Dynamic surface buoy for assisting in underwater detection

Abstract

A dynamic surface buoy assembly, for maintaining an umbilical of an ROV (Fig 4) in a vertical orientation extending vertically from the ROV to the surface of a body of water within which the ROV is carrying out inspection operations, including a buoy body 1, a floating ball 7 and a self-unhooking device 9. The buoy body has a U-shaped opening, a clamping groove, the shape of which matches the shape of the floating ball, formed in the underside of the U-shaped opening, and a limiting portion arranged on an upper part of the clamping groove for preventing the floating ball from moving upwards or downwards in relation to the buoy body while allowing the floating ball to move back and forth inside the buoy body. The buoy body is connected to the floating ball through a cable, with a centre of the floating ball having a through-hole structure configured to allow the umbilical cable to pass from the ROV to a shore station (Fig 4).

Description

TECHNICAL FIELD The present invention relates to the technical field of robots, and particularly relates to a dynamic surface buoy for assisting in underwater detection. BACKGROUND Currently, the remote operated vehicle (ROV) has been increasingly and widely used in various underwater observation, detection, and operational applications. To meet the diverse needs of complex dam surface inspections, an ROV body is often used in deep waters for precise positioning. In order to improve the accuracy of the positioning of the ROV body and cooperate with the movement operations of the ROV, a dynamic surface buoy is designed to assist the ROV in precise positioning, monitor the water surface environment, and facilitate timely information transmission to operators on a dam. In the prior art, the deployment and recovery of the ROV are completed using a deployment device and a cable retracting device, the deployment device, together with the ROV body, descend into the water, and the cable retracting device retracts the cable to enable the ROV body to enter or exit from the deployment device, thereby realizing the deployment and recovery of the ROV body. In practicable operation, the ROV body is unable to be aligned with the deployment device due to great disturbance of water flow, making the ROV body difficult to enter the deployment device smoothly, and easily leading to recovery failure. The Chinese Patent CN 109292057 A provides a cable-controlled ROV deployment and recovery system, which is capable of adjusting an orientation of the deployment position, facilitating the deployment and recovery of the ROV body, but it has problems of complex cage-like structure and limited functionality. In addition, it has a problem that an underwater acoustic positioning array cannot be arranged, and it is difficult for operators on a dam surface to operate. Even though with a platform capable of deploying the underwater acoustic positioning, there would still be accuracy issues due to the influence of vibrations, the need for automatic repositioning when underwater acoustic positioning is ineffective above the robot, and the challenge of high-precision processing with Beidou GPS positioning combined with underwater acoustic positioning. Moreover, since many dams have sloped surfaces, umbilical cables are gathered at an edge of dam surfaces thereof and are not unwound when the ROV is hoisted from tops thereof, and the cables are easily entangled with protrusions on the dam surface, hindering the of the ROV. Therefore, a device is needed to dynamically adjust the umbilical cables according to the operating position of the ROV, and bring the umbilical cables outwards, and preferably move a portion of the umbilical cables on the water surface directly above the ROV, such that the umbilical cables give a minimal impact on the ROV. SUMMARY In order to solve the problems existing in the prior art, the present invention provide a dynamic surface buoy for assisting in underwater detection capable of assisting in the deployment and recovery of a remote operated vehicle, as well as the management of auxiliary umbilical cable in the operating process, thereby realizing the integrated deployment and recovery of the dynamic surface buoy and underwater robots, making the operation easier. In order to achieve the above objective, the present invention provides the following technical solution: a dynamic surface buoy for assisting in underwater detection, where the dynamic surface buoy includes a buoy body, a floating ball and a self-unhooking device, the buoy body is of a U-shaped opening structure, a clamping groove matched with an appearance structure of the floating ball is formed on a bottom of the U-shaped opening structure, a limiting portion is arranged on an upper part of the clamping groove, and the limiting portion is configured to prevent the floating ball from moving upwards or downwards to detach from the buoy body, but the floating ball can move back and forth inside the buoy body, that is, the floating ball enters and exits from the buoy body through the U-shaped opening; the buoy body is connected to the floating ball through a cable; a center of the floating ball is a through-hole structure, an accommodating cavity for accommodating the selfunhooking device is formed in the through hole, and the through hole is further configured to allow an umbilical cable to be connected to a shore station and the ROV to pass through; and the selfunhooking device includes a movable part and a fixed part that are matched with each other, the fixed part releases the movable part under the action of buoyancy, such that the movable part is detached from the fixed part, and the fixed part can lock the movable part in the absence of buoyancy. During the deployment and retrieval of an underwater robot, an upper part of the self-unhooking device is connected to one end of a load-bearing steel cable fixed at the shore station, and the other end thereof is used for deploying and retrieving the underwater robot. A lower part of the self-unhooking device is connected to the underwater robot. After successful deployment, the fixed part of the self-unhooking device is retrieved by the shore station via the load-bearing steel cable; after the fixed part is retracted to the shore station, an operator manually unfastens a clasp on the fixed part of the self-unhooking device, and removes a slotted plate, such that the umbilical cable can be detached from the fixed part of the self-unhooking device; and during retrieval, the operator inserts the umbilical cable into the fixed part of the self-unhooking device, the slotted plate is installed, the clasp is fastened, and the fixed part of the self-unhooking device enters into the through-hole of the floating ball along the umbilical cable, preparing for docking with the movable part. The floating ball is connected to the buoy body through a winch, and meanwhile, the umbilical cable of the ROV passes through the through-hole in the floating ball. During the movement or operation of the ROV, the umbilical cable drives the floating ball to move, such that the floating ball and the ROV are always on the same plumb line, the buoy body is in connection with the floating ball by retracting a cable on the winch, and the buoy can transmit the information of water surface position of the ROV to the shore station while observing the surface wave conditions, such that the water surface positioning function of the dynamic surface buoy is achieved, the umbilical cable is protected, the umbilical cable can be dynamically adjusted according to the operating position of the underwater robot, and the water surface part of the umbilical cable can be moved to the top of the robot, providing further protection for the movement of the underwater robot. Further, the self-unhooking device is a locking mechanism that automatically attaches and detaches for deploying and retrieving an underwater robot and a latch spring device in the operation method disclosed in the Chinese patent CN 109733985A, specifically: the fixed part of the self-unhooking device is sleeved on an outside of the movable part, the movable part is a hoisting and deployment head, a center of the hoisting and deployment head is configured as a through-hole for allowing the umbilical cable to pass through, and a lower portion of the hoisting and deployment head is fixedly connected to the ROV; and when arriving at a deployment point, the hoisting and deployment head is detached from the fixed part and moves downwards a water bottom together with the ROV. The fixed part of the self-unhooking device includes a hanging ring disposed on the upper portion and connected to the load-bearing steel cable, a buoyancy ring disposed on a lower position of the hanging ring, a hoisting bracket disposed on a lower portion of the buoyancy ring, and a locking mechanism disposed between the hoisting bracket and the buoyancy ring. The locking mechanism includes a movable locking tongue, and the design and principle of the locking mechanism are consistent with those of the Chinese patent CN109733985A, and will not be described in detail herein. Further, the self-unhooking device of the present invention is improved on the basis of the Chinese patent CN 109733985 A, specifically: the hoisting bracket, a slotted plate and a clasp are disposed on a side edge of the fixed part of the self-unhooking device, the hoisting bracket and the slotted plate are provided as entry and exit for taking out the umbilical cable from the fixed part, and placing the umbilical cable into the fixed part, and the clasp is configured to fixed the hoisting bracket and the slotted plate on the fixed part. Further, the buoy of the present invention further includes an anti-swing device, the anti-swing device includes upper anti-swing devices and anti-swing bases which are matched with each other, and during assembly, the anti-swing bases are used for supporting the upper anti-swing devices; and the upper anti-swing devices are disposed in a middle of the buoy body, and the anti-swing bases are arranged at a top of the ROV. Further, the anti-swing base is disposed on an upper portion of a frame of an ROV body, and the upper anti-swing devices and the anti-swing base are supported by point-to-point load-bearing via conical surfaces, such that the buoy body achieves the load bearing by the ROV through the antiswing device. Since the upper anti-swing devices and the anti-swing base adopt the point-to-point load-bearing via the conical surfaces, which involves a larger contact area, and can play the stable and fixed role in the structure to some extent, such that the stability of the integrated deployment of the buoy and the ROV can be significantly improved. Preferably, upper portions of the upper anti-swing devices are connected to the buoy body through threads, and lower portions of the anti-swing bases are fixed to the upper portion of the frame of the ROV through bolts and nuts. Further, a lower portion of the buoy body is conformal with an upper structure of the ROV, that is, they are concave-convex assembly settings. Further, the buoy of the present invention further includes a Beidou antenna and an image transmission antenna disposed on the buoy body, where the Beidou antenna is configured to provide positioning for the buoy body, and the image transmission antenna is configured to complete the interaction of monitoring information between water surface and the shore station; the Beidou antenna is in communication connection with the image transmission antenna, the Beidou antenna transmits position information to the image transmission antenna via a switch, the position information includes positions of the buoy body and the underwater robot; and the image transmission antenna transmits all information received from the switch to a computer control center of the shore station. Further, the buoy of the present invention further includes a floodlight and a camera disposed on the buoy body, where the floodlight is configured to assist the camera in monitoring a water surface environment, and the camera is configured to photograph water surface environment conditions and transmit the photographed content to the computer control center of the shore station. Further, the buoy of the present invention further includes an ultra-short baseline positioning system and an acoustic Doppler current profiler are disposed on the lower portion of the buoy body, the ultra-short baseline positioning system and the acoustic Doppler current profiler are respectively in communication connection with the image transmission antenna, and the ultrashort baseline positioning system is configured to acoustically locate the position of the ROV relative to the buoy, so as to improve the accuracy of the absolute positioning of the ROV; the acoustic Doppler current profiler is configured to acquire a vertical profile water flow velocity and effectively monitor underwater water flow conditions by using the acoustic Doppler principle, thereby facilitating safety pre-control of ROV operation; the ultra-short baseline positioning system transmits the underwater acoustic positioning information to the image transmission antenna via the switch; the acoustic Doppler current profiler transmits the flow velocity information to the image transmission antenna via the switch; and the image transmission antenna transmits the received information to the computer control center of the shore station. The present invention has a good function of assisting the positioning of the underwater robot, specifically: a main array is disposed on the buoy of the present invention, a beacon is disposed on the underwater robot to obtain the positioning information of the distance and orientation of the underwater robot relative to the buoy, therefore, the underwater acoustic positioning information not only includes the distance and orientation of the underwater robot relative to the buoy, but also includes the position of the buoy itself, such that the position of the underwater robot can be obtained. Further, the buoy body is connected to the floating ball through the cable on a winch, the winch is disposed on the buoy body, one end of the cable on the winch is connected to the winch, and the other end thereof is connected to the floating ball. Further, the floating body is equipped with a self-powered device, and the self-powered device is electrically connected to the winch, the floodlight, the camera, and a communication device disposed on the buoy body, respectively, to supply power for them. Further, the communication device disposed on the buoy body includes the image transmission antenna, the Beidou antenna, the ultra-short baseline positioning system, and the acoustic Doppler current profiler. Preferably, the self-powered device is a power lithium battery. Further, the buoy body is a buoyancy block that meets the positive buoyancy requirements, and it has safe and effective suspension capabilities, and provides a possibility for water surface monitoring. Further, the buoy of the present invention further includes thrusters, and the thrusters are disposed at one end of the buoy body for supplying power for the buoy body. The self-powered device is further electrically connected to the thrusters to supply power for the thrusters. Further, at least four thrusters are disposed at ends of front and rear sides of the buoy body, respectively; preferably, the four thrusters are arranged according to a vector method, it satisfies requirements for a plurality of degrees of freedom of movement of the buoy is satisfied, which not only improves power, but also saves energy. Further, an arrangement method of the vector method is as follows: the buoy is equipped with the four thrusters located on a same horizontal plane, the thrusters are arranged in an eight-shaped pattern at four comers, and a thrust direction of the thrusters and an axis thereof form an included angle of 45°; and the arrangement by the vector method can be used for controlling multi-degree-of-freedom motion and effectively improve the propulsion efficiency. Compared with the prior art, the present invention provides a dynamic surface buoy for assisting in underwater detection, which has the following beneficial effects: (1) The dynamic surface buoy provided by the present invention can assist the positioning of the underwater robot and dynamically adjust the umbilical cable according to the operation position of the underwater robot, providing further protection for the movement of the underwater robot. (2) The dynamic surface buoy provided by the present invention can realize the integrated deployment and recovery of the dynamic surface buoy and underwater robots, making the operation easier, and saving the economic cost. (3) The dynamic surface buoy provided by the present invention is provided with the floating ball and is connected with the underwater robot through the umbilical cable, such that the floating ball and the ROV are always on the same plumb line, the buoy body is in connection with the floating ball by retracting a cable on the winch, the precise positioning in the coordinates of the two planes (vertical plane and horizontal plane) is established, improving the positioning accuracy of the entire underwater detection system. (4) The dynamic surface buoy provided by the present invention is provided with the anti-swing protective device to establish the point-to-point bearing connection, thereby reducing the risk of uncontrollable shaking, shifting and collision of the underwater robot during the hoisting and deployment process. (5) The lower portion of the buoy body is conformal with the upper structure of the dynamic surface buoy provided by the present invention, such that the force can be better distributed, and the convenience and accuracy of integrated alignment during recycling are improved. (6) The dynamic surface buoy provided by the present invention is provided with the self-powered device with long-time independent power supply, and has perfect water surface communication equipment, featuring strong maneuverability and practicability; and a high-definition camera is disposed on the top of the buoy body, which can effectively monitoring the water surface and provide a reference for shore control. (7) The dynamic surface buoy provided by the present invention is provided with the current profiler capable of directly obtaining the layered flow velocity of the entire underwater profile and the flow field distribution of the entire working area, thereby avoiding safety accidents caused by the fact that the flow velocity exceeds the working range of the underwater robot due to the complex underwater flow field of the dam, thereby improving the safety of the underwater operation. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of a three-dimensional structure of a dynamic surface buoy according to the present invention. FIG. 2 is a schematic diagram of a rear view structure of a dynamic surface buoy according to the present invention. FIG. 3 is a schematic diagram of integrated deployment and recovery of a dynamic surface buoy and an underwater detection robot (where the dotted line at a bottom of the figure indicates that a part of an underwater detection robot is omitted, except for a top of an underwater detection robot and an upper anti-swing device). FIG. 4 is a schematic diagram of auxiliary operation positioning of a dynamic surface buoy according to the present invention. FIG. 5 is a sectional view of a center of an anti-swing mechanism of a buoy according to the present invention. FIG. 6 is a schematic diagram of a structure of an anti-swing mechanism according to the present invention, where 6a is an anti-swing base, 6b is an anti-swing device, 6c is an assembly view of the anti-swing mechanism, and 6d is a sectional view of 6c. FIG. 7 is a structural schematic diagram of a self-unhooking device according to the present invention. FIG. 8 is a schematic diagram of a structure after the slotted plate 92 in FIG. 7 is removed. Reference numerals in the accompanying drawings: 1. buoy body; 2. floodlight; 3. image transmission antenna; 4. camera; 5. Beidou antenna; 6. winch; 7. floating ball; 8. upper anti-swing device; 9. self-unhooking device; 91. hanging ring; 92. slotted plate; 93. buoyancy ring; 94. movable locking tongue; 95. hoisting bracket; 96. hoisting and deployment head; 97. clasp; 10. thruster; 11. ultra-short baseline positioning system; and 12. acoustic Doppler current profiler. DETAILED DESCRIPTION OF EMBODIMENTS The technical solutions of embodiments of the present invention will be described below clearly and comprehensively in conjunction with accompanying drawings of the embodiments of the present invention. Apparently, the embodiments described are merely some embodiments rather than all embodiments of the present invention. All the other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the scope of protection of the present invention. As shown in FIGs. 1-6, a dynamic surface buoy provided in the present invention is used for assisting in the deployment, recovery and positioning of a remote operated vehicle (ROV) and monitoring a water surface, and the dynamic surface buoy includes a buoy body 1, a floating ball 7 and a self-unhooking device 9, where the buoy body 1 is of a U-shaped opening structure, a clamping groove matched with an appearance structure of the floating ball 7 is formed on a bottom of the U-shaped opening structure, a limiting portion is arranged on an upper part of the clamping groove, and the limiting portion is configured to prevent the floating ball 7 from moving upwards or downwards to detach from the buoy body 1, but the floating ball 7 can move back and forth inside the buoy body 1, that is, the floating ball 7 enters and exits from the buoy body 1 through the U-shaped opening; the buoy body 1 is connected to the floating ball 7 through a cable; a center of the floating ball 7 is a through-hole structure, an accommodating cavity for accommodating the self-unhooking device 9 is formed in the through hole, and the through hole is further configured to allow an umbilical cable to be connected to a shore station and the ROV to pass through; and the self-unhooking device 9 includes a movable part and a fixed part that are matched with each other, the fixed part releases the movable part under the action of buoyancy, such that the movable part is detached from the fixed part, and the fixed part can lock the movable part in the absence of buoyancy. During the deployment and retrieval of an underwater robot, an upper part of the self-unhooking device 9 is connected to one end of a load-bearing steel cable fixed at the shore station, and the other end thereof is used for deploying and retrieving the underwater robot. A lower part of the self-unhooking device is connected to the underwater robot. After successful deployment, the fixed part of the self- unhooking device 9 is retrieved by the shore station via the load-bearing steel cable; after the fixed part is retracted to the shore station, an operator manually unfastens a clasp 97 on the fixed part of the self-unhooking device 9, and removes a slotted plate 92, such that the umbilical cable can be detached from the fixed part of the self-unhooking device 9; and during retrieval, the operator inserts the umbilical cable into the fixed part of the self-unhooking device 9, the slotted plate 92 is installed, the clasp 97 is fastened, and the fixed part of the self-unhooking device 9 enters into the through-hole of the floating ball 7 along the umbilical cable, preparing for docking with the movable part. The floating ball 7 is connected to the buoy body 1 through a winch 6, and meanwhile, the umbilical cable of the ROV passes through the through-hole in the floating ball 7. During the movement or operation of the ROV, the umbilical cable drives the floating ball 7 to move, such that the floating ball 7 and the ROV are always on the same plumb line, the buoy body 1 is in connection with the floating ball 7 by retracting a cable on the winch 6, and a buoy can transmit the information of water surface position of the ROV to the shore station while observing the surface wave conditions, such that the water surface positioning function of the dynamic surface buoy is achieved. In one specific implementation of this embodiment, as shown in FIGs. 7-8, the self-unhooking device 9 of the present invention is a locking mechanism that automatically attaches and detaches for deploying and retrieving an underwater robot and a latch spring device in the operation method disclosed in the Chinese patent CN 109733985A, specifically: the fixed part of the self-unhooking device 9 is sleeved on an outside of the movable part, the movable part is a hoisting and deployment head 96, a center of the hoisting and deployment head 96 is configured as a through-hole for allowing the umbilical cable to pass through, and a lower portion of the hoisting and lowering head 96 is fixedly connected to the ROV; and when arriving at a deployment point, the hoisting and deployment head 96 is detached from the fixed part and moves downwards a water bottom together with the ROV. The fixed part of the self-unhooking device 9 includes a hanging ring 91 disposed on the upper portion and connected to the load-bearing steel cable, a buoyancy ring 93 disposed on a lower position of the hanging ring 91, a hoisting bracket 95 disposed on a lower portion of the buoyancy ring 93, and a locking mechanism disposed between the hoisting bracket 95 and the buoyancy ring 93. The locking mechanism includes a movable locking tongue 94, and the design and principle of the locking mechanism are consistent with those of the Chinese patent CN109733985A, and will not be described in detail herein. In a specific implementation of this embodiment, the self-unhooking device 9 of the present invention is improved on the basis of the Chinese patent CN 109733985 A, specifically: the slotted plate 92 and the clasp 97 are disposed on a side edge of the fixed part of the self-unhooking device, the slotted plate 92 is provided as entry and exit for taking out the umbilical cable from the fixed part, and placing the umbilical cable into the fixed part, and the clasp 97 is configured to fixed the slotted plate 92 on the fixed part. In a specific implementation of this embodiment, as shown in FIGs. 5-6, the buoy of the present invention further includes an anti-swing device, the anti-swing device includes upper anti-swing device 8 and anti-swing bases which are matched with each other, and during assembly, the antiswing bases are used for supporting the upper anti-swing device 8; and the upper anti-swing device 8 are disposed in a middle of the buoy body 1, and the anti-swing bases are arranged at a top of the ROV. In a specific implementation of this embodiment, the anti-swing base is disposed on an upper portion of a frame of an ROV body, and the upper anti-swing device 8 and the anti-swing base are supported by point-to-point load-bearing via conical surfaces, such that the buoy body 1 achieves the load bearing by the ROV through the anti-swing device. Since the upper anti-swing device 8 and the anti-swing base adopt the point-to-point load-bearing via the conical surfaces, which involves a larger contact area, and can play the stable and fixed role in the structure to some extent, such that the stability of the integrated deployment of the buoy and the ROV can be significantly improved. Preferably, upper portions of the upper anti-swing apparatuses 8 are connected to the buoy body 1 through threads, and lower portions of the anti-swing bases are fixed to the upper portion of the frame of the ROV through bolts and nuts. In a specific implementation of this embodiment, a lower portion of the buoy body 1 is co-shaped with an upper structure of the ROV, that is, they are concave-convex assembly settings. In a specific implementation of this embodiment, the buoy of the present invention further includes a Beidou antenna 5 and an image transmission antenna 3 disposed on the buoy body 1, where the Beidou antenna 5 is configured to provide positioning for the buoy body 1, and the image transmission antenna 3 is configured to complete the interaction of monitoring information between water surface and the shore station; and the Beidou antenna 5 is in communication connection with the image transmission antenna 3, the Beidou antenna 5 transmits position information to the image transmission antenna 3 via a switch, and the image transmission antenna 3 transmits all information received from the switch to a computer control center of the shore station. In a specific implementation of this embodiment, the buoy of the present invention further includes a floodlight 2 and a camera 4 disposed on the buoy body 1, where the floodlight 2 is configured to assist the camera 4 in monitoring a water surface environment, and the camera 4 is configured to photograph water surface environment conditions and transmit the photographed content to the computer control center of the shore station. In a specific implementation of this embodiment, the buoy of the present invention further includes an ultra-short baseline positioning system 11 and an acoustic Doppler current profiler 12 are disposed on the lower portion of the buoy body 1, the ultra-short baseline positioning system 11 and the acoustic Doppler current profiler 12 are respectively in communication connection with the image transmission antenna 3, and the ultra-short baseline positioning system 11 is configured to acoustically locate the position of the ROV relative to the buoy, so as to improve the accuracy of the absolute positioning of the ROV; the acoustic Doppler current profiler 12 is configured to acquire a vertical profile water flow velocity and effectively monitor underwater water flow conditions by using the acoustic Doppler principle, thereby facilitating safety pre-control of ROV operation; the ultra-short baseline positioning system 11 transmits the underwater acoustic positioning information to the image transmission antenna 3 via the switch; the acoustic Doppler current profiler 12 transmits the flow velocity information to the image transmission antenna 3 via the switch; and the image transmission antenna 3 transmits the received information to the computer control center of the shore station. In a specific implementation of this embodiment, the buoy body 1 is connected to the floating ball 7 through the cable on a winch 6, the winch 6 is disposed on the buoy body 1, one end of the cable on the winch 6 is connected to the winch 6, and the other end thereof is connected to the floating ball 7. In a specific implementation of this embodiment, a floating body is equipped with a self-powered device, and the self-powered device is electrically connected to the winch 6, a floodlight 2, acamera 4, and a communication device disposed on the buoy body 1, respectively, to supply power for them. The communication device disposed on the buoy body 1 includes the image transmission antenna 3, the Beidou antenna 5, the ultra-short baseline positioning system 11, and the acoustic Doppler current profiler 12. Preferably, the self-powered device is a power lithium battery. In a specific implementation of this embodiment, the buoy body 1 is a buoyancy block that meets the positive buoyancy requirements, it has safe and effective suspension capabilities, and provides a possibility for water surface monitoring. In a specific implementation of this embodiment, as shown in FIGs. 1-3, the buoy of the present invention further includes thrusters 10, and the thrusters 10 are disposed at one end of the buoy body 1 for supplying power for the buoy body 1. The self-powered device is further electrically connected to the thrusters 10 to supply power for the thrusters. In a specific implementation of this embodiment, at least four thrusters 10 are disposed at ends of front and rear sides of the buoy body 1, respectively; preferably, the four thrusters 10 are arranged according to a vector method, it satisfies requirements for buoy’s multiple of degrees in movement, which not only improves power, but also saves energy. In a specific implementation of this embodiment, an arrangement method of the vector method is as follows: the buoy is equipped with the thrusters propellers 10 located on a same horizontal plane, the thrusters 10 are arranged in an eight-shaped pattern at four comers, and a thrust direction of the thrusters and an axis thereof form an included angle of 45°; and the arrangement by the vector method can be used for controlling multi-degree-of-freedom motion and effectively improve the propulsion efficiency. The deployment and recovery process of the present invention is as follows: when the ROV is deployed, a hoisting and deployment device on the shore station establishes a connection with the self-unhooking device 9 placed in the floating ball 7 through the load-bearing steel cable, and meanwhile, the umbilical cable passes through the floating ball; and the loadbearing steel cable hoists the buoy and the ROV, and the buoy body 1 is borne by the ROV body through the anti-swing device, in which case, the buoy, the floating ball and the ROV form a trinity, such that the integrated hoisting and deployment are implemented. When the ROV enters water and meets floating conditions of the buoy body 1, as the ROV continues diving, the floating ball 7 meets its own buoyancy requirements; and since the movable part of self-unhooking device 9 in the floating ball 7 is detached from the fixed part due to the buoyancy, the ROV is accordingly detached from the floating ball 7, in which case, the floating ball 7 is pulled by the winch 6 of the buoy body 1 through the cable. Subsequently, the shore station recovers the self-unhooking device 9 through the load-bearing steel cable, so as to prevent the umbilical cable from being stuck and restricted in the self-unhooking device 9, and cause damage to the umbilical cable, adversely affecting the operation of the ROV, during the operation of the ROV. After the self-unhooking device 9 is recovered to the shore station, the operator unfastens the clasp 97 on the fixed part to remove the slotted plate 92, such that the umbilical cable is detached from the fixed part. When the ROV is diving, the umbilical cable drives the floating ball 7 to move, such that the floating ball 7 and the ROV are always on the same plumb line, the buoy body 1 is in connection with the floating ball 7 by retracting a cable on the winch 6, the floating ball, and transmits the information of water surface positioning. When the ROV is recovered, the operator in the shore station places the umbilical cable into the fixed part of the self-unhooking device 9, closes the slotted plate 92, and fastens the clasp 97, and the fixed part of the self-unhooking device 9 carries the load-bearing steel cable to above the floating ball 7 along the umbilical cable; since the umbilical cable is always in a tensioned state, the fixed part of the self-unhooking device 9 slides into the through hole of the floating ball 7 due to the gravity during the recovery process, waiting for the ROV, the floating ball and the buoy to realize an integrated system; and the fixed part is in butt joint with the movable part, and the fixed part locks the movable part to achieve recovery. During recovery, the dynamic surface buoy recovers the cable through its own winch 6, and brings the floating ball 7 is into its U-shaped opening by its own power system until the winch 6 is tightened. At the same time, the shore station slides the fixed part of the self-unhooking device 9 having the load-bearing steel cable into the through hole of the floating ball 7 through the umbilical cable of the ROV, and in the process of slowly recovering the umbilical cable, the point-to-point bearing connection between the anti-swing base on the ROV and the upper anti-swing apparatus 8 on the lower portion of the buoy body is implemented, in which case, the ROV, the floating ball and the buoy form a trinity, and the integrated recovery is implemented. It should be noted that: when the ROV, the floating ball and the buoy form a trinity, the floating ball 7 is located inside the buoy body 1, the fixed part of the self-unhooking device 9 is in a state without buoyancy, and when the fixed part of the self-unhooking device 9 is aligned with upper and lower positions of the hoisting and deployment head 96 serving as the movable part, an upper portion of the hoisting and deployment head 96 pushes a movable locking tongue 94 open, and the fixed part locks the movable part to achieve recovery. It should be noted that the relation terms, for example, first, second, etc., are used herein merely for distinguishing one entity or operation from another entity or operation but do not necessarily require or imply that there exists any actual relation or sequence between these entities or operations. Furthermore, terms "comprising", "including" or any other variants thereof are intended to cover the non-exclusive including, thereby making that the process, method, object or apparatus comprising a series of elements comprise not only those elements but also other elements that are not listed explicitly or the inherent elements to the process, method, merchandise or apparatus. Without further limitations, an element limited by the phrase "comprising / including a" does not exclude that there exists another same element in the process, method, merchandise or apparatus comprising the element. Although the embodiments of the present invention have been illustrated and described, it should be understood that those of ordinary skill in the art may make various changes, modifications, replacements and variations to the above embodiments without departing from the principle and spirit of the present invention, and the scope of the present invention is limited by the appended claims and their legal equivalents.

Claims

1. A dynamic surface buoy for assisting in underwater detection, which is used for assisting in the deployment, recovery and positioning of a remote operated vehicle (ROV) and monitoring a water surface, and the dynamic surface buoy comprises a buoy body, a floating ball and a selfunhooking device, the buoy body is of a U-shaped opening structure, a clamping groove matched with an appearance structure of the floating ball is formed on a bottom of the U-shaped opening structure, a limiting portion is arranged on an upper part of the clamping groove, and the limiting portion is configured to prevent the floating ball from moving upwards or downwards to detach from the buoy body, but the floating ball can move back and forth inside the buoy body; the buoy body is connected to the floating ball through a cable; a center of the floating ball is a through-hole structure, an accommodating cavity for accommodating the self-unhooking device is formed in the through hole, and the through hole is further configured to allow an umbilical cable to be connected to a shore station and the ROV to pass through; and the self-unhooking device comprises a movable part and a fixed part that are matched with each other, and the fixed part releases the movable part under the action of buoyancy, such that the movable part is detached from the fixed part, and the fixed part can lock the movable part in the absence of buoyancy. During the deployment and retrieval of an underwater robot, an upper part of the self-unhooking device is connected to one end of a load-bearing steel cable fixed at the shore station, and the other end thereof is used for deploying and retrieving the underwater robot. A lower part of the selfunhooking device is connected to the underwater robot. After successful deployment, the fixed part of the self-unhooking device is retrieved by the shore station via the load-bearing steel cable. During retrieval, the fixed part of the self-unhooking device enters into the through-hole of the floating ball along the umbilical cable, preparing for docking with the movable part.

2. The dynamic surface buoy for assisting in underwater detection according to claim 1, characterized by further comprising an anti-swing device, the anti-swing device comprises upper anti-swing devices and anti-swing bases which are matched with each other, and during assembly, the anti-swing bases are used for supporting the upper anti-swing devices; and the upper antiswing devices are disposed in a middle of the buoy body, and the anti-swing bases are arranged at a top of the ROV.

3. The dynamic surface buoy for assisting in underwater detection according to claim 1, characterized in that a lower portion of the buoy body is conformal with an upper structure of the ROV, that is, they are concave-convex assembly settings.

4. The dynamic surface buoy for assisting in underwater detection according to claim 1, characterized by further comprising a Beidou antenna and an image transmission antenna disposed on the buoy body, the Beidou antenna is configured to provide positioning for the buoy body, andthe image transmission antenna is configured to complete the interaction of monitoring information between water surface and the shore station; the Beidou antenna is in communication connection with the image transmission antenna, the Beidou antenna transmits position information to the image transmission antenna via a switch, and the image transmission antenna transmits all information received from the switch to a computer control center of the shore station.

5. The dynamic surface buoy for assisting in underwater detection according to claim 1, characterized by further comprising a floodlight and a camera disposed on the buoy body, the floodlight is configured to assist the camera in monitoring a water surface environment, and the camera is configured to photograph water surface environment conditions and transmit the photographed content to the computer control center of the shore station.

6. The dynamic surface buoy for assisting in underwater detection according to claim 4, characterized by further comprising an ultra-short baseline positioning system and an acoustic Doppler current profiler are disposed on the lower portion of the buoy body, the ultra-short baseline positioning system and the acoustic Doppler current profiler are respectively in communication connection with the image transmission antenna, and the ultra-short baseline positioning system is configured to acoustically locate the position of the ROV relative to the buoy; the acoustic Doppler current profiler is configured to acquire a vertical profile water flow velocity; the ultra-short baseline positioning system transmits the underwater acoustic positioning information to the image transmission antenna via the switch; the acoustic Doppler current profiler transmits the flow velocity information to the image transmission antenna via the switch; and the image transmission antenna transmits the received information to the computer control center of the shore station.

7. The dynamic surface buoy for assisting in underwater detection according to claim 1, characterized in that the buoy body is connected to the floating ball through the cable on a winch, the winch is disposed on the buoy body, one end of the cable on the winch is connected to the winch, and the other end thereof is connected to the floating ball.

8. The dynamic surface buoy for assisting in underwater detection according to claim 5, characterized in that the floating body is equipped with a self-powered device.

9. The dynamic surface buoy for assisting in underwater detection according to claim 1, characterized in that the buoy body is a buoyancy block that meets the positive buoyancy requirements, and it has safe and effective suspension capabilities, and provides a possibility for water surface monitoring.

10. The dynamic surface buoy for assisting in underwater detection according to claim 1, characterized by further comprising propellers, and the propellers are disposed at one end of the buoy body for supplying power for the buoy body.

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