An arv relay deployment and recovery apparatus and method

Abstract

The application provides an ARV relay laying and recycling device and method, and belongs to the field of underwater robot recycling. The application better solves the recycling problem of ARV in mud point monitoring operation. The ARV relay laying and recycling device comprises a TMS frame, a tail side thruster, an optical fiber communication device, an underwater winch system, an USBL acoustic positioning system, a head side thruster, a power supply module, an ARV tail locking self-locking device, an ARV head locking self-locking device, an ARV guide rod, a left main thruster, a right main thruster, an ARV docking locking device and a TMS control system. The TMS frame comprises a lower tray frame and an upper support frame connected to the upper end face of the lower tray frame. After the TMS control system responds to a signal, the tail side thruster and the head side thruster are controlled to adjust the positions of the ARV tail locking self-locking device and the ARV head locking self-locking device, so that the self-locking of the ARV is completed. The ARV docking locking device is arranged at the front end of the ARV and is used for cooperating with the ARV guide rod to limit the freedom degree of the ARV. The device is mainly used for recycling the ARV.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot recovery, and in particular relates to an ARV relay deployment and recovery device and method. Background Technology

[0002] Currently, in deep-water subsea pipeline laying below 200m, the use of multi-functional operation support vessels (MSVs) with DP (Depth Detection and Utilization) to release ROVs for pipeline mud contact point positioning and pipeline buckling monitoring is not only costly but also increases the risk of cross-operation between vessels, significantly raising the cost of subsea pipeline laying.

[0003] Currently, in order to reduce the cost of subsea pipeline laying and pipeline monitoring, autonomous remotely operated underwater vehicles (ARVs) are being used to replace manually operated ROVs, and unmanned surface vessels (USVs) are being used to replace manual surface vessels (MSVs) for mud spot monitoring. Among these, the use of USVs carrying repeaters (TMS) in conjunction with ARVs has become a research hotspot.

[0004] Existing TMS generally come in two forms: top-mounted, which is mainly for large-scale ARVs with large operating depth and long cable length, but its large size and inflexible operation will affect monitoring operations; and garage-mounted, which is for small and medium-sized ARVs with smaller size and convenient movement, but its short cable length and relatively small operating radius. Therefore, how to design a reliable relay deployment and retrieval device and successfully deploy and retrieve ARVs is one of the research challenges.

[0005] Traditional TMS (Transportation Management System) for ARV (Automatic Vehicle) recycling often involves controlling the ARV to continuously adjust its shape to dock with the TMS. This method is inefficient. Therefore, designing a TMS relay recycling device that can better cooperate with ARV has become an urgent problem to be solved. Summary of the Invention

[0006] In view of this, the present invention aims to propose an ARV relay deployment and recovery device and method to better solve the recovery problem of ARVs in mud spot monitoring operations.

[0007] To achieve the above objectives, according to one aspect of the present invention, an ARV relay deployment and recovery device is provided, comprising a TMS frame, a stern thruster, an optical fiber communication device, an underwater winch system, a USBL acoustic positioning system, a bow thruster, a power supply module, an ARV stern locking self-locking device, an ARV bow locking self-locking device, an ARV guide rod, a left main thruster, a right main thruster, an ARV docking locking device, and a TMS control system. The TMS frame includes a lower tray frame and an upper support frame connected to the upper surface of the lower tray frame. The stern thruster and the bow thruster are symmetrically arranged on the front and rear sides of the upper support frame. The optical fiber communication device is mounted on the TMS frame. The underwater winch system is mounted on the upper surface of the lower tray frame. The USBL acoustic positioning system is mounted on the upper support frame. The power supply module is mounted on the lower tray frame. The ARV stern locking self-locking device and the ARV bow locking self-locking device have the same structure and are symmetrically arranged on the lower surface of the lower tray frame for locking the ARV. The guide rod is located at the rear end of the lower end face of the lower tray frame. The left and right main thrusters are both located at the rear end of the upper end face of the lower tray frame and are symmetrically distributed on the left and right sides relative to the lower tray frame. The tail thruster, fiber optic communication device, underwater winch system, USBL acoustic positioning system, left main thruster, ARV docking locking device, and right main thruster are all electrically connected to the TMS control system. The tail thruster, fiber optic communication device, underwater winch system, USBL acoustic positioning system, left main thruster, right main thruster, ARV docking locking device, and TMS control system are all electrically connected to the power supply module. The USBL acoustic positioning system and fiber optic communication device are used to receive ARV signals and transmit them to the TMS control system. After responding to the signal, the TMS control system controls the tail thruster and the bow thruster to adjust the position of the ARV tail locking self-locking device and the ARV head locking self-locking device to complete the self-locking of the ARV. The ARV docking locking device is located at the front end of the ARV and is used to cooperate with the ARV guide rod to restrict the ARV's degrees of freedom.

[0008] Furthermore, the recycling device also includes an optical communication lifting mechanism, and the optical fiber communication device is connected to the TMS frame through the optical communication lifting mechanism.

[0009] Furthermore, the recycling device also includes a load-bearing anti-rotation pin, which is located at the top center of the upper support frame.

[0010] Furthermore, a mating buffer pad is provided between the load-bearing anti-rotation pin and the upper support frame.

[0011] Furthermore, the neutral umbilical cable in the underwater winch system is a zero-buoyancy cable, and the free end of the zero-buoyancy cable is connected to the ARV.

[0012] Furthermore, the recovery device also includes an ARV docking underwater light and an ARV docking underwater camera. Both the ARV docking underwater light and the ARV docking underwater camera are mounted on the lower end face of the lower tray frame. Both the ARV docking underwater light and the ARV docking underwater camera are electrically connected to the TMS control system and are electrically connected to the power supply module.

[0013] Furthermore, the recycling device also includes a rear-view light, a front-view light, a front-view camera, and a rear-view camera. The rear-view light and the rear-view camera are located on the rear side of the top of the upper support frame, and the front-view light and the front-view camera are located on the front side of the top of the upper support frame. The rear-view light, the front-view light, the front-view camera, and the rear-view camera are all electrically connected to the TMS control system, and the rear-view light, the front-view light, the front-view camera, and the rear-view camera are all electrically connected to the power supply module.

[0014] Furthermore, the ARV docking and locking device includes a head guide plate, a locking seat, a return spring, and a spring mounting seat. There are two spring mounting seats, which are symmetrically arranged on the head guide plate. A locking seat is slidably disposed in each spring mounting seat, and a return spring is sleeved on each locking seat. The two ends of each return spring are respectively connected to the spring mounting seat and the locking seat at the corresponding positions. When the head guide plate engages with the ARV guide rod, the locking seats on both sides lock the ARV guide rod under the elastic force of the corresponding return spring.

[0015] According to one aspect of the present invention, an ARV deployment method using the above-described ARV relay deployment and retrieval device is provided, comprising the following steps:

[0016] S1, the ARV relay deployment and recovery device, and the ARV descended together to the working depth;

[0017] S2, the ARV first locking self-locking device and the ARV tail locking self-locking device release the locking of the ARV;

[0018] S3: As the ARV navigates toward the designated work area, the underwater winch system releases the zero-buoyancy cable, and the ARV release is complete.

[0019] According to one aspect of the present invention, a further method for ARV retrieval using the above-described ARV relay deployment and retrieval device is provided, comprising the following steps:

[0020] S1. After receiving the return command, the ARV plans its flight path from its own location to the target point of the ARV relay deployment and recovery device.

[0021] S2, ARV travels to the target point in conjunction with the USBL acoustic positioning system and fiber optic communication device. The underwater winch system continuously retrieves the zero-buoyancy cable, causing the ARV to return to the ARV relay deployment and retrieval device below.

[0022] S3. The remote-controlled ARV causes the head guide plate to collide with the ARV guide rod, and the ARV docking locking device restricts the ARV's degree of freedom.

[0023] S4. The remote-controlled ARV continues to slide and rise along the guide rod. The TMS control system adjusts the thrust distribution of the tail thruster, bow thruster, left main thruster, and right main thruster to maintain the TMS heading angle. Keep it unchanged, adjust the ARV heading angle. Make it relative to the TMS heading angle Consistent;

[0024] S5. The attitude of the ARV relay deployment and recovery device is coordinated with the ARV lateral thruster to ensure that the centerline of the ARV and the ARV relay deployment and recovery device coincides in the horizontal plane until the ARV load-bearing guide pin hits the ARV first locking self-locking device and the ARV tail locking self-locking device, thus completing the recovery of the ARV by the ARV relay deployment and recovery device.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] 1. The TMS obtains the status and position information of the ARV and the ARV relay deployment and recovery device through the fiber optic communication device and the USBL acoustic positioning system. The TMS control system adjusts the thrust distribution of the tail thruster, the head thruster, the left main thruster and the right main thruster, so that the ARV relay deployment and recovery device can make adaptive adjustments in accordance with the attitude of the ARV, thereby achieving the purpose of quickly recovering the ARV.

[0027] 2. Pre-positioning is achieved through the cooperation of the TMS head guide rod and the ARV guide plate, which facilitates and improves the success rate of docking and recovery;

[0028] 3. The ARV docking locking device limits the ARV guide rod, restricting the ARV's degrees of freedom, shortening the docking process, and improving recovery efficiency; Attached Figure Description

[0029] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0030] Figure 1 This is a front view of an ARV relay deployment and recovery device according to the present invention;

[0031] Figure 2This is a top view of an ARV relay deployment and recovery device according to the present invention;

[0032] Figure 3 This is a cross-sectional schematic diagram of the connection between the lifting anti-sway seat and the load-bearing anti-rotation pin described in this invention;

[0033] Figure 4 This is a side view of the connection between the lifting anti-sway seat and the load-bearing anti-rotation pin described in this invention.

[0034] Figure 5 This is a schematic diagram of the ARV docking and locking device described in this invention;

[0035] Figure 6 This is a schematic diagram of the main structure of the ARV relay deployment and recovery device for locking the ARV according to the present invention;

[0036] Figure 7 This is a side view of the ARV relay deployment and recovery device locking the ARV according to the present invention.

[0037] Figure 8 This is a three-dimensional structural diagram of an ARV relay deployment and recovery device for locking an ARV, as described in this invention.

[0038] Figure 9 This is a flowchart of the ARV return command described in this invention;

[0039] Figure 10 This is a schematic diagram of the structure of the ARV head and tail locking self-locking device of the present invention for locking the ARV load-bearing head;

[0040] Figure 11 This is a schematic diagram of the main structure of the ARV head and tail locking self-locking device described in this invention;

[0041] Figure 12 This is a top view of the ARV head and tail locking self-locking device described in this invention.

[0042] 1. TMS frame; 2. Tail-side thruster; 3. Fiber optic communication device; 4. Fiber optic communication lifting mechanism; 5. Docking buffer pad; 6. Load-bearing anti-rotation pin; 7. Underwater winch system; 8. USBL acoustic positioning system; 9. Bow-side thruster; 10. Lithium battery pack pressure chamber; 11. Zero buoyancy cable; 12. ARV tail locking self-locking device; 13. ARV docking underwater lighting; 14. Depth gauge; 15. ARV docking underwater camera; 16. ARV bow locking self-locking device; 17. Lead weight counterweight; 18. ARV guide rod; 19. Left main thruster; 20. TMS control system pressure chamber; 21. Rearview lighting; 22. Fiber optic drum monitoring camera; 23. Cable laying device monitoring camera; 24. Forward lighting. 25. Armored cable monitoring camera; 26. Forward-facing camera; 27. Armored cable monitoring light; 28. Cable laying device monitoring light; 29. ​​Fiber optic drum monitoring light; 30. Rear-facing camera; 31. Winch control system pressure chamber; 32. Right main thruster; 33. Lifting anti-sway seat; 34. Armored cable through hole; 35. Guide groove; 36. Anti-rotation pin; 37. Anti-rotation groove; 38. Head guide plate; 39. Locking seat; 40. Return spring; 41. Spring mounting seat; 42. Underwater electric push rod; 43. Electric push rod fixing plate; 44. Top block mounting plate; 45. Base; 46. Top block; 47. Load-bearing hook; 48. ARV load-bearing head; 49. Cotter pin; 50. Return torsion spring; 51. Load-bearing hook pin shaft; 52. Tilting bearing. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.

[0044] Referring to the accompanying drawings, this embodiment of the invention provides an ARV relay deployment and recovery device, comprising a TMS frame 1, a tail-side thruster 2, an optical fiber communication device 3, an underwater winch system 7, a USBL acoustic positioning system 8, a head-side thruster 9, a power supply module, an ARV tail locking self-locking device 12, an ARV head locking self-locking device 16, an ARV guide rod 18, a left main thruster 19, a right main thruster 32, an ARV docking locking device, and a TMS control system. The TMS frame 1 includes a lower tray frame and an upper support frame connected to the upper surface of the lower tray frame. The tail-side thruster 2 and the head-side thruster 9 are symmetrically arranged on the front and rear sides of the upper support frame. The optical fiber communication device 3 is disposed within the TMS frame. On frame 1, the underwater winch system 7 is mounted on the upper surface of the lower tray frame, the USBL acoustic positioning system 8 is mounted on the upper support frame, and the power supply module is mounted on the lower tray frame. The ARV tail locking self-locking device 12 and the ARV head locking self-locking device 16 are identical in structure and symmetrically mounted on the lower surface of the lower tray frame for locking the ARV. The ARV guide rod 18 is located at the rear end of the lower surface of the lower tray frame. The left main thruster 19 and the right main thruster 32 are both located at the rear end of the upper surface of the lower tray frame and are symmetrically distributed on the left and right sides relative to the lower tray frame. The tail thruster 2, the fiber optic communication device 3, the underwater winch system 7, the USBL acoustic positioning system 8, and the left main thruster 32 are also mounted on the lower tray frame. The thruster 19, ARV docking locking device, and right main thruster 32 are all electrically connected to the TMS control system. The stern thruster 2, fiber optic communication device 3, underwater winch system 7, USBL acoustic positioning system 8, left main thruster 19, right main thruster 32, ARV docking locking device, and TMS control system are all electrically connected to the power supply module, which is a lithium battery pack. The lithium battery pack is housed in the lithium battery pack pressure chamber 10 to protect it from the pressure at deep sea depths. The USBL acoustic positioning system 8 and fiber optic communication device 3 are used to receive ARV signals and transmit them to the TMS control system. After responding to the signals, the TMS control system controls the stern thruster 2 and bow thruster 9 to adjust the ARV stern locking self-locking device 1. The ARV self-locking device 16 and the ARV first locking device 2 complete the self-locking of the ARV. The ARV docking locking device is set at the front end of the ARV to cooperate with the ARV guide rod 18 to restrict the ARV's degree of freedom. The TMS control system is set in the pressure-resistant chamber 20 of the TMS control system to protect the TMS control system. The lower end of the lower tray frame is provided with a lead weight 17 to increase the weight. The size and number of lead weights added to the lead weight 17 are different according to the different diving depths of the TMS to ensure the diving depth of the TMS. The lower end of the lower tray frame is provided with a depth gauge 14, which is responsible for measuring the water depth of this device. The depth gauge 14 is electrically connected to the lithium battery pack and the TMS control system.

[0045] The underwater winch system 7 uses a 3000m optical fiber composite cable towing winch from Wuxi Suberui Intelligent Equipment Co., Ltd. Its winch control system is located in the winch control system pressure chamber 31, which is located on the right side of the upper surface of the lower pallet frame.

[0046] In this embodiment, the recycling device further includes an optical communication lifting mechanism 4. The optical fiber communication device 3 is connected to the TMS frame 1 through the optical communication lifting mechanism 4. The optical communication lifting mechanism 4 is a hydraulic cylinder or a ball screw mechanism.

[0047] In this embodiment, the recycling device further includes a load-bearing anti-rotation pin 6, which is located at the top center of the upper support frame and has a mating buffer pad 5 between it and the upper support frame.

[0048] In this embodiment, the neutral umbilical cable in the underwater winch system 7 is a zero-buoyancy cable 11, and the free end of the zero-buoyancy cable 11 is connected to the ARV.

[0049] In this embodiment, the recovery device further includes an ARV docking underwater light 13 and an ARV docking underwater camera 15. The ARV docking underwater light 13 and the ARV docking underwater camera 15 are both disposed on the lower end surface of the lower tray frame. The ARV docking underwater light 13 and the ARV docking underwater camera 15 are both electrically connected to the TMS control system and are both electrically connected to the power supply module.

[0050] In this embodiment, the recycling device further includes a rearview light 21, a frontview light 24, a frontview camera 26, and a rearview camera 30. The rearview light 21 and the rearview camera 30 are located on the rear side of the top of the upper support frame, and the frontview light 24 and the frontview camera 26 are located on the front side of the top of the upper support frame. The rearview light 21, the frontview light 24, the frontview camera 26, and the rearview camera 30 are all electrically connected to the TMS control system, and the rearview light 21, the frontview light 24, the frontview camera 26, and the rearview camera 30 are all electrically connected to the power supply module.

[0051] In this embodiment, the ARV docking locking device includes a head guide plate 38, a locking seat 39, a return spring 40, and a spring mounting seat 41. There are two spring mounting seats 41, which are symmetrically arranged on the head guide plate 38. A locking seat 39 is slidably disposed in each spring mounting seat 41, and a return spring 40 is sleeved on each locking seat 39. The two ends of each return spring 40 are respectively connected to the spring mounting seat 41 and the locking seat 39 at the corresponding positions. When the head guide plate 38 cooperates with the ARV guide rod 18, the locking seats 39 on both sides lock the ARV guide rod 18 under the elastic force of the corresponding return spring 40.

[0052] In this embodiment, the recovery device further includes: a fiber optic drum monitoring camera 22, a cable laying device monitoring camera 23, an armored cable monitoring camera 25, an armored cable monitoring light 27, a cable laying device monitoring light 28, and a fiber optic drum monitoring light 29. The fiber optic drum monitoring camera 22 is responsible for observing the fiber optic cable deployment status. The cable laying device monitoring camera 23 is used to observe the underwater umbilical cable deployment status of the winch system. The armored cable monitoring camera 25 is installed on the left side of the upper support frame and is responsible for observing the armored cable deployment status. The armored cable monitoring light 27 facilitates clear observation of the armored cable deployment status by the armored cable monitoring camera. The cable laying device monitoring light 28 provides illumination, facilitating clear observation of the underwater winch deployment status of the underwater umbilical cable by the cable laying device monitoring camera. The fiber optic drum monitoring light 29 provides illumination, facilitating clear observation of the fiber optic cable deployment status by the fiber optic drum monitoring camera.

[0053] When in use, the load-bearing anti-rotation pin 6 in this device needs to be used in conjunction with the lifting anti-sway seat 33 on the mother ship. The lifting anti-sway seat 33 is provided with a guide groove 35 and an anti-rotation groove 37 arranged sequentially from bottom to top. The load-bearing anti-rotation pin 6 enters from the guide groove 35 and slides upward into the anti-rotation groove 37. The lifting anti-sway seat 33 and the load-bearing anti-rotation pin 6 are connected by the anti-rotation pin 36 to limit the connection. This connection structure can realize the anti-rotation and load-bearing of the ARV relay deployment and recovery device. Both the lifting anti-sway seat 33 and the lifting anti-sway seat 33 are provided with armored cable passage holes 34.

[0054] In this embodiment, the ARV tail locking self-locking device 12 and the ARV head locking self-locking device 16 have the same structure, both including an underwater electric actuator 42, an electric actuator fixing plate 43, a top block mounting plate 44, a base 45, a top block 46, a load-bearing hook 47, a cotter pin 49, a return torsion spring 50, a load-bearing hook pin shaft 51, and a tilting bearing 52. The underwater electric actuator 42 is fixed to the upper end of the base 45 by the electric actuator fixing plate 43, and the top block mounting plate 44 is slidably connected to the base 45. Within 5, the movable end of the underwater electric actuator 42 is connected to the top block mounting plate 44. The lower end of the top block mounting plate 44 is provided with multiple protrusions for pushing the load-bearing hooks 47. Each protrusion corresponds to a load-bearing hook 47, and each load-bearing hook 47 is provided with a load-bearing hook pin 51. Each load-bearing hook pin 51 is rotatably connected to the base 45 via a tilting bearing 52. Both ends of each load-bearing hook pin 51 are connected to the corresponding position of the base 45 via a return torsion spring 50. On the inner wall of the device, the lower end of each of the three load-bearing hooks 47 extends out of the base 45. The base 45 is provided with multiple cotter pins 49 corresponding to the positions of the load-bearing hooks 47, which limit the outward opening of each corresponding load-bearing hook 47. When the device carries the ARV into the water, the underwater electric actuator 42 is in the retracted state, the top block 46 is in the upper stroke position, and the load-bearing hooks 47 remain vertical under the action of the return torsion spring 50. In the first state, the ARV load-bearing head 48 on top of the ARV is locked. When the device is detached from the ARV, the underwater electric push rod 42 extends downward and drives the top block 46 to move downward. The downward movement of the top block 46 pushes the upper end of each corresponding load-bearing hook 47 through the protrusion, so that each load-bearing hook 47 rotates around its load-bearing hook pin 51, thereby causing the lower end of each load-bearing hook pin 51 to rotate outward and open by 20 degrees, thereby releasing the ARV load-bearing head 48, so that the ARV can be detached from the device.

[0055] According to another aspect of the present invention, an ARV deployment method using the above-described ARV relay deployment and retrieval device is provided, comprising the following steps:

[0056] S1. The ARV relay deployment and recovery device descends to the working depth together with the ARV. The underwater electric push rod 42 is in the retracted state, the top block 46 is in the upper stroke position, and the load-bearing hook 47 is kept vertical under the action of the reset torsion spring 50, locking the ARV load-bearing head 48 above the ARV.

[0057] S2. The ARV head locking self-locking device 16 and the ARV tail locking self-locking device 12 release the locking of the ARV. The underwater electric push rod 42 extends downward and drives the top block 46 to move downward. The downward movement of the top block 46 will push the upper end of each corresponding load-bearing hook 47 through the protrusion, so that each load-bearing hook 47 rotates around its load-bearing hook pin 51, thereby causing the lower end of each load-bearing hook pin 51 to rotate outward and open by 20 degrees, thereby releasing the ARV load-bearing head 48, so that the ARV can be separated from the device.

[0058] S3, while the ARV is sailing toward the designated work area, the underwater winch system 7 releases the zero-buoyancy cable 11, and the ARV release is complete.

[0059] According to one aspect of the present invention, an ARV retrieval method using the above-described ARV relay deployment and retrieval device is provided, comprising the following steps:

[0060] S1. After receiving the return command, the ARV plans its flight path from its own location to the target point of the ARV relay deployment and recovery device.

[0061] S2, the ARV moves to the target point in cooperation with the USBL acoustic positioning system 8 and the fiber optic communication device 3. The underwater winch system 7 continuously retrieves the zero buoyancy cable 11 and then brings the ARV back to the ARV relay deployment and retrieval device.

[0062] S3. The remote-controlled ARV causes the head guide plate 38 to collide with the ARV guide rod 18, and the ARV docking locking device restricts the ARV's degree of freedom.

[0063] S4. The remote-controlled ARV continues to slide and rise along the guide rod. The TMS control system adjusts the thrust distribution of the tail thruster 2, bow thruster 9, left main thruster 19, and right main thruster 32 to maintain the TMS bow angle. Keep it unchanged, adjust the ARV heading angle. Make it relative to the TMS heading angle Consistent;

[0064] S5. The attitude of the ARV relay deployment and recovery device is coordinated with the ARV lateral thruster to ensure that the centerline of the ARV and the ARV relay deployment and recovery device coincides in the horizontal plane. This continues until the ARV load-bearing guide pin is engaged in the ARV head locking self-locking device 16 and the ARV tail locking self-locking device 12. When the ARV load-bearing guide pin moves upward, the underwater electric push rod 42 retracts, the top block 46 moves upward, and the load-bearing hook 47 returns to a vertical state under the action of the reset torsion spring 50, locking the ARV load-bearing head 48 above the ARV, thus completing the recovery of the ARV by the ARV relay deployment and recovery device.

[0065] The specific processes of S4 and S5 controls in the recycling method are as follows:

[0066] The heading control is divided into two stages: the first is turning from the current heading when the heading changes. To the preset heading The first stage is the turning phase; the second stage is the heading-maintaining phase, which eliminates steady-state errors and resists external disturbances after the heading has stabilized.

[0067] In the initial stage, the heading angle deviation 'e' is relatively large. To prevent the accumulation of large deviations from causing excessive overshoot and continuous oscillations in the system, PD control is adopted during the transient stage. The controller output form during the transient stage is as follows:

[0068]

[0069] Where: K P K D These are the proportional and derivative coefficients of the controller during the transient phase, T. f Let be the time constant, and s be a complex number. The derivative of the deviation;

[0070] During the heading-maintaining phase, steady-state errors may occur due to continuous external disturbances. Therefore, PI control is used during the steady-state phase, and the controller output in the steady-state phase is as follows:

[0071]

[0072] Where: K P K I These are the proportional and derivative coefficients of the controller during the steady-state phase. This is the integral of the deviation.

[0073] d. PD and PI, under the action of the fuzzy controller, complete the global output, and the output format is as follows:

[0074] U=u1U N +u2U N

[0075] In the formula: u1 and u2 are fuzzy coefficients.

[0076] Steps two through five describe the operation of the propulsion drive system's thrusters:

[0077] The propulsion system receives 6-DOF maneuvering commands and, based on path planning and guidance, inputs the desired V = (u, v, w, p, q, r). T The current time V(t) = (u, v, w, p, q, r) T The deviation value V of the velocity at the current moment is calculated from VV(t). e (t), u, v, w, p, q, r are the longitudinal velocity, lateral velocity, vertical velocity, roll rate, pitch rate, and yaw rate, respectively.

[0078] Input the deviation value V of the current velocity. e (t) to the six-free motion controller, calculate the required horizontal thrust and torque X, Y, N and vertical thrust Z, K, M;

[0079] The propulsion drive system has performed appropriate thrust distribution and provided the control voltage corresponding to the desired thrust.

[0080] Each thruster receives control voltage and generates thrust; the system then performs thrust synthesis X. T Y T K T M T N T Drive the target to navigate.

[0081] The process of ARV receiving instructions is as follows: the host computer on the mother ship sends the return instruction, then the ARV's signal receiving port receives the instruction, the ARV's internal computer solves the return instruction through the communication program, after the solution is completed, the ARV planning system updates its own position in real time according to the inertial navigation and calculates the return point, finds the required angle and speed, and sends them to the various actuators of the ARV to start the return operation.

[0082] The sensors, programs, and control algorithms used in the above description are all existing technologies and will not be elaborated here.

[0083] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. An ARV relay deployment and recovery device, characterized in that: The system includes a TMS frame (1), a stern thruster (2), an optical fiber communication device (3), an underwater winch system (7), a USBL acoustic positioning system (8), a bow thruster (9), a power supply module, an ARV stern locking self-locking device (12), an ARV bow locking self-locking device (16), an ARV guide rod (18), a left main thruster (19), a right main thruster (32), an ARV docking locking device, and a TMS control system. The TMS frame (1) includes a lower tray frame and an upper support frame connected to the upper surface of the lower tray frame. The stern thruster (2) and the bow thruster... (9) Symmetrically arranged on the front and rear sides of the upper support frame near the tail, the fiber optic communication device (3) is arranged on the TMS frame (1), the underwater winch system (7) is arranged on the upper end surface of the lower tray frame, the USBL acoustic positioning system (8) is arranged on the upper support frame, the power supply module is arranged on the lower tray frame, the ARV tail locking self-locking device (12) and the ARV head locking self-locking device (16) have the same structure and are arranged symmetrically on the lower end surface of the lower tray frame for locking the ARV, and the ARV guide rod (18) is arranged on the lower end surface of the lower tray frame. The left main thruster (19) and right main thruster (32) are both located at the rear end of the upper surface of the lower tray frame and are symmetrically distributed on the left and right sides relative to the lower tray frame. The tail thruster (2), fiber optic communication device (3), underwater winch system (7), USBL acoustic positioning system (8), left main thruster (19), ARV docking locking device, and right main thruster (32) are all electrically connected to the TMS control system. The tail thruster (2), fiber optic communication device (3), underwater winch system (7), USBL acoustic positioning system (8), and left main thruster (19) are all located at the rear end of the upper surface of the lower tray frame and are symmetrically distributed on the left and right sides relative to the lower tray frame. The right main thruster (32), ARV docking locking device and TMS control system are all electrically connected to the power supply module. The USBL acoustic positioning system (8) and fiber optic communication device (3) are used to receive ARV signals and transmit them to the TMS control system. After responding to the signal, the TMS control system controls the tail thruster (2) and the head thruster (9) to adjust the position of the ARV tail locking self-locking device (12) and the ARV head locking self-locking device (16) to complete the self-locking of the ARV. The ARV docking locking device is set at the front end of the ARV to cooperate with the ARV guide rod (18) to restrict the ARV's degree of freedom.

2. The ARV relay deployment and recovery device according to claim 1, characterized in that: The recycling device also includes an optical communication lifting mechanism (4), and the optical fiber communication device (3) is connected to the TMS frame (1) through the optical communication lifting mechanism (4).

3. The ARV relay deployment and recovery device according to claim 2, characterized in that: The recycling device also includes a load-bearing anti-rotation pin (6), which is located at the top center of the upper support frame.

4. The ARV relay deployment and recovery device according to claim 3, characterized in that: A mating buffer pad (5) is provided between the load-bearing anti-rotation pin (6) and the upper support frame.

5. An ARV relay deployment and recovery device according to claim 3, characterized in that: The neutral umbilical cable in the underwater winch system (7) is a zero-buoyancy cable (11), and the free end of the zero-buoyancy cable (11) is connected to the ARV.

6. The ARV relay deployment and recovery device according to claim 1, characterized in that: The recovery device also includes an ARV docking underwater light (13) and an ARV docking underwater camera (15). The ARV docking underwater light (13) and the ARV docking underwater camera (15) are both located on the lower end face of the lower tray frame. The ARV docking underwater light (13) and the ARV docking underwater camera (15) are both electrically connected to the TMS control system and are both electrically connected to the power supply module.

7. An ARV relay deployment and recovery device according to claim 6, characterized in that: The recycling device also includes a rear-view light (21), a front-view light (24), a front-view camera (26), and a rear-view camera (30). The rear-view light (21) and the rear-view camera (30) are located on the rear side of the top of the upper support frame, and the front-view light (24) and the front-view camera (26) are located on the front side of the top of the upper support frame. The rear-view light (21), the front-view light (24), the front-view camera (26), and the rear-view camera (30) are all electrically connected to the TMS control system. The rear-view light (21), the front-view light (24), the front-view camera (26), and the rear-view camera (30) are all electrically connected to the power supply module.

8. An ARV relay deployment and recovery device according to claim 1, characterized in that: The ARV docking locking device includes a head guide plate (38), a locking seat (39), a return spring (40), and a spring mounting seat (41). There are two spring mounting seats (41), which are symmetrically arranged on the head guide plate (38). A locking seat (39) is slidably arranged in each spring mounting seat (41). A return spring (40) is sleeved on each locking seat (39). The two ends of each return spring (40) are respectively connected to the spring mounting seat (41) and the locking seat (39) at the corresponding positions. When the head guide plate (38) cooperates with the ARV guide rod (18), the locking seats (39) on both sides lock the ARV guide rod (18) under the elastic force of the corresponding return spring (40).

9. An ARV deployment method using the ARV relay deployment and retrieval device according to any one of claims 1-8, characterized in that: Includes the following steps: S1, the ARV relay deployment and recovery device, and the ARV descended together to the working depth; S2, the ARV first locking self-locking device (16) and the ARV tail locking self-locking device (12) release the locking of the ARV; S3. While the ARV is sailing toward the designated work area, the underwater winch system (7) releases the zero buoyancy cable (11), and the ARV release is complete.

10. An ARV recovery method using the ARV relay deployment and recovery device according to any one of claims 1-8, characterized in that: Includes the following steps: S1. After receiving the return command, the ARV plans its flight path from its own location to the target point of the ARV relay deployment and recovery device. S2, the ARV travels to the target point in cooperation with the USBL acoustic positioning system (8) and the fiber optic communication device (3). The underwater winch system (7) continuously retrieves the zero buoyancy cable (11) and then brings the ARV back to the ARV relay deployment and retrieval device. S3. The remote-controlled ARV causes the head guide plate (38) to collide with the ARV guide rod (18), and the ARV docking locking device restricts the ARV's degree of freedom. S4. The remote-controlled ARV continues to slide and rise along the guide rod. The TMS control system controls and adjusts the thrust distribution of the tail thruster (2), bow thruster (9), left main thruster (19), and right main thruster (32) to maintain the TMS bow angle. Keep it unchanged, adjust the ARV heading angle. Make it relative to the TMS heading angle Consistent; S5. The attitude is coordinated and adjusted by the ARV relay deployment and recovery device and the ARV lateral thruster to ensure that the centerline of the ARV and the ARV relay deployment and recovery device coincides in the horizontal plane until the ARV load-bearing guide pin hits the ARV first locking self-locking device (16) and the ARV tail locking self-locking device (12), thus completing the recovery of the ARV by the ARV relay deployment and recovery device.

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