A deployment and recovery system for underwater glider and a deployment and recovery method thereof

Abstract

The present invention relates to a deployment and recovery system for underwater gliders and a deployment and recovery method thereof, and belongs to the field of marine engineering technology. The deployment and recovery system includes a mother ship, a ship crane, a wireless remote-controlled catamaran unmanned ship, and a deployment and recovery locking device. The ship crane is used to lift the wireless remote-controlled catamaran unmanned ship. The deployment and recovery locking device is used to deploy and recover the underwater glider. The deployment and recovery locking device includes a mounting frame, a guide port, a locking mechanism, and a lifting mechanism. The guide port is a trumpet-type frame structure. The deployment and recovery system designed by the present invention requires a small number of personnel during the working process, can meet the deployment and recovery needs under advanced sea conditions, is easy to operate, and causes little damage to the glider.

Description

Technical Field

[0001] The invention relates to the technical field of marine engineering, and in particular to a deployment and recovery system for an underwater glider. Background Art

[0002] With the development of marine resources and changes in the coastal defense situation, the marine utilization area has been continuously expanded and extended to the deep sea and the open sea. Scientific and technological workers have begun to devote themselves to the research and application of underwater robots. Among them, the underwater glider (hereinafter referred to as "glider") is a new type of underwater robot. Because it uses net buoyancy and attitude angle adjustment to obtain propulsion, it consumes very little energy and only consumes a small amount of energy when adjusting the net buoyancy and attitude angle. It has the characteristics of high efficiency and long endurance (up to thousands of kilometers). Although the sailing speed of the glider is slow, its manufacturing cost and maintenance cost are low, it can be reused, and it can be deployed in large quantities, which meets the needs of long-term and large-scale ocean exploration. However, since the glider does not have an umbilical cable like an ROV, its weight can reach hundreds of kilograms, and it has no power after the work is completed, so it can only float on the sea surface, and its head acoustic facilities, tail wings and antennas are relatively fragile.

[0003] At present, the deployment of gliders mostly adopts the combination of manual labor and cranes or manual labor and slide rails, which requires a large number of people and has a high work intensity. At the same time, it is very difficult to recover and reuse the glider after it leaves the water, and the risk of recovery is very high. In the case of low sea conditions near the coast, the recovery of small gliders at this stage is all done by fishing boats. During the recovery, many people on the fishing boats use hooks and nets to salvage the glider and send it to the mother ship. At the same time, the mother ship also needs many people to cooperate in placement. However, it is difficult to achieve effective salvage and recovery of gliders in the open sea with strong winds and waves. It is not difficult to see that under the combined effects of complex marine environment, no damage to the glider body, and the assistance of a small number of people, the deployment and recovery of gliders have become difficulties and pain points that need to be solved for their future large-scale use. Summary of the invention

[0004] In order to solve the problems in the prior art, the patent of this invention designs a deployment and recovery system for underwater gliders, which can reduce the number of personnel required for the deployment and recovery process of underwater gliders. It is easy to operate and causes little damage to the glider. At the same time, it can meet the application requirements of complex sea conditions in the open sea.

[0005] The technical solution adopted by the present invention is: the deployment and recovery system includes a mother ship, a ship crane, a wireless remote-controlled catamaran unmanned boat and a deployment and recovery locking device. The ship crane is installed on the mother ship and is used to lift the wireless remote-controlled catamaran unmanned boat. The deployment and recovery locking device is installed on the lower side of the wireless remote-controlled catamaran unmanned boat and is used to deploy and recover the underwater glider. The deployment and recovery locking device includes a mounting frame, a guide port, a locking mechanism and a lifting mechanism. The lifting mechanism includes two vertically parallel slides, and a lifting motor and a slider are arranged on the slide. The two ends of the mounting frame are respectively mounted on the sliders of the slides on both sides. A plurality of connecting rods extend vertically from the lower side of the mounting frame, and the bottom ends of the plurality of connecting rods are fixedly connected to the guide port. The guide port is a horn-type frame structure.

[0006] Furthermore, an inclination angle adjustment mechanism is provided on the mounting frame of the deployment and recovery locking device, and the inclination angle adjustment mechanism includes a support plate, an adjustment motor and an adjustment rod, and the two ends of the support plate are respectively connected and fixed to the sliders of the slide tables on both sides through mounting plates, and the adjustment motor is installed in the middle of the support plate, and the adjustment rod is located on the lower side of the support plate, and the two ends are respectively rotatably connected to the mounting plates on both sides, and an adjustment gear is fixed in the middle of the adjustment rod, and the adjustment gear is meshed and connected with the output end of the adjustment motor, and the mounting frame is fixed on the adjustment rod as a whole.

[0007] Furthermore, the guide port is composed of three parts, namely a first section, a middle section and a tail section. The first section is in a trumpet shape, the tail section is cylindrical with a closed tail end, the middle section is a cylindrical with a variable diameter, the inner diameter of the front end of the middle section is the same as the inner diameter of the first section, and the inner diameter of the tail end is the same as the inner diameter of the tail section. The first section is used to guide and recover the glider, and the middle section and the tail section are used to mount and fix the glider. The first section, the middle section and the tail section of the guide port have gaps between each other and are connected to the mounting frame through connecting rods.

[0008] Furthermore, the deployment and recovery locking device is provided with two sets of locking mechanisms, which are composed of a cylinder lifting mechanism and a manipulator. The clamping surface of the manipulator is provided with a rubber pad. The cylinder lifting mechanisms of the two sets of locking mechanisms are respectively arranged vertically, with the top ends fixed on the mounting frame and the bottom ends connected to the manipulator. The manipulators of the two sets of locking mechanisms are respectively located in the gaps on both sides of the middle section of the guide port, and pass through the gaps to clamp the glider in the guide port.

[0009] Furthermore, each section of the guide port adopts a petal-type structure, the first section is composed of a semicircular arc structure with upper and lower halves that can slide and overlap, the lower half frames of the middle section and the tail section are both composed of an electrically controlled split-type hinged structure, and the lower halves of the first section, the middle section and the tail section constitute the lower opening of the guide port.

[0010] Furthermore, the wireless remote-controlled catamaran unmanned boat is provided with a supporting frame, and two slides of the lifting mechanism are vertically fixed on the supporting frame, and a hook is provided on the upper part of the supporting frame.

[0011] Furthermore, the deployment and recovery locking device is provided with two sets of locking mechanisms, and a mounting rod is connected between the cylinder lifting mechanisms of the two sets of locking mechanisms. Two underwater cameras are fixed on the mounting rod, and the frame structure of the guide port is coated with a rubber layer.

[0012] Furthermore, a net blocking device is hung on the lifting hook of the ship crane, and the net blocking device is composed of a high-strength and toughness net bag, an elastic frame and a folding lifting frame. The elastic frame surrounds the left and right ends and the bottom end of the net bag, and the top is fixedly connected to the folding lifting frame. The folding lifting frame is composed of two hinged plate bodies, and the hinged ends of the two plate bodies are rotatably connected to a lifting ring, which is connected to the lifting hook of the ship crane through the lifting ring.

[0013] The present invention also provides a glider deployment method for the underwater glider deployment and recovery system as described above, the deployment method comprising starting a ship crane to lift a wireless remote-controlled catamaran unmanned boat to the top of the glider, opening a lower opening of a guide opening of a deployment and recovery locking device, locking the glider using a locking mechanism, closing the lower opening, lifting the wireless remote-controlled catamaran unmanned boat into the sea, opening the locking mechanism, controlling the unmanned boat to reverse quickly to complete the release of the glider, the unmanned boat traveling, using a hook on its top to dock with a net-blocking device of the ship crane, and the crane lifting the unmanned boat onto a mother ship.

[0014] The present invention also provides a glider recovery method for the deployment and recovery system for underwater gliders as described above, which comprises starting a ship crane to lift a wireless remote-controlled catamaran unmanned boat into the sea, controlling the wireless remote-controlled catamaran unmanned boat to travel to the vicinity of the glider, making the front end of the guide port face the moving direction of the glider, adjusting the inclination angle of the guide port of the deployment and recovery locking device through an inclination angle adjustment mechanism, so that the glider can directly enter the guide port, and monitoring the recovery process through an underwater camera, manipulating the wireless remote-controlled catamaran unmanned boat to move and complete the glider recovery. When the front end of the glider is completely stuck in the tail section of the guide port, the locking mechanism is used to quickly lock the glider, and the inclination angle of the deployment and recovery device is adjusted. The wireless remote-controlled catamaran unmanned boat carries the glider and travels to the vicinity of the mother ship, docking with the intercepting device of the ship crane during travel, and the ship crane lifts the unmanned boat onto the mother ship, opens the lower opening of the lower half of the guide port of the deployment and recovery locking device, releases the locking mechanism, and releases the glider, completing the entire glider recovery work.

[0015] Compared with the prior art, the advancement of the deployment and recovery system for underwater gliders designed by the patent of the present invention is as follows: 1. The hoisting process of the system is mechanized and remotely controlled by an unmanned boat, and the deployment and recovery of the glider can be completed with no more than two operators, which greatly reduces the personnel requirements for the deployment and recovery of the glider;

[0016] 2. The deployment and recovery locking device of this system can stably realize the deployment and recovery of gliders. It can complete the deployment and recovery of gliders in sea conditions of level 3, and has a probability of completing the deployment and recovery of gliders in sea conditions of level 4. It has stronger adaptability to the application environment and meets the deployment and recovery requirements of underwater gliders in complex sea conditions.

[0017] 3. This system only requires operators to remotely control and control on the mother ship, which greatly reduces the labor intensity and danger of personnel; the wireless remote-controlled catamaran unmanned boat has the characteristics of flexibility, small size, and no cable entanglement. It can quickly approach the vicinity of the glider, and the low freeboard feature can reduce the difficulty of capturing and lifting the glider out of the water. The recovered glider is in the middle of the catamaran, reducing the risk of it being bumped and damaged; wireless control can avoid the risk of wired control cables entangled in the glider during the recovery process, affecting the risk of secondary docking and recovery; the catamaran is connected in the middle by a frame, which is convenient for the installation and deployment of the automation mechanism on the frame; the entire recovery process is carried out on the water surface, which is convenient for the control personnel to observe and reduce the difficulty of recovery.

[0018] 4. The system is used to clamp and carry the underwater glider. The parts of the deployment and recovery locking device that come into contact with the glider are wrapped with rubber and other cushioning materials. At the same time, after the glider is recovered to the mother ship, it is lowered by a manipulator, which effectively reduces the collision damage of the glider during recovery and lowering. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the deployment and recovery system for underwater gliders.

[0020] Figure 2 It is a structural schematic diagram of a wireless remote-controlled catamaran unmanned boat.

[0021] Figure 3 It is a schematic diagram of the structure of the deployment and recovery locking device.

[0022] Figure 4 It is a structural schematic diagram of the installation frame and guide opening for deploying the recovery locking device.

[0023] Figure 5 It is a structural schematic diagram of the inclination adjustment mechanism of the deployment and recovery locking device.

[0024] Figure 6 It is a schematic diagram for application comparison of the inclination adjustment process of the deployment and recovery locking device.

[0025] Figure 7 It is a structural schematic diagram of the lifting mechanism for deploying and recovering the locking device.

[0026] Figure 8 It is a partial enlarged structural schematic diagram of the deployment and recovery locking device.

[0027] Fig. 9 It is a schematic diagram of the structure when the lower opening of the guide opening of the deployment and recovery locking device is opened.

[0028] Fig.10 It is a structural schematic diagram of the locking mechanism of the deployment and recovery locking device.

[0029] Fig.11 It is a structural diagram of a marine crane.

[0030] Fig.12 It is a structural diagram of the blocking device.

[0031] Fig.13 This is a schematic diagram of the state of a ship crane lifting a wireless remote-controlled catamaran unmanned boat used for the deployment and recovery system of an underwater glider.

[0032] Fig.14 It is a flow chart of the deployment process of the deployment and recovery system for underwater gliders.

[0033] Fig.15 It is a recovery process flow chart of the deployment and recovery system for underwater gliders.

[0034] In the figure, 1 is a ship crane, 2 is a wireless remote-controlled catamaran unmanned boat, 3 is a deployment and recovery locking device, 4 is a glider, 5 is a net blocking device, 6 is a mother ship, 21 is a support frame, 22 is a hook, 31 is a guide port, 32 is a mounting frame, 33 is an angle adjustment mechanism, 34 is a lifting mechanism, 35 is an underwater camera, 36 is a locking mechanism, 311 is a head section, 312 is a middle section, 313 is a tail section, 331 is a support plate, 332 is an adjustment motor, 333 is an adjustment rod, 334 is a mounting plate, 335 is an adjustment gear, 341 is a slide, 342 is a lifting motor, 343 is a slide, 344 is a slider, 361 is a cylinder lifting mechanism, 362 is a manipulator, 51 is a net bag, 52 is an elastic frame, 53 is a folding lifting frame, and 54 is a lifting ring. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. The technical solutions in the embodiments of the present invention are clearly and completely described, and the described embodiments are only embodiments of a part of the present invention, not all of them. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] like Figures 1 to 13 As shown, the patent of the present invention designs an embodiment of a deployment and recovery system for an underwater glider. In this embodiment, the deployment and recovery system includes a mother ship 6, a ship crane 1, a wireless remote-controlled catamaran unmanned ship 2 and a deployment and recovery locking device 3.

[0037] The ship crane 1 is installed on the mother ship 6 and is used to lift the wireless remote-controlled catamaran unmanned ship 2. The ship crane has automatic lifting equipment control function, load limitation, safety protection and emergency release function. A blocking device 5 is hung on the lifting hook of the ship crane 1. The blocking device 5 is composed of a high-strength and tough net bag 51, an elastic frame 52 and a folding lifting frame 53. The elastic frame 52 surrounds the left and right ends and the bottom end of the net bag 51, and the top is fixedly connected to the folding lifting frame 53. The folding lifting frame 53 is composed of two hinged plate bodies, and the hinged ends of the two plate bodies are rotatably connected with a lifting ring 54, which is connected to the lifting hook of the ship crane 1 through the lifting ring 54.

[0038] The deployment and recovery locking device 3 is installed on the lower side of the wireless remote-controlled catamaran unmanned boat 2, and is used to deploy and recover the underwater glider 4. The deployment and recovery locking device 3 includes a mounting frame 32, a guide port 31, a tilt adjustment mechanism 33, a lifting mechanism 34, an underwater camera 35 and a locking mechanism 36. The mounting frame 32 is a frame structure welded from corrosion-resistant materials, the upper side of which is fixedly mounted on the tilt adjustment mechanism 33, and a plurality of connecting rods extend from the lower side to connect and fix the guide port 31.

[0039] The lifting mechanism 34 includes two slides 341 arranged vertically and in parallel, a lifting motor 342 is arranged at the top of the slide 341, and a slideway 343 is arranged vertically on the opposite inner sides of the two slides 341. A slider 344 is threadedly connected to the slideway 343 through a screw rod. The lifting motor 342 drives the screw rod to rotate, and drives the slider 344 to move up and down along the slideway 343.

[0040] The tilt adjustment mechanism 33 includes a support plate 331, an adjustment motor 332 and an adjustment rod 333. The two ends of the support plate 331 are connected and fixed to the sliders 344 on the two side slides 341 through the mounting plates 334, and the adjustment motor 332 is installed in the middle of the support plate 331. The adjustment rod 333 is located at the lower side of the support plate 331, and the two ends are rotatably connected to the mounting plates 334 on the two sides, and an adjustment gear 335 is fixed in the middle of the adjustment rod 333. The adjustment gear 335 is meshed and connected with the output end of the adjustment motor 332, and the adjustment motor 332 drives the adjustment gear 335 to rotate, thereby realizing the rotation of the adjustment rod 333. The upper side of the mounting frame 32 is fixed on the adjustment rod 333 as a whole, and the rotation of the adjustment rod 333 will drive the pitch angle adjustment of the mounting frame 32.

[0041] The guide port 31 is composed of three parts, namely, the first section 311, the middle section 312 and the tail section 313. The three sections are also frame-type structures made of corrosion-resistant materials, and are coated with a rubber layer. The first section 311 is in a trumpet shape, the tail section 313 is cylindrical, and its tail end is closed. The middle section 312 is a cylindrical with a variable diameter. The inner diameter of the front end of the middle section 312 is the same as the inner diameter of the tail end of the first section 311, and the inner diameter of the tail end is the same as the inner diameter of the tail section 313. The first section 311 is used to guide and recover the underwater glider 4, and the middle section 312 and the tail section 313 are used to set and fix the glider 4. There is a gap between the first section 311, the middle section 312 and the tail section 313 of the guide port 31, and the three sections are connected and fixed to the installation frame 32 through connecting rods. In addition, each section of the guide opening 31 adopts a petal-type structure, wherein the first section 311 is composed of a semicircular arc structure with upper and lower halves that can slide and overlap, and the lower half frames of the middle section 312 and the tail section 313 are both composed of an electrically controlled split-type hinged structure, and the lower halves of the three sections constitute the lower opening of the guide opening 31. When the lower opening is opened, the glider 4 can escape from the lower opening.

[0042] The locking mechanism 36 is composed of a cylinder lifting mechanism 361 and a manipulator 362, and the clamping surface of the manipulator 362 is provided with a rubber pad. The deployment and recovery locking device 3 is provided with two sets of locking mechanisms 36, and the cylinder lifting mechanisms 361 of the two sets of locking mechanisms 36 are respectively arranged vertically, with the top ends fixed on the mounting frame 32 and the bottom ends connected to the manipulator 362. The manipulators 362 of the two sets of locking mechanisms 36 are respectively located in the gaps on both sides of the middle section 362 of the guide port 31, and can clamp the glider 4 located in the guide port 31 through the gaps. A mounting rod is connected between the piston rods of the cylinder lifting mechanisms 361 of the two sets of locking mechanisms 36, and the mounting rod is arranged near the lower end of the piston rod, and two underwater cameras 35 are fixed thereon.

[0043] The wireless remote control catamaran unmanned boat 2 is provided with a support frame 21, and two slides 341 of the lifting mechanism 34 of the deployment and recovery locking device 3 are fixed on the support frame 21 vertically, and a hook 22 is provided on the upper part of the support frame 21. When hoisting the wireless remote control catamaran unmanned boat 2, the ship crane 1 captures the wireless remote control catamaran unmanned boat 2 through the blocking device 5. In order to ensure that the unmanned boat can reliably complete the mobile platform task, the unmanned boat is provided with a platform body subsystem, a power energy subsystem, a perception subsystem, a control subsystem, a communication subsystem, an interaction subsystem, a position self-stabilization subsystem, and an unmanned boat remote control monitoring device. The platform body subsystem includes the hull design and layout, materials and structure, and platform machinery. It is the most basic component of the unmanned boat, providing buoyancy, layout space, actuators, and necessary protection conditions for the entire system. The power energy subsystem includes a propulsion system and a power supply system, which provide the necessary surface maneuverability for the unmanned boat and provide power support for the control system and the deployment and recovery platform. The perception subsystem includes the positioning and navigation system, the external environment perception system and the platform status perception system, which provide the necessary data source, hardware and interface support for the unmanned ship's motion decision-making and control, and its own status monitoring. The control subsystem includes the control system hardware and software, which processes and analyzes the external space and internal environment information for the unmanned ship through the perception and control equipment of the whole ship, and realizes the functions such as autonomous navigation control according to the core control algorithm. The communication subsystem includes the control end communication equipment and the execution end communication equipment, which build the data link required for the unmanned ship to perform tasks. The interactive subsystem includes support equipment and support software, which enable operators to control the unmanned ship in real time, understand the status information, issue autonomous commands, etc. The position self-stabilization subsystem refers to a closed-loop control system. The unmanned ship calculates that it has drifted away from the stable point due to factors such as waves and sea breeze through the measurement system, and controls the power system through the control system to automatically drive the unmanned ship back to the original stable position, so as to achieve the position self-stabilization function of the unmanned ship. The unmanned ship remote control monitoring device uses a single-screen display style, which is used for wireless remote control driving of the unmanned platform, and at the same time displays the video images taken by the underwater camera on the unmanned ship in real time.

[0044] Combination Fig.14 As shown, when deploying the underwater glider 4, the deployment and recovery system for the underwater glider disclosed in the patent of the present invention starts the ship crane to lift the wireless remote-controlled catamaran unmanned boat to the top of the glider, opens the lower opening of the guide opening of the deployment and recovery locking device, uses the locking mechanism to lock the glider, closes the lower opening, lifts the wireless remote-controlled catamaran unmanned boat to the sea, opens the locking mechanism, controls the unmanned boat to reverse quickly to complete the release of the glider, and the unmanned boat drives, uses the hook on its top to dock with the blocking device of the ship crane, and the crane lifts the unmanned boat onto the mother ship.

[0045] Combination Fig.15As shown, the deployment and recovery system for the underwater glider disclosed in the patent of the present invention starts the ship crane to lift the wireless remote-controlled catamaran unmanned boat to the sea when recovering the underwater glider 4, controls the wireless remote-controlled catamaran unmanned boat to travel near the glider, makes the front end of the guide port face the moving direction of the glider, adjusts the inclination angle of the guide port of the deployment and recovery locking device through the inclination angle adjustment mechanism, so that the glider can directly enter the guide port, and monitors the recovery process through the underwater camera, controls the wireless remote-controlled catamaran unmanned boat to move and complete the glider recovery, when the front end of the glider is completely stuck in the tail section of the guide port, uses the locking mechanism to quickly lock the glider, adjusts the inclination angle of the deployment and recovery device, and the wireless remote-controlled catamaran unmanned boat carries the glider to travel near the mother ship, docks with the intercepting device of the ship crane during travel, and the ship crane lifts the unmanned boat onto the mother ship, opens the lower opening of the lower half of the guide port of the deployment and recovery locking device, releases the locking mechanism, and releases the glider, completing the recovery of the entire glider.

[0046] The above contents are only preferred embodiments of the present invention and cannot be used to limit the scope of implementation of the present invention. That is, any simple equivalent changes and modifications made according to the claims and description of the present invention are still within the scope of the present invention.

Claims

1. A deployment and recovery system for an underwater glider, characterized in that: The deployment and recovery system comprises a mother ship, a ship crane, a wireless remote-controlled catamaran unmanned ship and a deployment and recovery locking device. The ship crane is installed on the mother ship and is used to lift the wireless remote-controlled catamaran unmanned ship. The deployment and recovery locking device is installed on the lower side of the wireless remote-controlled catamaran unmanned ship and is used to deploy and recover the underwater glider. The deployment and recovery locking device comprises a mounting frame, a guide port, a locking mechanism and a lifting mechanism. The lifting mechanism comprises two vertically parallel slides, and a lifting motor and a slider are arranged on the slide. The two ends of the mounting frame are respectively mounted on the sliders of the slides on both sides. A plurality of connecting rods are vertically extended from the lower side of the mounting frame, and the bottom ends of the plurality of connecting rods are fixedly connected to the guide port, and the guide port is a trumpet-type frame structure. The guide opening is composed of three parts, namely, a first section, a middle section and a tail section. The first section is in a trumpet shape, the tail section is in a cylindrical shape with a closed tail end, the middle section is in a cylindrical shape with a variable diameter, the inner diameter of the front end of the middle section is the same as that of the first section, and the inner diameter of the tail end is the same as that of the tail section. The first section is used to guide and recover the glider, and the middle section and the tail section are used to set and fix the glider. The first section, the middle section and the tail section of the guide opening have gaps between each other and are connected to the installation frame through connecting rods respectively; The deployment and recovery locking device is provided with two sets of locking mechanisms, which are composed of a cylinder lifting mechanism and a manipulator. The clamping surface of the manipulator is provided with a rubber pad. The cylinder lifting mechanisms of the two sets of locking mechanisms are respectively arranged vertically, with the top ends fixed on the mounting frame and the bottom ends connected to the manipulator. The manipulators of the two sets of locking mechanisms are respectively located at the gaps on both sides of the middle section of the guide opening, and pass through the gaps to clamp the glider located in the guide opening. Each section of the guide port adopts a petal-type structure, the first section is composed of a semicircular arc structure with upper and lower halves that can slide and overlap, the lower half frames of the middle section and the tail section are composed of electrically controlled split-type hinged structures, and the lower halves of the first section, the middle section and the tail section constitute the lower release port of the guide port. When the lower release port is opened, the glider therein can escape from the lower release port.

2. A deployment and recovery system for an underwater glider according to claim 1, characterized in that: The mounting frame of the deployment and recovery locking device is provided with an inclination angle adjustment mechanism, and the inclination angle adjustment mechanism includes a support plate, an adjustment motor and an adjustment rod. The two ends of the support plate are respectively connected and fixed to the sliders of the slide tables on both sides through mounting plates. The adjustment motor is installed in the middle of the support plate. The adjustment rod is located on the lower side of the support plate, and the two ends are respectively rotatably connected to the mounting plates on both sides. An adjustment gear is fixed in the middle of the adjustment rod, and the adjustment gear is meshed and connected with the output end of the adjustment motor. The mounting frame is fixed on the adjustment rod as a whole.

3. A deployment and recovery system for an underwater glider according to claim 2, characterized in that: The wireless remote-controlled catamaran unmanned boat is provided with a supporting frame, two slides of the lifting mechanism are vertically fixed on the supporting frame, and a hook is provided on the upper part of the supporting frame.

4. A deployment and recovery system for an underwater glider according to claim 3, characterized in that: The deployment and recovery locking device is provided with two sets of locking mechanisms, and a mounting rod is connected between the oil cylinder lifting mechanisms of the two sets of locking mechanisms. Two underwater cameras are fixed on the mounting rod, and a rubber layer is applied to the frame structure of the guide port.

5. A deployment and recovery system for an underwater glider according to claim 4, characterized in that: A net blocking device is hung on the lifting hook of the ship crane, and the net blocking device is composed of a high-strength and toughness net bag, an elastic frame and a folding lifting frame. The elastic frame surrounds the left and right ends and the bottom end of the net bag, and the top is fixedly connected to the folding lifting frame. The folding lifting frame is composed of two hinged plate bodies, and the hinged ends of the two plate bodies are rotatably connected with lifting rings, which are connected to the lifting hook of the ship crane through the lifting rings.

6. A glider deployment method for an underwater glider deployment and recovery system as claimed in claim 5, characterized in that: The deployment method comprises the following steps: starting a ship crane to lift a wireless remote-controlled catamaran unmanned boat to the top of a glider, opening a lower opening of a guide opening of a deployment and recovery locking device, locking the glider using a locking mechanism, closing the lower opening, lifting the wireless remote-controlled catamaran unmanned boat to the sea, opening the locking mechanism, controlling the unmanned boat to reverse quickly to complete the release of the glider, and driving the unmanned boat, using a hook on its top to dock with a net blocking device of a ship crane, and the crane lifting the unmanned boat onto a mother ship.

7. A glider recovery method for an underwater glider deployment and recovery system as claimed in claim 5, characterized in that: Start the ship crane to lift the wireless remote-controlled catamaran unmanned boat into the sea, control the wireless remote-controlled catamaran unmanned boat to the vicinity of the glider, make the front end of the guide port face the moving direction of the glider, adjust the inclination angle of the guide port of the deployment and recovery locking device through the inclination angle adjustment mechanism, so that the glider can directly enter the guide port, monitor the recovery process through the underwater camera, control the wireless remote-controlled catamaran unmanned boat to move and complete the glider recovery, when the front end of the glider is completely stuck in the tail section of the guide port, use the locking mechanism to quickly lock the glider, adjust the inclination angle of the deployment and recovery device, the wireless remote-controlled catamaran unmanned boat carries the glider to the vicinity of the mother ship, docks with the intercepting device of the ship crane during driving, the ship crane lifts the unmanned boat onto the mother ship, opens the lower opening of the lower half of the guide port for deploying and recovering locking device, loosens the locking mechanism, releases the glider, and completes the recovery of the entire glider.

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