Ultra-large underwater unmanned vehicle dock wet recovery tractor and traction method thereof

Abstract

The present invention proposes a wet recovery tractor for a super-large underwater unmanned vehicle dock, comprising a tractor platform as a whole connected to a dock cabin through a traction device, the tractor platform as a whole comprising a tractor straight deck, the top surface of the tractor straight deck being formed into an arc surface matching the shape of the unmanned vehicle, the bottom surface of the tractor straight deck being provided with a plurality of reinforced road wheels; one end of the tractor straight deck being open, the other end of the tractor straight deck being provided with a fairing; the tractor straight deck is also provided with an underwater control system, a fastening device system and a high-precision power system. The present invention simplifies the process of deploying and recovering super-large UUVs from inside a dock, reduces the impact of complex marine environment on UUV recovery and docking, increases the effective load capacity of UUVs, reduces the draft of UUVs, and at the same time has a good protective effect on the UUV platform during the recovery process.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater vehicles, and in particular relates to a wet recovery tractor for an ultra-large underwater unmanned vehicle dock and a traction method thereof. Background Art

[0002] Conventional methods for recovering underwater unmanned vehicles (UUVs) mainly include hook lifting, fishing net fishing, stern slide rail deployment and traction, etc., but these deployment and recovery methods greatly limit the size and load capacity of UUVs, and also limit the overall performance of UUVs. For ultra-large UUVs (usually referring to UUVs with a displacement of more than 100 tons or that cannot be transported using conventional lifting methods) equipped with complex multiple sensors and with a long range, the above-mentioned deployment and recovery methods or devices cannot meet their requirements. Using an amphibious landing ship in a dock wet recovery is one of the good deployment and recovery methods for ultra-large UUVs. However, this method also places high requirements on the draft depth of the equipment inside the dock, and UUVs are usually slightly positive buoyant, that is, the UUV platform is almost entirely below the water surface. If a large amount of buoyancy adjustment capacity is reserved, precious load space is wasted. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a wet recovery tractor for a super-large underwater unmanned vehicle dock, comprising a tractor platform as a whole connected to a dock cabin through a traction device, the tractor platform as a whole comprising a tractor straight deck, the top surface of the tractor straight deck being formed as an arc surface matching the shape of the unmanned vehicle, and the bottom surface of the tractor straight deck being provided with a plurality of reinforced road wheels; one end of the tractor straight deck being open, and the other end of the tractor straight deck being provided with a deflector;

[0004] The straight deck of the tractor is also provided with an underwater control system, a fastening device system and a high-precision power system. The underwater control system is used for parsing and issuing control instructions from the mother ship, the fastening device system is used for fastening the unmanned aerial vehicle to the straight deck of the tractor, and the high-precision power system is used for providing the tractor with high-precision six-degree-of-freedom underwater maneuverability.

[0005] Furthermore, the deflector includes a tractor deflector upper shell and a tractor deflector lower shell, and the tractor deflector upper shell and the tractor deflector lower shell are fixed to a structural steel frame composed of I-beams on the straight deck of the tractor by screws.

[0006] Furthermore, a cable interface is provided on the deflector, and the underwater control system includes a main body arranged inside the deflector upper shell of the tractor, and the main body is connected to the cable interface and other actuators. The main body receives energy supply and control instructions from the mother ship through the cable interface and transmits relevant data back to the tractor.

[0007] Furthermore, the cable interface includes a cable interface responsible for energy and control signals and a steel cable interface responsible for bearing tension, the number of the cable interface is one and is located at the center of the head of the deflector, the number of the steel cable interfaces is two and is distributed on both sides of the cable interface, and the steel cable interface is connected to the traction device through a steel cable;

[0008] Every two pairs of the reinforced road wheels form a group, the reinforced road wheels themselves have no power and each of the reinforced road wheels has an independent shock absorbing device.

[0009] Furthermore, the fastening device includes a flexible fastening belt and a fastening adjustment device, the flexible fastening belt has a certain tension strength; the fastening adjustment device includes a self-locking motor, and the end of the flexible fastening belt is fixedly connected to the output shaft of the self-locking motor.

[0010] Furthermore, the high-precision power system includes a plurality of thrusters arranged according to the xyz three-axis coordinate system, specifically including:

[0011] Two bow axial thrusters are installed at the head of the deflector and arranged along the axial direction of the tractor platform as a whole. The forward and reverse rotation of the bow axial thrusters is used to control the forward and backward movement of the tractor platform as a whole.

[0012] Two bow lateral auxiliary thrusters are installed at the head of the deflector and arranged perpendicular to the axial direction of the tractor platform as a whole. The forward and reverse rotation of the bow lateral auxiliary thrusters is used to control the left or right swing of the head of the tractor platform as a whole.

[0013] Two bow vertical thrusters are installed on the top surface of the straight deck of the tractor near one end of the fairing and are arranged perpendicular to the axial direction of the tractor platform as a whole. The forward and reverse rotation of the bow vertical thrusters is used to control the lifting or lowering of the head of the tractor platform as a whole.

[0014] Two stern vertical auxiliary thrusters are installed on the top surface of one end of the tractor's straight deck away from the fairing and are arranged perpendicular to the axial direction of the tractor platform as a whole. The forward and reverse rotation of the stern vertical auxiliary thrusters is used to control the lifting or lowering of the tail of the tractor platform as a whole.

[0015] Two stern lateral auxiliary thrusters are installed on both sides of the end of the tractor's straight deck away from the fairing and are arranged perpendicular to the axial direction of the tractor platform as a whole. The forward and reverse rotation of the stern lateral auxiliary thrusters is used to control the left or right swing of the tail of the tractor platform as a whole.

[0016] Furthermore, a buoyancy adjustment system is provided on the straight deck of the tractor, and the buoyancy adjustment system includes a plurality of independent buoyancy adjustment units, and the buoyancy adjustment units are evenly arranged on the bottom surface and both sides of the straight deck of the tractor. The plurality of buoyancy adjustment units can adjust the buoyancy state and balance state of the tractor.

[0017] Furthermore, a docking guidance system is also provided on the straight deck of the tractor, and the docking guidance system includes an acoustic guidance component and an optical guidance component:

[0018] The acoustic guidance assembly includes a bow rear-view guidance sonar installed at the tail of the deflector, and the acoustic guidance assembly is used to assist the long-range guidance of the UUV;

[0019] The optical guidance assembly includes a stern rear-view LED light, a stern rear-view high-definition camera, a bow rear-view high-definition pan-tilt camera and a guidance light array. The stern rear-view LED light and the stern rear-view high-definition camera are installed at the rear end of the straight deck of the tractor, the bow rear-view high-definition pan-tilt camera is installed at the rear of the fairing, and the guidance light array is installed on both sides of the top surface of the straight deck of the tractor; the optical guidance assembly is used to assist the UUV in medium and short-range guidance.

[0020] The above-mentioned ultra-large underwater unmanned vehicle dock wet recovery and towing method comprises the following steps:

[0021] The tractor platform enters the water from the rear deck of the mother ship dock.

[0022] Relative navigation of the tractor platform as a whole and the UUV;

[0023] The tractor platform is generally connected to the UUV;

[0024] The tractor platform carries the UUV back to the dock.

[0025] Furthermore, the tractor platform is connected to the UUV as a whole and specifically includes the following steps:

[0026] At the beginning of the voyage, since the distance between the tractor and the UUV is relatively far, the tractor platform generally performs acoustic navigation on the UUV, and the UUV can approach the tractor according to the guidance of the tractor;

[0027] As the distance between the tractor and the UUV decreases, when the tractor platform as a whole enters the recovery and docking operation range, the optical guidance component is used in conjunction with the high-precision power system to adjust the posture of the thruster, so that the tractor platform as a whole and the UUV can achieve coaxial docking;

[0028] When the top of the UUV enters the deflector of the tractor platform, the fastening device starts to work to tighten the flexible fastening belt, and stably connects the UUV to the flat deck of the tractor.

[0029] The beneficial effects of the present invention are:

[0030] 1. The wet deployment and recovery process of ultra-large UUVs from inside the dock is realized: Since the transportation and maintenance of ultra-large UUVs are very difficult, their tonnage and size also limit their deployment and recovery methods. This application overcomes the limitations and constraints of traditional deployment and recovery methods.

[0031] 2. Effectively reduce the impact of the external environment on the UUV recovery process: Since the docking and fastening of the dock wet recovery tractor and the UUV are completed underwater, the interference of waves on the sea surface and near the sea surface is avoided, and the wake and water flow around the mother ship during the recovery process are also avoided.

[0032] 3. Increase the effective mission load space of UUV: The patent of this invention reduces the internal load space occupied by the reserve buoyancy by adjusting the reserve buoyancy during the deployment and recovery process of UUV to the tractor, thereby greatly increasing the mission load carrying capacity of UUV.

[0033] 4. Reduce the draft of UUV when returning to dock: In the present invention, with the assistance of the tractor, the draft of the ultra-large UUV can be greatly reduced, and the tonnage and size limit of the recoverable UUV are increased without changing the draft, which greatly improves the UUV's ability to perform tasks.

[0034] 5. Provide good protection for the UUV platform during the recovery process: During the recovery process, there will be relative movement between the UUV and the mother ship, and there is a risk of mutual collision and scratching; and in the process of returning to the dock, due to the large and uneven external force, the UUV's structure is easily damaged; this application uses a tractor to strengthen the structure and flat deck to effectively solve the risks of uneven force and collision; at the same time, due to the effect of the road wheels under the tractor, the static friction between the UUV and the mother ship's dock deck can be reduced.

[0035] 6. Simplified the underwater docking process of super-large UUVs: Underwater disturbance is small, and autonomous docking and fastening operations are achieved by using the coordinated control and guidance between the two platforms. This avoids the mother ship support personnel from performing hooking and deck operations, etc., greatly reducing the safety and economy of UUV deployment and recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of the present invention,

[0037] Figure 2 It is a left view of the present invention,

[0038] Figure 3 It is a right side view of the present invention,

[0039] Figure 4 is the front view of the present invention,

[0040] Figure 5 is a top view of the present invention,

[0041] Figure 6 is a bottom view of the present invention,

[0042] Figure 7 It is a schematic diagram of the working state of the present invention.

[0043] Serial number and name of the attached drawings: 1. Straight deck of tractor, 2. Bow axial thruster, 3. Cable interface, 4. Bow lateral auxiliary thruster, 5. Bow vertical thruster, 6. Reinforced road wheels, 7. Independent buoyancy reserve unit, 8. Tail rear-view LED, 9. Tail rear-view HD camera, 10. Tail vertical auxiliary thruster, 11. Flexible fastening belt, 12. Fastening adjustment device, 13. Bow rear-view guidance sonar, 14. Bow rear-view HD PTZ camera, 15. Guidance light array, 16. Tail lateral auxiliary thruster, 17. Tractor diversion upper shell, 18. Tractor diversion lower shell. DETAILED DESCRIPTION

[0044] The present invention is further described below in conjunction with the accompanying drawings and embodiments. The following embodiments are only used to explain the content of the present invention and are not used to limit the protection scope of the present invention.

[0045] like Figure 1 As shown, the present invention proposes a super-large underwater unmanned vehicle dock wet recovery tractor, whose main structure is composed of 6 major parts: the tractor platform as a whole, the underwater control system, the high-precision power system, the buoyancy adjustment system, the docking guidance system, and the fastening device system. The detailed equipment and devices in each system include: 1. The straight deck of the tractor; 2. The bow axial thruster; 3. The cable interface; 4. The bow lateral auxiliary thruster; 5. The bow vertical thruster; 6. The reinforced road wheel; 7. The independent buoyancy reserve unit; 8. The tail rear-view LED light; 9. The tail rear-view high-definition camera; 10. The tail vertical auxiliary thruster; 11. The flexible fastening belt; 12. The fastening adjustment device; 13. The bow rear-view guidance sonar; 14. The bow rear-view high-definition pan-tilt camera; 15. The guidance light array; 16. The tail lateral auxiliary thruster; 17. The tractor diversion upper shell; 18. The tractor diversion lower shell;

[0046] The overall platform of the tractor, that is, the external structure of the tractor platform, is mainly composed of the tractor straight deck 1, the cable interface 3, the reinforced road wheel 6, the tractor diversion upper shell 17, and the tractor diversion lower shell 18, and each part is fastened by fastening screws. And the interior is made of I-beams as the pressure-bearing structure, forming two horizontal and two vertical main load-bearing structures and multiple auxiliary load-bearing structural steel frames, which are responsible for the main load-bearing equipment and structural strength of the tractor. Other equipment is fixed to the load-bearing structural steel frame by fastening devices. The tractor diversion upper shell 17 and the tractor diversion lower shell 18 are fixed to the structural steel frame composed of I-beams by screws, thereby forming the diversion shape of the water-facing surface of the tractor, and are fixed to the load-bearing structural steel frame by screws.

[0047] The reinforced straight deck 1 is located at the rear of the tractor's upper deflection shell 17 and extends to the internal space surrounded by the upper deflection shell. It is mainly responsible for providing uniform bearing capacity for the super-large UUV during docking and protecting the UUV. The reinforced straight deck is fastened to the I-beam that is mainly responsible for the load-bearing structure with screws. The tail of the straight deck has a chamfer with a radius of 300mm, which is convenient for the tractor and the UUV to dock underwater. The straight deck extends to the internal space surrounded by the upper deflection shell, forming a closed protective shell that can protect the head of the UUV. At the same time, it can play a role in clamping the UUV.

[0048] like Figure 2 As shown, the cable interface 3 includes two structures: a black solid circle of the cable interface responsible for energy and control signals and a black hollow circle of the steel cable interface responsible for receiving the pulling force. Among them, the steel cable interface is divided into two, located on both sides of the cable, and connected to the steel cable respectively. When the tractor carries the UUV back to the dock, the mother ship uses the traction motor to stretch the steel cable to provide sufficient traction force for the tractor. The pulling force is distributed to the two steel cable interfaces.

[0049] like Figure 3 and Figure 4 As shown, the reinforced road wheels 6 are located at the bottom of the tractor's flat deck 1, and two pairs of road wheels form a group. Each road wheel has an independent shock-absorbing device to prevent the tractor from colliding with the dock deck due to the disturbance of waves and the mother ship during the recovery process. The road wheels themselves do not have the power traction capability, which reduces the complexity of the mechanism, increases reliability, and effectively resolves the problem of uneven force on the tractor caused by uneven roads.

[0050] The underwater control system is mainly located inside the tractor guide upper shell 17 and sealed inside the aluminum alloy pressure-resistant cabin. It is connected to the cable interface 3 and other actuators. It receives energy attack and control instructions from the mother ship through the cable interface 3. The underwater control system is mainly responsible for parsing and issuing the mother ship's control instructions, executing the execution structure, and processing and transmitting related signals.

[0051] The buoyancy regulating system is composed of multiple independent buoyancy regulating units. Located at the bottom and both sides of the straight deck 1 of the tractor, a group of buoyancy regulating units with different numbers share the same pressure regulating device. The pressure regulating device adjusts the water level in the buoyancy regulating unit and the water level difference between different buoyancy regulating units through the high-pressure gas in the high-pressure air tank at the bow of the tractor, thereby achieving the effect of adjusting the buoyancy state of the tractor and the balance state of the tractor.

[0052] like Figure 5 As shown, the docking guidance system mainly includes an acoustic guidance device and an optical guidance device. The acoustic guidance device includes a bow rear-view guidance sonar 13, which is located at the rear of the tractor guide upper shell 17; it plays the role of remote guidance and positioning of the UUV. The optical guidance device mainly includes a rear rear-view LED light 8, a rear rear high-definition camera 9, a bow rear high-definition pan-tilt camera 14, and a guidance light array 15. The tail rear-view LED light 8 is located at the rear of the tractor's straight deck 1, and is mainly responsible for medium and short-range optical rough guidance and auxiliary lighting of the tail rear-view high-definition camera 9; the tail rear-view high-definition camera 9 is located at the rear of the tractor's straight deck 1, above the tail rear-view LED light 8, and is mainly responsible for close-range video acquisition during the docking guidance process, so that the mother ship operator can control the tractor in real time; the bow rear-view high-definition pan-tilt camera 14 is located at the rear of the tractor's guide upper shell 17, and is mainly responsible for global video acquisition during the docking guidance process. The pan-tilt camera has 2 degrees of freedom rotation; the guidance light array 15 is located at the upper part of both sides of the tractor's straight deck 1, divided into two rows of 12 LEDs, etc., and is mainly responsible for high-precision relative position guidance and indication at close range.

[0053] The high-precision power system mainly includes two bow axial thrusters 2; one bow lateral auxiliary thruster 4; two bow vertical thrusters 5; two tail vertical auxiliary thrusters 10; and two tail lateral auxiliary thrusters 16. Each thruster has forward and reverse and differential functions to form a torque. The bow axial thruster 2 mainly provides the propulsion power for the tractor; the other thrusters provide the tractor with high-precision 6-DOF underwater maneuverability.

[0054] The fastening device system mainly includes a flexible fastening belt 11 and a fastening adjustment device 12, wherein the flexible fastening belt 11 has a certain tension strength to ensure that its shape is not changed by the ocean current and its own gravity and buoyancy when it is opened; at the same time, the flexible fastening belt 11 can be rolled up by the motor of the fastening adjustment device 12, thereby reducing the opening size of the flexible fastening belt 11. The fastening adjustment device 12 relies on the internal rotating motor to adjust the flexible fastening belt 11, and it has its own positioning and locking capabilities to ensure that the fastening device system can fasten the UUV to the tractor.

[0055] The specific method of using a tractor to recover an ultra-large UUV in the present invention is as follows:

[0056] First, the tractor enters the water from the rear deck of the mother ship's dock and uses its own power system, namely two axial propulsion devices, to sail in the direction of the UUV. Its energy is provided by the mother ship through the umbilical cable, and at the same time, control commands are issued and perception information is interacted.

[0057] Secondly, during the navigation process, the tractor conducts acoustic navigation for the UUV, and the UUV can approach according to the guidance of the tractor. After entering the recovery and docking operation range, the tractor and the UUV sail at a low speed, and the UUV is mainly responsible for slow straight-line navigation at a constant depth and speed. The tractor uses its own multiple thrusters to adjust its attitude, combined with the navigation attitude of the UUV, to achieve coaxial docking.

[0058] Once again, when the head of the UUV is pushed into the space in the front fairing of the tractor, the fastening adjustment device of the fastening device system starts to rotate and tighten the flexible fastening belt until the UUV is fastened to the tractor.

[0059] Finally, the tractor uses its own propeller and the UUV's propeller to adjust its own reserve buoyancy behind the dock deck of the mother ship to reduce the draft of the tractor carrying the UUV to meet the draft requirement of the dock. The traction motor in the dock rotates and tightens the steel cable until the tractor carrying the UUV is completely dragged into the dock.

[0060] In summary, the above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereto. All equivalent changes and modifications made according to the patent scope of the present invention and the contents of the specification are within the scope covered by the patent of the present invention.

Claims

1. A wet recovery tractor for an ultra-large underwater unmanned vehicle, comprising a tractor platform connected to a dock via a traction device, characterized in that: The tractor platform generally comprises a tractor straight deck, the top surface of which is formed into a curved surface matching the shape of the unmanned aerial vehicle, and the bottom surface of which is provided with a plurality of reinforced road wheels; one end of the tractor straight deck is open, and the other end of the tractor straight deck is provided with a deflector; The straight deck of the tractor is also provided with an underwater control system, a fastening device system and a high-precision power system. The underwater control system is used for parsing and issuing control instructions from the mother ship, the fastening device system is used for fastening the unmanned aerial vehicle to the straight deck of the tractor, and the high-precision power system is used for providing the tractor with high-precision six-degree-of-freedom underwater maneuverability; The deflector comprises an upper deflector shell of a tractor and a lower deflector shell of a tractor, and the upper deflector shell of a tractor and the lower deflector shell of a tractor are fixed to a structural steel frame composed of I-beams on a straight deck of the tractor by screws; The deflector is provided with a cable interface, and the underwater control system includes a main body arranged inside the deflector upper shell of the tractor, and the main body is connected with the cable interface and other actuators, and the main body receives energy supply and control instructions from the mother ship through the cable interface and transmits relevant data back to the tractor; The cable interface includes a cable interface responsible for energy and control signals and a steel cable interface responsible for bearing tension, the number of the cable interface is one and is located at the center of the head of the fairing, the number of the steel cable interfaces is two and is distributed on both sides of the cable interface, and the steel cable interface is connected to the traction device through a steel cable; Every two pairs of the reinforced road wheels form a group, the reinforced road wheels themselves have no power and each reinforced road wheel has an independent shock absorbing device; The fastening device comprises a flexible fastening belt and a fastening adjustment device, wherein the flexible fastening belt has a certain tension strength; the fastening adjustment device comprises a self-locking motor, and the end of the flexible fastening belt is fixedly connected to the output shaft of the self-locking motor.

2. The ultra-large underwater unmanned vehicle dock wet recovery tractor according to claim 1, characterized in that: The high-precision power system includes a number of thrusters arranged along the xyz three-axis coordinate system, specifically including: Two bow axial thrusters are installed at the head of the deflector and arranged along the axial direction of the tractor platform as a whole. The forward and reverse rotation of the bow axial thrusters is used to control the forward and backward movement of the tractor platform as a whole. Two bow lateral auxiliary thrusters are installed at the head of the deflector and arranged perpendicular to the axial direction of the tractor platform as a whole. The forward and reverse rotation of the bow lateral auxiliary thrusters is used to control the left or right swing of the head of the tractor platform as a whole. Two bow vertical thrusters are installed on the top surface of the straight deck of the tractor near one end of the fairing and are arranged perpendicular to the axial direction of the tractor platform as a whole. The forward and reverse rotation of the bow vertical thrusters is used to control the lifting or lowering of the head of the tractor platform as a whole. Two stern vertical auxiliary thrusters are installed on the top surface of one end of the tractor's straight deck away from the fairing and are arranged perpendicular to the axial direction of the tractor platform as a whole. The forward and reverse rotation of the stern vertical auxiliary thrusters is used to control the lifting or lowering of the tail of the tractor platform as a whole. Two stern lateral auxiliary thrusters are installed on both sides of the end of the tractor's straight deck away from the fairing and are arranged perpendicular to the axial direction of the tractor platform as a whole. The forward and reverse rotation of the stern lateral auxiliary thrusters is used to control the left or right swing of the tail of the tractor platform as a whole.

3. The ultra-large underwater unmanned vehicle dock wet recovery tractor according to claim 1, characterized in that: The straight deck of the tractor is also provided with a buoyancy adjustment system, which includes a plurality of independent buoyancy adjustment units, and the buoyancy adjustment units are evenly arranged on the bottom surface and both sides of the straight deck of the tractor. The plurality of buoyancy adjustment units can adjust the buoyancy state and balance state of the tractor.

4. The ultra-large underwater unmanned vehicle dock wet recovery tractor according to claim 1, characterized in that: The tractor straight deck is also provided with a docking guidance system, which includes an acoustic guidance component and an optical guidance component: The acoustic guidance assembly includes a bow rear-view guidance sonar installed at the tail of the deflector, and the acoustic guidance assembly is used to assist the long-range guidance of the UUV; The optical guidance assembly includes a stern rear-view LED light, a stern rear-view high-definition camera, a bow rear-view high-definition pan-tilt camera and a guidance light array. The stern rear-view LED light and the stern rear-view high-definition camera are installed at the rear end of the straight deck of the tractor, the bow rear-view high-definition pan-tilt camera is installed at the rear of the fairing, and the guidance light array is installed on both sides of the top surface of the straight deck of the tractor; the optical guidance assembly is used to assist the UUV in medium and short-range guidance.

5. A towing method using the ultra-large underwater unmanned vehicle dock wet recovery tractor according to any one of claims 1 to 4, characterized in that: The following steps are involved: The tractor platform enters the water from the rear deck of the mother ship dock. Relative navigation of the tractor platform as a whole and the UUV; The tractor platform is generally connected to the UUV; The tractor platform carries the UUV back to the dock.

6. The towing method of the ultra-large underwater unmanned vehicle dock wet recovery tractor according to claim 5, characterized in that: The tractor platform is connected to the UUV in the following steps: At the beginning of the voyage, since the distance between the tractor and the UUV is relatively far, the tractor platform generally performs acoustic navigation on the UUV, and the UUV can approach the tractor according to the guidance of the tractor; As the distance between the tractor and the UUV decreases, when the tractor platform as a whole enters the recovery and docking operation range, the optical guidance component is used in conjunction with the high-precision power system to adjust the posture of the thruster, so that the tractor platform as a whole and the UUV can achieve coaxial docking; When the top of the UUV enters the deflector of the tractor platform, the fastening device starts to work to tighten the flexible fastening belt, and stably connects the UUV to the flat deck of the tractor.

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