A cage-type AUV active recovery device

Abstract

The present invention relates to the technical field of autonomous underwater vehicles, and more specifically, to a cage-type AUV active recovery device, including a cage frame, wherein a channel for inserting an AUV is provided in the cage frame, and a locking mechanism for fixing the AUV that has entered the channel is also provided on the cage frame; the cage frame is provided with a plurality of propulsion mechanisms for driving the cage frame to move; and the cage frame is also provided with a plurality of cameras. By providing the propulsion mechanism and the camera, an operator on the water can move the cage frame underwater by controlling the propulsion mechanism; the existing recovery device cannot actively move underwater, and can only rely on the movement of the AUV to align the AUV with the recovery device, while the cage frame in the present invention can actively move, cooperate with the actively moving AUV, so that the AUV and the channel in the cage frame can be quickly aligned, which is more efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous underwater vehicles, and more specifically, to a cage-type AUV active recovery device. Background Art

[0002] AUV is a type of underwater robot, called Autonomous Underwater Vehicle (AUV). AUV has its own energy source and relies on its own ability to manage and control itself to complete a series of underwater operations. AUV is mainly divided into intelligent and pre-programmed. Today, AUV has matured and is not only suitable for expensive military systems, but also widely used in academic research and can be operated in an operational system that can complete tasks.

[0003] As my country's marine utilization area continues to expand, the research of underwater robots has become a hot topic in marine exploration and development. At present, there are many different types of underwater robots used in various fields such as seawater quality detection, seabed exploration, search and arrest support, scientific investigation, etc. Underwater robots are highly applicable and have a wide range of uses, but due to the harsh and complex environment of underwater operations, the recovery of AUVs on the sea surface and under the sea has become a problem.

[0004] There is an existing AUV recovery device, which includes a structural body, a large pitch nut, a large pitch lead screw, an elastic flip guide body, etc. The shell and the end plate are welded together to form the structural body; the middle plate and the end plate are connected by a large pitch lead screw, wherein the lead screw is directly fixed on the end plate and fixed on the bearing of the middle plate through a nut; the large pitch nut is connected to the elastic flip guide body through a hole on the middle plate, and makes a spiral motion on the lead screw, and the motion is transmitted to the elastic flip guide body through the nut, so that the AUV is released underwater, and the AUV pushes the middle plate to push the large pitch nut to complete the recovery.

[0005] When the above-mentioned existing AUV recovery device is operating in the sea, due to the strong current in the seawater, it will drift with the current, making it difficult for the AUV to align with the recovery device. The AUV needs to constantly adjust its position and posture to align with the recovery device and enter the recovery device. This results in the existing recovery device being unable to quickly complete the recovery operation of the AUV underwater, and the process of recovering the AUV is relatively inefficient. Summary of the invention

[0006] In order to overcome the problem that the AUV recovery device in the prior art cannot quickly complete the recovery operation of the AUV underwater, the present invention provides a cage-type AUV active recovery device.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: a cage-type AUV active recovery device, including a cage frame, a channel for AUV insertion is provided in the cage frame, and a locking mechanism for fixing the AUV that has entered the channel is also provided on the cage frame; a plurality of propulsion mechanisms for driving the cage frame to move are provided on the cage frame; and a plurality of cameras are also provided on the cage frame.

[0008] The propulsion mechanism is used to provide power for the cage so that the cage can move underwater; the camera is used to enable the operator on the water to see the underwater situation, so that the operator can control the moving direction of the cage through the propulsion mechanism, thereby enabling the channel to be quickly aligned with the AUV, allowing the AUV to quickly enter the channel and be fixed by the locking mechanism, thereby achieving the effect of quickly recovering the AUV.

[0009] Furthermore, the propulsion mechanism includes multiple horizontal propellers and multiple rotary propellers; the multiple horizontal propellers are symmetrically arranged on two opposite sides of the cage with the center line of the cage as the axis, and the horizontal propellers are arranged at the middle position of the side of the cage; the multiple rotary propellers are arranged on two opposite sides of the cage, and the multiple rotary propellers on each side of the cage are arranged at both ends of the side along the axis of the cage.

[0010] Furthermore, the propulsion mechanism includes a driving member, a central axis and a plurality of fan blades, the fan blades are arranged on the central axis, the central axis is dynamically connected to an output end of the driving member, and the driving member drives the central axis to rotate; the fan blades are bent toward the side of the driving member in the direction of rotation of the central axis.

[0011] Furthermore, a heave plate is provided under the cage, the heave plate is connected to the cage through a connecting piece, and the projection area of ​​the heave plate in the vertical direction is larger than the projection area of ​​the cage in the vertical direction; a plurality of spoiler fins for increasing the lateral resistance of the heave plate in water are provided at the bottom of the heave plate.

[0012] Furthermore, the heave plate is provided with a plurality of heave holes, which are symmetrically distributed on both sides of the heave plate with the center line of the heave plate as the axis; the cross-section of the heave hole is a regular hexagon, and the interval distance between any two adjacent heave holes is equal.

[0013] Furthermore, the locking mechanism includes a shell with a hollow and sealed interior and a plurality of locking disks; the outer wall of the shell is a hard layer, and the inner wall of the shell is a deformable soft layer; the locking disk is arranged inside the shell, and the locking disk is provided with a plurality of locking mechanisms for clamping the AUV; the channel runs through the middle of the shell and the locking disk.

[0014] Furthermore, the locking mechanism includes a cylinder body, a piston and a swivel arm for injecting fluid, the middle part of the swivel arm is hinged on the locking plate, one end of the swivel arm is hinged to the piston, and the other end is a free end, the piston is slidably inserted in the cylinder body, and the end of the cylinder body away from the swivel arm is hinged on the locking plate.

[0015] Furthermore, an elastic member is sleeved on the cylinder body and the piston, one end of the elastic member is connected to the piston, and the other end is connected to the cylinder body; the elastic force of the elastic member is smaller than the static friction between the cylinder body and the piston; a flexible pad is provided on the free end of the rotating arm.

[0016] Furthermore, guide tubes are provided at both ends of the shell, and the guide tubes are connected to the channel; the inner diameter of the guide tube gradually increases in the direction away from the shell, and the smallest inner diameter of the guide tube is the same as the channel; the guide tube is an elastic guide tube.

[0017] Furthermore, the cage is provided with a power generation device that utilizes water flow to generate electricity, and the power generation device is electrically connected to the camera and the propulsion mechanism; an inflatable air bag is provided on the top of the cage; and a fin-type water flow sensor that can rotate with the water flow is also rotatably provided on the cage.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. By setting up a propulsion mechanism and a camera, the operator on the water can move the cage underwater by controlling the propulsion mechanism; the existing recovery device cannot actively move underwater, and can only rely on the movement of the AUV to align the AUV with the recovery device, while the cage in the present invention can actively move and cooperate with the actively moving AUV, so that the AUV and the channel in the cage can be quickly aligned, which is more efficient;

[0020] 2. By bending the side of the fan blade facing the driving member in the direction of rotation of the central axis, the negative pressure generated when the side of the fan blade rotates can be reduced, thereby reducing the generation of cavitation around the fan blade, thereby preventing the fan blade from being damaged by cavitation. At the same time, the thickness of the fan blade in the length direction can be made different, which can also play a role in avoiding cavitation;

[0021] 3. By setting a heave plate under the cage, the impact of waves and water flow on the cage is reduced, which greatly increases the stability of the cage in the vertical direction and reduces the probability of the cage rolling over;

[0022] 4. By placing the locking disk in a sealed shell, the locking disk does not need to contact the seawater, thus preventing the locking disk from being corroded and damaged by the seawater. The outer side of the shell is a hard layer, which can protect the locking disk inside it and prevent it from being damaged by foreign objects in the seawater. The inner side of the shell is a deformable soft layer, so that the locking mechanism inside the shell can still clamp the AUV by deforming the soft layer.

[0023] 5. By setting up a power generation device, when the cage is operating in the water, the power generation device can use the water flow to generate electricity to supply electricity to power facilities such as cameras and propulsion mechanisms, thereby reducing electricity consumption for the mother ship on the water surface; by setting up an air bag, in an emergency (such as when the lifting cable breaks and the control of the cage is lost), the compressed air provided by the compressed gas cylinder can be pumped into the air bag to generate buoyancy and float the entire cage to the water surface, making it easier to find and salvage and recover. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of an embodiment of a cage-type AUV active recovery device of the present invention;

[0025] Figure 2 It is a schematic diagram of the overall structure of an embodiment of a cage-type AUV active recovery device of the present invention from another perspective;

[0026] Figure 3 It is a structural schematic diagram of a propulsion mechanism in an embodiment of a cage-type AUV active recovery device of the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of the fan blades and the central axis in an embodiment of a cage-type AUV active recovery device of the present invention;

[0028] Figure 5 It is a structural schematic diagram of a shell in an embodiment of a cage-type AUV active recovery device of the present invention;

[0029] Figure 6 It is a schematic diagram of the internal structure of a shell in an embodiment of a cage-type AUV active recovery device of the present invention;

[0030] Figure 7 It is a structural schematic diagram of a locking disk in an embodiment of a cage-type AUV active recovery device of the present invention;

[0031] Figure 8 It is a structural schematic diagram of a locking mechanism in an embodiment of a cage-type AUV active recovery device of the present invention.

[0032] In the attached drawings: 1. cage; 2. channel; 3. propulsion mechanism; 31. drive member; 32. central axis; 33. fan blades; 34. horizontal thruster; 35. rotary thruster; 4. camera; 5. mother ship lifting connection point; 6. heave plate; 7. heave hole; 8. spoiler fin; 9. shell; 91. hard layer; 92. soft layer; 10. locking disk; 11. locking mechanism; 111. cylinder; 112. piston; 113. swing arm; 114. elastic member; 115. flexible pad; 12. guide pipe; 13. power generation member; 14. fin-type water flow sensor; 15. airbag; 16. width indicator light; 17. lighting lamp; 18. data box; 19. connector. DETAILED DESCRIPTION

[0033] The drawings are only for illustrative purposes and cannot be construed as limiting the present invention. To better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are only for illustrative purposes and cannot be construed as limiting the present invention.

[0034] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "long", "short" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0035] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0036] Example 1

[0037] Reference Figures 1 to 8 , is an embodiment 1 of a cage-type AUV active recovery device of the present invention, comprising a cage frame 1, wherein the cage frame 1 is provided with a channel 2 for inserting the AUV, and the cage frame 1 is also provided with a locking mechanism for fixing the AUV that has entered the channel 2; the cage frame 1 is provided with a plurality of propulsion mechanisms 3 for driving the cage frame 1 to move; and the cage frame 1 is also provided with a plurality of cameras 4.

[0038] Specifically, the cage 1 is in the shape of a hexagonal prism, and the cage 1 is in a horizontal posture when operating underwater. Four columnar mother ship lifting connection points 5 are provided on the top of the cage 1. The mother ship lifting connection points 5 are used to connect with cables, and the cables are used to connect with the mother ship on the water surface. When in use, the cage 1 is lowered to a position about 15 meters from the sea surface by cables, and the AUV is recovered at this position. The surface recovery is greatly affected by the surge of water waves, while the water depth of about 15 meters below the mother ship is relatively less affected by the water flow, and the water flow here is relatively calm, which is convenient for the recovery of the AUV; the cage 1 is welded from titanium metal bars; each side of the cage 1 has a plurality of hollow areas, which can reduce the weight of the cage 1 while ensuring the structural strength; the propulsion mechanism 3 is used to provide power for the cage 1 so that the cage 1 can move underwater. There are two cameras 4, which are installed on the top surface of the cage 1, and the two cameras 4 are respectively installed at both ends of the length direction of the cage 1, so that the operator can observe the situation at the head and tail ends of the cage 1 through the camera 4. The camera 4 is used to enable the operator on the water to see the underwater situation, so that the operator can control the moving direction of the cage 1 through the propulsion mechanism 3, and then the channel 2 can be quickly aligned with the AUV, so that the AUV can quickly enter the channel 2 and be fixed by the locking mechanism, so as to achieve the effect of quickly recovering the AUV.

[0039] In this embodiment, the propulsion mechanism 3 includes a driving member 31, a central axis 32 and a plurality of blades 33, wherein the blades 33 are arranged on the central axis 32, the central axis 32 is connected to the output end of the driving member 31 by power, and the driving member 31 drives the central axis 32 to rotate; the blades 33 are bent toward the side of the driving member 31 in the direction of rotation of the central axis 32. The driving member 31 is welded to the cage 1 to achieve the effect of installing the propulsion mechanism 3 on the cage 1. The driving member 31 is a motor, and a plurality of blades 33 are uniformly and circumferentially welded to the central axis 32. The blades 33 are bent toward the side of the driving member 31 in the direction of rotation of the central axis 32, which can reduce the negative pressure generated when the blades 33 rotate sideways, thereby reducing the generation of cavitation around the blades 33, and thus avoiding damage to the blades 33 due to cavitation.

[0040] In this embodiment, the propulsion mechanism 3 includes a plurality of horizontal propellers 34 and a plurality of rotary propellers 35; the plurality of horizontal propellers 34 are symmetrically arranged on two opposite sides of the cage frame 1 with the center line of the cage frame 1 as the axis, and the horizontal propellers 34 are arranged at the middle position of the side of the cage frame 1; the plurality of rotary propellers 35 are arranged on two opposite sides of the cage frame 1, and the plurality of rotary propellers 35 on each side of the cage frame 1 are arranged at both ends of the side along the axis of the cage frame 1.

[0041] Specifically, the rotary propeller 35 is installed at both ends of the side edge of the cage 1, and the angle between the central axis 32 of the rotary propeller 35 and the central axis 32 line of the cage 1 is less than ninety degrees. The central axis 32 of the horizontal propeller 34 is perpendicular to the central axis 32 line of the cage 1. When a rotary propeller 35 is started, the cage 1 will rotate radially, and when the horizontal propeller 34 is started, the cage 1 will move horizontally. Through the cooperation of the rotary propeller 35 and the horizontal propeller 34, the cage 1 can adjust its posture underwater, thereby achieving the effect of actively aligning with the AUV.

[0042] In this embodiment, a heave plate 6 is provided under the cage 1, and the heave plate 6 is connected to the cage 1 through a connecting member 19, and the projection area of ​​the heave plate 6 in the vertical direction is larger than the projection area of ​​the cage 1 in the vertical direction; a plurality of spoiler fins 8 for increasing the lateral resistance of the heave plate 6 in water are provided at the bottom of the heave plate 6.

[0043] Specifically, the vertical swing plate 6 is square in shape as a whole, and the four corners of the vertical swing plate 6 are rounded to prevent stress concentration. The vertical swing plate 6 is welded to the bottom of the cage 1 through a plurality of titanium connectors 19. The projection area of ​​the vertical swing plate 6 is larger than the projection area of ​​the cage 1 in the vertical direction, ensuring that the vertical swing plate 6 can fully reduce the impact of waves and currents on the cage 1, greatly increasing the stability of the cage 1 in the vertical direction, and reducing the probability of the cage 1 rolling over. In this embodiment, the number of spoiler fins 8 is four, and the four spoiler fins 8 are welded to the bottom surface of the vertical swing plate 6, and the spoiler fins 8 are perpendicular to the vertical swing plate 6. The spoiler fins 8 can increase the resistance of the vertical swing plate 6 when it moves sideways, thereby reducing the amplitude of the lateral displacement of the cage 1 with the water flow, increasing the stability of the cage 1 underwater, and thereby improving the efficiency of recovering the AUV.

[0044] In this embodiment, the locking mechanism includes a shell 9 which is hollow and sealed inside and a plurality of locking disks 10; the outer wall of the shell 9 is a hard layer 91, and the inner wall of the shell 9 is a deformable soft layer 92; the locking disk 10 is arranged inside the shell 9, and the locking disk 10 is provided with a plurality of locking mechanisms 11 for clamping the AUV; the channel 2 runs through the middle of the shell 9 and the locking disk 10.

[0045] Specifically, the housing 9 is in the shape of an octagonal prism, and the housing 9 is coaxially mounted in the cage 1. Each side of the housing 9 is connected and fixed to the cage 1 by four bolts. The interior of the housing 9 is axially penetrated, that is, the channel 2. The outer side of the housing 9 is a hard layer 91 made of engineering plastic, and the inner side of the housing 9 is a soft layer 92 made of rubber. There are four locking discs 10, and each two locking discs 10 form a group. The two groups of locking discs 10 are respectively arranged at both ends of the length direction of the housing 9, and the locking discs 10 are coaxially arranged with the housing 9.

[0046] The locking mechanism 11 includes a cylinder 111 for injecting fluid, a piston 112 and a rotating arm 113. The middle part of the rotating arm 113 is hinged on the locking disk 10. One end of the rotating arm 113 is hinged to the piston 112, and the other end is a free end. The piston 112 is slidably inserted in the cylinder 111. One end of the cylinder 111 away from the rotating arm 113 is hinged on the locking disk 10. Three locking mechanisms 11 are arranged on each locking disk 10, and three openings for accommodating the locking mechanisms 11 are also opened on the side wall of the locking disk 10. The three locking mechanisms 11 are evenly and circumferentially arranged on the locking disk 10. When hydraulic oil is filled into the cylinder 111, the piston 112 moves away from the cylinder 111, thereby pushing the rotating arm 113 to rotate, so that the free end of the rotating arm 113 moves toward the center of the locking plate 10 and can press against the AUV inside the locking plate 10. The three rotating arms 113 press against the AUV together to achieve the effect of clamping the AUV. A flexible pad 115 is provided on the free end of the rotating arm 113, thereby increasing the protection of the AUV.

[0047] An elastic member 114 is sleeved on the cylinder body 111 and the piston 112, one end of the elastic member 114 is connected to the piston 112, and the other end is connected to the cylinder body 111; the elastic force of the elastic member 114 is smaller than the static friction between the cylinder body 111 and the piston 112; the elastic member 114 is a spring, and when the piston 112 moves in a direction away from the cylinder body 111, the elastic member 114 is gradually released, and the elastic force of the elastic member 114 and the pressure of the hydraulic oil in the cylinder body 111 jointly push the piston 112 to move. With this arrangement, it is only necessary to fill the cylinder body 111 with hydraulic oil with lower pressure so that the swing arm 113 can be pressed against the AUV, thereby reducing the power consumption of the hydraulic pump.

[0048] Furthermore, guide tubes 12 are provided at both ends of the housing 9, and the guide tubes 12 are connected to the channel 2; the inner diameter of the guide tube 12 gradually increases in the direction away from the housing 9, and the smallest inner diameter of the guide tube 12 is the same as the channel 2; the guide tube 12 is an elastic guide tube 12. The guide tube 12 is trumpet-shaped and plays a role similar to a funnel, helping the AUV to enter the channel 2 more easily. The guide tube 12 is made of rubber, which can prevent damage to the AUV.

[0049] Example 2

[0050] Reference Figure 1, is Example 2 of a cage-type AUV active recovery device of the present invention. The difference between this example and Example 1 is that the heave plate 6 is provided with a plurality of heave holes 7, and the plurality of heave holes 7 are symmetrically distributed on both sides of the heave plate 6 with the center line of the heave plate 6 as the axis; the cross section of the heave hole 7 is a regular hexagon, and the intervals between any two adjacent heave holes 7 are equal. During the movement of the heave plate 6 under the influence of water flow, the regions with the heave holes 7 on both sides generate upward and downward forces to reduce the influence of waves and water flow, greatly increasing the vertical stability of the cage 1 and reducing the possibility of its rolling.

[0051] Example 3

[0052] Reference Figure 1 and Figure 2 , is the third embodiment of a cage-type AUV active recovery device of the present invention. The difference between this embodiment and the second embodiment is that the cage frame 1 is provided with a power generation element 13 that uses water flow to generate electricity, and the power generation element 13 is electrically connected to the camera and the propulsion mechanism 3; the top of the cage frame 1 is provided with an inflatable airbag 15; the cage frame 1 is also provided with a fin-type water flow sensor 14 that can rotate with the water flow. The power generation element 13 is arranged between the cage frame 1 and the heave plate 6, and the power generation element 13 is hinged on the connecting piece 19 connecting the heave plate 6 and the cage frame 1. The power generation element 13 can rotate around the axis with the water flow. A power generation turbine is arranged in the power generation element 13. When the water flow passes through the turbine, it drives it to rotate, and the rotation of the turbine drives the generator to generate electricity. By providing the airbag 15, in an emergency (such as when the control of the cage frame 1 is lost due to the breakage of the lifting cable, etc.), the compressed air provided by the compressed gas cylinder can be pumped into the airbag 15 to generate buoyancy, thereby floating the cage frame 1 as a whole to the water surface, which is convenient for finding and salvaging and recovery. The cage 1 is also provided with a width indicator light 16 and a lighting lamp 17, which facilitates the operator to observe the underwater situation through the camera 4. A data box 18 for collecting data is installed on both sides of the cage 1. Two fin-type water flow sensors 14 that can rotate with the water flow are rotatably provided on the data box 18. The data box 18 collects the underwater posture data and water flow data of the cage 1 through the rotation angle of the fin-type water flow sensor 14, so as to facilitate the operator to use the propulsion mechanism 3 to adjust the posture and position of the cage 1.

[0053] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A cage-type AUV active recovery device, characterized in that: The invention comprises a cage (1), wherein a passage (2) for inserting an AUV is provided inside the cage (1), and a locking mechanism for fixing the AUV that has entered the passage (2) is also provided on the cage (1); the cage (1) is provided with a plurality of propulsion mechanisms (3) for driving the cage (1) to move; the cage (1) is also provided with a plurality of cameras (4), and the propulsion mechanisms (3) include a plurality of horizontal propellers (34) and a plurality of rotary propellers (35); the plurality of horizontal propellers (34) are symmetrically arranged on two opposite sides of the cage (1) with the center line of the cage (1) as an axis, and the horizontal propellers (34) are arranged at the middle position of the side of the cage (1); the plurality of rotary propellers (35) are arranged on two opposite sides of the cage (1). The cage (1) is provided with a plurality of rotating propellers (35) on the side surface, and each of the cage (1) is provided with a plurality of rotating propellers (35) on the side surface along the axis of the cage (1) at both ends of the side surface. The propulsion mechanism (3) comprises a driving member (31), a central shaft (32) and a plurality of fan blades (33). The fan blades (33) are provided on the central shaft (32). The central shaft (32) is connected to the output end of the driving member (31) by power. The driving member (31) drives the central shaft (32) to rotate. The fan blades (33) are bent toward the side of the driving member (31) toward the rotation direction of the central shaft (32). A vertical swing plate (6) is provided below the cage (1). The vertical swing plate (6) is connected to the cage (1) through a connecting member (19). The vertical projection area of ​​the vertical swing plate (6) is large. The cage (1) has a projection area in a vertical direction; a plurality of spoiler fins (8) for increasing the lateral resistance of the heave plate (6) in water are provided at the bottom of the heave plate (6); the locking mechanism comprises a hollow and sealed shell (9) and a plurality of locking plates (10); the outer wall of the shell (9) is a hard layer (91), and the inner wall of the shell (9) is a deformable soft layer (92); the locking plate (10) is arranged inside the shell (9), and a plurality of locking mechanisms (11) for clamping the AUV are provided on the locking plate (10); the channel (2) passes through the middle of the shell (9) and the locking plate (10), and the locking mechanism (11) comprises a cylinder (111) for injecting fluid, a piston (112) and a rotating arm (111). 13), the middle part of the rotating arm (113) is hinged on the locking plate (10), one end of the rotating arm (113) is hinged to the piston (112), and the other end is a free end, the piston (112) is slidably inserted in the cylinder body (111), and the end of the cylinder body (111) away from the rotating arm (113) is hinged to the locking plate (10), the cylinder body (111) and the piston (112) are sleeved with an elastic member (114), one end of the elastic member (114) is connected to the piston (112), and the other end is connected to the cylinder body (111); the elastic force of the elastic member (114) is smaller than the static friction force between the cylinder body (111) and the piston (112); and a flexible pad (115) is provided on the free end of the rotating arm (113).

2. The cage-type AUV active recovery device according to claim 1, characterized in that: The heave plate (6) is provided with a plurality of heave holes (7), and the plurality of heave holes (7) are symmetrically distributed on both sides of the heave plate (6) with the center line of the heave plate (6) as an axis; the cross section of the heave holes (7) is a regular hexagon, and the spacing distance between any two adjacent heave holes (7) is equal.

3. The cage-type AUV active recovery device according to claim 1, characterized in that: Guide tubes (12) are provided at both ends of the shell (9), and the guide tubes (12) are connected to the channel (2); the inner diameter of the guide tube (12) gradually increases in a direction away from the shell (9), and the smallest inner diameter of the guide tube (12) is the same as the channel (2); the guide tube (12) is an elastic guide tube (12).

4. The cage-type AUV active recovery device according to claim 1, characterized in that: The cage (1) is provided with a power generation element (13) for generating electricity by utilizing water flow, and the power generation element (13) is electrically connected to the camera and the propulsion mechanism (3); an inflatable air bag (15) is provided on the top of the cage (1); and a fin-type water flow sensor (14) is also rotatably provided on the cage (1) and can rotate with the water flow.

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