An underwater AUV autonomous recovery device

Abstract

This invention discloses an autonomous underwater vehicle (AUV) recovery device, comprising a main hull, a multi-section recovery assembly, a wheel-type storage assembly, a side storage assembly, and a propulsion assembly. The multi-section recovery assembly performs initial attitude correction on the AUV to be recovered and guides the AUV to the wheel-type storage assembly. The wheel-type storage assembly performs initial storage of the AUV and transfers the initially stored AUV to the side storage assembly. By incorporating the multi-section recovery assembly, wheel-type storage assembly, and side storage assembly within the main hull, the device performs initial attitude correction, initial storage, and transfer of the underwater AUV, thereby achieving autonomous recovery of the AUV. Therefore, this autonomous recovery device is adaptable to different types of AUVs and underwater environments, has a wide range of applications, and can recover a large number of AUVs.

Description

Technical Field

[0001] This invention relates to the field of AUV recovery device technology, and more particularly to an underwater AUV autonomous recovery device. Background Technology

[0002] With the continuous advancement of science and technology and the ever-increasing demand for marine resources, we are at a historic peak in marine resource exploration technology. Today, mature technologies and constantly updated advanced equipment enable humanity to gain a deeper understanding of the ocean and explore the infinite potential of marine resources.

[0003] Modern AUVs are equipped with a variety of high-precision sensors, such as sonar, cameras, and pressure sensors, and feature advanced control systems, enabling autonomous navigation, path planning, and mission execution. This allows AUVs to perform various tasks in complex marine environments, such as seabed resource exploration, marine ecological research, and environmental monitoring. Through autonomous navigation and path planning, AUVs can efficiently detect and collect target information and execute tasks using advanced control systems. It is precisely the development of AUVs that has helped humanity to continuously deepen its understanding of the unknown realms of the ocean and promote the sustainable development and protection of marine resources.

[0004] However, the recovery process of AUVs after completing their missions still faces some difficulties and challenges. AUVs operate in underwater environments and encounter problems such as complex water currents, strong water pressure, and unstable underwater lighting. These factors can lead to damage or loss of AUVs during recovery, increasing the difficulty of recovery. Secondly, traditional AUV recovery methods typically require the use of large recovery vessels or manual operation, which places high demands on both the vessels and personnel and is unsuitable for deep-water areas. Due to the complexity of the underwater environment and the limitations of deep-water areas, traditional recovery methods are often inefficient, costly, and carry significant operational risks. Summary of the Invention

[0005] The purpose of this invention is to propose an underwater AUV autonomous recovery device to solve the problems faced in the field of AUV recovery, reduce the impact of complex underwater environments on AUV recovery, and enable efficient and reliable recovery of more AUV equipment in deep water areas.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] An autonomous recovery device for an underwater AUV includes a main hull, a multi-section recovery assembly, a wheel-type storage assembly, a side storage assembly, and a propulsion assembly.

[0008] The propulsion assembly is located on both sides of the main hull and is used to propel the main hull to sail in the water. The bottom of the main hull is provided with a cabin cavity, and the opening of the cabin cavity is provided with bottom hatches that can be opened and closed to both sides.

[0009] The cabin cavity is provided with a first moving component and a second moving component. The multi-segment recovery component is located at the movable end of the first moving component, the wheel storage component is located at the movable end of the second moving component, and the side storage component is located on the left and right side walls of the cabin cavity. The first moving component and the second moving component are respectively used to drive the multi-segment recovery component and the wheel storage component to extend or retract into the cabin cavity.

[0010] The multi-stage AUV recovery assembly is used to perform preliminary attitude correction on the AUV to be recovered and guide the AUV to move into the wheel storage assembly. The wheel storage assembly is used to perform preliminary storage of the AUV and to transfer the pre-stored AUV to the side storage assembly.

[0011] Preferably, the multi-segment recovery assembly includes an inward-retracting guide port, an annular channel, and an axial transport component. The annular channel is connected to the lifting end of the first multi-segment lifting arm. The inward-retracting guide port is fixed at the beginning of the annular channel. The end of the annular channel is opposite to the wheel storage assembly. The axial transport component is disposed within the annular channel. The axial transport component includes at least three conveyor belt structures and at least three first circumferential moving units. The plurality of first circumferential moving units are distributed in a polygonal pattern and slidably connected to the inner side of the annular channel. The conveyor belt structures are disposed on the first circumferential moving units. The first circumferential moving units are used to drive the conveyor belt structures to move circumferentially along the inner side of the annular channel. The gaps between the plurality of conveyor belt structures form a transmission space that can accommodate the AUV equipment.

[0012] Preferably, the multi-segment recycling assembly further includes a guiding gripping component, which is disposed within the annular channel and located between the retractable guide port and the axial transport component. The guiding gripping component includes a plurality of first mechanical claw units distributed alternately along the axial direction of the annular channel. Each first mechanical claw unit includes an annular mechanical claw, a radial telescopic rod, and a second circumferential moving unit. The radial telescopic rod is disposed on the second circumferential moving unit, and the annular mechanical claw is disposed at the telescopic end of the radial telescopic rod. A plurality of protective elastic bodies are provided on the inner side of the annular mechanical claw. The second circumferential moving unit is slidably connected to the inner side of the annular channel and is used to drive the annular mechanical claw to move circumferentially along the inner side of the annular channel.

[0013] Preferably, the first moving component includes a first guide rail, a fixed seat, a fixed ring, a forward and backward moving component, and a first multi-segment lifting arm. The first guide rail is located at the top of the cabin cavity. The fixed seat is provided with guide wheels, and the fixed seat is slidably connected to the first guide rail through the guide wheels. The forward and backward moving component is located on the main hull and is used to drive the fixed seat to move back and forth along the first guide rail. The first multi-segment lifting arm is located on the fixed seat, and the fixed ring is located at the lifting end of the first multi-segment lifting arm. The fixed ring is sleeved on the outside of the inward-retracting guide port and the annular channel.

[0014] Preferably, the roulette wheel storage assembly includes a roulette wheel storage compartment and a storage execution component. The roulette wheel storage compartment is located at the movable end of the second moving component. A first hatch is provided on one side of the roulette wheel storage compartment. The storage execution component includes an in-cabin moving unit and a second mechanical claw unit. The in-cabin moving unit is located inside the roulette wheel storage compartment. The second mechanical claw unit is located at the movable end of the in-cabin moving unit. The in-cabin moving unit is used to drive the second mechanical claw unit to extend or retract into the roulette wheel storage compartment through the first hatch, and to drive the second mechanical claw unit to move within the roulette wheel storage compartment.

[0015] Preferably, the wheel storage assembly further includes a first annular guide rail and a plurality of first AUV holders. The first annular guide rail is disposed inside the wheel storage compartment, and the plurality of first AUV holders are evenly distributed on the first annular guide rail. Each first AUV holder is connected to a driver, which is used to drive the first AUV holder to move along the first annular guide rail. A second hatch is also provided on the other side of the wheel storage compartment.

[0016] Preferably, the in-cabin moving unit includes a translation drive, a first rotating joint, a second rotating joint, a third rotating joint, a vertical telescopic rod, and a horizontal telescopic rod. A cross-shaped guide groove is provided on the top of the wheel storage compartment. The translation drive is disposed in the cross-shaped guide groove. The first rotating joint is disposed at the movable end of the translation drive. One end of the vertical telescopic rod is connected to the rotating end of the first rotating joint, and the other end of the vertical telescopic rod is connected to the second rotating joint. One end of the horizontal telescopic rod is connected to the rotating end of the second rotating joint, and the other end of the horizontal telescopic rod is connected to the third rotating joint. The second mechanical claw unit is connected to the rotating end of the third rotating joint. The vertical telescopic rod, the horizontal telescopic rod, and the third rotating joint are arranged perpendicularly to each other.

[0017] The translation drive is used to drive the second mechanical claw unit to move inside the wheel storage compartment; the translation drive is also used to drive the second mechanical claw unit to extend out of the wheel storage compartment through the first hatch or the second hatch.

[0018] Preferably, the second moving component further includes a second multi-segment lifting arm, a rotating base, and a transverse moving wheel. The top of the cabin cavity is also provided with a second guide rail that is vertically arranged on the first guide rail. The transverse moving wheel is slidably engaged with the second guide rail. The second multi-segment lifting arm is located at the bottom of the transverse moving wheel. The lifting section of the second multi-segment lifting arm is connected to the rotating base. The wheel storage compartment is located at the rotating end of the rotating base.

[0019] Preferably, the side storage assembly includes multiple movable bases, a second annular guide rail, and a second AUV holder. The second annular guide rail is disposed on both sides of the wheel storage assembly, the multiple movable bases are disposed on the second annular guide rail, and the second AUV holder is disposed on the movable bases front and rear. The movable bases are used to drive the second AUV holder to move along the second annular guide rail.

[0020] Preferably, it also includes an underwater camera and an underwater searchlight, both of which are located at the front of the main hull; the propulsion assembly includes a multi-angle thruster and a water jet thruster, which are evenly distributed on both sides of the main hull, and the main hull is generally teardrop-shaped.

[0021] Compared with existing technologies, the advantages of this invention are as follows: This invention achieves autonomous recovery of AUV equipment by incorporating a multi-segment recovery assembly, a wheel-shaped storage assembly, and a side storage assembly within the main hull to perform initial attitude correction, initial storage, and transfer functions. Specifically, the multi-segment recovery assembly can perform initial attitude correction on AUV equipment in different postures, guiding it into the wheel-shaped storage assembly in a specific posture for initial storage. The wheel-shaped storage assembly temporarily stores the initially stored AUV equipment and can transfer it to the side storage assembly, increasing the storage capacity. Therefore, the autonomous recovery device of this invention can adapt to different types of AUV equipment in various underwater environments, has a wide range of applications, and can recover a large number of AUV equipment. The inclusion of a first and second moving assembly, which respectively extend or retract the multi-segment recovery assembly and the wheel-shaped storage assembly into the hull cavity, facilitates the recovery operation while avoiding disruption to navigation. Attached Figure Description

[0022] The accompanying drawings further illustrate the present invention, but the content of the drawings does not constitute any limitation on the present invention.

[0023] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the main hull structure according to one embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of a multi-segment recycling component and a side storage component according to one embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the retractable guide port and the guide gripping component according to one embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of an axial transport component according to one embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of a roulette wheel storage component according to one embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of the first mechanical gripper unit according to one embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram of the structure of the first moving component according to one embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram of the structure of a side storage component according to one embodiment of the present invention.

[0032] The components include: 1-1, multi-angle thruster; 1-2, waterjet-powered thruster; 2, bottom hatch; 3, underwater searchlight; 4, underwater camera; 5, side storage assembly; 5-1, movable base; 5-2, second annular guide rail; 5-3, second AUV holder; 6, wheel storage assembly; 6-1, lateral moving wheel; 6-2, second multi-segment lifting arm; 6-3, rotating base; 6-4, cross guide groove; 6-5, first rotating joint; 6-6, second rotating joint; 6-7, third rotating joint; 6-8, lateral telescopic rod; 6-10, circular hatch; 6-11, rounded corner hatch; 6-12, docking port; 6-13, first AUV holder; 6-14, first annular... 6-15. Guide rail; 6-16. Fixed base; 6-17. Radial telescopic rod; 6-18. Annular mechanical claw; 6-19. Protective elastomer; 6-20. Vertical telescopic rod; 6-20. Translational drive component; 7. Multi-segment recovery assembly; 7-1. Inward-retracting guide port; 7-2. Annular channel; 7-5. First circumferential moving unit; 7-6. Guiding gripping component; 7-7. Conveyor belt structure; 7-12. Docking component; 7-13. Rounded square reinforcing rib; 7-14. Round tube reinforcing rib; 8. First moving assembly; 8-1. Fixed base; 8-2. First multi-segment lifting arm; 8-3. Fixed ring; 9. First guide rail; 10. Second guide rail; 11. AUV equipment; 12. Main hull; Detailed Implementation

[0033] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0034] This embodiment describes an underwater AUV autonomous recovery device, as shown in the attached diagram. Figure 1 and 2 It includes the main hull 12, multi-section recovery assembly 7, wheel storage assembly 6, side storage assembly 5, and propulsion assembly;

[0035] The propulsion components are located on both sides of the main hull 12. The propulsion components are used to propel the main hull 12 to sail in the water. The bottom of the main hull 12 is provided with a cabin cavity. The opening of the cabin cavity is provided with bottom hatches 2 that can be opened and closed to both sides.

[0036] The cabin cavity is provided with a first moving component 8 and a second moving component. A multi-segment recovery component 7 is located at the movable end of the first moving component 8, a wheel storage component 6 is located at the movable end of the second moving component, and a side storage component 5 is located on the left and right side walls of the cabin cavity. The first moving component 8 and the second moving component are respectively used to drive the multi-segment recovery component 7 and the wheel storage component 6 to extend or retract into the cabin cavity.

[0037] The AUV multi-stage recovery assembly 7 is used to perform preliminary attitude correction on the AUV equipment to be recovered and guide the AUV equipment 11 to move into the wheel storage assembly 6. The wheel storage assembly 6 is used to perform preliminary storage on the AUV equipment 11. The wheel storage assembly 6 is also used to transfer the AUV equipment 11 after preliminary storage to the side storage assembly 5.

[0038] This embodiment achieves autonomous recovery of the underwater AUV equipment 11 by setting a multi-segment recovery assembly 7, a wheel-shaped storage assembly 6, and a side storage assembly 5 at the bottom of the main hull 12. The multi-segment recovery assembly 7 can perform preliminary attitude correction, preliminary storage, and transfer of the AUV equipment 11. The multi-segment recovery assembly 7 can perform preliminary attitude correction on the AUV equipment 11 in different postures, guiding it into the wheel-shaped storage assembly 6 in a specific posture for initial storage. The wheel-shaped storage assembly 6 temporarily stores the initially stored AUV equipment 11 and can transfer it to the side storage assembly 5, increasing the storage capacity of the AUV equipment 11. Therefore, the autonomous recovery device of this invention can adapt to different types of AUV equipment 11 in various underwater environments, has a wide range of applications, and can recover a large number of AUV equipment 11.

[0039] By incorporating a propulsion component, the main hull 12 can navigate in water, thereby approaching the AUV to be recovered for easier retrieval. A cabin cavity is located at the bottom of the main hull 12, with openable and closable bottom hatches 2 on both sides of the cavity opening. During retrieval, the bottom hatches 2 are opened, and the multi-section retrieval component 7 and the wheel-mounted storage component 6 extend out of the cabin cavity via the first and second moving components, facilitating retrieval. During navigation or after retrieval, the multi-section retrieval component 7 and the wheel-mounted storage component 6 are retracted into the cabin cavity via the first and second moving components, and the bottom hatches 2 are closed to avoid obstructing navigation. This improves the safety and reliability of the device, as well as its stability during water navigation.

[0040] Preferred options are listed in the appendix. Figure 3 6. The multi-segment recovery assembly 7 includes an inward-retracting guide port 7-1, an annular channel 7-2, and an axial transport component. The annular channel 7-2 is connected to the lifting end of the first multi-segment lifting arm 8-2. The inward-retracting guide port 7-1 is fixed at the beginning of the annular channel 7-2. The inward-retracting guide port 7-1 has six rounded square reinforcing ribs 7-13 and one round tube reinforcing rib 7-14 arranged in a circular array on the outside. The end of the annular channel 7-2 is opposite to the wheel storage assembly 6. The axial transport component is located in the annular channel. Inside 7-2, the axial transport component includes three conveyor belt structures 7-7 and three first circumferential moving units 7-5. The multiple first circumferential moving units 7-5 are distributed in a polygonal pattern and slidably connected to the inner side of the annular channel 7-2. The conveyor belt structures 7-7 are mounted on the first circumferential moving units 7-5. The first circumferential moving units 7-5 are used to drive the conveyor belt structures 7-7 to move circumferentially along the inner side of the annular channel 7-2. The gaps between the multiple conveyor belt structures 7-7 form a transport space that can accommodate the AUV equipment 11.

[0041] The AUV device 11 is guided into the multi-stage recovery assembly 7 through the retractable guide port 7-1, which provides initial attitude correction for the AUV device 11 during recovery, facilitating its positioning during subsequent recovery operations. The inner side of the retractable guide port 7-1 is equipped with a buffer layer made of soft rubber material to cushion impacts to the AUV device 11, preventing potential damage and thus improving the accuracy and safety of the recovery operation while reducing the potential risk of damage to the AUV device 11. The outer side of the retractable guide port 7-1 features six rounded square reinforcing ribs 7-13 and one cylindrical reinforcing rib 7-14. These reinforcing ribs increase the overall strength and stability of the retractable guide port 7-1, enabling it to better withstand pressure and other factors in the underwater environment.

[0042] By setting up an annular channel 7-2, the AUV device 11 being retrieved is guided into the annular channel 7-2 by the inward-facing guide port 7-1, which limits the movement of the AUV device 11 and facilitates its subsequent clamping and transport by the axial transport components. Three conveyor belt structures 7-7 are arranged within the annular channel 7-2, and the gaps between the three conveyor belt structures 7-7 create a transport space sufficient to accommodate the AUV device 11. Once the multiple conveyor belt structures 7-7 clamp the AUV device 11, driving the conveyor belt structures 7-7 achieves clamping and transport of the AUV device 11. A first circumferential moving unit 7-5 is provided to move the conveyor belt structures 7-7 along the inner side of the annular channel 7-2, facilitating the adjustment of the angle of the clamped AUV device 11 and achieving posture adjustment. This further improves the retrieval efficiency and accuracy of the AUV device 11.

[0043] Furthermore, the multi-stage recycling assembly 7 also includes a guiding gripping component 7-6, which is disposed within the annular channel 7-2 and located between the retractable guide port 7-1 and the axial transport component. The guiding gripping component 7-6 includes a plurality of first mechanical claw units distributed alternately along the axial direction of the annular channel 7-2; see attached figure. Figure 7 The first mechanical gripper unit includes a ring-shaped mechanical gripper 6-17, a radial telescopic rod 6-16, and a second circumferential moving unit. The radial telescopic rod 6-16 is mounted on the second circumferential moving unit, and the ring-shaped mechanical gripper 6-17 is located at the telescopic end of the radial telescopic rod 6-16. Multiple protective elastic bodies 6-18 are provided on the inner side of the ring-shaped mechanical gripper 6-17. The second circumferential moving unit is slidably connected to the inner side of the annular channel 7-2 and is used to drive the ring-shaped mechanical gripper 6-17 to move circumferentially along the inner side of the annular channel 7-2. The second circumferential moving unit also has a fixed base 6-15 for supporting the ring-shaped mechanical gripper 6-17 and the radial telescopic rod 6-16.

[0044] By placing the guiding gripping component 7-6 within the annular channel 7-2 and between the retractable guide port 7-1 and the axial transport component, the guiding gripping component 7-6 can accurately grip and guide the AUV device 11 into the transport space after it enters the recovery assembly. This achieves attitude adjustment of the AUV device 11 and improves the accuracy and efficiency of recovery. By setting multiple first mechanical claw units distributed alternately along the axial direction of the annular channel 7-2, the multiple first mechanical claw units can respectively grip the front and rear positions of the AUV device 11, improving motion stability and gripping accuracy.

[0045] By placing the annular mechanical gripper 6-17 at the telescopic end of the radial telescopic rod 6-16, and by placing the radial telescopic rod 6-16 at the movable end of the second circumferential moving unit, the annular mechanical gripper 6-17 can extend and retract and move circumferentially along the annular channel 7-2, thereby better adapting to AUV equipment 11 in different postures and improving the adaptability and accuracy of gripping. By providing a protective elastomer 6-18 on the inner side of the annular mechanical gripper 6-17, not only is the clamped AUV equipment 11 protected, improving its service life and safety, but the friction between the annular mechanical gripper 6-17 and the AUV equipment 11 is also increased, making the gripping of the AUV equipment 11 by the annular mechanical gripper 6-17 more stable.

[0046] Preferred options are listed in the appendix. Figure 8 The first moving component 8 includes a first guide rail 9, a fixed seat 8-1, a fixed ring 8-3, a forward and backward moving component, and a first multi-segment lifting arm 8-2. The first guide rail 9 is located on the top of the cabin cavity. The fixed seat 8-1 is equipped with guide wheels and is slidably connected to the first guide rail 9 through the guide wheels. The forward and backward moving component is located on the main hull 12 and is used to drive the fixed seat 8-1 to move forward and backward along the first guide rail 9. The first multi-segment lifting arm 8-2 is located on the fixed seat 8-1. The fixed ring 8-3 is located at the lifting end of the first multi-segment lifting arm 8-2 and is sleeved on the outside of the inward-retracting guide port 7-1 and the annular channel 7-2.

[0047] By installing a first guide rail 9 at the top of the cabin cavity, the first moving component 8 can move along the first guide rail 9, thereby driving the retractable guide port 7-1 and the annular channel 7-2 to move back and forth, achieving precise control and retrieval of the AUV equipment 11. The fixed base 8-1 is slidably connected to the first guide rail 9 via guide wheels, reducing the movement friction of the fixed base 8-1. By installing a first multi-segment lifting arm 8-2 to drive the retractable guide port 7-1 and the annular channel 7-2 to lift and lower, the multi-segment retrieval component 7 can extend out from below the cabin cavity or retract into the cabin cavity. The retractable guide port 7-1 and the annular channel 7-2 are fixed by a fixing ring 8-3, making the first moving component 8 more stable and reliable when retrieving the AUV equipment 11, and also improving the control accuracy of the AUV equipment 11.

[0048] Preferably, the roulette wheel storage assembly 6 includes a roulette wheel storage compartment and a storage execution component. The roulette wheel storage compartment is located at the movable end of the second moving assembly. A first hatch is opened on one side of the roulette wheel storage compartment, and a controllable circular hatch 6-10 is provided on the outer side of the first hatch. The storage execution component includes an in-cabin moving unit and a storage mechanical claw unit. The in-cabin moving unit is located inside the roulette wheel storage compartment, and the storage mechanical claw unit is located at the movable end of the in-cabin moving unit. The in-cabin moving unit is used to drive the storage mechanical claw unit to extend or retract into the roulette wheel storage compartment through the first hatch, and to drive the storage mechanical claw unit to move within the roulette wheel storage compartment. The outer periphery of the first hatch is provided with docking interfaces 6-12 arranged in a circular array, and the end of the multi-segment recovery assembly 7 is provided with a docking part 7-12 that matches the docking interfaces 6-12.

[0049] The wheel storage compartment is located at the movable end of the second moving component, allowing the wheel storage component 6 to move left and right within the cabin cavity, facilitating docking with the annular channel 7-2 of the multi-segment recovery component 7. A first hatch is opened on one side of the wheel storage compartment, and a controllable circular door 6-10 is provided on the outside of the first hatch, allowing the AUV equipment 11 to enter the wheel storage compartment for temporary storage, while also effectively controlling the entry and exit of the AUV equipment 11.

[0050] The in-cabin movement unit is used to drive the second mechanical gripper unit to extend or retract into the wheel-shaped storage compartment through the first hatch, and to move the second mechanical gripper unit within the wheel-shaped storage compartment. This allows the second mechanical gripper unit to flexibly grip the AUV device 11 in and out of the wheel-shaped storage compartment, and to move and complete corresponding storage operations within the compartment. The second mechanical gripper unit can adopt the same structure as the first mechanical gripper unit. By providing an interface 6-12 on the outer periphery of the first hatch, and providing a mating part 7-12 matching the interface 6-12 at the end of the multi-segment recovery assembly 7, accurate docking and connection between the multi-segment recovery assembly 7 and the wheel-shaped storage assembly 6 are achieved, facilitating the movement of the AUV device 11 between the two components.

[0051] Furthermore, the roulette wheel storage assembly 6 also includes a first annular guide rail 6-14 and a plurality of first AUV holders 6-13. The first annular guide rail 6-14 is located inside the roulette wheel storage compartment, and the plurality of first AUV holders 6-13 are evenly distributed on the first annular guide rail 6-14. Each first AUV holder 6-13 is connected to a driver, which is used to drive the first AUV holder 6-13 to move along the first annular guide rail 6-14. A second hatch is also provided on the other side of the roulette wheel storage compartment, and an openable and closable circular hatch 6-11 is provided on the outer side of the second hatch.

[0052] A first annular guide rail 6-14 is installed inside the wheel-shaped storage compartment, allowing the first AUV holder 6-13 to move along a fixed trajectory. Driven by a actuator, the AUV device 11 secured by the first AUV holder 6-13 can be moved to a position near the first or second hatch, enabling the AUV device 11 to be stored in the wheel-shaped storage compartment and transferred to the side storage assembly 5. Multiple first AUV holders 6-13 are evenly distributed on the first annular guide rail 6-14, ensuring that the AUV device 11 is evenly secured and distributed after entering the wheel-shaped storage compartment, thereby increasing storage capacity. A second hatch is opened on the other side of the wheel-shaped storage compartment, allowing the AUV device 11, initially stored in the wheel-shaped storage compartment, to be transferred to the side storage assembly 5.

[0053] Furthermore, the in-cabin movement unit includes a translation drive 6-20, a first rotating joint 6-5, a second rotating joint 6-6, a third rotating joint 6-7, a vertical telescopic rod 6-19, and a horizontal telescopic rod 6-8. A cross guide groove 6-4 is provided on the top of the wheel storage compartment. The translation drive 6-20 is located in the cross guide groove 6-4. The first rotating joint 6-5 is located at the movable end of the translation drive 6-20. One end of the vertical telescopic rod 6-19 is connected to the rotating end of the first rotating joint 6-5, and the other end of the vertical telescopic rod 6-19 is connected to the second rotating joint 6-6. One end of the horizontal telescopic rod 6-8 is connected to the rotating end of the second rotating joint 6-6, and the other end of the horizontal telescopic rod 6-8 is connected to the third rotating joint 6-7. The second mechanical claw unit is connected to the rotating end of the third rotating joint 6-7. The vertical telescopic rod 6-19, the horizontal telescopic rod 6-8, and the third rotating joint 6-7 are arranged perpendicular to each other.

[0054] The translation drive unit 6-20 is used to move the second mechanical claw unit within the wheel-shaped storage compartment. It also drives the second mechanical claw unit to extend out of the wheel-shaped storage compartment through the first or second hatch. A first rotating joint 6-5, a second rotating joint 6-6, a third rotating joint 6-7, a vertical telescopic rod 6-19, and a horizontal telescopic rod 6-8 are provided to facilitate adjustment of the position of the second mechanical claw unit, enabling it to grasp the AUV device 11 at different spatial positions and angles within the wheel-shaped storage compartment. The translation drive unit 6-20 further drives the second mechanical claw unit to extend out of the wheel-shaped storage compartment through the first or second hatch, allowing it to extend from different directions. This enables operations such as grasping the AUV device 11 within the multi-segment recovery assembly 7, placing it in the first AUV holder 6-13 on the wheel-shaped storage assembly 6, and removing it from the first AUV holder 6-13 and transferring it to the side storage assembly 5.

[0055] Preferably, the second moving assembly further includes a second multi-segment lifting arm 6-2, a rotating base 6-3, and a transverse moving wheel 6-1. The top of the cabin cavity is also provided with a second guide rail 10 that is vertically arranged on the first guide rail 9. The transverse moving wheel 6-1 is slidably engaged with the second guide rail 10. The second multi-segment lifting arm 6-2 is located at the bottom of the transverse moving wheel 6-1. The lifting section of the second multi-segment lifting arm 6-2 is connected to the rotating base 6-3. The wheel storage compartment is located at the rotating end of the rotating base 6-3.

[0056] The rotating base 6-3 drives the rotation of the wheel storage compartment, which makes it easy to align the second hatch of the wheel storage compartment with the side storage component 5 on either side, and facilitates the transfer of the AUV equipment 11 initially stored in the wheel storage compartment.

[0057] Preferred options are listed in the appendix. Figure 9 The side storage assembly 5 includes multiple movable bases 5-1, a second annular guide rail 5-2, and a second AUV holder 5-3. The second annular guide rail 5-2 is located on both sides of the wheel storage assembly 6. The multiple movable bases 5-1 are mounted on the second annular guide rail 5-2. The second AUV holder 5-3 is positioned on the movable bases 5-1. The movable bases 5-1 are used to drive the second AUV holder 5-3 to move along the second annular guide rail 5-2.

[0058] By setting up a movable base 5-1, the second AUV holder 5-3 is precisely moved on the second annular guide rail 5-2, thereby moving the fixed AUV device 11 accordingly. Each movable base 5-1 has two alternating second AUV holders 5-3, allowing the second AUV holders 5-3 to adapt to AUV devices 11 of different sizes and shapes, thus improving storage range and adaptability. Therefore, the side storage assembly 5 increases the quantity and flexibility of AUV device 11 retrieval, meeting the needs of practical applications.

[0059] Preferably, the system also includes an underwater camera 4 and an underwater searchlight 3, both positioned at the front of the main hull 12. By installing the underwater camera 4 and underwater searchlight 3, observation and monitoring of the underwater environment can be achieved, thereby accurately obtaining the position and attitude information of the AUV device 11. Simultaneously, the captured image information can be used to assess and determine the status and environment of the AUV device 11, facilitating subsequent recovery and relocation operations.

[0060] The propulsion system includes a multi-angle thruster 1-1 and a waterjet propulsion unit 1-2, which are evenly distributed on both sides of the main hull 12, which is generally teardrop-shaped. By incorporating the multi-angle thruster 1-1 and the waterjet propulsion unit 1-2, the main hull 12 achieves stable underwater navigation and precise control. The multi-angle thruster 1-1 provides a wide range of navigation and control capabilities, ensuring that the main hull 12 can reach a position conducive to the recovery of the AUV equipment 11.

[0061] By designing the main hull 12 in a teardrop shape, the recovery device achieves better streamlinedness and stability underwater, thereby reducing resistance and improving navigation efficiency. Simultaneously, the teardrop-shaped main hull 12 also provides better underwater observation and imaging capabilities, preventing obstruction of the underwater camera 4's recording.

[0062] The working principle of the underwater AUV autonomous recovery device in this embodiment is as follows: This underwater AUV autonomous recovery device is mainly suitable for recovering cylindrical AUV equipment 11. When the device is deployed underwater, the multi-angle thruster 1-1 provides steering power to the main hull 12, and the waterjet propulsion unit 1-2 provides forward propulsion to the main hull 12. The two work together to move the device to the vicinity of the AUV equipment 11 to be recovered. Based on the clear image provided by the underwater camera 4, the propulsion assembly drives the main hull 12 to the vicinity of the target AUV equipment 11 to be recovered.

[0063] First, the docking part 7-12 of the multi-section recovery assembly 7 is aligned with the outer docking interface 6-12 of the first door of the wheel storage compartment; the side-opening bottom compartment door 2 at the bottom of the main hull 12 unfolds to both sides, and the multi-section recovery assembly 7 and the wheel storage assembly 6 are driven out of the bottom compartment cavity by the first moving assembly 8, the second moving assembly, the first vertical lifting arm and the second vertical lifting arm to carry out the recovery operation of the AUV equipment 11.

[0064] At the start of retrieval, the AUV device 11 collides with the retractable guide port 7-1 supported by flexible material to change its posture, slowly entering the annular channel 7-2 after passing through the retractable guide port 7-1. At this time, the first circumferential moving unit 7-5 drives the guiding gripping component 7-6 in a circular motion to continuously adjust the docking angle with the AUV device 11, enabling the guiding gripping component 7-6 to grasp and secure the AUV device 11. Subsequently, driven by the guiding gripping component 7-6, the AUV device 11 is stably transported forward, maintaining a horizontal position for smooth transport to the axial transport component. Next, the first hatch of the wheel-mounted storage compartment opens, and the conveyor belt structure 7-7 of the axial transport component continuously approaches the now horizontally adjusted AUV device 11. Driven by the three conveyor belt structures 7-7, the AUV device 11 is horizontally fed into the wheel-mounted storage compartment. At the same time, the second mechanical claw unit moves along the cross guide rail and continuously adjusts the gripping angle to place the AUV device 11 at the first AUV holder 6-13, thus achieving the initial storage of the AUV device 11 in the wheel storage assembly 6.

[0065] After initial storage is completed, the first multi-segment lifting arm 8-2 and the second multi-segment lifting arm 6-2 retract the multi-segment recovery assembly 7 and the wheel-shaped storage assembly 6 into the bottom compartment of the main hull 12. The multi-segment recovery assembly 7 separates from the wheel-shaped storage assembly 6, and the multi-segment recovery assembly 7 moves forward along the first guide rail 9, providing a spatial basis for the rotational movement of the wheel-shaped storage assembly 6 and avoiding interference.

[0066] When transferring the AUV equipment 11 in the wheel storage compartment, the wheel storage compartment is rotated until the second hatch is aligned with the side storage assembly 5. At the same time, the wheel storage assembly 6 moves closer to the side storage assembly 5 along the second horizontal guide rail. The second mechanical claw unit transfers the AUV equipment 11 fixed in the first AUV holder 6-13 in the wheel storage assembly 6 to the second AUV holder 5-3 on the free mobile base 5-1 in the side storage assembly 5. The above operations are repeated to achieve the recovery of multiple AUV equipment 11.

[0067] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. An underwater AUV autonomous recovery device, characterized in that, It includes the main hull, multi-section recovery components, wheel storage components, side storage components, and propulsion components; The propulsion assembly is located on both sides of the main hull and is used to propel the main hull to sail in the water. The bottom of the main hull is provided with a cabin cavity, and the opening of the cabin cavity is provided with bottom hatches that can be opened and closed to both sides. The cabin cavity is provided with a first moving component and a second moving component. The multi-segment recovery component is located at the movable end of the first moving component, the wheel storage component is located at the movable end of the second moving component, and the side storage component is located on the left and right side walls of the cabin cavity. The first moving component and the second moving component are respectively used to drive the multi-segment recovery component and the wheel storage component to extend or retract into the cabin cavity. The multi-stage recovery assembly is used to perform preliminary attitude correction on the AUV equipment to be recovered and guide the AUV equipment to move into the wheel storage assembly. The wheel storage assembly is used to perform preliminary storage of the AUV equipment. The wheel storage assembly is also used to transfer the AUV equipment after preliminary storage to the side storage assembly. The multi-segment recovery assembly includes an inward-retracting guide port, an annular channel, and an axial transport component. The annular channel is connected to the lifting end of the first multi-segment lifting arm. The inward-retracting guide port is fixed at the beginning of the annular channel. The end of the annular channel is opposite to the wheel storage assembly. The axial transport component is located inside the annular channel and includes at least three conveyor belt structures and at least three first circumferential moving units. Multiple first circumferential moving units are distributed in a polygonal pattern and slidably connected to the inner side of the annular channel. The conveyor belt structures are located on the first circumferential moving units. The first circumferential moving units are used to drive the conveyor belt structures to move circumferentially along the inner side of the annular channel. The gaps between the multiple conveyor belt structures form a transmission space that can accommodate AUV equipment. The multi-segment recycling assembly further includes a guiding gripping component, which is disposed within the annular channel and located between the retractable guide port and the axial transport component. The guiding gripping component includes a plurality of first mechanical claw units distributed alternately along the axial direction of the annular channel. Each first mechanical claw unit includes an annular mechanical claw, a radial telescopic rod, and a second circumferential moving unit. The radial telescopic rod is disposed on the second circumferential moving unit, and the annular mechanical claw is disposed at the telescopic end of the radial telescopic rod. A plurality of protective elastic bodies are provided on the inner side of the annular mechanical claw. The second circumferential moving unit is slidably connected to the inner side of the annular channel and is used to drive the annular mechanical claw to move circumferentially along the inner side of the annular channel. The first moving component includes a first guide rail, a fixed seat, a fixed ring, a forward and backward moving component, and a first multi-segment lifting arm. The first guide rail is located at the top of the cabin cavity. The fixed seat is provided with guide wheels and is slidably connected to the first guide rail through the guide wheels. The forward and backward moving component is located on the main hull and is used to drive the fixed seat to move forward and backward along the first guide rail. The first multi-segment lifting arm is located on the fixed seat. The fixed ring is located at the lifting end of the first multi-segment lifting arm and is sleeved on the outside of the inward-retracting guide port and the annular channel.

2. The underwater AUV autonomous recovery device according to claim 1, characterized in that, The roulette wheel storage assembly includes a roulette wheel storage compartment and a storage execution component. The roulette wheel storage compartment is located at the movable end of the second moving component. A first hatch is provided on one side of the roulette wheel storage compartment. The storage execution component includes an in-cabin moving unit and a second mechanical claw unit. The in-cabin moving unit is located inside the roulette wheel storage compartment, and the second mechanical claw unit is located at the movable end of the in-cabin moving unit. The in-cabin moving unit is used to drive the second mechanical claw unit to extend or retract into the roulette wheel storage compartment through the first hatch, and to drive the second mechanical claw unit to move within the roulette wheel storage compartment.

3. The underwater AUV autonomous recovery device according to claim 2, characterized in that, The wheel storage assembly also includes a first annular guide rail and a plurality of first AUV holders. The first annular guide rail is disposed inside the wheel storage compartment, and the plurality of first AUV holders are evenly distributed on the first annular guide rail. Each first AUV holder is connected to a driver, which is used to drive the first AUV holder to move along the first annular guide rail. A second hatch is also provided on the other side of the wheel storage compartment.

4. The underwater AUV autonomous recovery device according to claim 3, characterized in that, The in-cabin moving unit includes a translation drive, a first rotating joint, a second rotating joint, a third rotating joint, a vertical telescopic rod, and a horizontal telescopic rod. A cross-shaped guide groove is provided on the top of the wheel storage compartment. The translation drive is located in the cross-shaped guide groove. The first rotating joint is located at the movable end of the translation drive. One end of the vertical telescopic rod is connected to the rotating end of the first rotating joint, and the other end of the vertical telescopic rod is connected to the second rotating joint. One end of the horizontal telescopic rod is connected to the rotating end of the second rotating joint, and the other end of the horizontal telescopic rod is connected to the third rotating joint. The second mechanical claw unit is connected to the rotating end of the third rotating joint. The vertical telescopic rod, the horizontal telescopic rod, and the third rotating joint are arranged perpendicular to each other. The translation drive is used to drive the second mechanical claw unit to move inside the wheel storage compartment; the translation drive is also used to drive the second mechanical claw unit to extend out of the wheel storage compartment through the first hatch or the second hatch.

5. The underwater AUV autonomous recovery device according to claim 2, characterized in that, The second moving component also includes a second multi-segment lifting arm, a rotating base, and a transverse moving wheel. The top of the cabin cavity is also provided with a second guide rail that is vertically arranged on the first guide rail. The transverse moving wheel is slidably engaged with the second guide rail. The second multi-segment lifting arm is located at the bottom of the transverse moving wheel. The lifting section of the second multi-segment lifting arm is connected to the rotating base. The wheel storage compartment is located at the rotating end of the rotating base.

6. The underwater AUV autonomous recovery device according to claim 1, characterized in that, The side storage assembly includes multiple movable bases, a second annular guide rail, and a second AUV holder. The second annular guide rail is located on both sides of the wheel storage assembly. The multiple movable bases are mounted on the second annular guide rail. The second AUV holder is positioned on the movable bases front and rear. The movable bases are used to drive the second AUV holder to move along the second annular guide rail.

7. The underwater AUV autonomous recovery device according to claim 1, characterized in that, It also includes an underwater camera and an underwater searchlight, both of which are located at the front of the main hull; the propulsion assembly includes a multi-angle thruster and a water jet thruster, which are evenly distributed on both sides of the main hull, and the main hull is generally teardrop-shaped.

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