34results about "Lifeboat handling" patented technology

The invention relates to the field of ocean engineering equipment, and discloses a device and method for water surface close-range active auxiliary recovery of an unmanned autonomous vehicle, and the device comprises a blocking frame, a power assembly, an oscillation stopping hook module, a hoisting hook module, a suction device, a release device and a buoyancy material; the buoyancy material is fixed on the blocking frame and is used for providing static buoyancy; the power assembly is installed on the lower supporting structure of the blocking frame and located below the waterline. The power assembly is arranged below the blocking frame, so that the recovery device is endowed with independent water surface maneuvering capacity. Compared with a passive recovery mode which only depends on mother ship maneuvering or UUV autonomous homing, the device can actively approach the floating UUV by utilizing thrust and correct course deviation, and can realize axis alignment with the UUV even in a non-still water environment with stormy wave interference, so that the flexibility of recovery operation and the capture success rate are improved.

The invention relates to the technical field of underwater dragging and recycling, in particular to a flexible holding type towed body capturing device. The folding and unfolding device comprises a folding and unfolding device portal frame; the catching device support is installed on the front middle portion of the folding and unfolding device door frame. The main and auxiliary fairlead wheels are mounted in the middle of the catching device bracket; at least one pair of winches are symmetrically arranged on two sides of the catching device bracket; the synchronous motors are mounted at side rotating shafts of the winches and are used for driving the winches to synchronously rotate; the spiral line hinge strip is wound on the winch and extends outwards; the multiple flow deflectors are hinged to form a flexible holding chain, the number of the flow deflectors is adjusted according to the outer diameter of the dragging body, and the two ends of the flexible holding chain are connected with the tail ends of the two sides of the spiral line hinge strip respectively. The towing cable penetrates through the main and auxiliary cable guide wheels and is connected with the towed body; limiting measures are taken when the towed body is not close to the water surface, when the towed body is close to the water surface and affected by surges, the action range of the towed body is greatly limited, and the safety and high sea condition adaptability in the capturing process are improved.

The utility model relates to the field of lifeboats, in particular to a lifeboat hanging seat, which comprises a bow hanging seat and a back plate, the bow hanging seat is welded on the back plate, a plurality of reamed holes are arranged on the back plate, a reamed hole bolt is arranged in each reamed hole, and a nut matched with the reamed hole bolt is arranged at the bottom of the reamed hole bolt. The bow hanging seat comprises an eye plate and a bottom plate, and the eye plate and the bottom plate are integrally formed; the eye plate is located on the top of the bottom plate, and the bottom of the bottom plate is welded to the back plate. And a through hole is formed in the eye plate. The eye plate is in a circular ring shape, and the top face of the bottom plate is in an arc shape matched with the eye plate. The bottom face of the bottom plate is a plane, the two sides of the bottom plate are inclined side faces formed by obliquely extending from the top face to the bottom face, and the inclined side faces on the two sides are asymmetric. The bow hanging seat is integrally formed, welding is not needed, the working intensity is reduced, and the strength of the bow hanging seat is improved.

A seaborne sewage disposal unmanned ship laying and recovery device comprises a shell structure of a laying cabin body, a hinge linkage framework structure and an automatic control module. The shell structure of the laying cabin body comprises a base, three-side shell fixing plates, a rail baffle and a cabin cover door. The hinge linkage framework structure comprises an unmanned ship bearing cabin, a bearing cabin supporting linkage mechanism and a sliding rail. The device self-control module comprises a lithium battery, a self-locking stepping motor, an STM32 single-chip microcomputer and a traction rope. The whole device has good mechanical stability, and it can be guaranteed that no structural problems and faults occur when unmanned ship laying and recycling work is conducted for many times. Full automation of the unmanned ship laying and recycling process is achieved, and the unmanned ship laying and recycling device has good adaptability to the offshore oil spill decontamination unmanned ship.

The invention provides an optical guiding method for recycling a deep-sea unmanned underwater vehicle, and belongs to the technical field of underwater vehicle recycling. Four blue-green LED guiding light sources are non-uniformly and annularly distributed and installed on the front end face of a recycling cage, the three-dimensional coordinates of the guiding light sources are calibrated in advance, and guiding light source images are collected in real time through a binocular camera; an adaptive exposure control technology is adopted to adjust image quality, statistical information calculation is performed on an identified light source contour, an effective guide light source target is determined through convex constraint configuration judgment and ellipse fitting screening, four guide light sources are constructed as a traveling salesman problem, and a nearest neighbor heuristic algorithm is adopted to complete number matching. A rotation matrix and a translation vector are solved through a singular value decomposition method according to the pre-measured coordinates and the real-time calculated coordinates, and collaborative optimization is carried out at the same time, so that the technical problems of insufficient optical guidance positioning precision and poor real-time performance in the recovery process of the unmanned underwater vehicle in the deep sea environment are solved.

The invention provides a slender flexible cable underwater releasing device and method of a variable structure, and belongs to the technical field of underwater releasing equipment, the slender flexible cable underwater releasing device of the variable structure comprises a main body frame, a watertight compartment is arranged in the center of the main body frame, and six cable placing cabins are evenly distributed and installed outside the watertight compartment; a storage cabin door of the cable placing cabin is in sealed connection with the main body frame through a sealing rubber strip, and the storage cabin door is connected with the central umbrella type connecting rod unfolding mechanism; an electronic cabin body and an oil tank are arranged in the watertight cabin, and the oil tank is connected with an oil bag type buoyancy regulator; the electronic cabin body is connected with the six gravity adjusting mechanisms through the main body frame; three propellers and six leg cushioning mechanisms are uniformly distributed and mounted on the circumference of the bottom of the main body frame. The multi-dimensional stable control and precise adjustment capability is outstanding, the operation precision is guaranteed, the automation degree is high, the operation cost is reduced, the operation efficiency and reliability are improved, powerful protection and flexible adaptive design are both considered, and the system adapts to complex underwater scenes.

The utility model relates to the field of marine equipment, and discloses an unmanned ship recovery device which comprises a recovery fixing frame, a transverse rod and a positioning clamping device. The transverse rod is rotationally arranged on the upper portion of the recycling fixing frame, and the positioning clamping device is connected to the end of the transverse rod and comprises a clamping claw set, a magnetic attraction device, a linkage fixing block, a movable sliding block and a driving rope. The clamping jaw group is provided with two clamping jaw units which are oppositely arranged; the magnetic attraction device is arranged on the linkage fixing block and can attract the unmanned ship to stabilize the butt joint position. The upper portion of the clamping jaw is hinged between the movable sliding block and the linkage fixing block, and the movable sliding block is connected to a driver of the transverse rod through a driving rope penetrating through the fixing block to drive the clamping jaw to be opened and closed. Preliminary butt joint with the unmanned ship is rapidly achieved through magnetic attraction, the alignment difficulty caused by water surface fluctuation is reduced, a stable reference is provided for subsequent clamping, and the recovery efficiency and reliability are improved.

This utility model provides a multifunctional U-shaped intelligent rescue boat, comprising multiple hulls, including a main hull 1 and multiple sub-hulls 2. At least one side of the main hull 1 is equipped with a U-shaped connecting frame 24; each sub-hull 2 ​​has a connecting block 25 installed on one side and a U-shaped connecting frame 24 installed on the other side. The inner walls of both the U-shaped connecting frame 24 and the connecting block 25 have mounting holes. Connectors are inserted through these mounting holes between adjacent hulls to achieve a detachable connection between the U-shaped connecting frame 24 and the connecting block 25 of adjacent hulls. A longitudinally connected assembly is provided between the stern and bow of adjacent hulls. This utility model, through its U-shaped structure and design allowing for both lateral and longitudinal connection, enables the rescue boat to adapt to different environments, including harsh rapids and calm waters, improving its versatility and environmental adaptability.

This invention provides an optical guidance method for the recovery of deep-sea unmanned underwater vehicles (UUVs), belonging to the field of underwater vehicle recovery technology. The invention involves installing four blue-green LED guidance light sources in a non-uniform ring distribution on the front face of the recovery cage and pre-calibrating their three-dimensional coordinates. A binocular camera is used to acquire images of the guidance light sources in real time. Adaptive exposure control technology is employed to adjust image quality. Statistical information calculations are performed on the identified light source contours, and effective guidance light source targets are determined through convex constraint configuration judgment and ellipse fitting. The four guidance light sources are constructed as a traveling salesman problem, and a nearest neighbor heuristic algorithm is used to complete numbering matching. Based on pre-measured coordinates and real-time calculated coordinates, the rotation matrix and translation vector are solved using singular value decomposition, while simultaneously performing collaborative optimization. This method solves the technical problems of insufficient optical guidance positioning accuracy and poor real-time performance during the recovery of UUVs in deep-sea environments.

The present invention belongs to the field of unmanned aerial vehicles, and specifically relates to a horizontal launch platform for unmanned aerial vehicles, comprising a base plate, a first reel, a second reel, a support plate, a swing arm, a first reel, and a second reel; one end of the base plate is arranged at the edge of the hull, the other end of the base plate is provided with a notch, both sides of the notch are provided with vertical plates standing on the base plate, and the bottom of the notch is provided with a support plate; the first swing arm, the second swing arm, and the third swing arm swing around the hinge to horizontally rotate the support plate on the support plate to the bottom of the support plate; one end of the first reel is fixed to the first reel, and the other end of the first reel is fixed to the hinge of the third swing arm and the support plate; one end of the second reel is fixed to the second reel, and the other end of the second reel is fixed to the hinge of the first swing arm and the support plate. The present invention can move an unmanned aerial vehicle from a horizontal position to the water surface without the need for a crane arm or impact force, occupies a small area, and is safe, stable, and reliable.

The invention belongs to the technical field of ships, and discloses a multi-boat launching and recycling device and method and a ship. The multi-boat launching and recovering device comprises a stern slide way retracting and releasing mechanism, a parking mechanism and a transferring mechanism, the stern slide way retracting and releasing mechanism, the parking mechanism and the transferring mechanism can park shipborne boats, at least the stern slide way retracting and releasing mechanism and the parking mechanism can park the shipborne boats in rows, parallel loading of the multiple shipborne boats is achieved, and the deck space on a boat body is fully utilized. According to the multi-boat launching and recovering method, the shipborne boats loaded on the stern chute launching and recovering mechanism, the transferring mechanism and the parking mechanism can be launched in sequence, and a launching or recovering scheme can be flexibly planned according to the current loading condition of the shipborne boats on the boat body. According to the ship, the ship body space can be fully utilized, and shipborne boats can be flexibly loaded and laid.

The invention discloses an embedded retractable child-mother ship type, a retractable method and a law enforcement ship. The ship type comprises a child ship, the broadside of the child ship is provided with a hull structure which protrudes and extends towards the two sides, and the hull structure is gradually narrowed from the stern to the bow. The mother ship and the stern are provided with concave sub-ship recovery spaces, the two sides of each sub-ship recovery space are provided with concave structures, and the sub-ship recovery spaces are gradually narrowed from the stern to the bow. And the sub-boat fixing systems are uniformly distributed in the sub-boat recovery space along the length direction of the boat. And the control system is deployed on the mother ship and controls the son ship fixing system to fold and unfold the son ship. According to the embedded type retractable child-mother ship type, the retractable method and the law enforcement ship, rapid retractable is achieved through an embedded matching structure of the child ship and the mother ship, a crane and auxiliary equipment of the crane are not needed, the space of the mother ship is saved, the small boat retractable time is shortened, and the safety of the small boat retractable process is improved; convenience is provided for using the modern unmanned operation technology and the intelligent ship automatic folding and unfolding and navigation technology.

The invention discloses a water surface unmanned ship for capturing an autonomous underwater vehicle and a method thereof, and the water surface unmanned ship comprises a water surface unmanned ship body which is provided with a mounting groove at the bottom; the radar detection assembly is used for detecting and identifying the target autonomous underwater vehicle; a first waterproof motor of the AUV capturing assembly is fixed on the side wall of the mounting groove; one end of the driving shaft is connected with an output shaft of the first waterproof motor; the winch is fixedly sleeved on the driving shaft; the twisted rope is wound on the winch; the capturing net is connected with the end of the twisted rope; the angle adjusting assemblies are fixed to the water surface unmanned ship body and distributed on the periphery of the capturing net. The plurality of electrodynamic force launchers are mounted on the angle adjusting assembly one by one; the plurality of dynamic mass blocks are movably inserted into the electrodynamic launcher one by one; the power mass blocks are uniformly connected to the outer edge of the capturing net one by one through connecting ropes; an intelligent automatic unmanned controller is used for realizing automatic control of a water surface unmanned ship. According to the invention, automatic capture of the AUV is realized.

The invention belongs to the technical field of ship auxiliary equipment, and particularly relates to a ship lifesaving device for people falling into water, the ship lifesaving device comprises a main hull, adjusting mechanisms and a lifeboat, the adjusting mechanisms are symmetrically arranged on the upper edges of the left and right ends of the main hull, and the lifeboat is movably arranged above the adjusting mechanisms. After the main hull gets close to a person falling into water, a rotating motor drives a rotating frame to rotate by 90 degrees, meanwhile, a hydraulic push rod pushes the rotating frame to rotate downwards, a winding motor controls a winding roller to release a traction mooring rope, the lifeboat slides to the water surface along a limiting groove, a limiting ball is separated from the limiting groove, and releasing of the lifeboat is completed; the lifeboat is pulled back to the rotating frame, then the hydraulic push rod drives the rotating frame to rotate back to the horizontal position, the rotating motor drives the rotating frame to rotate by 90 degrees, a person falling into water enters the main hull, safe rescue of the person falling into water is achieved, and the lifeboat is safer and more stable compared with a traditional mode that the lifeboat is released through a hoisting device.

The unmanned aircraft transfer device comprises a frame, a walking structure and a steering structure which are connected with the frame through suspension, and a control system, the control system drives the walking structure and the steering structure to run through a hydraulic control system, and walking and steering of the transfer device are achieved. According to the utility model, the safety and the efficiency of the unmanned vehicle in the transportation and deployment stages are obviously improved through the walking structure and the steering structure which are hydraulically controlled, and a plurality of problems existing in the process of transferring the unmanned vehicle from a mother ship to the water surface in the prior art are solved.

The utility model discloses an unmanned ship hoisting buffer mechanism, which belongs to the technical field of unmanned ships, and comprises a shell, the inner wall of the shell is fixedly connected with an inflatable liner, two micro motors are arranged in the shell, the output ends of the two micro motors are jointly and fixedly connected with a rotating shaft, the outer surface of the rotating shaft is fixedly connected with a first bin gate, and the outer surface of the first bin gate is fixedly connected with a second bin gate. The front face of the shell is fixedly connected with a fan, the back face of the fan fixedly communicates with three blowpipes, the outer surface of each blowpipe is fixedly connected with the inner wall of the shell, a water pump is arranged on the outer side of the shell, the input end of the water pump fixedly communicates with a water inlet pipe, and the output end of the water pump fixedly communicates with a bent pipe. According to the buffering mechanism for hanging and releasing the unmanned ship, the first bin door is opened through the micro motor, so that the unmanned ship is driven out, and the problems that the unmanned ship is located above the base, the unmanned ship possibly turns on one side under the impact of sea waves, the unmanned ship falls into the sea, and the unmanned ship cannot normally enter the water for driving are solved.

The invention provides an underwater capturing device for an aircraft and a recovery method. The capturing device comprises a mechanical claw unit, a tail cabin unit and a driving unit, the mechanical claw unit is located at the end of the device and comprises capturing claws, and the multiple capturing claws are opened and closed to form a capturing area of the mechanical claw unit. The tail cabin unit comprises a containing cavity and a clamping structure and is used for containing and fixedly holding an aircraft. The accommodating cavity is communicated with the capturing area; and the driving unit is connected with the mechanical claw unit and the tail cabin unit, so that the opening and closing actions of the capturing claw and the locking or loosening actions of the clamping structure are synchronously controlled. According to the invention, the underwater recovery speed and reliability of the microminiature rotary vehicle are obviously improved, and the device is suitable for all-weather marine operation and has the characteristics of active capture, flexible buffering, high fault tolerance and strong adaptability.

The invention relates to the technical field of underwater robots, in particular to a water surface repeated retracting and releasing device and method for reducing AUV positioning guiding precision and maneuverability, the device comprises a water surface buoy unit, a butt joint capturing unit and a slide way type retracting and releasing unit, and the slide way type retracting and releasing unit is fixedly installed on a mother ship; the slideway type retracting and releasing unit is connected with the water surface buoy unit through a dragging rope, the butt-joint capturing unit is fixed to the bow of the AUV and used for being fixed to or separated from the water surface buoy unit, and the slideway type retracting and releasing unit is used for translation adjustment, underwater throwing and recycling bearing of the water surface buoy unit and the AUV. According to the invention, dual functions of AUV recovery and laying are integrated, the structure is simple, the universality is high, the operation is carried out by relying on the water surface buoy unit and the mother ship dragging rope, and the requirements of AUV positioning guide precision and maneuvering capability can be greatly reduced.

The rope-driven parallel mechanism for capturing underwater unmanned submersible belongs to the technical field of capturing underwater unmanned submersible. Multiple rope-driven motors are fixedly arranged on a catamaran console of a catamaran navigation system, and motor pulleys are fixedly arranged on output shafts of the rope-driven motors. Two scissor type telescopic mechanisms are fixedly connected with left and right sides of a lower end of the catamaran navigation system, a hydraulic drive system is fixedly arranged between upper ends of the two scissor type telescopic mechanisms, hydraulic drive ends of the hydraulic drive system are connected with the two scissor type telescopic mechanisms, and the two scissor type telescopic mechanisms are driven to realize extension or contraction movement underwater through the hydraulic drive system. One end of a steel wire rope is connected with the motor pulley, and the other end is sequentially wound around a catamaran pulley on the catamaran navigation system, a scissor type pulley on the scissor type telescopic mechanism and a guide pulley and connected with a capturing system, to realize six-degree-of-freedom movement, so that underwater unmanned submersible can be quickly and efficiently captured and recovered in a complex underwater environment.

This invention discloses a rope-driven, deployable capture mechanism for unmanned underwater vehicles (UUVs), comprising a bending mechanism, a synchronous opening and closing mechanism, and a wire rope guiding drive mechanism. The bending mechanism utilizes a linkage transmission assembly to connect the distal, middle, and proximal sections to achieve bending motion. To further expand the capture range, a synchronous opening and closing mechanism is introduced. This mechanism features three symmetrically distributed bending and closing branches and a wire rope guiding drive mechanism. Under the action of a linear electric push rod, only a single degree of freedom is required to achieve both synchronous bending and convergence two-stage deployable motion. Based on this dual motion characteristic, the capture and locking operation of the UUV is completed. By gradually releasing the elastic potential energy accumulated by the torsion spring due to deformation in the capture and locking state, the separation and unlocking action is completed, realizing the deployment of the UUV. This invention features flexible driving methods, can capture different types of UUVs, has strong versatility, and can achieve fast, accurate, and stable capture and deployment operations.

The application relates to an unmanned underwater vehicle rendezvous docking device which comprises a guide device, a movable end latch device and a receiving end latch device, a locking device and a lifting device, the guide device is internally provided with a containing cavity; the receiving end latch device is arranged on one side of the guide device, the movable end latch device is used for being connected with the underwater vehicle, the guide device is used for driving the movable end latch device to move towards the receiving end latch device, when the movable end latch device is locked with the receiving end latch device, the movable end latch device and the receiving end latch device partially coincide in the height direction of the latch device; the locking device is arranged on one side of the guide device, the locking device has a locking state and a releasing state; the bottom end of the guide device and the bottom end of the latch device are both provided with the lifting device, and the lifting device is used for driving the guide device and the latch device to move in a first direction. The application realizes underwater autonomous recovery of the unmanned underwater vehicle.

The invention discloses an external grounding early warning device for a ship. The device comprises an underwater detection main body, a retracting and releasing mechanism and a control device, the underwater detection main body comprises a tow fish, a front-scan sonar is arranged at the front end of the tow fish, side-scan sonars are arranged on two sides of the tow fish, a water tank is connected to the upper part of the tow fish, an electromagnet is arranged at the top of the water tank, a high-pressure gas tank is connected to the front end of the water tank through a plurality of control valves, and a one-way valve is arranged at the rear end of the water tank; data lines and power supply lines of the front scanning sonar, the side scanning sonar, the control valve and the electromagnet are all connected to the watertight connector. The retracting and releasing mechanism is arranged on the stem and comprises a base, a supporting arm and a retracting and releasing reel, the supporting arm extends out of the stem, and the retracting and releasing reel is used for retracting and releasing the underwater detection body; the device is comprehensive in detection and convenient and fast to fold and unfold, sinking and floating can be controlled through density adjustment of a water tank, an electromagnet soft layer is attached in an anti-skid mode, an ear hanging bolt protection rope is prevented from being lost, and the grounding early warning accuracy and reliability are effectively improved.

The present invention discloses a hydraulic launching device for an underwater vehicle and an operating method thereof, the device including an offshore platform, a platform stabilizing mechanism, a deep-sea exploration vehicle launch tube, an automatic release jig, and a vortex generating mechanism. The offshore platform includes a platform deck, a crane assembly, and a lower float assembly. The crane assembly is attached to the upper surface of the platform deck, with a through-hole opened in the middle of the platform deck. The deep-sea exploration vehicle launch tube extends downward through the through-hole and is connected to the platform deck. The lower float assembly is attached to the bottom of the platform deck and surrounds the deep-sea exploration vehicle launch tube. The automatic release jig is connected to the crane assembly and cooperates with the deep-sea exploration vehicle launch tube, and is used to clamp the deep-sea exploration vehicle. The platform stabilizing mechanism includes a plurality of platform float stabilizing members attached to the upper surface of the platform deck at intervals around the periphery. The present invention can improve the diving efficiency of the deep-sea exploration vehicle and reduce the mutual interference caused by unknown wind, waves, and currents when operating in two completely different environmental media.

The invention relates to the technical field of underwater vehicle recovery, and discloses an AUV underwater guide recovery system and method based on point laser sources, the system comprises a point laser array installed on a mother platform, a binocular camera installed on an AUV bow portion and an image processing device, the point laser array comprises at least three point laser sources, and the binocular camera is installed on the mother platform. The point laser sources are arranged according to a preset space structure so as to form a laser base plane used for guiding and identifying the AUV. According to the invention, the laser source array composed of three point laser sources is used as a guide signal source of the AUV, compared with a traditional positioning method, the layout design not only improves the stability and reliability of guide signals, but also enhances the recognition capability of the AUV in a complex underwater environment, and improves the overall efficiency of guide recovery.

The invention provides a light marine rescue boat with automatic righting and rapid recovery functions, and belongs to the technical field of rescue boats, the light marine rescue boat comprises a rescue boat body, buoyancy bag bins are arranged on the two sides of the rescue boat body, and a gravity center control structure used for lowering the gravity center is arranged on the rescue boat body; the rescue boat comprises a rescue boat body, the top end of the rescue boat body is provided with two sets of capturing mechanisms capable of capturing a lifting hook, the two sets of capturing mechanisms are distributed at the head end and the tail end of the rescue boat body, the inner side of the rescue boat body is provided with a CO2 gas cylinder used for supplying gas to a buoyancy bag, and a gas supply opening of the CO2 gas cylinder communicates with a gas supply pipe. By means of the scheme, the rescue boat can be assisted to be rapidly straightened, external help is not needed, when the rescue boat is recycled, sailors do not need to conduct hooking operation, secondary damage to personnel in the boat is avoided, and convenience is provided for recycling operation of the rescue boat.

This invention discloses a hydrodynamic launching device for an underwater vehicle and its operating method. The device includes a marine platform, a platform stabilization mechanism, a deep-sea submersible launch tube, an automatic release clamp, and a vortex-generating mechanism. The marine platform includes a platform deck, a lifting assembly, and a lower buoy assembly. The lifting assembly is installed on the upper surface of the platform deck. An opening is provided in the middle of the platform deck. The deep-sea submersible launch tube is positioned downwards from the opening and connected to the platform deck. The lower buoy assembly is installed at the bottom of the platform deck and surrounds the deep-sea submersible launch tube. The automatic release clamp is connected to the lifting assembly and cooperates with the deep-sea submersible launch tube, and is used to hold the deep-sea submersible. The platform stabilization mechanism includes multiple platform buoy stabilizing components, which are circumferentially spaced on the upper surface of the platform deck. This invention can improve the diving efficiency of the deep-sea submersible and reduce the combined interference from unknown wind, waves, and currents when operating in two drastically different environmental media.

The shipborne unmanned equipment recovery system of the present application comprises a universal hand, a short flexible arm, a telescopic long flexible arm and a central unit; one end of the telescopic long flexible arm is placed on a ship, the short flexible arm is arranged at the other end of the telescopic long flexible arm; the universal hand is arranged at one end of the short flexible arm; the universal hand, the short flexible arm and the telescopic long flexible arm are connected with the central unit; the universal hand is provided with a three-dimensional guiding positioning system connected with the central unit. The present application is mainly used for the recovery and mooring of unmanned equipments such as unmanned aerial vehicles and unmanned ships, and has the characteristics of flexibility, unmanned intelligence, strong expandability, small size, light weight and good adaptability.

The application relates to the technical field of marine lifesaving accessories, in particular to a marine suspension type lifeboat damping support which comprises a lateral assembly guide rail fixedly installed on the outer wall of a ship body through rivets. The marine suspension type lifeboat damping support adopts an X-shaped structure design, can install multiple lifeboats on the outside opening while ensuring stability, greatly increases the number of lifeboats that can be suspended on the outer side of the ship, and improves the safety of ship navigation; the X-shaped structure external assembly frame is installed on the lateral assembly guide rail, can be flipped and adjusted according to the specifications and sizes of the lifeboats, and thus the application range is improved; the internal flexible bandage is used to pass through the lateral connecting ring to fix the lifeboat on the X-shaped structure external assembly frame, which not only ensures assembly stability, but also improves damping performance and facilitates rapid separation in the later period.

This invention discloses a method for the dynamic buoyancy balance deployment and retrieval of a surveying fixture for subsea pipelines, including a deployment method and a retrieval method. The deployment method involves slowly lowering the surveying fixture into the sea, adjusting buoyancy during deployment by controlling the water inlet of the floating hull and the counterweight; closing the scanning chamber after the pipe is set; draining seawater from the scanning chamber into the floating hull; once the floating hull is full, draining the remaining seawater to the outside; fully lowering the counterweight; and keeping the pneumatic diaphragm pump running. The retrieval method involves inflating the floating hull to allow seawater to flow into the scanning chamber; pressurizing the scanning chamber; opening the scanning chamber; filling it with seawater; slackening the counterweight wire rope; and tensioning the hoisting cable; slowly lifting the fixture while simultaneously pumping air into the floating hull to increase buoyancy, and simultaneously using a hydraulic winch to further loosen the counterweight wire rope, lifting the surveying fixture and counterweight out of the water to complete the retrieval. This invention enables the dynamic buoyancy balance deployment and retrieval of the surveying fixture.