Novel multifunctional unmanned operation and maintenance ship based on wave-light complementary power generation

Abstract

The invention relates to the technical field of unmanned ships, and discloses a novel wave-light complementary power generation-based multifunctional unmanned operation and maintenance ship, which comprises a ship body, an environment monitoring mechanism, an energy recovery mechanism, a full-rotation electric propulsion device, an unmanned aerial vehicle landing platform, an ROV automatic laying and recovery mechanism and an AUV automatic laying and recovery mechanism, the energy recovery mechanism comprises two clean energy power generation devices including wave energy power generation devices and solar power generation devices, the wave energy power generation devices are installed on the two sides of the ship body, the solar power generation devices are installed on a deck of the ship body, and clean energy is stored and redistributed through a storage battery in the cabin. An energy recovery mechanism of the device comprises wave energy power generation devices installed on the two sides of the ship body and a solar power generation device installed on the deck, comprehensive utilization of wave energy and solar energy can be achieved, the utilization rate of clean energy is increased, and the requirement for long endurance of the unmanned operation and maintenance ship is met.

Description

Technical Field

[0001] The present invention relates to the field of unmanned vessels, and particularly to a new type of multi-functional unmanned operation and maintenance vessel based on wave-light complementary power generation. Background Art

[0002] With the continuous deepening of ocean development, the demand for the utilization and protection of ocean resources is increasing day by day. As an important tool, the unmanned operation and maintenance vessel can autonomously perform tasks in complex environments and has significant advantages in ensuring personnel safety. The existing problems are as follows: Most current unmanned operation and maintenance vessels use a single clean energy power supply, such as solar energy or wind energy power generation. However, the conversion efficiency of solar power generation is relatively low, and the power generation capacity is greatly affected by factors such as rainy and cloudy weather. The wake of high-power wind power generation increases the difficulty of controlling the navigation of the unmanned operation and maintenance vessel. It is difficult to maintain the long-distance operation tasks of the unmanned operation and maintenance vessel for a long time relying solely on solar energy or wind energy power generation; Secondly, the operation capabilities of existing unmanned operation and maintenance vessels are single, and the types of unmanned operation equipment carried are limited and cannot cover the requirements of various operation scenarios such as air-water.

[0003] The patent application with the publication number CN109649590B discloses a wave energy and solar energy integrated power generation four-hull unmanned boat, which includes an upper hull and four floating bodies located below it, and a wave energy power generation system connecting the two; Among them, an upper building is provided above the deck, a solar power generation device is provided on the upper building, two sets of symmetrically distributed pod propulsion devices are installed on the upper hull, and an environment perception device and an autonomous or semi-autonomous navigation system connected to the main controller are provided behind the upper building.

[0004] This prior art does not have multiple functions and cannot meet the requirements of performing complex offshore operation tasks in areas with a relatively long distance from the shore.

[0005] Therefore, a new technical solution is needed to solve the above technical problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a new type of multi-functional unmanned operation and maintenance vessel based on wave-light complementary power generation, which has the characteristics of long endurance and multiple functions to meet the requirements of performing complex offshore operation tasks in areas with a relatively long distance from the shore.

[0007] The technical solution adopted by the present invention is: A new type of multi-functional unmanned operation and maintenance ship based on wave-light complementary power generation, including a hull, an environmental monitoring mechanism, an energy recovery mechanism, a full-rotation electric propulsion device, a UAV landing platform, an ROV automatic deployment and recovery mechanism, and an AUV automatic deployment and recovery mechanism. The environmental monitoring mechanism, the energy recovery mechanism, the full-rotation electric propulsion device, the UAV landing platform, the ROV automatic deployment and recovery mechanism, and the AUV automatic deployment and recovery mechanism are distributed and arranged on the hull. The energy recovery mechanism includes two clean energy power generation devices, namely a wave energy power generation device and a solar energy power generation device. The wave energy power generation device is installed on both sides of the hull, and the solar energy power generation device is installed on the deck of the hull. The clean energy is stored and redistributed through the storage battery inside the cabin.

[0008] By adopting the above structure, the device has the characteristics of long endurance and multi-function to meet the requirements of performing complex offshore operation tasks in areas with a relatively long offshore distance. The energy recovery mechanism includes a wave energy power generation device installed on both sides of the hull and a solar energy power generation device installed on the deck, which can realize the comprehensive utilization of wave energy and solar energy, improve the utilization rate of clean energy, and meet the requirements of long endurance of the unmanned operation and maintenance ship.

[0009] Preferably, the wave energy power generation device includes a T-shaped floating plate, a ship's side fixing frame, a cross shaft, a hydraulic push rod, and a hydraulic power generation device in the energy distribution chamber. The cross shaft respectively forms a four-bar mechanism with the ship's side fixing frame, the T-shaped floating plate, and the hydraulic push rod. The reciprocating motion of the hydraulic push rod drives the T-shaped floating plate to perform a rotational motion of 0-90°, which is convenient for adjusting the power generation state to the best.

[0010] By adopting the above structure, the wave energy power generation device has a folding and recovery function, which can be in a recovered state during the navigation of the unmanned operation and maintenance ship to reduce the resistance during navigation and shorten the operation and maintenance time. When the unmanned ship is moored, the wave energy power generation device is opened at a certain angle through the flipping mechanism and is in a power generation state, realizing the continuous alternating operation of the two clean energy power generation devices.

[0011] Preferably, the environmental monitoring mechanism is arranged on the top of the deck control room of the hull. The environmental monitoring mechanism includes a millimeter-wave obstacle avoidance radar, a high-definition panoramic camera, a positioning and communication device, and other monitoring devices for wind, waves, and currents.

[0012] By adopting the above structure, setting up the environmental monitoring mechanism mainly provides intelligent navigation perception and remote communication support for the unmanned operation and maintenance ship.

[0013] Preferably, the UAV landing platform is arranged on the rear deck of the hull, including a box body and a controllable sliding cover plate. A UAV is arranged inside the box body. Linear guide rails are installed on the upper edges of both sides of the box body. The controllable sliding cover plate is installed on the linear guide rails. A rack is installed inside the box body and meshes with the gear motor installed on the controllable sliding cover plate, and the controllable sliding cover plate slides on the linear guide rails.

[0014] By adopting the above structure, when the UAV is in a non-working state, the main body is stored inside the box, and the controllable sliding cover is in a closed state, which is convenient for parking the UAV alone and avoids collision and friction between the mechanisms on the deck.

[0015] Preferably, the ROV automatic deployment and recovery mechanism is located at the deployment platform of the hull deck, and the ROV automatic deployment and recovery mechanism includes ROV equipment, A frame, electric winch, and ROV limiting device. The ROV equipment is connected to the electric winch on the A frame through an armored cable.

[0016] Preferably, the ROV limiting device is installed on the deployment platform of the hull deck, and an end anti-collision strip is provided on the baffle of the ROV limiting device.

[0017] By adopting the above structure, the ROV equipment can be prevented from colliding with other equipment on the deck due to bumps during navigation.

[0018] Preferably, the AUV automatic deployment and recovery mechanism includes AUV equipment, a deployment frame, and an electric traction winch. The deployment frame includes a bottom fixed frame and an upper flip frame. The bottom fixed frame is equipped with a linear guide rail. The upper flip frame is installed on the linear guide rail and is towed by the electric traction winch on the upper deck. The upper flip frame is equipped with a deployment hydraulic push rod, and the upper part is the AUV equipment. A decoupling device is installed at the front end of the AUV equipment and is connected to the blocking rope on the upper flip frame. The AUV equipment is located on the roller group on the upper flip frame.

[0019] By adopting the above structure, the AUV automatic deployment and recovery mechanism is installed on the lower deck at the rear of the hull. The deployment and recovery angle can be adjusted by the hydraulic push rod. After the AUV is aligned, the head unhooking device relies on its own thrust to buckle the blocking rope, and finally it is towed to the lower deck at the rear of the hull through the winch on the upper deck, which improves the efficiency of AUV deployment and recovery, and does not require cumbersome cranes and other equipment.

[0020] Compared with the prior art, the present invention has the following beneficial effects: 1. The energy recovery mechanism of the device of the present invention includes a wave energy power generation device installed on both sides of the hull and a solar power generation device installed on the deck, which can realize the comprehensive utilization of wave energy and solar energy, improve the utilization rate of clean energy, and meet the requirements of unmanned operation and maintenance ship endurance.

[0021] 2. The device of the present invention is designed with a UAV landing platform, an ROV automatic deployment and recovery mechanism, and an AUV automatic deployment and recovery mechanism on the deck of the hull, which meets the requirements of using an unmanned operation and maintenance ship to reach a designated area to perform multi-scene operations in the air and underwater, and improves the autonomous operation capability of the unmanned operation and maintenance ship.

[0022] 3. The wave energy power generation device of the device of the present invention has a folding and recycling function. When the unmanned operation and maintenance ship is sailing, it can be in a recycled state to reduce the resistance during sailing and shorten the operation and maintenance time. When the unmanned ship is berthed, the wave energy power generation device is opened at a certain angle through the flipping mechanism and is in a power generation state, realizing continuous alternating operation of the two clean energy power generation devices.

[0023] 4. The AUV automatic deployment and recovery mechanism of the device of the present invention is installed on the lower deck at the tail of the hull. Through the fixed frame installed at an inclination angle and combined with the gravity above, the upper flipping frame can reach a position below the water surface along the track to deploy the AUV device. The deployment and recovery angle can be adjusted through the hydraulic push rod. After the AUV is aligned, it relies on its own thrust to make the head hook detachment device latch onto the blocking rope, and finally it is towed to the lower deck at the tail of the hull by the winch on the upper deck. This design improves the efficiency of AUV deployment and recovery and does not require cumbersome equipment such as cranes. Brief Description of the Drawings

[0024] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic structural diagram of the energy recovery mechanism of the present invention; Figure 3 is a schematic structural diagram of the UAV landing platform of the present invention; Figure 4 is a schematic structural diagram of the deployment rack of the present invention; Figure 5 is a schematic diagram of the ROV limiting device of the present invention.

[0025] Wherein: 1. Hull; 2. Environmental monitoring mechanism; 2-1. Millimeter wave obstacle avoidance radar; 2-2. High-definition panoramic camera; 2-3. Positioning and communication device; 3. Energy recovery mechanism; 3-1. Wave energy power generation device; 3-1-1. T-shaped floating board; 3-1-2. Ship side fixing frame; 3-1-3. Cross shaft; 3-1-4. Hydraulic push rod; 3-2. Solar power generation device; 4. Full rotary electric propulsion device; 5. UAV landing platform; 5-1. Box body; 5-1-1. Linear guide rail; 5-1-2. Rack; 5-2. Controllable sliding cover plate; 5-3. UAV; 5-4. Gear motor with belt; 6. ROV automatic deployment and recovery mechanism; 6-1. ROV device; 6-2. A-frame; 6-3. Electric winch; 6-4. ROV limiting device; 6-4-1. Baffle; 6-4-2. End anti-collision strip; 7. AUV automatic deployment and recovery mechanism; 7-1. AUV device; 7-2. Deployment rack; 7-2-1. Bottom fixing frame; 7-2-2. Upper flipping frame; 7-2-3. Linear guide rail; 7-2-4. Blocking rope; 7-2-5. Roller group; 7-2-6. Deployment hydraulic push rod; 7-3. Electric traction winch. Detailed Embodiments

[0026] As Figures 1-5 shown, a new type of multi-functional unmanned operation and maintenance ship based on wave-light complementary power generation includes a hull 1, an environmental monitoring mechanism 2, an energy recovery mechanism 3, a full-rotation electric propulsion device 4, a UAV landing platform 5, an ROV automatic deployment and recovery mechanism 6, and an AUV automatic deployment and recovery mechanism 7. The environmental monitoring mechanism 2, the energy recovery mechanism 3, the full-rotation electric propulsion device 4, the UAV landing platform 5, the ROV automatic deployment and recovery mechanism 6, and the AUV automatic deployment and recovery mechanism 7 are distributed and arranged on the hull 1. The hull 1 mainly includes three functional compartments, namely the deck control room, the energy distribution compartment, and the electric propulsion compartment. The deck control room is the central control room of the entire unmanned operation and maintenance ship, responsible for remote communication and autonomous decision-making. The energy distribution compartment is responsible for reasonably storing and redistributing the clean energy generated by the energy recovery mechanism 3. The bottom of the electric propulsion compartment is equipped with a full-rotation electric propulsion device 4 to ensure the normal driving and fixed-point operation of the unmanned operation and maintenance ship. The energy recovery mechanism 3 includes two clean energy power generation devices, namely a wave energy power generation device 3-1 and a solar energy power generation device 3-2. The wave energy power generation device 3-1 is installed on both sides of the hull 1, and the solar energy power generation device 3-2 is installed on the deck of the hull 1. The clean energy is stored and redistributed through the storage battery inside the ship's cabin. The device has the characteristics of long endurance and multi-function to meet the requirements of performing complex offshore operation tasks in areas with a relatively long distance from the shore. The energy recovery mechanism 3 includes a wave energy power generation device 3-1 installed on both sides of the hull and a solar energy power generation device 3-2 installed on the deck, which can realize the comprehensive utilization of wave energy and solar energy, improve the utilization rate of clean energy, and meet the requirements of long endurance of the unmanned operation and maintenance ship.

[0027] The wave energy power generation device 3-1 includes a T-shaped floating plate 3-1-1, a ship's side fixing frame 3-1-2, a cross-shaped rotating shaft 3-1-3, a hydraulic push rod 3-1-4, and a hydraulic power generation device in the energy distribution compartment. The cross-shaped rotating shaft 3-1-3, the ship's side fixing frame 3-1-2, the T-shaped floating plate 3-1-1, and the hydraulic push rod 3-1-4 form a four-bar linkage mechanism. The reciprocating movement of the hydraulic push rod 3-1-4 drives the T-shaped floating plate 3-1-1 to perform a 0-90° rotational movement, facilitating the adjustment of the power generation state to the best. The wave energy power generation device has a folding and recovery function, which can be in a recovered state during the navigation of the unmanned operation and maintenance ship to reduce the resistance during navigation and shorten the operation and maintenance time. When the unmanned ship is berthed, the wave energy power generation device is opened at a certain angle through a flipping mechanism to be in a power generation state, realizing the continuous and alternating operation of the two clean energy power generation devices.

[0028] The environmental monitoring mechanism 2 is arranged on the top of the deck control room of the hull 1. The environmental monitoring mechanism 2 includes a millimeter-wave obstacle avoidance radar 2-1, a high-definition panoramic camera 2-2, a positioning and communication device 2-3, and other monitoring equipment for wind, waves, and currents, mainly providing intelligent navigation perception and remote communication support for the unmanned operation and maintenance ship; The UAV landing platform 5 is installed on the rear deck of the hull 1 and includes a box body 5-1 and a controllable sliding cover plate 5-2. A UAV 5-3 is arranged inside the box body 5-1. Linear guide rails 5-1-1 are installed on the upper edges on both sides of the box body 5-1. The controllable sliding cover plate 5-2 is installed on the linear guide rails 5-1-1. A rack 5-1-2 is installed inside the box body 5-1 and meshes with a gear motor 5-4 installed on the controllable sliding cover plate 5-2. The controllable sliding cover plate 5-2 slides on the linear guide rails 5-1-1. When the UAV 5-3 is in a non-working state, the body is stored inside the box body 5-1 and the controllable sliding cover plate 5-2 is in a closed state; when the UAV 5-3 is in a working state, the controllable sliding cover plate 5-2 is controlled to open, and the UAV 5-3 performs corresponding work tasks. When returning, it returns to the UAV landing platform 5 through a positioning device and a vision guiding device.

[0029] The ROV automatic deployment and recovery mechanism 6 is located at the deployment platform on the deck of the hull 1. The ROV automatic deployment and recovery mechanism 6 includes an ROV device 6-1, an A-frame 6-2, an electric winch 6-3, and an ROV limiting device 6-4. The ROV device 6-1 is connected to the electric winch 6-3 on the A-frame 6-2 through an armored cable. The ROV limiting device 6-4 is installed on the deployment platform of the deck of the hull 1. An end anti-collision strip 6-4-2 is provided on the baffle 6-4-1 of the ROV limiting device 6-4 to prevent the ROV device 6-1 from colliding with other equipment on the deck due to bumps during navigation; the ROV automatic deployment and recovery mechanism 6 is used to automatically deploy and recover the ROV device 6-1 after the unmanned operation and maintenance ship reaches the designated water area. To prevent the ROV device from colliding with other equipment on the deck due to bumps during navigation.

[0030] The AUV automatic deployment and recovery mechanism 7 includes an AUV device 7-1, a deployment rack 7-2, and an electric traction winch 7-3. The deployment rack 7-2 includes a bottom fixed rack 7-2-1 and an upper layer flipping rack 7-2-2. A linear guide rail 7-2-3 is installed on the bottom fixed rack 7-2-1. The upper layer flipping rack 7-2-2 is installed on the linear guide rail 7-2-3 and is towed by the electric traction winch 7-3 on the upper deck. A deployment hydraulic push rod 7-2-6 is arranged inside the upper layer flipping rack 7-2-2. The upper part is the AUV device 7-1. A hook release device is installed at the front end of the AUV device 7-1 and is connected to a blocking rope 7-2-4 on the upper layer flipping rack 7-2-2. The AUV device 7-1 is located on a roller group 7-2-5 on the upper layer flipping rack 7-2-2. The upper layer flipping rack 7-2-2 realizes a 0-45° flipping function through the deployment hydraulic push rod 7-2-6 and a hinge structure. The AUV automatic deployment and recovery mechanism 7 is used to automatically deploy and recover the AUV device 7-1 after the unmanned operation and maintenance ship reaches the designated water area.

[0031] After the device of the present invention is put into use, during the operation of the unmanned ship, at this time, only the solar power generation device 3-2 of the energy recovery mechanism 3 generates electricity, while the wave energy power generation device 3-1 is folded and recovered through the flipping mechanism composed of the T-shaped floating plate 3-1-1, the ship's side fixing frame 3-1-2, the cross shaft 3-1-3 and the hydraulic push rod 3-1-4 to reduce the resistance of the unmanned operation and maintenance ship during navigation and shorten the operation and maintenance time; when the unmanned ship is parked during operation, the wave energy power generation device 3-1 is opened at a certain angle through the flipping mechanism and is in the power generation state, realizing continuous alternating operation of the two clean energy power generation devices.

[0032] When the unmanned operation and maintenance ship arrives at the designated working area, it can select an unmanned aerial vehicle or an underwater unmanned device for operation according to the specific task. When the unmanned aerial vehicle 5-3 is in a non-working state, the body is stored inside the box 5-1, and the controllable sliding cover plate 5-2 is in a closed state; when the unmanned aerial vehicle 5-3 is in a working state, the controllable sliding cover plate 5-2 is driven to open along the direction of the linear guide rail 5-1-1 by controlling the belt gear motor 5-4 and the rack 5-1-2 structure, and the unmanned aerial vehicle 5-3 flies out of the box 5-1 to perform the corresponding work task. When returning, it returns to the unmanned aerial vehicle landing platform 5 through the positioning device and the vision guidance device. There are mainly two types of underwater unmanned devices, namely the ROV device 6-5 and the AUV device 7-1. When the ROV device 6-5 is deployed, it is deployed to a suitable position through the A-frame (6-2), and the electric winch 6-3 is controlled to pay out the cable so that the device works within a safe range. When recovering, the electric winch 6-3 is controlled to take in the cable, and the device is hoisted and placed into the ROV limit device 6-4 through the A-frame; when the AUV device 7-1 is deployed, first, the upper-layer flipping frame 7-2-2 adjusts the AUV device 7-1 to a suitable angle, and at the same time, the rope is released through the electric traction winch 7-3 on the deck. The upper-layer flipping frame 7-2-2 will slide along the linear guide rail 7-2-3 of the fixed frame 7-2-1 with an inclined angle installed at the bottom under the action of the gravity component of the AUV to the corresponding position. After the AUV device 7-1 enters the water along the roller group 7-2-5, the decoupling device is started to disconnect the device from the blocking rope 7-2-4; when the AUV device 7-1 is recovered, first, the device enters the upper-layer flipping frame 7-2-2 along the roller group 7-2-5 through autonomous docking, then the decoupling device at the head of the AUV device 7-1 buckles the blocking rope 7-2-4, and the electric traction winch 7-3 is started to recover the rope to pull the device onto the lower deck, and finally, the upper-layer flipping frame 7-2-2 is used to adjust the device to a horizontal position. The AUV automatic deployment and recovery mechanism is installed on the lower deck at the stern of the hull, and the deployment and recovery angle can be adjusted through the hydraulic push rod. After the AUV is aligned, it relies on its own thrust to make the decoupling device at the head buckle the blocking rope, and finally, it is towed to the lower deck at the stern of the hull through the winch on the upper deck, improving the efficiency of AUV deployment and recovery and eliminating the need for cumbersome equipment such as cranes.

[0033] The equipment of the present invention can realize the comprehensive utilization of wave energy and solar energy, improve the utilization rate of clean energy, and meet the requirements of long endurance of the unmanned operation and maintenance ship; various automatic deployment and recovery devices for unmanned equipment are designed on the deck of the hull, meeting the requirements of performing multi-scenario operation tasks in the air and underwater, and effectively solving the problem of single autonomous operation scenario of the unmanned operation and maintenance ship. This solution meets but is not limited to application scenarios such as offshore wind power detection, offshore photovoltaic inspection, and submarine cable inspection.

[0034] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those skilled in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A new type of multifunctional unmanned operation and maintenance ship based on wave-light complementary power generation, comprising a hull, an environmental monitoring mechanism, an energy recovery mechanism, a full-rotation electric propulsion device, a drone landing platform, an ROV automatic deployment and recovery mechanism, and an AUV automatic deployment and recovery mechanism, characterized in that: The environmental monitoring agency, energy recovery agency, full-rotation electric propulsion device, UAV landing platform, ROV automatic deployment and recovery mechanism, and AUV automatic deployment and recovery mechanism are distributed and installed on the hull. The energy recovery agency includes two clean energy power generation devices, namely a wave energy power generation device and a solar energy power generation device. The wave energy power generation device is installed on both sides of the hull, and the solar energy power generation device is installed on the deck of the hull. The clean energy is stored and redistributed through the storage battery inside the cabin.

2. The novel multifunctional unmanned operation and maintenance ship based on wave-light complementary power generation according to claim 1, characterized in that: The wave energy power generation device includes a T-shaped floating plate, a ship's side fixing frame, a cross shaft, and a hydraulic push rod. The cross shaft forms a four-bar linkage mechanism with the ship's side fixing frame, the T-shaped floating plate, and the hydraulic push rod. The reciprocating movement of the hydraulic push rod drives the T-shaped floating plate to perform a rotational movement of 0-90°.

3. A novel multi-functional unmanned operation and maintenance ship based on wave-light complementary power generation according to claim 1, characterized in that: The environmental monitoring agency is located on the top of the deck control room of the hull. The environmental monitoring agency includes a millimeter-wave obstacle avoidance radar, a high-definition panoramic camera, and a positioning and communication device.

4. A novel multi-functional unmanned operation and maintenance ship based on wave-light complementary power generation according to claim 1, characterized in that: The UAV landing platform is located on the rear deck of the hull and includes a box body and a controllable sliding cover plate. A UAV is installed inside the box body. Linear guide rails are installed on the upper edges on both sides of the box body. The controllable sliding cover plate is installed on the linear guide rails. A rack is installed inside the box body and meshes with the gear motor installed on the controllable sliding cover plate. The controllable sliding cover plate slides on the linear guide rails.

5. A novel multifunctional unmanned operation and maintenance ship based on wave-light complementary power generation according to claim 1, characterized in that: The ROV automatic deployment and recovery mechanism is located at the deployment platform on the hull deck. The ROV automatic deployment and recovery mechanism includes an ROV device, an A-frame, an electric winch, and an ROV limiting device. The ROV device is connected to the electric winch on the A-frame through an armored cable.

6. A novel multi-functional unmanned operation and maintenance ship based on wave-light complementary power generation according to claim 5, characterized in that: The ROV limiting device is installed on the deployment platform of the hull deck, and an end anti-collision strip is provided on the baffle of the ROV limiting device.

7. A novel multi-functional unmanned operation and maintenance ship based on wave-light complementary power generation according to claim 1, characterized in that: The AUV automatic deployment and recovery mechanism includes an AUV device, a deployment frame, and an electric traction winch. The deployment frame includes a bottom fixed frame and an upper layer flipping frame. Linear guide rails are installed on the bottom fixed frame, and the upper layer flipping frame is installed on the linear guide rails and is towed by the electric traction winch on the upper deck. A deployment hydraulic push rod is installed inside the upper layer flipping frame. The upper part is the AUV device. A hook release device is installed at the front end of the AUV device and is connected to the blocking rope on the upper layer flipping frame. The AUV device is located on the roller group on the upper layer flipping frame.

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