Water surface and underwater equipment laying and recycling method and device suitable for complex sea conditions

Abstract

The invention relates to a water surface and underwater equipment laying and recycling device suitable for complex sea conditions. The water surface and underwater equipment laying and recycling device comprises a frame A and a swing stopping mechanism. The oscillation stopping mechanism comprises an oscillation stopping device and an anti-collision net mechanism; the oscillation stopping device comprises a swinging connecting rod, an oscillation stopping oil cylinder and a connecting circular ring; the upper end of the swinging connecting rod is hinged to the A frame body; the upper end of the anti-swing oil cylinder is connected with the swing connecting rod and the lower end is connected with the connecting ring; a group of steel cable launchers are arranged around the connecting ring, the steel cable launchers can release the steel cable through ejection, and the steel cable can be continuously released or recycled through a steel cable winch in the steel cable launchers; the lower end of a steel cable in the steel cable emitter is connected with a steel cable clamp, and the steel cable clamp is provided with an opening and closing mechanism and can grab and release a lifting lug on target equipment; the anti-collision net mechanism comprises two sets of supporting arms and an anti-collision net clamped by the far ends of the two sets of supporting arms, and the near ends of the two sets of supporting arms are hinged and fixed to the A frame base. The precision and success rate of equipment recovery can be improved.

Description

Technical Field

[0001] The invention relates to a method and a device for deploying and recovering surface and underwater equipment suitable for complex sea conditions, belonging to the technical field of deploying underwater equipment on ships. Background Art

[0002] In order to promote deep-sea scientific and technological research and resource surveys, protect the marine environment, and promote the sustainable use of resources in deep-sea seabed areas, my country is gradually promoting the construction of large-scale floating scientific research platforms at sea, and the demand for surface and underwater exploration equipment based on semi-submersible platforms is also increasing day by day. These equipment generally need to be driven to the operation site with the semi-submersible platform and put into use after being deployed. This process often requires the cooperation of the rear deck support equipment. The rear deck support equipment mainly includes large systems such as winches and A-frames. The winch retracts and releases the equipment, and the A-frame swings the equipment from the inside of the platform to the outside. Together with their respective control systems, the entire equipment deployment and recovery system is formed.

[0003] During the operation, when the equipment is detached from the deck or the water surface and is hoisted in the air by the A-frame pulley through the umbilical cable, the platform will shake due to the influence of waves, which often causes the equipment to sway irregularly, and it is very likely to collide seriously with the platform, causing damage to the platform. In the current scientific research operation, the equipment enters and exits the water using the traditional anti-swaying method. First, it is necessary to manually hang multiple thin ropes on the equipment's lifting ears, and then fix them with mooring piles, and then stop them by manpower. Since the weight of the equipment ranges from hundreds of kilograms to several tons, its instantaneous tension in severe sea conditions is far beyond the range of human control, which brings certain dangers to the equipment and personnel on the platform. In addition, the whole process will take a lot of time, making it difficult to recover the equipment in time in an emergency to avoid losses. Therefore, a safe and efficient underwater and surface equipment deployment and recovery system is needed to replace the traditional method to ensure the safety of scientific research team members and equipment.

[0004] List of existing technologies:

[0005] Publication date: 2018.06.08, Publication number: CN207466910U, Multi-purpose anti-sway device based on shipborne large A-frame system

[0006] Publication date: 2020.08.11, Publication number: CN117382816A, A recovery and deployment device for an underwater robot

[0007] Publication date: 2020.08.11, Publication number: CN111516806A, A deployment and recovery system and method for underwater equipment

[0008] Deficiencies of existing technology:

[0009] 1) The existing technology fails to suppress equipment sway through effective mechanical or control means;

[0010] 2) The existing technology lacks an intelligent cable tension control mechanism, making it difficult to maintain stable deployment and recovery of equipment in a dynamic environment;

[0011] 3) The existing patent recovery stage of the steel cable connection is relatively slow, and it is difficult to complete the operation in an emergency in time. Summary of the invention

[0012] The present invention aims to address the problems of unstable equipment swaying, inability to adaptively control the tension of the steel cable, and low efficiency of recovery connection in the recovery process of the anti-sway cable, especially in the current semi-submersible marine platform underwater equipment recovery and deployment technology when operating in complex water environments. A surface and underwater equipment deployment and recovery system suitable for complex sea conditions is proposed. The system integrates computer high-precision visual positioning, intelligent tension control and fast-response actuators to achieve dynamic balance adjustment and efficient connection during the steel cable recovery process, significantly improving the safety and efficiency of the deployment and recovery process of underwater and surface equipment.

[0013] The present invention adopts the following technical solutions:

[0014] A surface and underwater equipment deployment and recovery device suitable for complex sea conditions, comprising an A-frame 1 and an anti-sway mechanism; the A-frame 1 comprises an A-frame base and an A-frame body that are hingedly connected; the anti-sway mechanism comprises an anti-sway device 3 and an anti-collision net mechanism 4; the anti-sway device 3 comprises a swing connecting rod 33, an anti-sway oil cylinder 32, and a connecting ring 31; the upper end of the swing connecting rod 33 is hingedly connected to the A-frame body, and the lower end is fixed to the connecting ring 31; the upper end of the anti-sway oil cylinder 32 is connected to the swing connecting rod 33, and the lower end is connected to the connecting ring 31; along the connecting ring A group of steel cable launchers 36 are arranged around the ring 31. The steel cable launchers 36 can release the steel cable by ejection, and can continue to release or recycle the steel cable through the steel cable winch inside it; the lower end of the steel cable 38 in the steel cable launcher 36 is connected to the steel cable clamp 35, and the steel cable clamp 35 has an opening and closing mechanism that can grab and release the lifting lug on the target equipment; a tension sensor is provided on the steel cable 38; the anti-collision net mechanism 4 includes two groups of support arms, and a protective net structure clamped by the far ends of the two groups of support arms, and the near end is hinged and fixed to the A frame base.

[0015] Preferably, the A-frame 1 is provided with an A-frame positioning camera 5, and the stopper 3 is provided with a stopper positioning camera 37; the steel cable launcher 36 and the stopper cylinder 32 are positioned by computer vision; the hydraulic system dynamically adjusts the tension and relaxation of the steel cable through a fuzzy PID controller according to the real-time feedback signal of the tension sensor, thereby realizing an adaptive response to the shaking of the equipment.

[0016] Preferably, each wire rope launcher 36 is equipped with a servo motor, an intelligent control unit and an independent positioning sensor.

[0017] Preferably, the swing link 33 is a two-link structure having an upper link and a lower link, and the anti-swing oil cylinder 32 has two groups, the upper end of the first group is hinged to the upper link, and the upper end of the second group is hinged to the lower link.

[0018] Furthermore, the connecting ring 31 arranged at the bottom of the anti-sway device can adjust the angle and height through the upper connecting rod and hinge. When the equipment swings, the positions of multiple steel cable connection points can be adjusted in real time through the steel cable launcher 36; the middle of the connecting ring 31 is fixedly connected to the umbilical cable hole disc 34 through 8 flat connecting plates.

[0019] Preferably, the two groups of support arms of the anti-collision net mechanism 4 each include a crank and a sliding component, a slide rail is arranged along the crank, and the sliding component serves as a component for directly clamping the anti-collision net and can slide along the slide rail; the anti-collision net is made of bamboo fiber material with certain elasticity and toughness.

[0020] Furthermore, the anti-collision net has certain elasticity and toughness.

[0021] A working method of the above-mentioned environment-adaptive surface and underwater equipment deployment and recovery device,

[0022] Equipment deployment process:

[0023] S1. Umbilical cable connection: Pass the umbilical cable that provides power, communication and control signals around the umbilical cable pulley, pass through the umbilical cable hole, correctly connect it to the equipment firmly, and tighten it;

[0024] S2. Swing the A-frame out of the deck: On the deck, clip the steel cable onto the lifting lug of the operating equipment and retract the steel cable to the shortest length. Move the A-frame from the standby position to the edge of the rear deck through the large oil cylinder on the deck and extend the A-frame out of the platform. Perform precise horizontal and vertical adjustments on the A-frame according to the specific deployment requirements of the underwater equipment and the sea conditions.

[0025] S3. Release of underwater equipment: As the A-frame slowly lifts the equipment and moves it to the rear of the platform, the winch gradually releases the umbilical cable to ensure that the cable will not be damaged due to excessive tension. During the process, the anti-sway mechanism adaptively adjusts the oil cylinder to control the swing link to reduce the swing amplitude of the equipment. At the same time, the steel cable of the anti-sway device is released synchronously with the umbilical cable, and the tension is adjusted autonomously to maintain the stability of the equipment and prevent it from rotating.

[0026] Anti-collision net following: During the equipment descent, the anti-collision net always follows the equipment movement through the slide rail and crank control; when the equipment descends to a certain height from the water surface, the anti-collision net stops following, and the umbilical cable and the steel cable of the anti-swing device continue to be released;

[0027] S4. The opening and closing mechanism of the wire cable clamp releases the lifting lug: When the equipment is mostly or completely submerged in water, it is believed that the equipment will not swing at this time. The opening and closing mechanism of the wire cable clamp releases the lifting lug and is completely released into the water by the umbilical cable.

[0028] Further, the equipment recycling process:

[0029] S5. Cable connection: The anti-sway device is swung out of the boat along with the A-frame. When the equipment approaches the boat or floats on the water surface, the spatial position of the equipment is captured simultaneously by the positioning camera of the A-frame and the positioning camera of the anti-sway device. The angle of the cable launcher on the anti-sway device is adjusted according to the position information to aim at the lifting lug on the equipment. After aiming, the cable is launched. When the cable clamp contacts the lifting lug, the lifting lug pushes the internal gear of the opening and closing mechanism to close it, thus completing the connection.

[0030] S6, recovery and anti-sway: The steel cable launcher reels the steel cable, during which the internal tension balance of the launcher is adjusted, the anti-sway cylinder pulls the connecting rod to prevent swaying, and the anti-collision net always follows the movement of the equipment through the slide rail and crank control;

[0031] S7. Swing into the deck: After the steel cable is fully rolled up, the A-frame swings the entire system back into the deck to complete the recovery.

[0032] Furthermore, the working process of the cable launcher and the cable clamp is as follows:

[0033] Equipment deployment: Initially, the cable clamp is connected to the lifting lug on the equipment and closed, and the cable is reeled in the cable launcher. When the equipment is deployed, the cable winch in the cable launcher rotates and slowly releases the cable. During this period, the winch controls the release speed according to the tension to maintain the tension stable. When the equipment reaches the target position on the water surface or at a certain depth underwater, the cable clamp opening and closing mechanism is controlled to open to release the equipment. Finally, the cable winch reels the cable to wait for the equipment to be recovered.

[0034] Equipment recovery: Initially, the cable clamp is open and the cable is reeled inside the cable launcher. When performing equipment recovery tasks, the system identifies the spatial position of the equipment based on the images of the cameras on the A-frame and the anti-sway device. At the same time, the launch spring in the cable launcher contracts to accumulate ejection energy, and the launch spring is released and pushes the launch plate, which pushes the cable clamp to complete the launch. Its launch principle is similar to that of a grappling hook launcher. The grappling hook and the cable are launched to high altitudes or the top of obstacles through a spring drive to facilitate personnel climbing or transporting supplies. It is now widely used in rescue, special operations and other fields. When the cable clamp contacts and collides with the lifting lug on the equipment, the lifting lug pushes the gear under the opening and closing mechanism of the cable clamp to close it, and the cable is connected to the lifting lug. If the docking fails due to equipment swaying, the cable is reeled in and the above process is repeated. However, it is not necessarily required that all cable clamps complete the grabbing of the lifting lug, and the specific degree of completion can be set.

[0035] The beneficial effects of the present invention are:

[0036] 1) Improve the accuracy and success rate of equipment recovery: This device and control method integrate computer vision technology to achieve automatic recognition and precise positioning of the lifting lugs of surface or underwater equipment, which completely solves the problem of insufficient precision of traditional methods relying on manual operation; the adaptive fuzzy control strategy adjusts the launcher in real time, so that the steel cable can be accurately inserted into the lifting lug, greatly improving the success rate of launch. The system maintains efficient operation in a dynamic environment, significantly reducing the time loss of recovery failures and repeated operations caused by launch deviations.

[0037] 2) Enhance the adaptability and stability of the system: The adaptive fuzzy control strategy and tension feedback adjustment control strategy adopted can deal with the uncertainty caused by changes in external sea conditions during equipment recovery in real time. Fuzzy control effectively handles the complex relationship between equipment shaking and launcher alignment, so that the system can still maintain efficient operating performance in a changing environment. At the same time, the tension feedback adjustment mechanism dynamically adjusts the cable tension according to the real-time tension state to ensure a smooth and impact-free recovery process, avoiding equipment unhooking or damage caused by shaking. The combination of these control strategies gives the system excellent environmental adaptability and operational stability.

[0038] 3) The anti-sway device and anti-collision net mechanism are cleverly designed. The circular ring structure arranged at the bottom of the anti-sway device can adjust the angle and height through the upper connecting rod and hinge. When the equipment swings, the position of the 8 steel cable connection points can be adjusted in real time using the above method. The 8 flat connecting plates connecting the ring and the umbilical cable hole disc have high bending strength and low torsional strength. This structure can effectively resist the bending deformation caused by the pulling of the steel cable to ensure that the equipment is always in a horizontal state. When the equipment rotates around the vertical axis, the torque generated is too large to be rigidly resisted. Due to the flat shape of the connecting plate, elastic deformation will occur at this time to reduce the torque transmitted upward and prevent the anti-sway device from being damaged and failing. At the same time, the stopper and the two can cooperate and adapt to each other to achieve the functions of anti-sway and anti-collision.

[0039] 4) Visual positioning is achieved through two pairs of cameras on the A-frame and the stabilizer. The image information captured by the cameras is comprehensively processed to achieve spatial positioning of the equipment, so as to facilitate the launch of the steel cable launcher. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is the control logic diagram of the anti-oscillation mechanism.

[0041] Figure 2 It is a control logic diagram for computer vision target positioning, transmitter attitude adjustment, and cable tension feedback adjustment.

[0042] Figure 3The present invention is a schematic diagram of an environment-adaptive surface and underwater equipment deployment and recovery device arranged on a semi-submersible marine platform, wherein (a) is a stereogram, (b) is a front view, and (c) is a left view.

[0043] Figure 4 Schematic diagram of the environment-adaptive surface and underwater equipment deployment and recovery device of the present invention, wherein (a) is the front view and (b) is the left view.

[0044] Figure 5 Schematic diagram of the stabilizer, wherein (a) is a stereogram, (b) is a side view, and (c) is a front view.

[0045] Figure 6 Schematic diagram of the anti-collision net, wherein (a) is a stereogram, (b) is a side view, and (c) is a front view.

[0046] Figure 7 It is a schematic diagram of the release state of the anti-oscillation cable.

[0047] Figure 8 This is an enlarged view of the lower part of the stabilizer.

[0048] Fig. 9 It is a stereoscopic diagram of the environment-adaptive surface and underwater equipment deployment and recovery device of the present invention in a working state (when connected to the equipment).

[0049] Fig.10 Schematic diagram of the environment-adaptive surface and underwater equipment deployment and recovery device of the present invention in working state (when connected to the equipment), wherein (a) is the front view and (b) is the left view.

[0050] Fig.11 Schematic diagram of a cable clamp and its opening and closing mechanism for grabbing a lifting lug, wherein (a) is a stereogram and (b) is an inverted front view.

[0051] Fig.12 It is a schematic diagram of the internal structure of the steel cable launcher.

[0052] In the figure, 1-A frame, 2-umbilical cable pulley, 3-swing stopper, 4-anti-collision net mechanism, 5-A frame positioning camera, 31-connecting ring, 32-swing stopper cylinder, 33-swing stopper swing connecting rod, 34-umbilical cable hole, 35-cable clamp, 36-cable transmitter, 37-swing stopper positioning camera, 38-cable, 41-anti-collision net slide rail, 42-anti-collision net. DETAILED DESCRIPTION

[0053] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0054] The entire deployment and recovery system consists of operating equipment, A-frame, and anti-sway mechanism, which includes two parts: anti-sway device and anti-collision net. The anti-sway device includes a steel cable launcher based on computer vision positioning, a sway reduction system, etc., which ensures the safety and efficiency of the equipment deployment and recovery process. The anti-collision net can move synchronously with the equipment to prevent the equipment from swaying during the steel cable reeling process.

[0055] like Figure 1 The anti-swing device can absorb and buffer the swing energy through the expansion and contraction of the anti-swing oil cylinder, thus reducing the swing amplitude. High-precision sensors are installed at the key parts of the anti-swing device, which can continuously monitor the dynamic parameters such as the swing amplitude and frequency of the equipment.

[0056] Next, the data collected by the sensor is immediately transmitted to the control system. The control system has a built-in efficient signal processing algorithm that can quickly analyze the received data and determine whether the current swing state of the underwater equipment exceeds the preset range. Once it is determined that intervention is required, the control system will automatically calculate and send the corresponding control signal to start or adjust the working mode of the anti-swing cylinder.

[0057] The anti-swing cylinder is a key actuator. When the underwater equipment is subjected to external force and swings, the anti-swing cylinder will respond quickly according to the control signal, absorbing and converting the swing energy through its telescopic movement. In this process, the hydraulic oil in the cylinder acts as a damping medium, and its viscous resistance effectively slows down the swing speed. At the same time, springs or elastic elements are integrated inside the cylinder, which play an additional buffering role during the swing process, further reducing the impact force and amplitude of the swing, and protecting the underwater equipment and its key components from damage.

[0058] It ensures that the anti-swing system can continuously adapt to the actual swing conditions of the underwater equipment and always maintain the best anti-swing effect, providing stable and reliable anti-swing protection for the equipment deployment and recovery process.

[0059] In addition, the circular ring structure arranged at the bottom of the stabilizer can adjust the angle and height through the upper connecting rod and hinge. When the equipment swings, the position of the 8 steel cable connection points can be adjusted in real time using the above method. The 8 flat connecting plates connecting the ring and the umbilical cable hole disc have high bending strength and low torsional strength. This structure can effectively resist the bending deformation caused by the pulling of the steel cable to ensure that the equipment is always in a horizontal state; when the equipment rotates around the vertical axis, the torque generated is too large to be resisted rigidly. Due to the flat shape of the connecting plate, elastic deformation will occur at this time to reduce the torque transmitted upward and prevent the stabilizer from being damaged and failing.

[0060] Vision positioning cable launcher control mechanism Figure 2 shown.

[0061] Several steel cable launching devices are arranged under the stabilizer to launch the steel cable to the equipment lifting lug to complete the connection. The device adopts precise positioning and adaptive tension control strategy based on computer vision to achieve accurate locking of the lifting lug of surface or underwater equipment and automatic launching and dynamic tension adjustment of steel cable. Visual positioning is achieved through two pairs of cameras on the A frame and the stabilizer. The image information captured by the camera is comprehensively processed to realize spatial positioning of the equipment, so as to facilitate the launch of the steel cable launcher.

[0062] The core control strategy of the device is to combine adaptive fuzzy control with tension feedback regulation, and perform closed-loop control through multi-sensor fusion data to achieve precise adjustment of the launch path and dynamic optimization of the cable tension.

[0063] Adaptive fuzzy control strategy: This control strategy device is based on the equipment lug position data obtained in real time by the computer vision system, and uses deep learning algorithms such as convolutional neural networks (CNN) to perform feature recognition and positioning. The launch mechanism combines fuzzy control rules to dynamically adjust the launcher's orientation and shooting force to solve the launch error problem caused by equipment shaking and sea conditions. The fuzzy control strategy generates launch adjustment instructions through fuzzy reasoning of the target position and launcher posture to ensure that the steel cable is accurately inserted into the lug.

[0064] Tension feedback adjustment control strategy: After the steel cable is connected to the lifting lug, the system enters the tension adjustment mode and monitors the stress state of the steel cable in real time through the built-in tension sensor. The fuzzy PID control algorithm is used to take the tension signal fed back by the sensor as input to finely adjust the tension of the steel cable. The PID controller combines the shaking characteristics of the equipment and uses asymmetric fuzzy logic processing to achieve the gradual increase and decrease of the steel cable tension, avoiding equipment unhooking or damage caused by instantaneous changes in tension.

[0065] Actuator: The actuator of the control system consists of a multi-launch unit and a hydraulically driven tension adjustment system. The launcher positioning module is driven by a high-precision servo motor to achieve precise alignment of the launcher in space. Based on the real-time position data obtained by the visual system, the launch direction is ensured to be accurately docked with the equipment lifting lug. The tension adjustment system adopts a closed-loop hydraulic drive and consists of a high-response hydraulic cylinder and a precision tension sensor. The hydraulic system dynamically adjusts the tension and relaxation of the steel cable through a fuzzy PID controller based on the real-time feedback signal of the tension sensor to achieve an adaptive response to the shaking of the equipment.

[0066] Innovation 1: Collaborative operation of multiple launchers improves connection fault tolerance: The device uses multiple launchers to work together to improve the fault tolerance of the connection with the equipment lifting lug, ensuring efficient deployment and recovery operations in complex sea conditions. In the design of the device, multiple launchers are arranged in a ring and evenly distributed around the front of the retractable system. Each launcher is equipped with a high-precision servo motor, an intelligent control unit and an independent positioning sensor to achieve full coverage of the target lifting lug at different angles and orientations. The system adopts an equipment recovery strategy of flexible traction and rigid connection. After the connection is completed, the equipment is flexibly towed by the steel cable, and the tension of the steel cable is adjusted in real time through the intelligent control algorithm to ensure that the equipment remains stable during movement. After the equipment is stable, the system will rigidly connect the steel cable to the anti-sway device. This design can significantly reduce the time of equipment recovery operations, and can ensure the rapid recovery of equipment to avoid risks in the face of other emergencies such as severe sea conditions.

[0067] Innovation 2: Precise positioning and control at sea based on computer vision: This device innovatively integrates computer vision technology with the equipment recovery process, and uses real-time image processing and deep learning algorithms to achieve accurate identification and positioning of surface and underwater equipment lifting lugs. The system uses three high-resolution cameras, which are arranged on both sides and the front end of the retractable system to ensure that the target is monitored from multiple angles. The information from multiple cameras is comprehensively processed by multi-source information fusion, which effectively eliminates the blind spots caused by a single perspective and improves the reliability and accuracy of target identification. The system first captures the image data of the target area in real time through three cameras, and the convolutional neural network (CNN) processes these data to extract the feature information of the lifting lug. By matching with the preset model, the system can quickly and accurately determine the three-dimensional coordinates of the lifting lug to ensure that the launch path of the steel cable is accurate.

[0068] Innovation point 3: Combination of dynamic tension feedback and fuzzy PID control: After the steel cable is connected to the equipment, the control system adopts a dynamic tension feedback mechanism to achieve safe recovery and stable deployment of the equipment. The device adopts a multi-sensor configuration, and each transmitter unit is equipped with an independent high-precision tension sensor. The central control system uses multi-source information comprehensive analysis of the feedback data of these tension sensors, and uses multi-sensor fusion technology to process and evaluate the tension changes of the steel cable. Multi-sensor comprehensive analysis can respond quickly to the shaking of the equipment based on real-time data, and adjust the tension or relaxation of the steel cable in time, thereby reducing the shaking amplitude of the equipment under external factors such as waves. The device adopts a fuzzy PID control strategy to monitor the shaking amplitude and tension changes of the equipment in real time, and accurately adjust the tension of the steel cable to ensure that it is always within the appropriate range, preventing the steel cable from breaking due to improper tension, and ensuring the safety and durability of the entire system.

[0069] Innovation 4: The bamboo fiber material anti-collision net follows the equipment in real time to avoid collision: When the equipment is hoisted, especially in complex sea conditions or wind conditions, it is difficult to cope with large swings with only the anti-sway device suitable for small-amplitude high-frequency swings. The high-strength, lightweight and wear-resistant bamboo fiber material anti-collision net directly covers the outside of the underwater equipment to provide a relatively stable wrapping environment, effectively avoiding and reducing the collision and damage of the equipment caused by large-amplitude low-frequency swings. It can be combined with the anti-sway device to improve the safety of the overall recovery process.

[0070] The specific structure of the present invention is introduced below:

[0071] A surface and underwater equipment deployment and recovery device suitable for complex sea conditions, comprising an A-frame 1 and an anti-sway mechanism; the A-frame 1 comprises an A-frame base and an A-frame body that are hingedly connected; the anti-sway mechanism comprises an anti-sway device 3 and an anti-collision net mechanism 4; the anti-sway device 3 comprises a swing connecting rod 33, an anti-sway oil cylinder 32, and a connecting ring 31; the upper end of the swing connecting rod 33 is hingedly connected to the A-frame body, and the lower end is fixed to the connecting ring 31; the upper end of the anti-sway oil cylinder 32 is connected to the swing connecting rod 33, and the lower end is connected to the connecting ring 31; along the connecting ring A group of steel cable launchers 36 are arranged around the ring 31. The steel cable launchers 36 can release the steel cable by ejection, and can continue to release or recycle the steel cable through the steel cable winch inside it; the lower end of the steel cable 38 in the steel cable launcher 36 is connected to the steel cable clamp 35, and the steel cable clamp 35 has an opening and closing mechanism that can grab and release the lifting lug on the target equipment; a tension sensor is provided on the steel cable 38; the anti-collision net mechanism 4 includes two groups of support arms, and a protective net structure clamped by the far ends of the two groups of support arms, and the near end is hinged and fixed to the A frame base.

[0072] See also Figure 4-5 The A-frame 1 is provided with an A-frame positioning camera 5, and the stopper 3 is provided with a stopper positioning camera 37; the steel cable launcher 36 and the stopper cylinder 32 are positioned by computer vision; the hydraulic system dynamically adjusts the tension and relaxation of the steel cable through the fuzzy PID controller according to the real-time feedback signal of the tension sensor, so as to achieve an adaptive response to the shaking of the equipment.

[0073] Each wire rope launcher 36 is equipped with a servo motor, an intelligent control unit and an independent positioning sensor.

[0074] See also Figure 5 The swing link 33 is a two-link structure having an upper link and a lower link. The anti-swing oil cylinder 32 has two groups, the upper end of the first group is hinged to the upper link, and the upper end of the second group is hinged to the lower link.

[0075] Combination Figure 5 and Figure 8The connecting ring 31 arranged at the bottom of the stabilizer can adjust the angle and height through the upper connecting rod and hinge. When the equipment swings, the positions of multiple steel cable connection points can be adjusted in real time through the steel cable launcher 36; the middle of the connecting ring 31 is fixedly connected to the umbilical cable hole disc 34 through 8 flat connecting plates.

[0076] See also Figure 6 The two groups of support arms of the anti-collision net mechanism 4 each include a crank and a sliding component, a slide rail is arranged along the crank, and the sliding component is used as a component for directly clamping the anti-collision net and can slide along the slide rail; the enclosure net structure of the anti-collision net is a bamboo fiber material with certain elasticity and toughness.

[0077] In this embodiment, the anti-collision net 42 is made of bamboo fiber material with certain elasticity and toughness.

[0078] Equipment recovery process:

[0079] 1. Cable connection: The anti-sway device is swung out of the ship with the A-frame, ready to lift and recover the equipment. When the equipment is close to the hull or floats on the water, the A-frame positioning camera and the anti-sway device positioning camera simultaneously capture the spatial position of the equipment, aiming and then launching. When the cable clamp contacts the lifting lug, the lifting lug pushes the internal gear of the opening and closing mechanism to close it, completing the connection.

[0080] 2. Recovery and anti-sway: The steel cable launcher reels in the steel cable, during which the internal tension balance is adjusted inside the launcher. The anti-sway device pulls the connecting rod through the oil cylinder to prevent swaying, and the anti-collision net is controlled by the slide rail and crank to always follow the movement of the equipment.

[0081] 3. Swing into the deck: After the steel cable is fully rolled up, the A-frame swings the entire system back into the deck to complete the recovery.

[0082] Working process of cable launcher and cable clamp:

[0083] 1. Equipment deployment: Initially, the cable clamp is connected to the lifting lug on the equipment and closed, and the cable is reeled in the cable launcher. When the equipment is deployed, the cable winch in the cable launcher rotates and slowly releases the cable. During this period, the winch controls the release speed according to the tension to maintain the tension stable. When the equipment reaches the target position (water surface or a certain depth underwater), the cable clamp opening and closing mechanism is controlled to open to release the equipment. Finally, the cable winch reels the cable to wait for the equipment to be recovered.

[0084] 2. Equipment recovery: Initially, the cable clamp is open and the cable is reeled inside the cable launcher. When performing the equipment recovery task, the system identifies the spatial position of the equipment based on the images of the cameras on the A-frame and the anti-sway device. At the same time, the launch spring in the cable launcher contracts to accumulate ejection energy in preparation for launching the cable clamp. After the cable clamp posture is adjusted, the launch spring is released and pushes the launch plate, which pushes the cable clamp to complete the launch. When the cable clamp contacts and collides with the lifting lug on the equipment, the lifting lug pushes the gear under the opening and closing mechanism of the cable clamp to close it, and the cable is connected to the lifting lug. Due to the swinging of the equipment, the docking may fail. At this time, just reel in the cable and repeat the above process. It should be noted that it is not necessarily required that all cable clamps complete the grabbing of the lifting lug, and the specific degree of completion requirements can be set.

[0085] The above are preferred embodiments of the present invention. A person skilled in the art may make various changes or improvements on this basis. Without departing from the general concept of the present invention, these changes or improvements should fall within the scope of protection claimed by the present invention.

Claims

1. A surface and underwater equipment deployment and recovery device suitable for complex sea conditions, characterized by: It comprises an A frame (1) and a swing-stopping mechanism; The A frame (1) comprises an A frame base and an A frame body which are hingedly connected; The anti-sway mechanism comprises an anti-sway device (3) and an anti-collision net mechanism (4); The anti-swing device (3) comprises a swing link (33), an anti-swing oil cylinder (32), and a connecting ring (31); the upper end of the swing link (33) is hingedly connected to the A frame body, and the lower end is fixed to the connecting ring (31); the upper end of the anti-swing oil cylinder (32) is connected to the swing link (33), and the lower end is connected to the connecting ring (31); a group of steel cable launchers (36) are arranged around the connecting ring (31), and the steel cable launchers (36) can release the steel cable by ejection, and can continue to release or retract the steel cable through the steel cable winch inside the steel cable launcher (36); the lower end of the steel cable (38) in the steel cable launcher (36) is connected to the steel cable clamp (35), and the steel cable clamp (35) has an opening and closing mechanism, which can grab and release the lifting lug on the target equipment; a tension sensor is arranged on the steel cable (38); The anti-collision net mechanism (4) comprises two groups of support arms, and an anti-collision net (42) clamped by the far ends of the two groups of support arms, and a near end of which is hinged and fixed to the A frame base.

2. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions as claimed in claim 1, characterized in that: The A-frame (1) is provided with an A-frame positioning camera (5), and the swing stopper (3) is provided with a stopper positioning camera (37); the steel cable launcher (36) and the swing stopper cylinder (32) are positioned by computer vision; The hydraulic system dynamically adjusts the tension and relaxation of the steel cable through the fuzzy PID controller according to the real-time feedback signal of the tension sensor, thereby achieving an adaptive response to the shaking of the equipment.

3. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions as claimed in claim 1, characterized in that: Each wire cable transmitter (36) is equipped with a servo motor, an intelligent control unit and an independent positioning sensor.

4. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions as claimed in claim 1, characterized in that: The swing connecting rod (33) is a two-connecting rod structure having an upper connecting rod and a lower connecting rod. The anti-swing oil cylinder (32) has two groups. The upper end of the first group is hinged to the upper connecting rod, and the upper end of the second group is hinged to the lower connecting rod.

5. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions as claimed in claim 3, characterized in that: The connecting ring (31) arranged at the bottom of the anti-sway device can adjust the angle and height through the upper connecting rod and hinge. When the equipment swings, the positions of multiple steel cable connection points can be adjusted in real time through the steel cable transmitter (36); The middle of the connecting ring (31) is fixedly connected to the umbilical cable hole disc (34) via 8 flat connecting plates.

6. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions as claimed in claim 1, characterized in that: The two groups of support arms of the anti-collision net mechanism (4) each comprise a crank and a sliding component, a slide rail is arranged along the crank, and the sliding component is a component for directly clamping the anti-collision net and can slide along the slide rail.

7. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions as claimed in claim 6, characterized in that: The protective net structure of the anti-collision net is made of bamboo fiber material with certain elasticity and toughness.

8. A working method for a surface and underwater equipment deployment and recovery device applicable to complex sea conditions as claimed in any one of claims 1 to 7, characterized in that: Equipment deployment process: S1. Umbilical cable connection: Pass the umbilical cable that provides power, communication and control signals around the umbilical cable pulley, pass through the umbilical cable hole, correctly connect it to the equipment firmly, and tighten it; S2. Swing the A-frame out of the deck: On the deck, clip the steel cable onto the lifting lug of the operating equipment and retract the steel cable to the shortest length. Move the A-frame from the standby position to the edge of the rear deck through the large oil cylinder on the deck and extend the A-frame out of the platform. Perform precise horizontal and vertical adjustments on the A-frame according to the specific deployment requirements of the underwater equipment and the sea conditions. S3. Release of underwater equipment: As the A-frame slowly lifts the equipment and moves it to the rear of the platform, the winch gradually releases the umbilical cable to ensure that the cable will not be damaged due to excessive tension. During the process, the anti-sway mechanism adaptively adjusts the oil cylinder to control the swing link to reduce the swing amplitude of the equipment. At the same time, the steel cable of the anti-sway device is released synchronously with the umbilical cable, and the tension is adjusted autonomously to maintain the stability of the equipment and prevent it from rotating. Anti-collision net following: During the equipment descent, the anti-collision net always follows the equipment movement through the slide rail and crank control; when the equipment descends to a certain height from the water surface, the anti-collision net stops following, and the umbilical cable and the steel cable of the anti-swing device continue to be released; S4. The opening and closing mechanism of the wire cable clamp releases the lifting lug: When the equipment is mostly or completely submerged in water, it is believed that the equipment will not swing at this time. The opening and closing mechanism of the wire cable clamp releases the lifting lug and is completely released into the water by the umbilical cable.

9. The working method of the surface and underwater equipment deployment and recovery device applicable to complex sea conditions as claimed in claim 8, characterized in that: Equipment recovery process: S5. Cable connection: The anti-sway device is swung out of the boat along with the A-frame. When the equipment approaches the boat or floats on the water surface, the spatial position of the equipment is captured simultaneously by the positioning camera of the A-frame and the positioning camera of the anti-sway device. The angle of the cable launcher on the anti-sway device is adjusted according to the position information to aim at the lifting lug on the equipment. After aiming, the cable is launched. When the cable clamp contacts the lifting lug, the lifting lug pushes the internal gear of the opening and closing mechanism to close it, thus completing the connection. S6, recovery and anti-sway: The steel cable launcher reels the steel cable, during which the internal tension balance of the launcher is adjusted, the anti-sway cylinder pulls the connecting rod to prevent swaying, and the anti-collision net always follows the movement of the equipment through the slide rail and crank control; S7. Swing into the deck: After the steel cable is fully rolled up, the A-frame swings the entire system back into the deck to complete the recovery.

10. The working method of the surface and underwater equipment deployment and recovery device applicable to complex sea conditions as claimed in claim 8 or 9, characterized in that: Working process of cable launcher and cable clamp: Equipment deployment: Initially, the cable clamp is connected to the lifting lug on the equipment and closed, and the cable is reeled in the cable launcher. When the equipment is deployed, the cable winch in the cable launcher rotates and slowly releases the cable. During this period, the winch controls the release speed according to the tension to maintain the tension stable. When the equipment reaches the target position on the water surface or at a certain depth underwater, the cable clamp opening and closing mechanism is controlled to open to release the equipment. Finally, the cable winch reels the cable to wait for the equipment to be recovered. Equipment recovery: Initially, the cable clamp is opened and the cable is reeled inside the cable launcher; when performing the equipment recovery task, the system identifies the spatial position of the equipment based on the images of the cameras on the A-frame and the stabilizer. At the same time, the launch spring in the cable launcher contracts to accumulate ejection energy, and the launch spring is released and pushes the launch plate, which pushes the cable clamp to complete the launch; when the cable clamp contacts and collides with the lifting ear on the equipment, the lifting ear pushes the gear under the opening and closing mechanism of the cable clamp to close it, and the cable and the lifting ear are connected; if the docking fails due to equipment swaying, the cable is reeled in and the above process is repeated.

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