Deployment device for underwater vehicles and method for controlling the same

Abstract

The application relates to the technical field of ocean engineering equipment, and discloses a launching device of an underwater vehicle and a control method thereof. The launching device of the underwater vehicle comprises a first lifting group and a second lifting group. The first lifting group comprises a plurality of first pile legs which are arranged at intervals along a first direction, the first pile legs are slidingly arranged on one side wall of a moon pool along a vertical direction, and the lower ends of the first pile legs are rotationally provided with crosspieces. The second lifting group is arranged at intervals along a second direction with the first lifting group, the second lifting group comprises a plurality of second pile legs which are the same in number as the first pile legs, the second pile legs are arranged at intervals along the first direction, the second pile legs are slidingly arranged on the other side wall of the moon pool along the vertical direction, and the lower ends of the second pile legs are provided with supporting plates. One crosspiece can be lapped on one supporting plate, so that the plurality of crosspieces form a bearing surface capable of bearing the underwater vehicle. The launching device of the underwater vehicle is accurate in positioning, stable in operation, efficient and convenient, and can adapt to complex marine environments.

Description

Technical Field

[0001] This invention relates to the field of marine engineering equipment technology, and in particular to a deployment device and control method for an underwater vehicle. Background Technology

[0002] In the field of marine engineering equipment technology, an underwater vehicle (UV) is an intelligent underwater device capable of autonomous / remote navigation to perform tasks such as detection, observation, operation, and reconnaissance. It integrates multiple technologies including shipbuilding engineering, underwater communication, navigation and positioning, sensors, and artificial intelligence, and is a core piece of equipment for marine resource development, marine scientific research, underwater engineering, and national defense. With the continuous deepening of marine resource development and marine scientific research, the demand for underwater equipment deployment and recovery devices is increasing. Therefore, the deployment and recovery of underwater vehicles (such as autonomous underwater vehicles (AUVs)) is a crucial and challenging task.

[0003] Currently, common methods for recovering underwater vehicles include sling-down and dock-based methods. Sling-down methods typically rely on cranes and other equipment to lift the underwater vehicle and place it in the water or recover it. This method requires precise positioning and a stable operating environment. In complex sea conditions, it is greatly affected by waves, currents, and other factors, resulting in low positioning accuracy, a high risk of collision damage to the underwater vehicle, and low operational efficiency. Dock-based methods involve setting up a dedicated dock on a platform, where the underwater vehicle is driven into the dock for recovery and deployment. However, this method is complex in structure, costly, requires a large platform space, and involves cumbersome procedures during docking with the underwater vehicle, requiring more auxiliary equipment and personnel.

[0004] Existing technologies, including both descent-based and dock-based deployment and recovery methods, have several significant problems and drawbacks. First, insufficient positioning accuracy makes it difficult to accurately guide underwater vehicles to designated locations for deployment or recovery in complex marine environments, increasing operational difficulty and risk. Second, they are highly susceptible to sea conditions; harsh marine conditions severely impact equipment stability and operational safety, leading to malfunctions during deployment and recovery. Third, the operational process is complex, requiring substantial manpower and equipment support, resulting in low efficiency and high costs.

[0005] Therefore, there is an urgent need for a deployment device and control method for underwater vehicles to solve the above problems. Summary of the Invention

[0006] Based on the above, the purpose of this invention is to provide a deployment device and control method for an underwater vehicle, which is accurate in positioning, stable in operation, efficient and convenient, and can adapt to complex marine environments.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: The deployment device for underwater vehicles includes: The first lifting assembly includes a plurality of first legs spaced apart along a first direction. The first legs are slidably mounted on one side wall of the moon pool in a vertical direction, and a crossbar is rotatably mounted at the lower end of the first legs. The second lifting group is spaced apart from the first lifting group along the second direction. The second lifting group includes a plurality of second legs, the same number as the first legs. The second legs are spaced apart along the first direction and are slidably mounted on the other side wall of the moon pool in the vertical direction. The lower end of the second legs is provided with a support plate. One of the crossbars can overlap one of the support plates so that the plurality of crossbars form a bearing surface that can support the underwater vehicle.

[0008] As a preferred embodiment of the deployment device for an underwater vehicle, a rack is provided on at least one side of the first leg and the second leg. The deployment device for the underwater vehicle also includes a lifting drive component, which is disposed on the side wall of the moon pool. The driving end of the lifting drive component is provided with a gear that meshes with the rack.

[0009] As a preferred embodiment of the deployment device for an underwater vehicle, the first leg and the second leg are provided with racks on opposite sides along the first direction, and each rack is provided with at least two lifting drive components.

[0010] As a preferred embodiment of the deployment device for an underwater vehicle, the crossbar is provided with a storage position and a working position. The crossbar placed in the working position overlaps the support plate, and the crossbar placed in the storage position extends along the first direction.

[0011] As a preferred embodiment of the deployment device for an underwater vehicle, the deployment device for the underwater vehicle is further provided with a rotary drive component, which is disposed on the first leg and is used to drive the crossbar to switch between the storage position and the working position.

[0012] As a preferred embodiment of the deployment device for an underwater vehicle, the first leg and / or the crossbar are provided with limiting members to limit the crossbar to the storage position and the working position.

[0013] As a preferred embodiment of the deployment device for an underwater vehicle, the first lifting assembly is provided with a storage state and a support state. When placed in the storage state, the height of adjacent crossbars changes sequentially along the first direction; when placed in the support state, multiple crossbars are located at the same height and form the bearing surface.

[0014] A control method for the deployment device of an underwater vehicle, used to control the deployment device of the underwater vehicle as described in any of the above schemes to release and recover the underwater vehicle, wherein the recovery control method includes: The first lifting assembly is lowered, causing the underwater vehicle to move to the side of the first lifting assembly that is closer to the second lifting assembly; Lower the second lifting group; Rotate the crossbar to form the bearing surface; The first and second lifting groups are raised synchronously. The release control methods include: Both the first and second lifting groups are raised to the deck, and the plurality of the crossbars form the bearing surface; the underwater vehicle is placed on the bearing surface; The first and second lifting groups are lowered synchronously, so that the underwater vehicle is placed underwater and floats.

[0015] As a preferred embodiment of the control method for the deployment device of an underwater vehicle, rotating the crossbar to form the bearing surface further includes: rotating the crossbar to control the first leg with the lower height to rise until the height of the multiple crossbars is consistent, so as to form the bearing surface.

[0016] As a preferred embodiment of the control method for the deployment device of an underwater vehicle, after the underwater vehicle is placed underwater and in a floating state, the method further includes: Control the movement of the first pile leg so that the height of the adjacent crossbars changes sequentially along the first direction; Drive the plurality of said crossbars to rotate to extend along the first direction; The first and second lifting groups are raised synchronously.

[0017] The beneficial effects of this invention are as follows: This invention utilizes a first and second lifting assembly spaced apart along a second direction to form a surrounding limiting structure for the underwater vehicle, providing guidance and restraint with high positioning accuracy. The first lifting assembly includes multiple first legs spaced apart along a first direction, each with a rotatable crossbar at its lower end. The second lifting assembly includes multiple second legs spaced apart along the first direction, each with a support plate at its lower end. When the crossbar is placed on the support plate, it forms a bearing surface for supporting the underwater vehicle. Simultaneously, the first and second legs slide along two opposite sidewalls of the moon pool, allowing for the retrieval of the underwater vehicle during ascent and its release during descent. The ascent and descent processes are more stable, less affected by complex marine environments, effectively reducing the difficulty and risk of releasing and retrieving the underwater vehicle, and minimizing collisions and damage. Furthermore, the deployment device is simple to operate, requires minimal platform space, is highly efficient, and low-cost. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the first lifting group of the deployment device for the underwater vehicle provided in a specific embodiment of the present invention before it descends and with the crossbar in the storage position. Figure 2 This is a schematic diagram of the first lifting group of the deployment device for the underwater vehicle provided in a specific embodiment of the present invention after it has been lowered and the crossbar is located in the storage position. Figure 3 This is a schematic diagram of the first lifting group of the deployment device for the underwater vehicle provided in a specific embodiment of the present invention after it has been lowered and the crossbar is in the working position. Figure 4 This is a top view of the underwater vehicle deployment device carrying the underwater vehicle provided in a specific embodiment of the present invention.

[0020] In the picture: 1. Moon pool; 2. Underwater vehicle; 100. First lifting assembly; 110. First pile leg; 120. Crossbar; 200. Second lifting assembly; 210. Second pile leg; 220. Support plate; 310. Rack; 320. Lifting drive component; 330. Gear; 340. Rotation drive component. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0023] Unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and connections within two components or interactions between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0024] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] like Figures 1-4As shown, this embodiment provides a deployment device for an underwater vehicle. The deployment device includes a first lifting group 100 and a second lifting group 200. The first lifting group 100 includes a plurality of first legs 110 spaced apart along a first direction. The first legs 110 are slidably disposed on one side wall of the moon pool 1 in a vertical direction, and a crossbar 120 is rotatably disposed at the lower end of the first legs 110. The second lifting group 200 is spaced apart from the first lifting group 100 along a second direction. The second lifting group 200 includes a plurality of second legs 210, the same number as the first legs 110. The second legs 210 are spaced apart along the first direction. The second legs 210 are slidably disposed on the other side wall of the moon pool 1 in a vertical direction, and a support plate 220 is disposed at the lower end of the second legs 210. A crossbar 120 can overlap a support plate 220 so that the plurality of crossbars 120 form a bearing surface capable of supporting the underwater vehicle 2.

[0027] By setting up a first lifting group 100 and a second lifting group 200 spaced apart along a second direction, a surrounding limiting structure for the underwater vehicle 2 is formed, which can guide and limit the underwater vehicle 2 with high positioning accuracy. The first lifting group 100 includes multiple first legs 110 spaced apart along a first direction, and each first leg 110 has a crossbar 120 rotatably mounted at its lower end; the second lifting group 200 includes multiple second legs 210 spaced apart along the first direction, and the lower end of each second leg 210 has a support plate 220; when the crossbar 120 is placed on the support plate 220, a bearing surface for supporting the underwater vehicle 2 can be formed. At the same time, the first legs 110 and the second legs 210 are slidably mounted on two opposite side walls of the moon pool 1, so when the first legs 110 and the second legs 210 rise, the underwater vehicle 2 can be retrieved, and when they descend, the underwater vehicle 2 can be released. The ascent and descent processes are more stable and less affected by complex marine environments, effectively reducing the difficulty and risk of releasing and recovering the underwater vehicle 2, and reducing collisions and damage to the underwater vehicle 2; in addition, the deployment device also has the advantages of simple operation, low platform requirements, high efficiency and low cost.

[0028] Specifically, to enable the vertical movement of the first leg 110 and the second leg 210, at least one side of each leg is provided with a rack 310. The deployment device of the underwater vehicle also includes a lifting drive 320, which is disposed on the side wall of the moon pool 1. The driving end of the lifting drive 320 is provided with a gear 330 that meshes with the rack 310. When the lifting drive 320 is working, the gear 330 meshes with the rack 310, thereby driving the leg with the rack 310 to move vertically relative to the moon pool 1. For example, both the first leg 110 and the second leg 210 are connected to the side wall of the moon pool 1 through mechanical limiting and mechanical guidance to ensure accuracy and reliability during connection and movement. At the same time, the first direction is perpendicular to the second direction, and both the first direction and the second direction are perpendicular to the vertical direction.

[0029] Preferably, to improve drive reliability, racks 310 are provided on both sides of the first pile leg 110 and the second pile leg 210 along the first direction, and each rack 310 is provided with at least two lifting drive components 320. That is, each pile leg is driven to rise and fall by four lifting drive components 320, resulting in greater driving force. At the same time, by setting redundancy, the reliability of the drive is improved, that is, if one lifting drive component 320 is damaged or fails, the remaining lifting drive components 320 can still ensure normal drive of the pile leg. In addition, each lifting group includes three pile legs.

[0030] In this embodiment, the crossbar 120 is provided with a storage position and a working position. The crossbar 120 placed in the working position overlaps the support plate 220 to support the underwater vehicle 2. The crossbar 120 placed in the storage position extends along the first direction for storage, while avoiding interference between the crossbar 120 and the underwater vehicle 2 when the first leg 110 is raised or lowered, which would affect normal raising and lowering or damage the underwater vehicle 2.

[0031] For example, to improve the reliability of the crossbar 120 in supporting the underwater vehicle 2, the crossbar 120 may be provided with a groove structure, or a positioning and anti-slip structure may be provided on its upper surface. Those skilled in the art can configure it according to actual needs, and no specific limitations are made here. In addition, the crossbar 120 and / or the support plate 220 are also provided with a positioning structure to ensure the accuracy and reliability of the connection between the two. The positioning structure may be configured as a mutually cooperating slot and protrusion, or as a pin structure, and no specific limitations are made here.

[0032] Furthermore, in order to enable the horizontal bar 120 to switch between the storage position and the working position, the deployment device of the underwater vehicle is also provided with a rotary drive 340, which is located on the first leg 110 to enable the horizontal bar 120 to switch between the storage position and the working position.

[0033] Optionally, the rotary drive 340 is disposed at the top of the first leg 110. Meanwhile, the deployment device of the underwater vehicle is also provided with a rotary shaft, which is rotatably disposed in the first leg 110 through a bearing. One end of the rotary drive 340 is connected to the drive end of the rotary drive 340, and the other end is connected to the crossbar 120, so as to realize the power transmission between the rotary drive 340 and the crossbar 120.

[0034] Preferably, the first leg 110 and / or the crossbar 120 are provided with limiting components. By providing limiting components, the rotation angle of the crossbar 120 is limited, so that the crossbar 120 can be stably limited to the storage position and the working position. For example, the limiting components can be set as mechanical limiting components, or as electronic limiting components, or both mechanical and electronic limiting components can be set at the same time, so that the limiting is more accurate and reliable.

[0035] As an optional solution for the deployment device of the underwater vehicle, the first lifting group 100 is provided with a storage state and a supporting state. When the first lifting group 100 is in the storage state, the height of the adjacent crossbars 120 changes sequentially along the first direction, so that the multiple crossbars 120 along the first direction are placed at different heights in sequence. Thus, when the multiple crossbars 120 are in the storage position, that is, stacked in parallel along the first direction, the multiple crossbars 120 will not interfere with each other or with the first leg 110. While avoiding interference of the crossbars 120, the volume of the deployment device of the underwater vehicle is also effectively reduced when stored. When the first lifting group 100 is in the supporting state, the multiple crossbars 120 are all located at the same height and form a bearing surface, so as to improve the stability and reliability of the support for the underwater vehicle 2.

[0036] This embodiment also discloses a control method for a deployment device of an underwater vehicle, used to control the deployment device of the underwater vehicle as described in any of the above embodiments. Specifically, it includes a control method for releasing the underwater vehicle 2 and a control method for recovering the underwater vehicle 2.

[0037] The control method for recovering the underwater vehicle 2 includes: lowering the first lifting assembly 100, causing the underwater vehicle 2 to move to the side of the first lifting assembly 100 closer to the second lifting assembly 200. Specifically, the first lifting assembly 100 consists of... Figure 1 The position shown descends to the level of Figure 2 The underwater vehicle 2 is positioned as shown, and its descent is achieved through the operation of the corresponding lifting drive unit 320. After descent, the multiple first legs 110 of the first lifting group 100 are arranged along the first direction, providing guidance for the underwater vehicle 2, allowing it to smoothly enter the side of the first lifting group 100 near the second lifting group 200. It is also worth noting that during this lifting process, the first lifting group 100 remains in a retracted state, meaning the horizontal supports 120 along the first direction are sequentially positioned at different heights.

[0038] The second lifting assembly 200 is lowered, while the first lifting assembly 100 is lowered via the operation of the corresponding lifting drive component 320. At this time, the first leg 110 and the second leg 210, spaced apart along the second direction, form a frame-like structure in the water, enclosing the underwater vehicle 2 and achieving initial positioning and encirclement of the underwater vehicle 2.

[0039] The crossbar 120 is rotated to form a bearing surface. The rotation of the crossbar 120 is achieved by the operation of the rotation drive 340. Each crossbar 120 rotates 90°. The limiting component can reliably and accurately limit the rotation angle of the crossbar 120, so that the crossbar 120 can be stably attached to the pallet 220.

[0040] Specifically, since the first lifting assembly 100 is in a retracted state at this time, that is, the crossbars 120 along the first direction are sequentially located at different heights. Therefore, rotating the crossbars 120 and forming a bearing surface specifically includes: after rotating the crossbars 120, before recovering the underwater vehicle 2, it is also necessary to make each crossbar 120 form a bearing surface. That is, control the first leg 110 with the lower height to rise until the heights of the multiple crossbars 120 are consistent, until... Figure 3 The indicated position is used to form a bearing surface.

[0041] The first lifting assembly 100 and the second lifting assembly 200 are raised synchronously. It can be understood that at this time, multiple horizontal supports 120 are all on the same horizontal plane, and the horizontal supports 120 will support the underwater vehicle 2 as it rises along with the first leg 110 and the second leg 210, such as... Figure 4 As shown, the underwater vehicle 2 is lifted to the deck surface, thus completing the recovery of the underwater vehicle 2.

[0042] The control method for releasing the underwater vehicle 2 includes: raising both the first lifting group 100 and the second lifting group 200 to the deck, and then activating the rotary drive 340 to rotate the crossbar 120 to a position that engages with the support plate 220, so that the multiple crossbars 120 form a bearing surface.

[0043] The underwater vehicle 2 is placed on the support surface. Since the multiple crossbars 120 are all located on the same horizontal plane, the underwater vehicle 2 can be stably placed on the support surface.

[0044] The first lifting group 100 and the second lifting group 200 are lowered simultaneously, so that the underwater vehicle 2 is placed underwater and floats.

[0045] After the underwater vehicle 2 is placed underwater and floats, the process includes: controlling the first leg 110 to move, causing the height of adjacent crossbars 120 to change sequentially along a first direction; that is, firstly driving the first lifting assembly 100 to a retracted state to provide space for the subsequent crossbars 120 to be retracted. Then, driving multiple crossbars 120 to rotate to extend along the first direction; since the multiple crossbars 120 are now stacked, there will be no interference during rotation. Finally, the first lifting assembly 100 and the second lifting assembly 200 are raised synchronously.

[0046] It is understood that the deployment device of the underwater vehicle is also equipped with a control system. All drive components and detection components are communicatively connected to the control system. The control system can control these drive components and detection components using the aforementioned control methods of the underwater vehicle's deployment device, thereby achieving the corresponding recovery and release actions. For example, the control system is a PLC controller.

[0047] The core technology of the aforementioned underwater vehicle deployment device and its control method lies in combining the rotatable crossbar 120 with the lifting and lowering of the first leg 110 and the second leg 210, and achieving precise deployment and retrieval of the underwater vehicle 2 through multiple drive components (motors) and limiting components. Specifically, the first leg 110 and the second leg 210 are arranged in an encircling manner. First, the first leg 110 is lowered to form an entrance, guiding the underwater vehicle 2 into it. Then, the second leg 210 is lowered to frame the underwater vehicle 2, achieving initial positioning. Subsequently, the crossbar 120 is rotated and connected to the support plate 220 for further locking the position. Finally, all legs are raised, and the legs and crossbar 120 form a groove that can accommodate the underwater vehicle 2, supporting the underwater vehicle 2 to rise. The operation is convenient, efficient, stable, and adaptable. At the same time, it can adapt to complex marine environments and different sizes and types of underwater equipment, exhibiting high versatility and flexibility, and is more practical. Furthermore, by stacking and storing the crossbars 120 in layers, the problem of interference with the crossbars 120 is solved; at the same time, by adopting step-by-step lifting, multiple crossbars 120 are horizontally supported, avoiding tilting and sliding of the underwater vehicle 2.

[0048] In summary, the deployment device and control method for underwater vehicles can significantly improve the efficiency of deployment and recovery, enhance the efficiency and safety of underwater equipment operations, reduce operation time and labor costs, and bring considerable economic benefits to enterprises. Furthermore, the aforementioned deployment device and control method can serve as an important component of an enterprise's marine engineering platform, enhancing its competitiveness in the marine engineering equipment market, helping enterprises expand their business scope, meet customer demands for efficient deployment and recovery of underwater equipment, and further solidify their position in the industry. Finally, the deployment device and control method can also provide stronger technical support for numerous fields such as marine scientific research, marine resource exploration, and marine infrastructure construction, promoting the rapid development of related industries and yielding significant social benefits.

[0049] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. A deployment device for an underwater vehicle, characterized in that, include: The first lifting group (100) includes a plurality of first pile legs (110) spaced apart along a first direction. The first pile legs (110) are slidably disposed on one side wall of the moon pool (1) in a vertical direction, and a crossbar (120) is rotatably disposed at the lower end of the first pile legs (110). The second lifting group (200) is spaced apart from the first lifting group (100) along the second direction. The second lifting group (200) includes a plurality of second legs (210) in the same number as the first legs (110). The second legs (210) are spaced apart along the first direction. The second legs (210) are slidably disposed on the other side wall of the moon pool (1) in the vertical direction. The lower end of the second legs (210) is provided with a support plate (220). One of the crossbars (120) can be attached to one of the support plates (220) so that the plurality of crossbars (120) form a bearing surface that can support the underwater vehicle (2).

2. The deployment device for an underwater vehicle according to claim 1, characterized in that, At least one side of the first leg (110) and the second leg (210) is provided with a rack (310). The deployment device of the underwater vehicle also includes a lifting drive (320). The lifting drive (320) is provided on the side wall of the moon pool (1). The driving end of the lifting drive (320) is provided with a gear (330) that meshes with the rack (310).

3. The deployment device for an underwater vehicle according to claim 2, characterized in that, The first pile leg (110) and the second pile leg (210) are provided with racks (310) on opposite sides along the first direction, and each rack (310) is provided with at least two lifting drive members (320).

4. The deployment device for an underwater vehicle according to claim 1, characterized in that, The crossbar (120) is provided with a storage position and a working position. The crossbar (120) placed in the working position overlaps the tray (220), and the crossbar (120) placed in the storage position extends along the first direction.

5. The deployment device for an underwater vehicle according to claim 4, characterized in that, The deployment device of the underwater vehicle is also provided with a rotary drive (340), which is located on the first leg (110) and is used to drive the crossbar (120) to switch between the storage position and the working position.

6. The deployment device for an underwater vehicle according to claim 4, characterized in that, The first pile leg (110) and / or the crossbar (120) are provided with limiting members to limit the crossbar (120) to the storage position and the working position.

7. The deployment device for an underwater vehicle according to claim 1, characterized in that, The first lifting assembly (100) is provided with a storage state and a support state. When it is in the storage state, the height of the adjacent crossbars (120) changes sequentially along the first direction. When it is in the support state, the multiple crossbars (120) are all located at the same height and form the bearing surface.

8. A control method for the deployment device of an underwater vehicle, characterized in that, The method for controlling the deployment device of the underwater vehicle as described in any one of claims 1-7 to release and recover the underwater vehicle (2), wherein the recovery control method includes: The first lifting assembly (100) is lowered, causing the underwater vehicle (2) to move to the side of the first lifting assembly (100) that is close to the second lifting assembly (200); Lower the second lifting group (200); Rotate the crossbar (120) to form the bearing surface; The first lifting group (100) and the second lifting group (200) are raised synchronously; The release control methods include: Both the first lifting assembly (100) and the second lifting assembly (200) are raised to the deck, and the plurality of the crossbars (120) form the bearing surface; the underwater vehicle (2) is placed on the bearing surface; The first lifting assembly (100) and the second lifting assembly (200) are lowered synchronously, so that the underwater vehicle (2) is placed underwater and floats.

9. The control method for the deployment device of an underwater vehicle according to claim 8, characterized in that, The method of rotating the crossbar (120) to form the bearing surface further includes: rotating the crossbar (120) to control the first pile leg (110) with the lower height to rise until the height of the multiple crossbars (120) is consistent, so as to form the bearing surface.

10. The control method for the deployment device of an underwater vehicle according to claim 8, characterized in that, After the underwater vehicle (2) is placed underwater and floats, it also includes: Control the movement of the first pile leg (110) so that the height of the adjacent crossbars (120) changes sequentially along the first direction; Drive the plurality of said crossbars (120) to rotate to extend along the first direction; The first lifting group (100) and the second lifting group (200) are raised synchronously.

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