Water surface unmanned ship for capturing autonomous underwater vehicle and method thereof

Abstract

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

Description

Technical Field

[0001] This invention belongs to the field of marine unmanned technology, specifically relating to an unmanned surface vessel and method for capturing autonomous underwater vehicles. Background Technology

[0002] For unmanned underwater vehicles (UUVs) and autonomous underwater vehicles (AUVs) of unknown origin, existing capture technologies, such as traditional manual diving salvage and conventional ship trawling, have significant drawbacks. Manual diving salvage is inefficient and highly dangerous, while conventional ship trawling can easily damage the target equipment, making both unsuitable for practical applications. While a solution based on unmanned surface vessels (USVs) equipped with high-precision detection equipment and dedicated capture devices, leveraging their autonomous navigation, remote control, and long endurance to achieve non-contact, precise capture of UUVs offers a new approach to UUV capture, existing AUV capture methods still face numerous technical challenges.

[0003] The first capture method is to use a USV equipped with a robotic arm for grasping. This method requires extremely high control precision of the robotic arm. At the same time, since the movement trajectory of the AUV underwater is unpredictable, the position of the USV needs to be adjusted in real time during the capture process, which also places stringent requirements on the control of the USV. Furthermore, this method is less applicable in deeper water environments.

[0004] The second method of capture is trawling. However, the process of trawling in the water is complicated and cumbersome, and the fishing process is difficult to control effectively. It is only suitable for capturing AUVs with low speed.

[0005] The third capture method involves surrounding and capturing the AUV using other underwater equipment. This method requires extremely high game theory algorithms and control precision. If the AUV is equipped with a self-destruct explosive device, it can easily damage the underwater equipment, leading to a significant increase in capture costs. Summary of the Invention

[0006] In view of the problems existing in the prior art, the present invention provides an unmanned surface vessel and method for capturing autonomous underwater vehicles (AUVs), achieving simple, accurate and efficient capture of AUVs.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] An unmanned surface vessel for capturing autonomous underwater vehicles, the unmanned surface vessel comprising:

[0009] Unmanned surface vessel hull, power supply, radar detection components, AUV acquisition components, and intelligent automatic unmanned controller mounted on the unmanned surface vessel hull;

[0010] The unmanned surface vessel has an installation slot at its bottom.

[0011] The radar detection component is used to detect and identify target autonomous underwater vehicles;

[0012] The AUV capture assembly includes: a first waterproof motor, a drive shaft, a winch, a winch rope, a capture net, several angle adjustment components, several electric launchers, and several powered mass blocks. The first waterproof motor is fixed to the side wall of the mounting slot. One end of the drive shaft is connected to the output shaft of the first waterproof motor, and the other end is hinged to the side wall of the mounting slot. The winch is sleeved and fixed on the drive shaft. The winch rope is wound around the winch. The capture net is connected to the end of the winch rope. The several angle adjustment components are fixed to the bottom surface of the unmanned surface vessel and are evenly distributed around the capture net. Each of the several electric launchers is mounted on the angle adjustment components. Each of the several powered mass blocks is movably inserted into the electric launcher. Each powered mass block is evenly connected to the outer edge of the capture net via a connecting rope. The orientation of the electric launcher is adjusted by the angle adjustment components to adjust the launch direction of the powered mass blocks.

[0013] The intelligent automatic unmanned controller is used to realize the automatic control of unmanned surface vessels.

[0014] Furthermore, the unmanned surface vessel includes: a power propulsion unit, a central hull, and two suspended hulls fixed to both sides of the central hull;

[0015] A channel is formed between the two floating hulls on both sides, serving as the mounting slot;

[0016] The power propulsion unit is installed at the end of the suspended hull;

[0017] The central hull is equipped with a waterproof power supply compartment for storing power sources.

[0018] Furthermore, the central hull is equipped with an L-shaped towing rod, which facilitates the connection between the unmanned surface vessel and the towing equipment.

[0019] Furthermore, the upper surface of the suspended hull is provided with several hoisting and fixing rings for hoisting equipment to lift the unmanned surface vessel.

[0020] Furthermore, the AUV capture assembly also includes: a guide roller, a fixed shaft, and a directional wheel;

[0021] Both ends of the guide roller and the fixed shaft are respectively fixed to the side walls of the two suspended hulls;

[0022] The directional wheel is sleeved on the fixed shaft; the stranded wire passes through the directional wheel and the guide roller and is connected to the capture net; the guide roller and the directional wheel guide and support the stranded wire and improve the smoothness of the stranded wire sliding.

[0023] Furthermore, the angle adjustment assembly includes: a second waterproof motor, a connecting rod, a U-shaped seat, a rotating shaft, and a third waterproof motor;

[0024] The second waterproof motor is fixed to the bottom of the unmanned vessel hull on the water surface;

[0025] One end of the connecting rod is connected to the output end of the second waterproof motor;

[0026] The U-shaped seat is fixed to the other end of the connecting rod;

[0027] The rotating shaft is installed through the U-shaped seat;

[0028] The output end of the third waterproof motor is fixedly connected to the rotating shaft;

[0029] The electric power launcher is mounted on the rotating shaft;

[0030] The second waterproof motor drives the connecting rod to rotate, thereby rotating the U-shaped base and achieving horizontal adjustment of the electric power launcher; the third waterproof motor drives the rotating shaft to rotate, achieving pitch angle adjustment of the electric power launcher.

[0031] Furthermore, the radar detection component includes: a radar controller and an underwater automatic scanning detection radar;

[0032] The radar controller and the underwater automatic scanning and detection radar are fixedly installed on the mounting frame of the unmanned surface vessel.

[0033] The mounting bracket is fixed inside the mounting slot;

[0034] The underwater automatic scanning and detection radar can detect and identify underwater targets, and automatically identify the target autonomous underwater vehicle.

[0035] Furthermore, the end of the powered mass block furthest from the electro-powered launcher is a conical structure, which reduces the resistance to the movement of the powered mass block after launch, thereby increasing the moving speed and distance of the powered mass block, and thus increasing the speed at which the capture net unfolds.

[0036] A method for capturing an autonomous underwater vehicle according to any one of the claims, comprising the following steps:

[0037] When in use, the unmanned surface vessel is placed on the water surface of the target sea area, the unmanned surface vessel is started, and the unmanned surface vessel conducts automatic patrol in the target sea area. The radar detection component continuously detects the underwater environment, thereby enabling the detection of autonomous underwater vehicles.

[0038] When the radar detection component detects the autonomous underwater vehicle target, the first waterproof motor starts, drives the drive shaft to rotate, the drive shaft drives the winch to rotate, the winch releases the winch rope, and at the same time, the electric power launcher is activated, which launches the powered mass block at high speed. Under the action of the initial force, the powered mass block moves in different directions, thereby pulling the outer edge of the capture net in multiple directions, so that the capture net can quickly approach the autonomous underwater vehicle and quickly unfold.

[0039] Among them, the second and third waterproof motors can flexibly adjust the launch angle of the power mass block, so that the capture net in the retracted state can be quickly deployed according to actual use needs. The capture net can cover the autonomous underwater vehicle from above, and under the action of the power mass block's own weight, it can complete the wrapping of the autonomous underwater vehicle and complete the automatic capture of the autonomous underwater vehicle.

[0040] After capture, the winch is used to wind up the rope, allowing the capture net to be stored again. The power mass block is then reinstalled on the electric power launcher, enabling the equipment to be reused.

[0041] Compared with the prior art, the beneficial effects of the present invention are:

[0042] This invention, through its radar detection and AUV capture components, offers advantages over existing capture methods. It requires less precise control, utilizes a large-area capture net to capture autonomous underwater vehicles (AUVs), is applicable to various water depths, is simple and convenient to operate, and features a straightforward and effective capture process suitable for AUVs of different speeds. Furthermore, it is cost-effective, as it only contacts the AUV through the capture net, resulting in lower losses when capturing self-destructing AUVs, thus reducing the overall cost of AUV capture equipment.

[0043] Innovative composite capture structure design: It adopts an unmanned surface vessel as a platform and integrates radar detection components and AUV capture components. The capture components include a winch, guide rollers, capture net, and multiple sets of powered mass blocks driven by an electric launcher, forming an integrated capture execution system that achieves the synergistic integration of detection and capture functions.

[0044] Innovation of multi-angle adjustable net launching system: The development of a net launching system with multi-angle adjustment capability can adapt to water environments of different depths and flexibly respond to the capture needs in diverse scenarios, significantly expanding the application scenarios and scope of application of the equipment.

[0045] Low-damage capture mechanism and resource-efficient design: The capture net and AUV are captured in a non-contact manner, avoiding direct physical collisions and effectively reducing the risk of equipment damage when capturing self-destructing AUVs; the capture net can be wound up and reused through a winch, and the power mass block can be repeatedly installed, which greatly reduces the cost of equipment use and improves resource utilization efficiency, especially suitable for long-term patrol and multiple capture mission scenarios.

[0046] Intelligent and fully automated capture system integration: Integrating an underwater lidar detection system with an intelligent unmanned automatic controller, a closed-loop system is constructed to automatically trigger the real-time target detection and capture process, realizing fully automated patrol and capture operations without human intervention, reducing labor costs, and improving the timeliness and reliability of mission execution. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the structure from another direction of one embodiment of the present invention;

[0049] Figure 3 This is a side view of one embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram of the structure of an AUV capture component according to an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram of the structure of an AUV capture component according to an embodiment of the present invention from another direction;

[0052] Figure 6 This is a schematic diagram of the installation structure of an electric power launcher according to an embodiment of the present invention;

[0053] In the diagram: 1. Unmanned surface vessel hull; 2. Mounting frame; 3. Radar detection component; 4. AUV capture component; 5. First waterproof motor; 6. Drive shaft; 7. Winch; 8. Winding rope; 9. Guide roller; 10. Capture net; 11. Second waterproof motor; 12. Connecting rod; 13. U-shaped seat; 14. Rotating shaft; 15. Third waterproof motor; 16. Electric power transmitter; 17. Power mass block; 18. Connecting rope; 19. Intelligent automatic unmanned controller; 20. Radar controller; 21. Underwater automatic scanning detection radar; 22. Intermediate hull; 23. Suspended hull; 24. Power propulsion unit; 25. Waterproof power supply compartment; 26. L-shaped towing rod; 27. Lifting fixing ring; 28. Fixed shaft; 29. ​​Directional wheel. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] This invention discloses an unmanned surface vessel for capturing autonomous underwater vehicles, the unmanned surface vessel comprising:

[0056] The unmanned surface vessel hull 1, the power supply, radar detection component 3, AUV capture component 4 and intelligent automatic unmanned controller 19 mounted on the unmanned surface vessel hull 1, wherein the intelligent automatic unmanned controller 19 adopts a conventional intelligent automatic unmanned controller in the art.

[0057] The bottom of the unmanned surface vessel 1 has an installation slot.

[0058] The radar detection component 3 is used to detect and identify target autonomous underwater vehicles;

[0059] The AUV capture assembly 4 includes: a first waterproof motor 5, a drive shaft 6, a winch 7, a winch rope, a capture net 10, several angle adjustment components, several electric launchers 16, and several powered mass blocks 17; the electric launchers 16 are conventional electric launchers in the art; the first waterproof motor 5 is fixed to the side wall of the mounting slot; one end of the drive shaft 6 is connected to the output shaft of the first waterproof motor 5, and the other end is hinged to the side wall of the mounting slot; the winch 7 is sleeved and fixed on the drive shaft 6; the winch rope is wound around the winch 7; the capture net 10... The net 10 is connected to the end of the helical rope; the plurality of angle adjustment components are fixed to the bottom surface of the unmanned surface vessel 1 and evenly distributed around the capture net 10; the plurality of electric launchers 16 are mounted on the angle adjustment components; the plurality of powered mass blocks 17 are movably inserted into the electric launchers 16; each powered mass block 17 is evenly connected to the outer edge of the capture net 10 via a connecting rope 18; the orientation of the electric launchers 16 is adjusted by the angle adjustment components to adjust the launch direction of the powered mass blocks 17;

[0060] The intelligent automatic unmanned controller 19 is used to realize the automatic control of unmanned surface vessels.

[0061] Example 1:

[0062] See also Figure 1-6The present invention provides a novel AUV capture device, including an unmanned surface vessel hull 1, an mounting frame 2 fixedly connected to the inner wall of the unmanned surface vessel hull 1 near the bow, a radar detection component 3 fixedly connected to the mounting frame 2, and an AUV capture component 4 fixedly connected to the bottom of the unmanned surface vessel hull 1.

[0063] The AUV capture assembly 4 includes a first waterproof motor 5 fixedly connected to the vertical inner wall of the unmanned surface vessel hull 1. A drive shaft 6 is fixedly connected to the output end of the first waterproof motor 5. The end of the drive shaft 6 away from the first waterproof motor 5 is rotatably connected to the vertical inner wall of the unmanned surface vessel hull 1. A winch 7 is fixedly sleeved on the shaft wall of the drive shaft 6, and a winch rope 8 is wound around the winch 7. Guide rollers 9 are fixedly connected between the front and rear side walls of the unmanned surface vessel hull 1. One end of the winch rope 8 passes over the guide roller 9 and is fixedly connected to a capture net 10. The winch rope 8 is fixedly connected to the center of the top of the capture net 10. Multiple second waterproof motors 11 are evenly fixedly connected to the bottom of the unmanned surface vessel hull 1. A connecting rod 12 is fixedly connected to the output end of each second waterproof motor 11. The lower end of the connecting rod 12 is fixedly connected to a U-shaped seat 13, which is located below the unmanned surface vessel 1. A rotating shaft 14 is rotatably connected to the U-shaped seat 13. A third waterproof motor 15 is fixedly connected to the vertical side wall of the U-shaped seat 13. The output end of the third waterproof motor 15 is fixedly connected to the rotating shaft 14. An electric power launcher 16 is fixedly sleeved on the rotating shaft 14. A power mass block 17 is movably inserted into the launch port of the electric power launcher 16. A connecting rope 18 is fixedly connected between the power mass block 17 and the capture net 10. The multiple power mass blocks 17 have different orientations and are evenly connected to the outer edge of the capture net 10. An intelligent automatic unmanned controller 19 is fixedly connected to the upper side of the unmanned surface vessel 1.

[0064] The radar detection component 3 includes a radar controller 20 fixedly connected to the lower side of the mounting frame 2. An underwater automatic scanning detection radar 21 is fixedly connected to the upper end of the radar controller 20. The underwater automatic scanning detection radar 21 can detect and identify underwater targets, thereby automatically identifying autonomous underwater vehicles.

[0065] The unmanned surface vessel 1 includes a middle hull 22, with suspended hulls 23 fixedly connected to both the front and rear sides of the middle hull 22. Power propulsion units 24 are fixedly connected to the stern ends of the two suspended hulls 23. A groove is provided on the upper side of the middle hull 22, and a waterproof power supply compartment 25 is fixedly connected in the groove. The waterproof power supply compartment 25 supplies power to the entire device, and the two power propulsion units 24 can drive the device to move at high speed on the water surface.

[0066] Two L-shaped towing rods 26 are symmetrically fixedly connected to the bow of the intermediate hull 22. The L-shaped towing rods 26 are bent upwards, which facilitates connection with towing equipment and improves the convenience of towing equipment.

[0067] Two hoisting fixing rings 27 are symmetrically fixedly connected to the upper surfaces of the two suspended hulls 23. The hoisting fixing rings 27 can improve the convenience of connecting the equipment with the hoisting equipment and improve the convenience of hoisting the equipment.

[0068] A fixed shaft 28 is fixedly connected between the two suspended hulls 23. A directional wheel 29 is rotatably sleeved on the fixed shaft 28. The winch 8 is wound around the directional wheel 29. The directional wheel 29 can guide and support the winch 8, improving the smoothness of the winch 8 sliding.

[0069] The end of the powered mass block 17 away from the electric power launcher 16 is a cone structure, which can reduce the resistance of the powered mass block 17 after launch, thereby increasing the moving speed and distance of the powered mass block 17, and thus increasing the speed at which the capture net 10 unfolds.

[0070] Example 2:

[0071] The working principle of the unmanned surface vessel provided in Example 1 is as follows:

[0072] In use, the unmanned surface vessel 1 is placed on the water surface of the target sea area, and the unmanned surface vessel 1 is activated. The unmanned surface vessel 1 automatically patrols the target sea area. The radar detection component 3 continuously detects the underwater environment, thereby detecting the autonomous underwater vehicle. When the radar detection component 3 detects the autonomous underwater vehicle target, the first waterproof motor 5 is activated, driving the drive shaft 6 to rotate. The drive shaft 6 drives the winch 7 to rotate, and the winch 7 releases the winch rope 8. At the same time, multiple electric power launchers 16 are activated, launching multiple powered mass blocks 17 at high speed. Under the action of the initial force, the multiple powered mass blocks 17 move in multiple different directions, thereby pulling the outer edge of the capture net 10 in multiple directions. This allows the capture net 10 to quickly approach and deploy towards the autonomous underwater vehicle. The second waterproof motor is also installed. The third waterproof motor 15 and the 11 can flexibly adjust the launch angle of the powered mass block 17, so that the capture net 10 in the retracted state can be quickly deployed according to actual use needs. The capture net 10 can cover the autonomous underwater vehicle from above, and the autonomous underwater vehicle is wrapped by the weight of the powered mass block 17, thus realizing the automatic capture of the autonomous underwater vehicle. Compared with the existing capture methods, this equipment has lower control precision requirements. The capture range of the capture net 10 can realize the capture of the autonomous underwater vehicle. It is applicable to water environments of various depths, and is simple and convenient to operate. The capture process is simple and effective. It is applicable to autonomous underwater vehicles with different speeds and has a lower cost. It only contacts the autonomous underwater vehicle through the capture net 10. The loss when capturing a self-destructing autonomous underwater vehicle is low, thus reducing the use cost of AUV capture equipment.

[0073] After capture, the winch 7 is used to wind up the rope 8, so that the capture net 10 can be put back into storage, and the power mass block 17 can be reinstalled on the electric power launcher 16, so that the equipment can be reused.

[0074] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0075] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A surface unmanned vessel for capturing autonomous underwater vehicles, characterized in that, The unmanned surface vessel includes: Unmanned surface vessel hull, power supply, radar detection components, AUV acquisition components, and intelligent automatic unmanned controller mounted on the unmanned surface vessel hull; The unmanned surface vessel has an installation slot at its bottom. The radar detection component is used to detect and identify target autonomous underwater vehicles; The AUV capture assembly includes: a first waterproof motor, a drive shaft, a winch, a winch rope, a capture net, several angle adjustment components, several electric launchers, and several powered mass blocks. The first waterproof motor is fixed to the side wall of the mounting slot. One end of the drive shaft is connected to the output shaft of the first waterproof motor, and the other end is hinged to the side wall of the mounting slot. The winch is sleeved and fixed on the drive shaft. The winch rope is wound around the winch. The capture net is connected to the end of the winch rope. The several angle adjustment components are fixed to the bottom surface of the unmanned surface vessel and are evenly distributed around the capture net. Each of the several electric launchers is mounted on the angle adjustment components. Each of the several powered mass blocks is movably inserted into the electric launcher. Each powered mass block is evenly connected to the outer edge of the capture net via a connecting rope. The orientation of the electric launcher is adjusted by the angle adjustment components to adjust the launch direction of the powered mass blocks. The intelligent automatic unmanned controller is used to realize the automatic control of unmanned surface vessels.

2. The unmanned surface vessel for capturing autonomous underwater vehicles according to claim 1, characterized in that, The unmanned surface vessel includes: a power propulsion unit, a central hull, and two suspended hulls fixed to both sides of the central hull. A channel is formed between the two floating hulls on both sides, serving as the mounting slot; The power propulsion unit is installed at the end of the suspended hull; The central hull is equipped with a waterproof power supply compartment for storing power sources.

3. The unmanned surface vessel for capturing autonomous underwater vehicles according to claim 2, characterized in that, The central hull is equipped with an L-shaped towing rod, which facilitates the connection between the unmanned surface vessel and the towing equipment.

4. The unmanned surface vessel for capturing autonomous underwater vehicles according to claim 2, characterized in that, The upper surface of the suspended hull is equipped with several hoisting and fixing rings for hoisting equipment to lift the unmanned surface vessel.

5. The unmanned surface vessel for capturing autonomous underwater vehicles according to claim 2, characterized in that, The AUV capture assembly also includes: a guide roller, a fixed shaft, and a directional wheel; Both ends of the guide roller and the fixed shaft are respectively fixed to the side walls of the two suspended hulls; The directional wheel is sleeved on the fixed shaft; the stranded wire passes through the directional wheel and the guide roller and is then connected to the capture net.

6. The unmanned surface vessel for capturing autonomous underwater vehicles according to claim 1, characterized in that, The angle adjustment assembly includes: a second waterproof motor, a connecting rod, a U-shaped seat, a rotating shaft, and a third waterproof motor; The second waterproof motor is fixed to the bottom of the unmanned vessel hull on the water surface; One end of the connecting rod is connected to the output end of the second waterproof motor; The U-shaped seat is fixed to the other end of the connecting rod; The rotating shaft is installed through the U-shaped seat; The output end of the third waterproof motor is fixedly connected to the rotating shaft; The electric power launcher is mounted on the rotating shaft; The second waterproof motor drives the connecting rod to rotate, thereby rotating the U-shaped base and achieving horizontal adjustment of the electric power launcher; the third waterproof motor drives the rotating shaft to rotate, achieving pitch angle adjustment of the electric power launcher.

7. The unmanned surface vessel for capturing autonomous underwater vehicles according to claim 1, characterized in that, The radar detection component includes: a radar controller and an underwater automatic scanning detection radar; The radar controller and the underwater automatic scanning and detection radar are fixedly installed on the mounting frame of the unmanned surface vessel. The mounting bracket is fixed inside the mounting slot.

8. The unmanned surface vessel for capturing autonomous underwater vehicles according to claim 1, characterized in that, The end of the power mass block furthest from the electric power launcher has a conical structure.

9. A method for capturing an autonomous underwater vehicle (AUV) according to any one of claims 1-8, characterized in that, When in use, the unmanned surface vessel is placed on the water surface of the target sea area, the unmanned surface vessel is started, and the unmanned surface vessel conducts automatic patrol in the target sea area. The radar detection component continuously detects the underwater environment, thereby enabling the detection of autonomous underwater vehicles. When the radar detection component detects the autonomous underwater vehicle target, the first waterproof motor starts, drives the drive shaft to rotate, the drive shaft drives the winch to rotate, the winch releases the winch rope, and at the same time, the electric power launcher 16 is activated. The electric power launcher launches the powered mass block at high speed. Under the action of the initial power, the powered mass block moves in different directions, thereby pulling the outer edge of the capture net in multiple directions, so that the capture net can quickly approach the autonomous underwater vehicle and quickly unfold. Among them, the second and third waterproof motors can flexibly adjust the launch angle of the power mass block, so that the capture net in the retracted state can be quickly deployed according to actual use needs. The capture net can cover the autonomous underwater vehicle from above, and under the action of the power mass block's own weight, it can complete the wrapping of the autonomous underwater vehicle and complete the automatic capture of the autonomous underwater vehicle. After capture, the winch is used to wind up the rope, allowing the capture net to be stored again. The power mass block is then reinstalled on the electric power launcher, enabling the equipment to be reused.

Images