (301). The end of the guide sleeve (303) away from the first connecting plate (304) is connected to the same second connecting plate (305), the telescopic bracket (4) includes a U-shaped frame (401), and the U-shaped frame ( The two ends of 401) are respectively inserted in two guide sleeves (303), and the same horizontal plate (402) is fixed at both ends of the U-shaped frame (401), and both ends of the horizontal plate (402) are provided with Metal sleeves (4021), the same rectangular metal frame (403) is sleeved on the two metal sleeves (4021). 4. The unmanned ship for detection according to claim 3, characterized in that, the first winding assembly (5) includes a manual strapping device (503) fixed on the horizontal plate (402), The manual strapping device (503) is wound with a winding belt (501), and the end of the U-shaped frame (401) away from the horizontal plate (402) is rotated with a guide wheel (502), and the winding belt ( 501) bypasses the guide wheel (502) and is fixedly connected with the first connecting plate (304). 5. The unmanned ship for detection according to claim 4, characterized in that, the second winding assembly (6) includes an electric winch (602) fixed on the first connecting plate (304), The electric winch (602) is wound with a steel cable (601), and the inner side of the U-shaped pipe (301) close to the hull (1) is rotated with a bow frame (603), and the middle part of the bow frame (603) is set There is a guide wire sleeve (6031) for the steel cable (601) to pass through, and a hook (101) is provided on the upper part of the bow of the hull (1), and the end of the steel cable (601) away from the electric winch (602) is connected to the hook (101) Fixed connection. 6. An unmanned ship for detection according to claim 5, characterized in that, the roller assembly (2) includes sliding sleeves (2011) sleeved on both sides of the U-shaped tube (301), the A first support arm (202) is hinged on the sliding sleeve (2011), and a rotating shaft (204) is provided at the end of the first supporting arm (202) far away from the sliding sleeve (2011), and a rotating shaft (204) is provided at one end of the rotating shaft (204). Two support arms (203), the end of the second support arm (203) away from the rotating shaft (204) is hinged to the side wall of the U-shaped tube (301), the rotating shaft (204) is provided with rollers (205), two The same beam (201) is sleeved between the sliding sleeves (2011). 7. The unmanned ship for detection according to claim 6, characterized in that, one of the sliding sleeves (2011) is screwed with a positioning pin (2012), and the U-shaped tube (301) The side wall is provided with a positioning hole adapted to the positioning pin (2012). 8. The unmanned ship for detection according to claim 6, characterized in that, a stop ring (3011) is provided on both sides of the U-shaped tube (301) away from the hull (1), and the Both ends of the U-shaped tube (301) are sleeved with spring parts (3012) between the limit stop ring (3011) and the sliding sleeve (2011). 9. The unmanned ship for detection according to claim 8, characterized in that the drive assembly includes an electric telescopic rod (307) fixed on the second connecting plate (305), and the electric telescopic rod The telescopic end of (307) passes through the second connecting plate (305) and is fixed with a third connecting plate (306), and the two ends of the third connecting plate (306) respectively form rotation connect. 10. A method for using an unmanned ship for detection according to claim 9, characterized in that, comprising the steps of: S1, equipment transfer, turn the hull (1) upside down and put it on the hanger (3), and pass the first winding component (5), put the hanger (3) and the telescopic bracket (4) in a retracted position In the tight state, hold the rectangular metal frame (403), and move the hull (1) to the target water area through the rollers (205) on the roller assembly (2); S2, put the equipment into place, place the hanger (3) and telescopic bracket (4) on the shore, and use the electric winch (602) to turn the hull (1) to a certain angle with the hanger (3) , try to keep the hull (1) parallel to the water surface of the target water area, then loosen the manual strap (503) in the first winding assembly (5) to release the restriction on the winding belt (501), and the U-shaped tube ( 301) moves down relative to the U-shaped frame (401), during which the electric winch (602) in the second winding assembly (6) is continuously adjusted, and the inclination angle of the hull (1) is adjusted by retracting and unwinding the steel cable (601). In order to make the hull (1) drop into the target water smoothly, and then control the electric telescopic rod (307) to shrink, drive the third connecting plate (306) to move, and drive the two hanger assemblies (302) to move, so that the two hangers The frame assembly (302) protrudes a certain length from the end of the U-shaped pipe (301), and the block (3024) rotates away from the hook (3021) under the action of the V-shaped spring plate (3025), and then the hull (1) The hanging rod (102) is separated from the hook part (3021), and then the hull (1) is controlled to sail to the target detection position on the water surface. During the process, the electric winch (602) is controlled to release the steel cable (601). The opening of the shaped part (3021) is upward; S3, equipment recovery, after the inspection of the hull (1), drive to the shore by controlling the hull (1), during this process control the electric winch (602) to tighten the steel cable (601), and rotate the turntable (3023) to drive the hanger The component (302) is rotated, so that the hook-shaped part (3021) is rotated 180 degrees, so that the opening of the hook-shaped part (3021) is upward. With the contraction of the electric winch (602), the U-shaped pipe (301) straddles the hull (1) The bow, the hook part (3021) is hooked with the hanging rod (102), and controls the expansion and contraction of the electric telescopic rod (307), driving the hanger assembly (302) to move, and the end of the U-shaped pipe (301) pushes the stopper (3024 ) rotates, clamps with the hanging rod (102), then winds the take-up belt (501) through the manual tie-down device (503), pulls up the U-shaped tube (301) and the hull (1), and then pulls the sliding sleeve (2011), drive the first support arm (202) and the second support arm (203) to rotate, push the roller (205) to the other side of the U-shaped tube (301), and then slide under the action of the spring member (3012) The sleeve (2011) is reset, the sliding sleeve (2011) is positioned by the positioning pin (2012), and then the device is transferred by the roller (205).

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