AUV gravity center adjusting mechanism, underwater detection system and laying and recovering method thereof

Abstract

The application provides an AUV gravity center adjusting mechanism, an underwater detection system and a laying and recovering method thereof. The AUV gravity center adjusting mechanism is arranged in the AUV and comprises at least one movable mass and a guide member for guiding the movable mass to move along a preset path. The guide member is formed with at least one low potential energy area and at least one high potential energy area. The movable mass spontaneously tends to and stays in the low potential energy area under the action of a gravity field, so as to adjust the gravity center position of the AUV in each working mode. The technical scheme of the application utilizes the spontaneous rolling of the movable mass under the action of the gravity field to realize the gravity center adjustment, without a special driving structure. The switching process is quick and reliable, and the working mode can be flexibly switched in real time in a single task. In the horizontal cruising mode, the AUV can stabilize the gravity center at the middle section, cooperate with the vertical propeller to realize smooth hovering, and avoid shortening the endurance time due to additional power consumption.

Description

Technical Field

[0001] This invention relates to the field of polar subglacial water environment detection technology, specifically to an AUV center of gravity adjustment mechanism, an underwater detection system, and its deployment and recovery method. Background Technology

[0002] With the rapid development of polar scientific research, deep-sea resource exploration, and underwater rescue and salvage, higher demands are being placed on the operational capabilities of Autonomous Underwater Vehicles (AUVs). AUVs typically need to complete various tasks, such as large-scale patrol exploration and precise fixed-point observation, in complex and ever-changing underwater environments. Traditional single-mode AUVs often fall short in meeting these combined requirements.

[0003] Most existing AUV products rely on fixed shape and propulsion layout designs, enabling them to navigate underwater in a single attitude. This makes it difficult to simultaneously achieve efficient cruising for wide-area searches and detailed detection of localized areas. Specifically, while traditional AUVs can achieve long-distance cruising and detection with relatively low propulsion energy consumption in horizontal cruising mode, their hovering stability in horizontal attitude is poor when high-resolution observation or vertical profile measurement of specific targets is required, making it difficult to meet the accuracy requirements of detailed detection. On the other hand, increasing propulsion power to achieve stable hovering would lead to a sharp increase in energy consumption, severely limiting the effective operating radius and endurance of the AUV.

[0004] Furthermore, the polar subglacial water environment presents even more stringent challenges for AUV operations. When using docking-type ROVs (Remotely Operated Vehicles) for active capture and recovery of AUVs under ice, capturing AUVs in vertical motion is easier than capturing those in horizontal motion. However, existing AUV technologies generally lack flexible and stable attitude switching mechanisms. Attitude adjustments are mostly limited to small angles, and attitude transitions often rely on external equipment or complex mechanical structures. The switching process is time-consuming and lacks reliability, making it difficult to achieve real-time and flexible switching of operating modes within a single mission. Summary of the Invention

[0005] In view of this, this application proposes an AUV center of gravity adjustment mechanism, an underwater detection system, and a deployment and recovery method thereof for detection of the subglacial water environment in polar regions. Specifically, this application is achieved through the following technical solution:

[0006] According to a first aspect of the embodiments of this specification, an AUV center of gravity adjustment mechanism is provided. The center of gravity adjustment mechanism is disposed inside the AUV and includes at least one movable mass body and a guide member for guiding the movable mass body to move along a preset path.

[0007] The guide member has at least one low potential energy region and at least one high potential energy region. The movable mass body spontaneously tends to and stays in the low potential energy region under the action of gravity field, so as to realize the adjustment of the center of gravity position of the AUV in each working mode.

[0008] According to a second aspect of the embodiments of this specification, an underwater detection system is provided, the system comprising:

[0009] The probe assembly comprises a detachable dockable AUV and a dockable ROV, wherein:

[0010] The docking-type ROV has a multi-degree-of-freedom manipulator, which is used to grasp the AUV for deployment and retrieval.

[0011] The AUV has two working modes: horizontal cruise mode and vertical detection mode. The working mode can be switched by adjusting the center of gravity of the AUV through an internal center of gravity adjustment mechanism. The internal center of gravity adjustment mechanism of the AUV is the AUV center of gravity adjustment mechanism described in the first aspect.

[0012] According to a third aspect of the embodiments of this specification, a method for deploying and recovering an underwater detection system is provided, wherein the underwater detection system is the system described in the second aspect, and the deployment and recovery method includes the following steps:

[0013] Step S1: When it is necessary to deploy the detection assembly, the AUV is moved out of the recovery cabin from the inlet / outlet hatch by the multi-degree-of-freedom manipulator of the docking ROV and its attitude is adjusted to a horizontal state. Then, the umbilical cable is released by the cable laying winch to control the docking ROV to move out of the recovery cabin through the inlet / outlet hatch.

[0014] Step S2: After the detection assembly has been completely removed from the recovery cabin, control the multi-degree-of-freedom manipulator to release the AUV and release the AUV to perform the sub-ice water area detection mission;

[0015] Step S3: When it is necessary to retrieve the AUV, the AUV returns to the preset range of the docking ROV through acoustic beacon and visual positioning, and after changing its own posture to a vertical state, the multi-degree-of-freedom manipulator controlled by the docking ROV grabs the AUV to complete the docking.

[0016] In step S4, the cable winch tightens the umbilical cable and pulls the docking ROV toward the inlet / outlet hatch. During the movement, the docking ROV adjusts the AUV's attitude using a multi-degree-of-freedom manipulator so that the AUV follows the docking ROV through the inlet / outlet hatch and is recovered into the recovery chamber.

[0017] This application embodiment constructs an underwater detection system through the collaborative design of a deployment and recovery capsule, a docking ROV, and an AUV, which is capable of autonomously penetrating ice, possesses multi-mode detection capabilities, and features a simple, reliable deployment and recovery process with a compact structure. This application embodiment has at least the following technical effects:

[0018] (1) The embodiments of this application design a bistable center of gravity adjustment mechanism that does not require driving components, enabling the AUV to actively switch between horizontal cruise mode and vertical detection mode. This achieves both low-energy and high-efficiency cruising for wide-area search and meets the requirements for fine vertical detection in local areas, significantly expanding the mission adaptability of a single platform. In addition, the AUV can move finely or even hover in any direction in vertical and horizontal when in vertical detection mode, making it more suitable for being captured by docking-type ROVs during docking.

[0019] (2) In this embodiment of the application, the center of gravity of the AUV is stabilized in the middle section in the horizontal cruise mode by the center of gravity adjustment mechanism, and the vertical thruster is used to achieve smooth hovering, thus avoiding the shortening of the driving time due to additional power consumption.

[0020] (3) The embodiments of this application utilize the spontaneous rolling of a movable mass body under the action of gravity field to achieve center of gravity adjustment. No special center of gravity adjustment drive mechanism or additional switching mechanism is required. The switching process is fast and reliable, and the working mode can be flexibly switched in real time in a single task. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Some specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings in an exemplary and non-limiting manner. The same reference numerals in the drawings indicate the same or similar parts or components. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0022] Figure 1 This is a front view of an underwater detection system shown in an exemplary embodiment of this application;

[0023] Figure 2 This is a cross-sectional side view of an underwater detection system illustrated in an exemplary embodiment of this application;

[0024] Figure 3 This is a schematic diagram of the cross-sectional state of a cable-laying winch shown in an exemplary embodiment of this application;

[0025] Figure 4 This is a cross-sectional side view of a docking ROV shown in an exemplary embodiment of this application;

[0026] Figure 5This is a cross-sectional front view of a docking ROV shown in an exemplary embodiment of this application;

[0027] Figure 6 This is a schematic diagram of the structure of a multi-degree-of-freedom manipulator shown in an exemplary embodiment of this application;

[0028] Figure 7 This is a cross-sectional front view of an AUV as illustrated in an exemplary embodiment of this application;

[0029] Figure 8 This is a schematic diagram illustrating the state of an AUV in level cruise mode, as shown in an exemplary embodiment of this application.

[0030] Figure 9 This is a schematic diagram illustrating the state of an AUV in vertical detection mode, as shown in an exemplary embodiment of this application;

[0031] Figure 10 This is a schematic diagram illustrating the deployment and retrieval process of an underwater detection system according to an exemplary embodiment of this application;

[0032] Figure 11 This is a schematic diagram illustrating the deployment process of an underwater detection system according to an exemplary embodiment of this application;

[0033] Figure 12 This is a schematic diagram illustrating the recovery process of an underwater detection system according to an exemplary embodiment of this application;

[0034] In the diagram: 100-Deployment and recovery capsule, 110-Cable laying winch, 101-Windchasm body, 102-Drum gear, 103-Umbilical cable drum, 104-Screw angular contact bearing, 105-Drum angular contact bearing, 106-Reciprocating screw gear, 107-First mounting plate, 108-Cable laying screw, 109-Cable laying device, 111-Second mounting plate, 120-Recovery capsule body, 121-Entry / exit hatch, 200-Docking type ROV, 210-Multi-degree-of-freedom manipulator, 211-Claw center rod, 212-Gripper, 213-Swing joint, 214-Grip joint, 215-First pitch angle servo, 216-Second pitch angle servo, 220-Umbilical cable, 230-ROV main control compartment, 24 0-Thruster assembly, 241-ROV vertical thruster, 242-Left and right thrusters, 250-Main thruster, 260-Mounting plate, 270-ROV camera, 280-Wireless power transfer device, 290-Single tube sampler, 300-AUV, 310-Center of gravity adjustment mechanism, 311-Guide component, 312-Movable mass body, 320-Main hull, 330-AUV vertical thruster, 340-Coaxial twin propeller thruster, 350-Fairing, 351-AUV camera, 352-Camera mounting cylinder, 360-Pressureable hull, 371-Side camera, 372-Side camera bracket, 381-Vertical camera, 382-Vertical camera bracket, 390-AUV lateral thruster. Detailed Implementation

[0035] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0036] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0037] The embodiments described in this specification will now be described in detail.

[0038] Example 1

[0039] This application provides an AUV center of gravity adjustment mechanism 310.

[0040] like Figure 8 The center of gravity adjustment mechanism 310 of this embodiment is disposed inside the AUV and includes at least one movable mass 312 and a guide member 311 for guiding the movable mass 312 to move along a preset path.

[0041] The guide member 311 has at least one low potential energy region and at least one high potential energy region. The movable mass body 312 spontaneously tends to and stays in the low potential energy region under the action of gravity field, so as to realize the adjustment of the center of gravity position of the AUV in each working mode.

[0042] In this embodiment, the movable mass body refers to a mass body whose position changes during the operation of the equipment. Movable mass bodies include balls, rollers, sliders, etc. In practical applications, balls have a better sliding effect than rollers, sliders, etc. For example, balls have less friction and can be preferred as movable mass bodies.

[0043] The guide component in this embodiment can be a track, a slide, or a guide groove.

[0044] In some embodiments, the guide member 311 is a concave track with high ends and low middle, including a horizontal intermediate section, end sections located at both ends of the horizontal intermediate section and with a horizontal height higher than the horizontal intermediate section, and inclined transition sections connecting the horizontal intermediate section and each end section. The guide member is used to guide multiple movable mass bodies to roll between the horizontal intermediate section and the end sections to adjust the center of gravity position of the AUV in various operating modes. In some embodiments, the length of the horizontal intermediate section and the length of each end section are not less than the sum of the outer diameters of the multiple movable mass bodies, so that the multiple movable mass bodies are completely accommodated within the horizontal intermediate section when the AUV is in horizontal cruising mode, and completely accommodated within the corresponding end section when the AUV is in vertical detection mode.

[0045] In some embodiments, the gap between the guide member and the movable mass in the vertical direction is less than a preset gap threshold to prevent the movable mass from shifting during rolling.

[0046] by Figure 8Taking the gravity adjustment mechanism shown as an example, it is exemplarily equipped with six gravity balls. The track has an inclined transition section, and the lengths of both the end section and the horizontal middle section of the track are greater than the sum of the outer diameters of the six gravity balls. Therefore, when the AUV is in vertical detection mode, under the constraint of the inclined transition section, the six gravity balls can stably remain stationary at the end section of the track within a preset pitch angle range; similarly, when the AUV is in horizontal cruise mode, under the constraint of the inclined transition section, the six gravity balls can stably remain stationary at the horizontal middle section of the track within a preset pitch angle range. Regardless of the mode, the stable positioning of the gravity balls helps maintain the stability of the AUV's center of gravity, thereby achieving better flight performance.

[0047] This embodiment utilizes a purely mechanical center-of-gravity adjustment mechanism that requires no external driving force. By leveraging the spontaneous rolling of a movable mass within a concave track, it achieves stable center-of-gravity switching between horizontal cruise and vertical detection modes for the AUV. This mechanism is simple in structure and highly reliable, avoiding the power consumption and failure risks associated with complex drive components such as motors and lead screws in traditional center-of-gravity adjustment devices. Furthermore, by rationally designing the lengths of the track end sections and the horizontal intermediate sections, as well as the constraint effect of the inclined transition section, the gravity-loaded balls can stably remain in the corresponding areas within a preset pitch angle range. This ensures the stability of the AUV's center of gravity and attitude maintenance capability in various operating modes, thereby improving its navigation performance.

[0048] Example 2

[0049] This application provides an underwater detection system. Figure 1 This is a front view of an underwater detection system illustrated in an exemplary embodiment of this application. Figure 2 This is a cross-sectional side view of an underwater detection system illustrated in an exemplary embodiment of this application, such as... Figure 1 and Figure 2 As shown, the underwater detection system in this embodiment includes:

[0050] The probe assembly comprises a detachable and dockable AUV 300 and a dockable ROV 200, wherein:

[0051] The docking-type ROV 200 has a multi-degree-of-freedom manipulator 210, which is used to grasp the AUV 300 for deployment and retrieval.

[0052] The AUV 300 has two operating modes: horizontal cruise mode and vertical detection mode. The operating mode can be switched by adjusting the center of gravity of the AUV through an internal center of gravity adjustment mechanism.

[0053] The internal center of gravity adjustment mechanism of the AUV has been described in detail in Embodiment 1, and will not be repeated here. During the leveling of the AUV, the center of gravity and center of buoyancy of all parts except the movable mass body must be aligned so that the center of mass of the movable mass body represents the final center of gravity position of the AUV as a whole.

[0054] In actual subglacial water exploration missions, AUVs need to be released from the deployment and recovery capsule and begin operations, while sensors and power transmission devices need to be installed inside the capsule. To address this requirement, this application optimizes the coordinated release method of the deployment and recovery capsule and the AUV.

[0055] To enable the release of the AUV and the placement of some sensors, existing technologies often require large-angle rotation of components such as the thermal drill bit or hatch. This not only requires a high-power, high-strength rotary drive mechanism, but also poses a significant challenge to the power supply and signal transmission at the moving joints. These factors combined lead to an increase in the mechanical complexity, weight, and power consumption of the system, and introduce more potential failure points, reducing the overall reliability of the system.

[0056] To address the aforementioned issues, this embodiment employs an independently designed deployment and recovery module that works in conjunction with a docking ROV, avoiding the need for complex rotating mechanisms on the AUV or module itself. This simplifies the structure while improving system reliability.

[0057] Based on this, in some embodiments, the underwater detection system further includes a deployment and recovery chamber 100. One end of the deployment and recovery chamber 100 is provided with a cable laying winch 110, which is connected to the docking-type ROV via an umbilical cable 220 for controlling the deployment and retrieval of the umbilical cable 220. The other end of the deployment and recovery chamber 100 forms a recovery chamber 120, and the lower end of the recovery chamber 120 is provided with an inlet / outlet hatch 121 for the detection assembly to enter and exit the recovery chamber.

[0058] In some embodiments, the lower end of the inlet / outlet of the deployment and recovery chamber 100 is further provided with a connecting base for connecting with an ice-penetrating drill bit.

[0059] Considering the need for long-term underwater exploration, in some embodiments, a wireless charging system is also installed inside the deployment and recovery capsule 1000 to meet the requirements of long-term operation.

[0060] Figure 3 This is a schematic diagram of the cross-sectional state of a cable-laying winch shown in an exemplary embodiment of this application, as follows: Figure 3 As shown, Figure 3As shown, the cable winding winch 110 includes a roller cylinder 102 and a transmission mechanism disposed inside the roller cylinder 102. Specifically, along the axial direction of the cable winding winch 110, the transmission mechanism includes components such as an umbilical cable drum 103, a drum gear 102, a cable winding device 109, and a reciprocating lead screw gear 106. The umbilical cable 220 is wound on the umbilical cable drum 103, and the cable winding device 109 reciprocates at both ends of the cable winding lead screw 108 to realize the winding and unwinding of the umbilical cable 220 and the sequential winding of the cable. The umbilical cable drum 103 and the cable winding lead screw 108 complete the power transmission through a pair of meshing drum gears 102 and reciprocating lead screw gears 106, and are fixed and rotated on the first mounting plate 107 and the second mounting plate 111 through corresponding lead screw angular contact bearings 104 and drum angular contact bearings 105. The second mounting plate 111 is provided with a cable passage hole for the umbilical cable 220 to pass through. The umbilical cable 220 enters the main control compartment of the docking ROV from the cable laying winch 110 through the cable passage hole, so as to control the cable laying winch 110 through the main control compartment.

[0061] In some embodiments, the docking ROV further includes: an ROV main control compartment 230, a main thruster 250, and thruster groups 240 located at both ends of the ROV main control compartment 230, wherein the main thruster 250 is located at the end of the docking ROV away from the access hatch; and each thruster group 240 includes a vertical thruster 241 and a left and right thruster 242.

[0062] Since the docking ROV in this embodiment has docking and grabbing capabilities, a set of thruster groups 240 are deployed at its front and rear ends to control the ROV's navigation, pitch, and hovering. The ROV main control cabin 230 adopts a pressure-resistant design and internally encapsulates the main control system, sensors, and other components.

[0063] like Figure 4 and Figure 5 As shown, a mounting plate 260 is provided at the tail end of the docking ROV to mount a multi-degree-of-freedom manipulator 210, and to arrange an ROV camera 270, a wireless power transmission device 280, etc. The ROV camera 270 is used for docking and detection, and the wireless power transmission device 280 is used to provide power supply and signal transmission for the docking ROV.

[0064] Optionally, a single-tube sampler 290 is placed between the main thruster 250 and the rear left and right thrusters of the docking ROV for sampling of underwater sediments during operation.

[0065] In some embodiments, the multi-degree-of-freedom manipulator 210 is disposed at the end of the docking ROV near the inlet / outlet port. The multi-degree-of-freedom manipulator includes: a gripper center rod 211 and two grippers 212 mounted on the gripper center rod 211. The distance between the two grippers 212 on the gripper center rod 211 is adjustable. Each gripper 212 includes a swing joint 213 and a gripping joint 214. The swing joint 213 is used to drive the corresponding gripper to swing, and the gripping joint 214 is used to control the clamping and releasing of the corresponding gripper.

[0066] like Figure 6 As shown, two grippers 212 are mounted on the gripper center rod 211, and their relative distance can be adjusted by the first pitch angle servo 215 and the second pitch angle servo 216. The swing joint 213 of each gripper 212 realizes the swing of the gripper, and each gripper 212 is provided with a clamping joint 214 at a symmetrical position relative to the gripper center rod to control the clamping and releasing of the gripper.

[0067] For example, the first pitch angle servo 215 on the mounting plate 260 can control the gripper to rotate outward by 90 degrees along the ROV axis, and the second pitch angle servo 216 can control the gripper to extend outward by another 90 degrees, achieving a 180-degree rotation range for the gripper, so as to flexibly adjust the gripping position of the AUV during deployment and retrieval.

[0068] When gripping an AUV using the gripper 212, the swing angles of the two grippers 212 can be the same or different. For example, when one gripper clamps the AUV, the other gripper can release and adjust its swing angle to pull in the desired direction. Once the gripper is adjusted to the appropriate position, it can clamp again. Then, the other gripper can adjust its position again, thus completing the clamping and adjustment of the AUV.

[0069] In some embodiments, the AUV further includes a main cabin 320, an AUV vertical thruster 330, and a coaxial twin-propeller thruster 340. The main cabin 320 is a self-supporting structure integrally formed with an internal support frame and externally potted silicone material, used to house electronic components and adapt to irregular spatial layouts. AUV vertical thrusters 330 are respectively installed at both ends of the main cabin 320. The AUV vertical thrusters 330 are used to control the pitch attitude and vertical movement of the AUV, and cooperate with the center of gravity adjustment mechanism 310 to switch between horizontal cruise mode and vertical detection mode. The coaxial twin-propeller thruster 340 is located at the tail of the AUV. The coaxial twin-propeller thruster includes two coaxially mounted propellers with opposite rotation directions and independent drive, used to provide thrust and achieve steering through differential speed.

[0070] Figure 8 and Figure 9The images show the AUV's status in horizontal cruise mode and vertical detection mode, respectively. The AUV in this embodiment consists of a fairing 350, a main hull 320, and coaxial twin propellers 340. An AUV camera 351 and a camera mounting cylinder 352 are housed inside the fairing 350 to observe the underwater environment during AUV navigation. The midsection of the AUV is formed by the main hull 320, which houses two AUV vertical thrusters 330 for controlling the AUV's pitch angle, a center of gravity adjustment mechanism 310, and a self-pressurizing hull.

[0071] When the two vertical thrusters of the AUV generate two opposing forces sufficient to make the gravity ball roll to the leftmost end section, that is... Figure 9 The image shows the lowest point of the vertical position. At this point, the center of gravity of the AUV is at the head. Under the force of the AUV's vertical thruster, the AUV changes from a horizontal to a vertical position. At this point, the vertical movement of the AUV is controlled by the coaxial twin propeller thruster, while forward and backward movement is controlled by the AUV's vertical thruster. The underwater environment is observed through the AUV camera.

[0072] like Figure 7 As shown, within the internal space corresponding to the enclosed track, an irregular cylindrical structure is designed as a pressure-bearing chamber 360, which encapsulates the power supply system, main control system, sensors, etc. In this embodiment, by adding a supporting frame and encapsulating it with silicone, the chamber possesses self-pressure-bearing capabilities, while its shape is changed to an irregular form to adapt to narrow spaces.

[0073] The specific structure and working principle of the center of gravity adjustment mechanism have been described in detail in Example 1 and will not be repeated here. In short, through the spontaneous rolling of gravity balls in the concave track, the AUV can stably switch the center of gravity position without the need for a dedicated center of gravity adjustment drive mechanism, thereby achieving reliable switching between horizontal cruising and vertical detection modes.

[0074] Based on the above design, the cable laying winch, as the core deployment and carrying unit of the underwater exploration system, is located at the top of the entire system structure. It is used to manage the umbilical cable and the optical-electric composite cable (which can be used for system power supply, communication and signal transmission), and works in conjunction with the docking ROV to control the deployment and recovery of the AUV.

[0075] The docking-type ROV actively captures AUVs using a multi-degree-of-freedom robotic arm, exhibiting excellent mobility and docking adaptability.

[0076] In some embodiments, the AUV’s flight attitude is controlled by a coaxial twin propeller thruster. The two propellers of the coaxial twin propeller thruster are driven independently and rotate in opposite directions, which can cancel the torque generated by a single propeller and obtain greater thrust. When turning is required, the speed difference or opposite turning of the two propellers is generated to generate a yaw torque in the airframe to achieve turning.

[0077] Specifically, when the AUV is in level cruise mode, the twin propellers can generate opposing steers and a speed difference to create a certain roll angle yaw force, enabling the AUV to perform a coarse turn in level cruise mode. Similarly, when the AUV is in vertical detection mode, the yaw force generated by the twin propellers also causes the AUV to perform a coarse turn.

[0078] It is evident that precise steering control of an AUV cannot be achieved solely through twin propeller thrusters. In existing technologies, rudder-type steering control components are typically installed inside the AUV to achieve precise steering; however, these components require significant deployment space, making it difficult to meet the AUV's radial dimension constraints.

[0079] Based on this, in some other embodiments of this application, the AUV is configured with lateral thrusters to achieve precise steering in level cruise mode. For example, see reference... Figure 7 and Figure 8 A lateral thruster 390 is installed in the middle section of the AUV, away from the twin propellers.

[0080] Therefore, this embodiment utilizes a coaxial twin propeller thruster to achieve coarse steering of the AUV, and uses the AUV's lateral thrusters to achieve precise steering, meeting the differentiated requirements for steering accuracy in different operating scenarios.

[0081] In summary, the underwater detection system of this application embodiment has at least the following beneficial effects:

[0082] First, a bistable center of gravity adjustment mechanism without the need for drive components was designed, enabling the AUV to actively switch between horizontal cruise mode and vertical detection mode, significantly expanding the mission adaptability of a single platform.

[0083] Related AUVs are usually designed to be fixed for optimized horizontal navigation. When precise vertical exploration of the bottom of ice or narrow underwater areas is required, it is difficult to achieve stable vertical hovering and movement, thus limiting the types of data that can be acquired and the exploration efficiency of a single deployment.

[0084] The embodiments of this application design a bistable center of gravity adjustment mechanism inside the AUV that does not require drive components. By controlling the vertical thruster, the AUV can use the gravitational field to change its own center of gravity position, thereby obtaining a horizontal cruise mode and a vertical detection mode. Through the ability to perform two functions in one machine, the mission adaptability of a single platform is greatly expanded.

[0085] Secondly, the pressure-resistant structure, which combines silicone potting with an internal support frame, effectively breaks through the shape limitations of traditional pressure-resistant chambers, simplifies the structure, and reduces weight.

[0086] To adapt to the extreme environment of low temperature and high pressure in subglacial lakes, and considering the need to arrange complex circuits and components inside the AUV, the traditional cylindrical pressure chamber is limited by the processing technology and cannot be formed into an irregular and complex shape, which also restricts the minimum outer diameter of the AUV.

[0087] To address this issue, this application embodiment uses silicone as the potting material, enabling free molding of irregular shapes. An internal supporting frame is added, allowing the components and the external silicone to share the water pressure from the subglacial lake. This design not only simplifies the structural layers of the AUV but also effectively reduces its overall weight. Furthermore, this design allows for the efficient spatial arrangement of the unique center-of-gravity adjustment mechanism on the AUV.

[0088] Third, a multi-degree-of-freedom manipulator is configured at the end of the docking ROV to form an active capture system that can adapt to various unexpected postures of the AUV, significantly reducing the difficulty of recovery control.

[0089] In existing technologies, the recovery of AUVs is essentially a process of interface alignment and insertion. However, the docking path and interface are usually fixed or have extremely limited adjustable space. Once the AUV approaches in an unexpected posture due to external interference, the system itself cannot dynamically adjust the interface to adapt to the AUV and can only require the AUV to adjust its position on its own, which significantly increases the control complexity of the recovery phase.

[0090] Based on this, the embodiments of this application are equipped with a multi-degree-of-freedom manipulator with two grippers at the end of the ROV. Each gripper has an independent joint and can actively extend, surround and fit the outer body of the AUV, rather than passively waiting for the AUV to crash into it. At the same time, the coordinated operation of each gripper's joints enables it to adapt to various undesirable postures that may occur during the final approach of the AUV, greatly improving the success rate and reliability of recovery.

[0091] Example 3

[0092] This application also provides a method for deploying and recovering an underwater detection system. Figure 10 This is a schematic diagram illustrating the deployment and recovery process of an underwater detection system according to an exemplary embodiment of this application. The deployment and recovery method of this embodiment is performed by the main control cabin of a docking ROV, and the deployment and recovery method includes the following steps:

[0093] Step S1: When it is necessary to deploy the detection assembly, the AUV is moved out of the recovery cabin from the inlet / outlet hatch by the multi-degree-of-freedom manipulator of the docking ROV and its attitude is adjusted to a horizontal state. Then, the umbilical cable is released by the cable laying winch to control the docking ROV to move out of the recovery cabin through the inlet / outlet hatch.

[0094] Step S2: After the detection assembly has been completely removed from the recovery cabin, control the multi-degree-of-freedom manipulator to release the AUV and release the AUV to perform the sub-ice water area detection mission;

[0095] Step S3: When the AUV needs to be retrieved, the AUV returns to the preset range of the docking ROV through acoustic beacon and visual positioning, and after changing its own posture to a vertical state, the multi-degree-of-freedom manipulator controlled by the docking ROV grabs the AUV and completes the docking through visual positioning guidance.

[0096] In step S4, the cable winch tightens the umbilical cable and pulls the docking ROV toward the inlet / outlet hatch. During the movement, the docking ROV adjusts the AUV's attitude using a multi-degree-of-freedom manipulator so that the AUV follows the docking ROV through the inlet / outlet hatch and is recovered into the recovery chamber.

[0097] The following is combined Figure 11 and Figure 12 The deployment and retrieval process of this embodiment is described in detail.

[0098] like Figure 11 As shown, the system deployment process is as follows:

[0099] In this embodiment, the underwater detection system is carried to the subglacial lake by an ice-penetrating detector and completely submerged. When it is necessary to deploy the detection assembly, the docking ROV controls a multi-degree-of-freedom manipulator to move the AUV out of the deployment and recovery capsule through the access hatch, and adjusts the AUV's attitude to be parallel to the docking ROV to free up space at the access hatch outside the deployment and recovery capsule. Thus, the cable laying winch releases the umbilical cable, allowing the docking ROV to be moved out of the deployment and recovery capsule through the access hatch. During this process, the ROV main control cabin controls the umbilical cable to be laid slowly, the cable laying winch maintains the tension of the umbilical cable, and the umbilical cable drum rotates under the action of the ROV main thruster and its own gravity. The docking ROV moves to the access hatch, and under the propulsion of the ROV vertical thruster, the docking ROV is moved out of the deployment and recovery capsule.

[0100] After the docking ROV has fully exited the deployment and recovery capsule, it will completely release its multi-degree-of-freedom manipulator to release the AUV and allow it to perform the exploration task. The docking ROV will then restore its multi-degree-of-freedom manipulator to its initial state and use its vertical thrusters to adjust the docking ROV to a horizontal position to perform the exploration task.

[0101] like Figure 12 As shown, the system's recycling process is as follows:

[0102] When the AUV completes its exploration mission, it sends an acoustic beacon signal to locate the docking ROV. After locating the docking ROV, the AUV sails to the vicinity of the docking ROV, where the docking ROV grabs and docks with the AUV.

[0103] When the docking ROV grasps the AUV, the multi-degree-of-freedom manipulator is first fully released. Visual positioning is then performed using the ROV and AUV cameras to ensure their axes are roughly on the same horizontal plane. If the visual positioning indicates the distance is too great, the AUV slowly navigates towards the docking ROV until the relative distance reaches a preset value, which can be set according to the manipulator's operating range. Once the relative distance reaches the preset value, the AUV adjusts its orientation to vertical, allowing the docking ROV to grasp the AUV using its manipulator, adjust the AUV's position relative to the manipulator, and move it above the docking ROV to a horizontal position. Finally, by tightening the umbilical cable, the docking ROV carrying the AUV is pulled back to the recovery module. After the docking ROV is completely pulled back into the recovery container, the docking ROV controls the multi-degree-of-freedom manipulator to rotate again to place the AUV into the recovery container. At this point, the ROV and AUV have been recovered, and the ice-penetrating detector carrying the underwater detection system returns to the ground, completing the recovery of the underwater detection system.

[0104] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0105] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0106] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0107] It should be noted that 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 a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0108] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An AUV center of gravity adjustment mechanism, characterized in that, The center of gravity adjustment mechanism is located inside the AUV. The AUV includes a main cabin, an AUV vertical thruster and a coaxial twin propeller thruster. The AUV vertical thrusters are respectively installed at both ends of the main cabin, and the coaxial twin propeller thruster is installed at the tail of the AUV. The center of gravity adjustment mechanism includes multiple movable mass bodies and a guide component for guiding the movable mass bodies to move along a preset path; The guide member has at least one low potential energy region and at least one high potential energy region. The movable mass body spontaneously tends to and stays in the low potential energy region under the action of the gravitational field, so as to realize the adjustment of the center of gravity position of the AUV in each working mode. The guide member is a concave track with high ends and low middle, including a horizontal middle section, end sections located at both ends of the horizontal middle section and with a horizontal height higher than the horizontal middle section, and inclined transition sections connecting the horizontal middle section and each end section. The length of the horizontal intermediate section and the length of each of the end sections are not less than the sum of the outer diameters of the multiple movable mass bodies, so that the multiple movable mass bodies are completely contained within the horizontal intermediate section when the AUV is in horizontal cruise mode, and completely contained within the corresponding end sections when the AUV is in vertical detection mode. The gap between the guide member and the movable mass in the vertical direction is less than a preset gap threshold to prevent the movable mass from shifting during rolling.

2. An underwater detection system, characterized in that, The system includes: The probe assembly comprises a detachable dockable AUV and a dockable ROV, wherein: The docking-type ROV has a multi-degree-of-freedom manipulator, which is used to grasp the AUV for deployment and retrieval. The AUV has two working modes: horizontal cruise mode and vertical detection mode. The working mode can be switched by adjusting the center of gravity of the AUV through an internal center of gravity adjustment mechanism. The internal center of gravity adjustment mechanism of the AUV is the AUV center of gravity adjustment mechanism as described in claim 1.

3. The underwater detection system according to claim 2, characterized in that, The multi-degree-of-freedom manipulator includes: Claw center rod; Two grippers are mounted on the center rod of the gripper, and the distance between the two grippers on the center rod of the gripper is adjustable; Each gripper includes a swing joint and a clamping joint. The swing joint is used to drive the gripper to swing, and the clamping joint is used to control the gripper to clamp and release.

4. The underwater detection system according to claim 2, characterized in that, The docking-type ROV also includes: ROV main control compartment; The thruster groups are located at both ends of the ROV's main control module. Each thruster group includes a vertical thruster and left and right thrusters. The main thruster is located at the end of the docking ROV furthest from the hatch.

5. The underwater detection system according to claim 2, characterized in that, The AUV also includes: The coaxial twin propeller thruster located at the tail of the AUV includes two coaxially mounted propellers with opposite rotation directions and independently driven propellers, which provide thrust and achieve steering through differential speed.

6. The underwater detection system according to claim 2, characterized in that, The AUV also includes: The main body is a self-pressure-bearing structure that is integrally formed with an internal support frame and an external potting silicone material, used to accommodate electronic components and adapt to irregular spatial layouts. Vertical thrusters are located at both ends of the main hull and are used to control the pitch attitude and vertical movement of the AUV. They also work with the center of gravity adjustment mechanism to switch between horizontal cruise mode and vertical detection mode.

7. The underwater detection system according to any one of claims 2 to 6, characterized in that, Also includes: Deploy the recovery capsule; One end of the deployment and recovery cabin is equipped with a cable laying winch, which is connected to the docking ROV via an umbilical cable for controlling the deployment and retraction of the umbilical cable. The other end of the deployment and recovery cabin forms a recovery cabin body, and the lower end of the recovery cabin body is provided with an inlet / outlet for the detection assembly to enter and exit the recovery cabin body. The lower end of the inlet / outlet of the deployment and recovery cabin is also provided with a connecting base for connecting with an ice-penetrating drill bit.

8. A method for deploying and recovering an underwater detection system, characterized in that, The underwater detection system is the system as described in any one of claims 2 to 7, and the deployment and recovery method includes the following steps: Step S1: When it is necessary to deploy the detection assembly, the AUV is moved out of the recovery cabin from the inlet / outlet hatch by the multi-degree-of-freedom manipulator of the docking ROV and its attitude is adjusted to a horizontal state. Then, the umbilical cable is released by the cable laying winch to control the docking ROV to move out of the recovery cabin through the inlet / outlet hatch. Step S2: After the detection assembly has been completely removed from the recovery cabin, control the multi-degree-of-freedom manipulator to release the AUV and release the AUV to perform the sub-ice water area detection mission; Step S3: When it is necessary to retrieve the AUV, the AUV returns to the preset range of the docking ROV through acoustic beacon and visual positioning, and after changing its own posture to a vertical state, the multi-degree-of-freedom manipulator controlled by the docking ROV grabs the AUV to complete the docking. In step S4, the cable winch tightens the umbilical cable and pulls the docking ROV toward the inlet / outlet hatch. During the movement, the docking ROV adjusts the AUV's attitude using a multi-degree-of-freedom manipulator so that the AUV follows the docking ROV through the inlet / outlet hatch and is recovered into the recovery chamber.

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