A deep sea lander suitable for rapid stabilisation deployment and method of deployment and recovery

Abstract

A deep-sea lander suitable for rapid stable deployment and a deployment recovery method, comprising a bottom configuration, both ends of which are provided with side plates, the side plates comprising folding side plates and opening and closing side plates, the opening and closing side plates being connected with the bottom configuration through a rotating shaft, the top surfaces of the two folding side plates being connected and fixed through connecting hinges and wing plate fixing mechanisms, both side surfaces of the bottom configuration being respectively provided with side configurations, the upper part of the side configuration being a folding triangular plate; a channel is arranged at the lower part of the outer part of both ends of the bottom configuration, and a propeller is arranged; the opening and closing mechanism for controlling the opening and closing of the opening and closing side plates is further included, a carrying frame is arranged in the bottom configuration, a battery is arranged at the bottom of the carrying frame through an explosive bolt, buoyancy adjusting cabins are arranged at both sides of the carrying frame, a buoyancy adjusting pump, a multi-beam sonar and an altimeter are arranged at one side of the carrying frame, a control tank is arranged at the other side of the carrying frame, and a buoyancy material is arranged at the top surface of the carrying frame, the whole has good working stability and a high safety factor.

Description

Technical Field

[0001] This invention relates to the field of marine engineering systems and assembly technology, and in particular to a deep-sea lander suitable for rapid and stable deployment and a deployment and recovery method. Background Technology

[0002] Deep-sea landers are crucial technological tools for human exploration and development of the ocean. They enable long-term scientific observation and sample collection in the deep-sea environment. Most existing deep-sea landers employ a polygonal open-frame structure with anti-sinking support legs. Landers such as the "Rainbow Fish," "Tianya," and "Haijiao," which have successfully conducted deep-sea scientific research experiments, all utilize this structure. While this open-frame and support leg combination is structurally simple, its configuration generates tail eddies during ascent and descent, causing eddy-induced vibrations. This results in periodic swaying and vibrations within the lander, affecting its descent stability and potentially damaging the precision scientific instruments on board. Furthermore, these self-excited vibrations, swaying, and the complex hydrodynamic characteristics of the non-perfectly symmetrical open-frame structure make it difficult to control the system's position using thrusters for accurate landing.

[0003] On the other hand, most existing deep-sea landers are deployed by using a surface support vessel and relying on their own gravity for unpowered descent. The lander needs to traverse ocean layers thousands of meters deep from the surface to the seabed, and the descent time can take several hours. Due to the poor hydrodynamic performance and weak positioning capabilities of traditional landers, they drift laterally when encountering strong currents, and the distance deviation between the ideal deployment point and the actual landing point can be as high as several nautical miles or even more than ten nautical miles. How to achieve precise control of the descent and reduce the impact of landing on the lander and instruments is a critical technical challenge that urgently needs to be solved in the field of deep-sea landers. Summary of the Invention

[0004] In response to the shortcomings of the existing production technologies, the applicant provides a deep-sea lander and deployment and recovery method suitable for rapid and stable deployment. This facilitates the rapid, stable and accurate deployment of the lander and reduces the impact of vibration and impact on the equipment during the descent and landing process, thereby ensuring the long-term reliable operation of the scientific instruments carried on board.

[0005] The technical solution adopted in this invention is as follows:

[0006] A deep-sea lander suitable for rapid and stable deployment includes a bottom configuration. Side plates are located at both ends of the bottom configuration. Each side plate includes a folding side plate and an opening / closing side plate. The opening / closing side plate is connected to the bottom configuration via a pivot. The top surfaces of the two folding side plates are connected and fixed via hinges and a wing plate fixing mechanism. Side configurations are installed on both sides of the bottom configuration, with a folding triangular plate on top of each side configuration. Channels are located at the lower outer positions of both ends of the bottom configuration, and thrusters are installed within these channels. The system also includes an opening / closing mechanism for controlling the opening and closing of the opening / closing side plates. Two sets of opening / closing mechanisms are symmetrically arranged. A mounting frame is located inside the bottom configuration. The mounting frame is mounted above a battery via explosive bolts and can be released and floated by an electrical signal trigger. Buoyancy adjustment chambers are installed on both sides of the mounting frame. A buoyancy adjustment pump, a multi-beam sonar, and an altimeter are installed on one side of the mounting frame, with the multi-beam sonar and altimeter fixed inside the bottom configuration. A control tank is installed on the other side of the mounting frame. Buoyancy material is installed on the top surface of the mounting frame.

[0007] Its further technical solution lies in:

[0008] The opening and closing mechanism has the following structure: it includes an upper connecting support fixed to the inner side of the side configuration, and a lower connecting support fixed to the opening and closing side plate. An electric push rod is installed between the upper connecting support and the lower connecting support. The push rod part of the electric push rod is fixed to the lower connecting support. The extension of the electric push rod pushes the opening and closing side plate to unfold.

[0009] The structure of the wing plate fixing mechanism includes a wing plate rotating block, a wing plate rotating block shaft, an inner fixing block, and bolts. The rotating wing plate rotates around the wing plate rotating block shaft, and the wing plate rotating block is locked to the inner fixing block by bolts. The folding side plate and the opening and closing side plate are fixed in a plane, so that the deep-sea lander can be transformed into a rapid diving mode.

[0010] The mounting frame adopts an integrated structure.

[0011] The mounting frame is a long, narrow frame structure with an open top.

[0012] The mounting frame has octagonal structures at both ends.

[0013] The folding side panels, folding triangular panels, opening and closing side panels, bottom configuration, and side configuration are all made of carbon fiber.

[0014] The frame, battery casing, buoyancy control chamber casing, altimeter casing, multibeam sonar casing, and explosive bolts are all made of titanium alloy.

[0015] A method for deploying and recovering a deep-sea lander suitable for rapid and stable deployment includes the following operational steps:

[0016] (I) Deployment process:

[0017] Onboard work: Complete the conversion from storage mode to rapid diving mode, specifically by closing the top folding side panels and folding triangular plates, and locking the wing plate fixing mechanism;

[0018] During the descent, when the lander detects its proximity to the seabed via the bottom altimeter, the symmetrically arranged electric push rods on both sides open the side panels, allowing the buoyancy adjustment system to drain water and reduce the negative buoyancy of the lander. The lander then decelerates and descends at a rapidly decreasing speed. At this point, the ocean currents are relatively small, and the lander uses multibeam sonar to detect suitable terrain in real time for landing. Simultaneously, the horizontal thrusters are activated to enable horizontal maneuvering, allowing the lander to land at the ideal deployment position. After landing, the buoyancy adjustment system is filled with water to increase negative buoyancy and improve stability on the seabed.

[0019] (II) Recycling process:

[0020] Activating the explosive bolts separates the internal frame of the lander from the battery. The buoyancy adjustment pump drains the buoyancy adjustment chamber, making the frame and the experimental instruments on board buoyant, thus enabling the core components to float up and be recovered autonomously.

[0021] The beneficial effects of this invention are as follows:

[0022] This invention has a compact and reasonable structure and is easy to operate. Through the coordinated operation of the redesigned components, it can easily complete the rapid, stable and accurate deployment of the lander, with good operational stability and a high safety factor.

[0023] In addition, the present invention also has the following advantages:

[0024] (1) The present invention adopts a blunt-tipped, low-drag teardrop-shaped design, which is different from the common frame-type lander configuration. Compared with the ordinary teardrop shape, it has more space, which is conducive to the mounting of large experimental instruments. Compared with the frame-type lander configuration, its hydrodynamic performance is greatly improved, effectively reducing diving resistance, improving the tail vortex situation during diving, and improving the stability and speed of the lander's diving.

[0025] (2) When the present invention descends to near the seabed, the deceleration fins can be opened and closed by controlling an electric actuator, thereby greatly reducing the descent speed and inertia, and reducing the impact of landing on the lander and its onboard equipment. The buoyancy adjustment system can achieve rapid descent, deceleration descent mode, and overall negative buoyancy during landing and recovery, to meet the requirements of different modes and operating conditions. All external structural components of the lander are made of carbon fiber, which can withstand water flow resistance during descent while promoting system weight reduction. Simultaneously, the opened deceleration fins can serve as a support surface after landing, reducing the pressure on the contact surface between the lander and the seabed, reducing long-term settling, and facilitating the subsequent surfacing and recovery of experimental instruments.

[0026] (3) When the present invention is near the seabed, the diving speed and the horizontal current speed are both relatively small. The terrain can be measured by multibeam sonar, and the thrusters set at the front and rear of the bottom of the lander can be opened to achieve horizontal maneuvering and find the ideal deployment position. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention.

[0028] Figure 2 This is a schematic diagram of the internal structure of the present invention.

[0029] Figure 3 for Figure 2 Exploded view.

[0030] Figure 4 for Figure 2 A partial view (enlarged).

[0031] Figure 5 This is the front view of the present invention.

[0032] Figure 6 This is a schematic diagram of the structure of the connecting hinge and wing plate fixing mechanism of the present invention.

[0033] Figure 7 This is a schematic diagram of the present invention in operation.

[0034] Figure 8 This is a schematic diagram of the structure of the frame supporting the present invention.

[0035] in:

[0036] 11. Folding side panel; 12. Folding triangular plate; 13. Opening and closing side panel; 14. Bottom configuration; 15. Side configuration; 16. Opening and closing deceleration wing;

[0037] 21. Thruster;

[0038] 31. Connecting hinge; 32. Wing plate fixing mechanism; 33. Wing plate rotating block; 34. Wing plate rotating block shaft; 35. Inner fixing block; 36. Bolt;

[0039] 41. Electric actuator; 42. Upper connecting support; 43. Lower connecting support; 44. Rotating shaft;

[0040] 51. Altimeter; 52. Multibeam sonar;

[0041] 61. Battery;

[0042] 71. Buoyancy regulating chamber; 72. Buoyancy regulating pump; 73. Buoyancy material; 74. Explosive bolts; 75. Control tank;

[0043] 81. Mounting frame. Detailed Implementation

[0044] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0045] like Figures 1-8 As shown, the deep-sea lander suitable for rapid and stable deployment in this embodiment includes a bottom configuration 14. Side plates are respectively provided at both ends of the bottom configuration 14. Each side plate includes a folding side plate 11 and an opening / closing side plate 13. The opening / closing side plate 13 is connected to the bottom configuration 14 via a pivot 44. The top surfaces of the two folding side plates 11 are connected and fixed via connecting hinges 31 and a wing plate fixing mechanism 32. Side configurations 15 are respectively installed on both sides of the bottom configuration 14, with a folding triangular plate 12 above the side configuration 15. Channels are provided at the lower outer positions of both ends of the bottom configuration 14, and thrusters 21 are installed within these channels. The system also includes a control mechanism for the opening / closing side plate. The plate 13 has an opening and closing mechanism, with two sets of opening and closing mechanisms arranged symmetrically. The bottom configuration 14 is equipped with a mounting frame 81, which is installed above the battery 61 by explosive bolts 74. It can be released and floated by an electrical signal. Buoyancy adjustment chambers 71 are installed on both sides of the mounting frame 81. A buoyancy adjustment pump 72, a multi-beam sonar 52, and an altimeter 51 are installed on one side of the mounting frame 81. The multi-beam sonar 52 and the altimeter 51 are fixed inside the bottom configuration 14. A control tank 75 is installed on the other side of the mounting frame 81. Buoyancy material 73 is installed on the top surface of the mounting frame 81.

[0046] The opening and closing mechanism has the following structure: it includes an upper connecting support 42 fixed inside the side configuration 15 and a lower connecting support 43 fixed on the opening and closing side plate 13. An electric push rod 41 is installed between the upper connecting support 42 and the lower connecting support 43. The push rod part of the electric push rod 41 is fixed to the lower connecting support 43. The extension of the electric push rod 41 pushes the opening and closing side plate 13 to unfold.

[0047] The structure of the wing plate fixing mechanism 32 includes a wing plate rotating block 33, a wing plate rotating block shaft 34, an inner fixing block 35, and bolts 36. The rotating wing plate rotating block 33 rotates around the wing plate rotating block shaft 34, and the wing plate rotating block 33 is locked to the inner fixing block 35 by bolts 36. The folding side plate 11 and the opening and closing side plate 13 are fixed in a plane, so that the deep-sea lander can be transformed into a rapid diving mode.

[0048] The mounting frame 81 adopts an integrated structure.

[0049] The frame 81 is a long, narrow frame structure with an open top.

[0050] The frame 81 has octagonal structures at both ends.

[0051] The folding side panel 11, folding triangular panel 12, opening and closing side panel 13, bottom configuration 14 and side configuration 15 are all made of carbon fiber.

[0052] The housings of the frame 81, battery 61, buoyancy adjustment chamber 71, altimeter 51, multibeam sonar 52, and explosive bolts 74 are all made of titanium alloy.

[0053] The specific structure and function of the deep-sea lander suitable for rapid and stable deployment described in this invention are as follows:

[0054] It mainly includes components such as folding side plate 11, folding triangular plate 12, opening and closing side plate 13, bottom configuration 14, side configuration 15, thruster 21, battery 61, buoyancy adjustment system (including buoyancy adjustment chamber 71 and buoyancy adjustment pump 72), buoyancy material 73, mounting frame 81, connecting hinge 31, wing plate fixing mechanism 32, electric push rod 41, connecting support, rotating shaft 44, altimeter 51, multibeam sonar 52, and explosive bolts 74.

[0055] This device comprises three modes: normal storage mode, rapid descent mode, and deceleration descent mode. The normal storage mode is used for daily storage and has the advantage of small space occupation. It can be manually switched to the rapid descent mode, which is mainly used during the device's descent process and features high descent speed and good stability.

[0056] During deployment, the front and rear folding side panels 11 and the front and rear folding triangular panels 12 are opened and closed through the top connecting hinge 31. After closing, the two can be fixedly connected through the wing plate fixing mechanism 32.

[0057] Before near-bottom landing, the device can decelerate and descend by deforming its wings and using a buoyancy adjustment system to pump water. Combined with thrusters 21 and multi-beam sonar 52, it can perform near-bottom maneuvers and detect and select a landing site, offering advantages such as controllable landing location and minimal impact. The device has a large internal space, suitable for rapid and accurate landing in the deep sea. After the test mission is completed, the mounted frame 81 and the planned experimental instruments can be unlocked from the outer shell and the high-density battery 61 using explosive bolts 74, and the buoyancy adjustment system can pump water, allowing for autonomous ascent and recovery.

[0058] During storage, to save storage space, the folding side panels 11 and folding triangular plates 12 on the top of the lander can be opened to reduce the space in the vertical direction. In use, the folding side panels 11 and folding triangular plates 12 on the top are closed and fixed by the wing plate fixing mechanism 32, so that the lander takes on a teardrop-shaped form, that is, it is converted into a rapid diving form, which can rapidly dive into the water with less resistance.

[0059] The lander's bottom is equipped with a flat, oil-filled, pressure-resistant battery and a buoyancy regulating pump 72, which have a high density to help lower the lander's overall center of gravity. The top is equipped with buoyancy material 73 to adjust overall buoyancy and raise the center of buoyancy. This increases the distance between the center of gravity and the center of buoyancy, further improving stability during rapid descent.

[0060] An altimeter 51 and a multibeam sonar 52 are arranged on the longitudinal section of the lander's bottom. The altimeter 51 is used to detect the distance of the lander from the seabed and to trigger the opening action of the opening and closing side panel 13. After the opening and closing side panel 13 is opened, the lander is in a deceleration and diving configuration. The buoyancy regulating pump 72 starts to drain water, reducing the overall negative buoyancy of the lander until it reaches a state of zero buoyancy. The multibeam sonar 52 is activated to detect the terrain, and the thrusters 21 are activated to select a suitable landing location. After landing, the buoyancy regulating pump 72 is activated to inject water, increasing the overall negative buoyancy of the lander and stabilizing its position on the seabed. When landing in a deceleration and diving configuration, the opening and closing side panel 13 contacts the soft seabed, resulting in a large contact surface area and low specific pressure on the bottom of the lander, which can prevent sinking.

[0061] The lander has an internal mounting frame 81, which provides ample space for experimental instruments. Both ends of the mounting frame 81 are equipped with buoyancy adjustment systems. When the lander needs to be recovered, the buoyancy adjustment system uses a buoyancy adjustment pump 72 to drain water, ensuring the mounting frame 81 and the carried experimental instruments are in a positive buoyancy state. Activating the explosive bolts 74 separates the internal mounting frame 81 from the battery 61, enabling the core components to autonomously ascend and be recovered.

[0062] The external structural components, such as the folding side plate 11, folding triangular plate 12, opening and closing side plate 13, bottom configuration 14, and side configuration 15, are all made of carbon fiber to facilitate weight reduction and withstand water pressure during the descent.

[0063] The housings of the frame 81, battery 61, buoyancy adjustment system, altimeter 51, multibeam sonar 52, and explosive bolts 74 are all made of titanium alloy to improve corrosion resistance during long-term service at great depths, ensuring equipment safety and enhancing recovery reliability.

[0064] The wingplate fixing mechanism 32 consists of a wingplate rotating block 33, a wingplate rotating block shaft 34, an inner fixing block 35, and bolts 36. The rotating wingplate rotating block 33 can rotate around the wingplate rotating block shaft 34, and the bolts 36 lock the wingplate rotating block 33 to the inner fixing block 35, allowing the deep-sea lander to transform into a rapid diving mode.

[0065] Rapid descent pattern Figure 1 As shown, the teardrop-shaped structure formed by the front and rear folding side plates 11, the front and rear folding triangular plates 12, the front and rear opening and closing side plates 13, the bottom configuration 14, and the left and right side configurations 15 enables rapid and stable diving.

[0066] The rapid descent mode can be transformed into a deceleration descent mode by opening and closing the side panel 13. Specifically, during rapid descent, the distance from the bottom is monitored in real time by an altimeter 51 installed at the bottom of the invention. When approaching the seabed, the depth is greater and the water current speed is extremely low. The folding side panel 11 and the opening and closing side panel 13 are considered as a whole when fixed by the connecting hinge 31. The opening and closing side panel 13 (e.g., Figure 8 The two deceleration deceleration plates 16 (also referred to here as the opening and closing deceleration vanes 16) are opened by rotating around the pivot 44 of the deceleration deceleration plate 16 under the action of four electric push rods 41 respectively fixed on the two side configurations 15, until they are horizontally opened, thereby increasing the frontal area and rapidly reducing the landing vehicle's diving speed. The main body of the electric push rod 41 is connected to the side configuration 15 through the upper connecting support 42. The push rod part of the electric push rod 41 is connected to the opening and closing deceleration deceleration plate 16 through the lower connecting support 43. Four horizontal thrusters 21, arranged symmetrically at a 45° angle at the bottom of the lander, are rigidly connected to the bottom configuration 14, enabling the lander to maneuver horizontally and land at the ideal deployment position.

[0067] The lander's internal structure includes a mounting frame 81, providing ample space for experimental instruments. Two sets of buoyancy adjustment chambers 71, stacked together, are fixed to both ends of the mounting frame 81 for overall lander recovery. A buoyancy adjustment pump 72 is located at the lower right corner of the lander's bottom for filling and draining the buoyancy adjustment chambers 71. Four explosive bolts 74, distributed at the four corners, connect the mounting frame 81 to the bottom battery 61. The battery 61, located at the bottom of the lander, primarily powers the thrusters 21 and the internal experimental instruments. The control tank 75 provides a dry mounting environment for the lander's control system.

[0068] In actual work, the following steps are included:

[0069] I. Deployment Steps:

[0070] Onboard work: Complete the conversion from storage mode to rapid diving mode, specifically by closing the top folding side plate 11 and folding triangular plate 12, and locking the wing plate fixing mechanism 32.

[0071] During the descent, considering the influence of currents in the deployment area, the lander will experience a certain horizontal positional shift. When the lander detects its proximity to the seabed via the bottom altimeter 51, the symmetrically arranged electric push rods 41 on both sides of the configuration 15 open the side panels 13, allowing the buoyancy adjustment system to drain water and reduce the negative buoyancy of the lander. The lander then enters a decelerating descent mode, with its descent speed decreasing rapidly. At this point, the currents are relatively small, allowing the multibeam sonar 52 to detect suitable terrain in real time for landing. Simultaneously, the horizontal thrusters 21 are activated to achieve horizontal maneuvering, enabling the lander to land at the ideal deployment location. After landing, the buoyancy adjustment system is filled with water to increase negative buoyancy and improve seabed stability.

[0072] II. Recycling Steps:

[0073] Activating the explosive bolt 74 separates the internal frame 81 of the lander from the battery 61. The buoyancy adjustment pump 72 drains the buoyancy adjustment chamber 71, so that the frame 81 and the experimental instruments are in a positive buoyancy, enabling the core components to float up and be recovered autonomously.

[0074] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A deep-sea lander suitable for rapid and stable deployment, characterized in that: The system includes a bottom configuration (14), with side panels at both ends. Each side panel includes a folding side panel (11) and an opening / closing side panel (13). The opening / closing side panel (13) is connected to the bottom configuration (14) via a pivot (44). The top surfaces of the two folding side panels (11) are connected and fixed via a connecting hinge (31) and a wing plate fixing mechanism (32). Side configurations (15) are installed on both sides of the bottom configuration (14), with a folding triangular plate (12) above each side configuration (15). The bottom configuration (14) is located at the lower outer sides of both ends. The device is equipped with a channel, in which a thruster (21) is installed; it also includes an opening and closing mechanism for controlling the opening and closing of the side plate (13), with two sets of opening and closing mechanisms arranged symmetrically. The bottom configuration (14) is equipped with a mounting frame (81), which is mounted above the battery (61) by explosive bolts (74) and is released and floated by an electrical signal trigger. Buoyancy adjustment chambers (71) are installed on both sides of the mounting frame (81), and a buoyancy adjustment pump (72), a multi-beam sonar (52), and an altimeter (51) are installed on one side of the mounting frame (81). The multibeam sonar (52) and altimeter (51) are fixed inside the bottom configuration (14), and a control tank (75) is installed on the other side of the mounting frame (81). A buoyancy material (73) is installed on the top surface of the mounting frame (81). The structure of the opening and closing mechanism is as follows: it includes an upper connecting support (42) fixed inside the side configuration (15) and a lower connecting support (43) fixed on the opening and closing side plate (13). An electric push rod (41) is installed between the upper connecting support (42) and the lower connecting support (43). The push rod part of the electric push rod (41) is connected to the lower connecting support. With the support (43) fixed, the extension of the electric push rod (41) pushes the opening and closing side plate (13) to unfold; the structure of the wing plate fixing mechanism (32) is as follows: including wing plate rotating block (33), wing plate rotating block rotating shaft (34), inner fixing block (35) and bolt (36), the rotating wing plate rotating block (33) rotates around the wing plate rotating block rotating shaft (34), and the wing plate rotating block (33) is locked with the inner fixing block (35) by the bolt (36), the folding side plate (11) and the opening and closing side plate (13) are fixed in a plane, so that the deep-sea lander is transformed into a rapid diving mode.

2. A deep-sea lander suitable for rapid and stable deployment as described in claim 1, characterized in that: The mounting frame (81) adopts an integrated structure.

3. A deep-sea lander suitable for rapid and stable deployment as described in claim 1, characterized in that: The mounting frame (81) is a long strip frame structure with an open top.

4. A deep-sea lander suitable for rapid and stable deployment as described in claim 1, characterized in that: The mounting frame (81) has octagonal structures at both ends.

5. A deep-sea lander suitable for rapid and stable deployment as described in claim 1, characterized in that: The folding side panel (11), folding triangular panel (12), opening and closing side panel (13), bottom configuration (14) and side configuration (15) are all made of carbon fiber.

6. A deep-sea lander suitable for rapid and stable deployment as described in claim 1, characterized in that: The housings of the frame (81), battery (61), buoyancy adjustment chamber (71), altimeter (51), multibeam sonar (52), and explosive bolts (74) are all made of titanium alloy.

7. A method for deploying and recovering a deep-sea lander suitable for rapid and stable deployment as described in claim 1, characterized in that: The following steps are included: (a) Deployment process: Onboard work: Complete the conversion from storage mode to rapid diving mode, specifically by closing the top folding side plate (11) and folding triangular plate (12) and locking the wing plate fixing mechanism (32). During the descent, when the lander detects that it is close to the seabed through the bottom altimeter (51), the electric push rods (41) arranged symmetrically on the two sides of the configuration (15) open the opening and closing side plate (13), the buoyancy adjustment system drains water, reduces the negative buoyancy of the lander, and the lander is in a deceleration descent mode, and the descent speed decreases rapidly. At this time, the ocean current is small, and the multi-beam sonar (52) detects suitable terrain in real time for landing. At the same time, the horizontal thruster (21) is opened to realize horizontal maneuvering, so that the lander lands in the ideal deployment position. After landing, the buoyancy adjustment system is filled with water to increase the negative buoyancy and improve the stability of the landing. (II) Recycling process: Activating the explosive bolt (74) separates the internal mounting frame (81) of the lander from the battery (61). The buoyancy adjustment pump (72) drains the buoyancy adjustment chamber (71), so that the mounting frame (81) and the mounted test instruments are in a positive buoyancy, and the core components are autonomously floated and recovered.

Images