A large underwater robot seabed resident device and deployment and recovery method

Abstract

A large-scale underwater robot seabed resident device and a deployment and recovery method. The present invention adopts a combination of a lifting cable and an optoelectronic composite cable to carry out deployment and recovery operations on the seabed resident device equipped with the underwater robot. The lifting cable is responsible for the transfer of the seabed resident device from the mother ship deck to the sea surface, meeting the huge load lifting operation capacity requirements. The optoelectronic composite cable completes the heaving and sinking operations of the resident device from the water surface to the seabed, thereby realizing the deployment and recovery operations of the seabed resident device of a large-scale underwater robot that can be equipped with a variety of underwater robots. The optoelectronic composite cable is released to lower the resident device to the seabed with a depth of several thousand meters for operation. At the same time, the optoelectronic composite cable is used to supply energy and transmit data to the underwater robot through the underwater energy and control system, thereby meeting the deep-sea operation requirements of multiple underwater robots for long-term seabed residence, high-efficiency operation, autonomous operation and detection.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robot deployment and recovery, and in particular to a seabed stationing device for a large underwater robot and a deployment and recovery method. Background Art

[0002] Autonomous Underwater Vehicles (AUVs), unmanned and cable-free underwater robots, offer advantages such as a wide range of movement, excellent maneuverability, safety, and intelligence. They can be used for a variety of tasks, including seafloor topography mapping, target search and rescue, resource exploration, and scientific surveys. Currently, deep-sea AUVs are primarily deployed for single-dive operations. After the dive, the AUV is recovered to the deck for energy refueling and data upload. The deployment and recovery of AUVs after a single dive is labor-intensive and time-consuming.

[0003] At present, most of the docking tests of large underwater robots use cable-free carrying of energy storage batteries for diving operations, and the AUV and docking device are recovered separately after each operation. However, the current method of using optical fiber composite cables for power supply and communication has not been applied to unmanned underwater robots (AUVs). This is mainly due to the limited carrying capacity of the optical fiber composite cables of existing ships. Only lightweight AUVs and docking devices can be used for underwater communication operations. The lifting cable of the lifting device has a high load-bearing capacity, but its effective length is limited, generally not exceeding 200 meters or even shorter, and it cannot replace the optical fiber composite cable for power supply and communication. The diving depth is limited by the length of the lifting cable, making it difficult to operate in the deep sea at depths of several thousand meters. This restricts large underwater robots from performing long-distance, large-scale, and long-endurance operations in the deep sea. Summary of the Invention

[0004] According to one aspect of the present invention, a method for deploying and recovering a large underwater robot subsea resident device is provided. The underwater robot is deployed by the following steps:

[0005] S1: The lifting device on the mother ship lowers the lifting cable to connect with the underwater robot's seabed station device;

[0006] S2: The lifting device transfers the underwater robot's seabed residence device from the mother ship to the sea surface;

[0007] S3: The lifting cable is separated from the underwater robot's seabed station device;

[0008] S4: The mother ship releases the optical-electric composite cable to lower the underwater robot seabed station device carrying the underwater robot from the sea surface to the seabed;

[0009] S5: The underwater robot's seabed station device releases the underwater robot to perform operations;

[0010] The underwater robot is recovered through the following steps:

[0011] S6: After the underwater robot completes the detection operation, it enters the underwater robot seabed station device;

[0012] S7: The mother ship recovers the optical-electric composite cable, driving the underwater robot's seabed station device to rise;

[0013] S8: The underwater robot's seabed station device rises to the water surface, and the lifting device lowers the lifting cable to connect with the underwater robot's seabed station device;

[0014] S9: The lifting device recovers the underwater robot seabed station device carrying the underwater robot from the sea surface to the mother ship;

[0015] When the underwater robot is on the seabed, the following steps are also included:

[0016] S10: The underwater robot obtains energy supply and transmits signals with the mother ship through the optoelectronic composite cable in the underwater robot seabed station.

[0017] In some embodiments, the underwater robot is deployed by the following steps:

[0018] S1: The lifting device suspended on the lifting frame of the mother ship is lowered and the lifting cable is connected and locked with the lifting cable connection mechanism on the seabed station device of the underwater robot;

[0019] S2: The lifting device transfers the underwater robot's seabed residence device from the mother ship to the sea surface;

[0020] S3: The lifting cable connection mechanism unlocks the lifting cable, and the lifting cable is separated from the underwater robot's seabed station device;

[0021] S4: The optical fiber composite cable retracting and releasing device on the mother ship releases the optical fiber composite cable downward through the pulley mechanism on the lifting frame, and lowers the underwater robot seabed station device equipped with the underwater robot from the sea surface to the seabed;

[0022] S5: The underwater robot's seabed station device releases the underwater robot to perform operations;

[0023] The underwater robot is recovered through the following steps:

[0024] S6: After completing the detection operation, the underwater robot enters the underwater robot seabed station device and is locked through the locking mechanism;

[0025] S7: The optical fiber composite cable retracting and releasing device on the mother ship retracts the optical fiber composite cable upwards through the pulley mechanism on the lifting frame, driving the underwater robot's seabed station device to rise;

[0026] S8: The underwater robot's seabed station device rises to the water surface, the airbag on the underwater robot's seabed station device is inflated to make the underwater robot's seabed station device float on the water surface, and the lifting device lowers the lifting cable to connect and lock with the lifting cable connection mechanism on the underwater robot's seabed station device;

[0027] S9: The lifting device recovers the underwater robot seabed station device carrying the underwater robot from the sea surface to the mother ship;

[0028] When the underwater robot is on the seabed, the following steps are also included:

[0029] S10: The underwater robot obtains energy supply and transmits signals with the mother ship through the optoelectronic composite cable in the underwater robot seabed station.

[0030] The present invention also provides a large underwater robot seabed station device, comprising:

[0031] A lifting cable connection mechanism, used to connect or disconnect with the lifting cable of the lifting device;

[0032] An optoelectronic composite cable fixing mechanism, used to fix the optoelectronic composite cable, through which the underwater robot can obtain power and transmit signals with the mother ship; and

[0033] A robot accommodating chamber, used for accommodating an underwater robot;

[0034] When the underwater robot's seabed station device is in use, the lifting device lowers the lifting cable, and the lifting cable connection mechanism locks the lifting cable connection. After the lifting device transfers the underwater robot's seabed station device from the mother ship to the sea surface, the lifting cable connection mechanism unlocks the lifting cable, and the lifting cable is separated from the underwater robot's seabed station device. The mother ship releases the optoelectronic composite cable, and the underwater robot's seabed station device is lowered from the sea surface to the seabed through the optoelectronic composite cable.

[0035] When the underwater robot's seabed resident device is recovered, the mother ship recovers the optoelectronic composite cable, driving the underwater robot's seabed resident device to rise to the water surface, the lifting device lowers the lifting cable, the lifting cable connection mechanism locks the lifting cable connection, and the lifting device transfers the underwater robot's seabed resident device from the sea surface to the mother ship.

[0036] In some embodiments, the lifting cable connection mechanism includes a connection drive device and a locking part. The connection drive device can drive the locking part to pass through the ring at the end of the lifting cable to lock the lifting cable. The connection drive device can drive the locking part to disengage from the ring at the end of the lifting cable to unlock the lifting cable.

[0037] In some embodiments, the optoelectronic composite cable fixing mechanism includes a cylindrical fixing portion and at least one articulated bracket. The cylindrical fixing portion is used for passing the optoelectronic composite cable through and fixing it. The cylindrical fixing portion is arranged on the seabed residence device of the underwater robot through at least one articulated bracket so that the cylindrical fixing portion obtains at least one rotational degree of freedom.

[0038] In some embodiments, a lifting structure is provided on the top of the underwater robot seabed station device, and the lifting structure includes:

[0039] A first support plate, which is respectively arranged on four sides to form a square structure;

[0040] a second support plate, which is longitudinally arranged in the center of the lifting structure, with its end connected to the first support plate; a lifting cable connection mechanism is arranged on a first side of the second support plate; a locking portion can pass through the middle of the space enclosed by the two parallel second support plates under the drive of the connection drive device, thereby locking the circular ring at the end of the lifting cable; an optoelectronic composite cable fixing mechanism is arranged on a second side of the second support plate; and

[0041] The third support plate is laterally arranged at the center of the lifting structure and connected to the second support plate, and an end portion of the third support plate is connected to the first support plate.

[0042] In some embodiments, the lifting structure is provided with positioning mechanisms at the four corners of the four first support plates, respectively. The positioning mechanisms extend upward and are used to dock with the lifting device to prevent swinging.

[0043] Two lifting connection columns are also connected between the two second support plates, and the lifting connection columns are used to connect with the connection hooks on the lifting device.

[0044] In some embodiments, the underwater robot seabed residence device further includes an air bag, which is used to inflate and provide buoyancy when the underwater robot seabed residence device rises to the water surface.

[0045] In some embodiments, the robot receiving chamber is provided with:

[0046] Docking guide frame, used to guide the underwater robot into the robot accommodating cavity;

[0047] An in-place detection mechanism, used to detect the in-place status of the underwater robot; and

[0048] The locking mechanism includes a locking drive device and a locking part. The locking drive device is used to drive the locking part to cooperate with the underwater robot to achieve locking after the underwater robot is in place, and to drive the locking part to separate from the underwater robot to achieve unlocking.

[0049] In some embodiments, the underwater robot seabed residence device further includes:

[0050] A transformer, connected to the optical-electric composite cable, is used to convert the high-voltage alternating current transmitted from the mother ship into low-voltage direct current;

[0051] The wireless sensing end is arranged on the robot accommodating cavity and is connected to the transformer to receive low-voltage direct current for powering the underwater robot and transmitting signals between the mother ship and the underwater robot.

[0052] The present invention moves the underwater robot seabed resident device equipped with the underwater robot by combining a lifting cable and an optoelectronic composite cable. The lifting cable is responsible for transferring the underwater robot seabed resident device from the sea surface to the deck of the mother ship, and the optoelectronic composite cable is responsible for transferring the underwater robot seabed resident device from the sea surface to the deep seabed, thereby realizing the deployment and recovery operation of the seabed resident device equipped with a large underwater robot. By releasing the optoelectronic composite cable, the seabed resident device is lowered to a deep sea of ​​several thousand meters for operation, thereby increasing the deployment depth of the large underwater robot. At the same time, the optoelectronic composite cable can charge and transmit data to the underwater robot, thereby meeting the long-term and large-scale deep-sea operation needs of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a front view of the large underwater robot seabed stationing device of the present invention;

[0054] Figure 2 A three-dimensional diagram of the large underwater robot seabed stationing device of the present invention;

[0055] Figure 3 It is a structural schematic diagram of the lifting structure of the present invention;

[0056] Figure 4 It is a schematic structural diagram of the middle docking device and the airbag of the present invention;

[0057] Figure 5 A schematic structural diagram of the middle docking device and the airbag of the present invention from another angle;

[0058] Figures 6a to 6f It is a schematic diagram of the process of the deployment and recovery method of the present invention.

[0059] Reference numerals:

[0060] Lifting structure 1; first support plate 11; second support plate 12; third support plate 13; lifting cable connection mechanism 14; connection drive device 141; locking portion 142; optoelectronic composite cable fixing mechanism 15; cylindrical fixing portion 151; articulated bracket 152; positioning mechanism 16; lifting connection column 17;

[0061] Central docking device 2; cage structure 21; docking guide frame 22; ultra-short baseline transmitter 23; locking mechanism 24; locking drive device 241; locking part 242; wireless sensing end 25;

[0062] Bottom support frame 3;

[0063] Buoyancy regulating device 4; high-pressure gas cylinder 41; valve member 42; air bag 43;

[0064] Energy and control systems5. DETAILED DESCRIPTION

[0065] The present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only some, not all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0066] It should be noted that the terms "first," "second," etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0067] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "fixed," and the like should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0068] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0069] In the above description, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0070] 1. Large underwater robot seabed station device

[0071] See Figure 1-2 The present invention provides a large underwater robot seabed residence device (hereinafter referred to as the underwater robot seabed residence device), which includes a lifting structure 1, a middle docking device 2, a bottom support frame 3, a buoyancy adjustment device 4 and an energy and control system 5.

[0072] The underwater robot seabed station device of the present invention is mainly used to carry AUVs (autonomous underwater robots, which are cable-free, can be separated from the mother ship, carry their own energy, and operate autonomously according to preset programs without manual control). In other embodiments, other types of underwater robots can also be carried, such as ROVs (remote control underwater robots, which are cable-connected to the mother ship, communicate in real time, and are powered by the mother ship). When carrying ROVs, a retractable device for the relevant ROV-carrying cable can be added to the underwater robot seabed station device as needed.

[0073]

Lifting structure 1

[0074] See Figure 3The lifting structure 1 includes a support plate, a lifting cable connection mechanism 14, an optoelectronic composite cable fixing mechanism 15, a positioning mechanism 16 and a lifting connection column 17. Among them, the support plate includes a first support plate 11, a second support plate 12 and a third support plate 13. There are four first support plates 11, which are respectively arranged around the four sides of the lifting structure 1 to form a square structure (rectangle or square). There are two second support plates 12, which are arranged in parallel in the longitudinal direction in the center of the lifting structure 1, and their ends are connected to the first support plates 11. The two second support plates 12 form a lifting space, and the lifting device is connected to the structure in the lifting space to achieve lifting. The third support plate 13 is arranged in the transverse direction in the center of the lifting structure 1 and connected to the second support plate 12, and its end is connected to the first support plate 11. Two third support plates 13 are arranged in parallel on the left side of the second support plate 12, and one third support plate 13 is arranged on the right side of the second support plate 12. The transverse direction is the length direction of the underwater robot seabed residence device, and the longitudinal direction is the width direction of the underwater robot seabed residence device. The transverse and longitudinal directions are perpendicular to each other. In this embodiment, a square structure is formed by the first support plate 11, and a lifting structure 1 with stable structure and excellent load-bearing capacity is formed by the second support plate 12 and the third support plate 13 staggered longitudinally and transversely. When the underwater robot seabed station device is lifted, the lifting structure 1 can evenly distribute the force to the entire underwater robot seabed station device, thereby realizing stable lifting of the underwater robot seabed station device.

[0075] The lifting cable connection mechanism 14 is arranged on the right side of the second support plate 12. The lifting cable connection mechanism 14 includes a connection drive device 141 and a locking portion 142. When the lifting cable is lowered or lowered from the lifting device, and the ring at the end of the lifting cable drops to the middle of the lifting space surrounded by the second support plate 12, the connection drive device 141 drives the locking portion 142 to pass through the center of the ring and lock the ring, so that the lifting cable is locked with the underwater robot's seabed residence device. When the lifting is completed, the connection drive device 141 drives the locking portion 142 to disengage from the ring, so that the lifting cable and the underwater robot's seabed residence device are unlocked. The connection drive device 141 can adopt a drive mechanism such as a cylinder, an oil cylinder or a motor, and cooperate with a moving locking portion 142 to achieve locking and unlocking. The locking portion 142 can be the output shaft of the connection drive device 141 or a structure connected to the output shaft, or it can be realized by a transmission structure such as a screw rod. In this embodiment, two lifting connection columns 17 are connected between the two second support plates 12. The two lifting connection columns 17 are located on either side of the locking portion 142. The lifting connection columns 17 are used to connect with the connecting hooks on the lifting device to achieve lifting. The lifting cable connection mechanism 14 can achieve the connection and unlocking with the lifting cable through automatic control, which can replace the manual connection of the lifting cable by the operator, avoiding the risk of shaking and colliding of the device during the deployment operation due to sea conditions and ship factors during offshore operations, which may cause injuries to the operator, thereby improving operational safety.

[0076] The optoelectronic composite cable fixing mechanism 15 is arranged on the left side of the second support plate 12 and on the third support plate 13. The optoelectronic composite cable fixing mechanism 15 is used to fix the optoelectronic composite cable. A pulley mechanism is provided on the lifting frame. The optoelectronic composite cable is hung on the pulley mechanism and lowered from the pulley mechanism to the underwater robot's seabed station through the optoelectronic composite cable retracting and releasing winch device on the mother ship. The optoelectronic composite cable is fixed to the underwater robot's seabed station through the optoelectronic composite cable fixing mechanism 15 and extends downward to connect to the energy and control system 5 below. The optoelectronic composite cable fixing mechanism 15 includes a cylindrical fixing portion 151 and at least one articulated bracket 152. The cylindrical fixing portion 151 is used for passing the optoelectronic composite cable through and fixing it. The cylindrical fixing portion 151 is arranged on the underwater robot's seabed station through at least one articulated bracket 152, so that the cylindrical fixing portion 151 obtains at least one degree of rotational freedom. In this embodiment, the cylindrical fixing portion 151 has a rotational freedom with the longitudinal direction as the rotation axis. In some embodiments, there can be two articulated brackets 152, and the two articulated brackets 152 are connected to each other to provide the cylindrical fixing portion 151 with rotational freedom in two directions, for example, two rotational degrees of freedom with the longitudinal direction and the transverse direction as the rotation axis respectively.

[0077] The positioning mechanism 16 is a columnar structure extending upward from the four corners of the four first support plates 11. The positioning mechanism 16 is used to dock and position with the lifting device to achieve anti-swaying, that is, to reduce or prevent the underwater robot's seabed residence device from shaking during lifting.

[0078] The lifting structure 1 can also be provided with a camera and a lighting lamp, which are mainly used to provide guidance to the operator during the deployment and recovery process of the underwater robot, provide a perspective and convenience for deployment and recovery, and improve the reliability of the deployment and recovery of the underwater robot.

[0079]

Middle docking device 2

[0080] See Figure 4-5 The middle docking device 2 is arranged below the lifting structure 1, and includes a cage structure 21, a docking guide frame 22, an ultra-short baseline transmitter 23, an in-place detection mechanism, a locking mechanism 24 and a wireless sensing end 25.

[0081] The cage structure 21 is used to support and secure the underwater robot. Its inner cavity forms a robot accommodating chamber. In this embodiment, two robot accommodating chambers are formed on the left and right sides of the cage structure 21, respectively, allowing two large underwater robots to enter from the left and right sides, respectively. A docking guide frame 22 is provided at the top of the robot accommodating chamber, which is used to cooperate with the top structure of the underwater robot to guide the underwater robot into the robot accommodating chamber in the correct direction. The in-position detection mechanism detects whether the underwater robot is in position. Once in position, the locking mechanism 24 locks the underwater robot. The locking mechanism 24 includes a locking drive 241 and a locking portion 242. Once the underwater robot is in position, the locking drive 241 drives the locking portion 242 downward to cooperate with the underwater robot to achieve locking. When the underwater robot needs to go out for operation, the locking drive 241 drives the locking portion 242 upward to disengage from the underwater robot to achieve unlocking.

[0082] The wireless sensing terminal 25 is used for power supply and signal transmission. It receives power from the energy and control system 5 and charges the underwater robot via wireless charging. It also transmits signals between the mother ship and the underwater robot, for example, transmitting the underwater robot's data back to the mother ship and transmitting operating instructions from the mother ship to the underwater robot. Once the underwater robot is fully charged or receives new operating instructions, it can resume operations. This reduces the number of times the underwater robot and its subsea resident device need to be brought to the surface, thereby enabling the underwater robot to operate over a long period of time and over a wide area.

[0083] The ultra-short baseline transmitter 23 is mainly used to guide the underwater robot through long-distance acoustic information transmission, guiding the underwater robot to enter or leave the robot accommodating cavity, and can also be used to send the position information of the underwater robot's seabed resident device to the mother ship.

[0084]

Bottom support frame 3

[0085] See Figure 1-2 The bottom support frame 3 is arranged below the middle docking device 2 to bear the weight of the entire underwater robot seabed residence device. The bottom support frame 3 is used to increase the contact area with the seabed to ensure that the underwater robot seabed residence device does not sink excessively into the underwater mud and sand.

[0086]

Buoyancy Control Device 4

[0087] See Figure 1-2 The buoyancy control device 4 is used to provide buoyancy for the underwater robot's subsea dwelling device when it is on the water's surface. It includes a high-pressure gas cylinder 41, a motor, a pressure sensor, a valve 42, and an airbag 43. The high-pressure gas cylinder 41 is used to inflate the airbag 43, and the motor assists in rapid inflation of the airbag 43. The pressure sensor and valve 42 are used to detect the pressure in the gas cylinder and pipeline to ensure system safety and reliability. The airbag 43 can be compressed or expanded to provide buoyancy for the underwater robot's subsea dwelling device and is used for the underwater robot's subsea dwelling device to be recovered from the water. When the underwater robot's subsea dwelling device rises to or near the water's surface, the airbag 43 begins to inflate, and the underwater robot's subsea dwelling device floats on the water's surface, reducing the impact of waves and facilitating docking with the lifting cable on the lifting device. The underwater robot's subsea dwelling device can then be recovered to the mother ship. Specifically, there are two air bags 43 , which are respectively fixed on both sides of the cage structure 21 of the middle docking device 2 . The high-pressure gas cylinder 41 and the valve member 42 can be arranged on the bottom support frame 3 .

[0088]

Energy and control systems 5

[0089] See Figure 1-2 The energy and control system 5 includes a transformer and a control system. The transformer is connected to the optoelectronic composite cable and is used to convert the high-voltage alternating current (AC) transmitted from the mother ship into the low-voltage direct current (DC) required by the underwater robot's subsea station. When the underwater robot's subsea station operates on the seabed, its diving depth reaches several thousand meters, far from the mother ship. Transmitting high-voltage AC power can reduce energy loss during the optoelectronic composite cable transmission process. The transformer is connected to the wireless sensing terminal 25, and the low-voltage AC power output from the transformer charges the underwater robot through the wireless sensing terminal 25. The control system issues commands to the transformer, the sensors on the underwater robot's subsea station, and the actuators to control them. The energy and control system 5 can be placed on the bottom support frame 3.

[0090] 2. Deployment and Recovery Methods

[0091] The mother ship is equipped with a lifting frame, a lifting device and an optoelectronic composite cable retracting and releasing winch. The lifting frame can be an A-frame, and the lifting device is suspended on the lifting frame. The lifting device is connected and lifted with the underwater robot's seabed resident device through a lifting cable. The lifting frame is equipped with a pulley mechanism. The optoelectronic composite cable is retracted and released through the optoelectronic composite cable retracting and releasing winch on the mother ship and released downward or recovered upward from the pulley mechanism. The lifting frame can be driven by an oil cylinder from the deck of the mother ship to the sea surface, suspended above the sea surface, and cooperated with the lifting device to transfer the underwater robot's seabed resident device from the mother ship to the sea surface, or recover it from the sea surface to the mother ship, thereby realizing the transfer of the underwater robot's seabed resident device between the sea surface and the mother ship. The transfer of the underwater robot's subsea station device between the sea surface and the seabed is achieved through an optical fiber composite cable. The optical fiber composite cable retracting and releasing winch releases the optical fiber composite cable through a pulley mechanism on the lifting frame, lowering the underwater robot's subsea station device from the sea surface to the seabed. The optical fiber composite cable retracting and releasing winch retracts the optical fiber composite cable through a pulley mechanism, and the underwater robot's subsea station device is retrieved from the seabed to the sea surface. The underwater robot's subsea station device carries the underwater robot, which is responsible for deploying and recovering the underwater robot on the seabed.

[0092] The optical fiber composite cable in the present invention can be a standard optical fiber composite cable, such as that used on mainstream scientific research vessels. It generally has a safe load capacity of 5 tons and can withstand high-voltage AC power transmission of approximately 3000V and optical fiber data transmission. In other embodiments, optical fiber composite cables of other specifications may also be used.

[0093] Specifically, see Figures 6a to 6f In the figure, the lifting cable is represented by a solid line, and the optoelectronic composite cable is represented by a dotted line. The underwater robot is deployed through the following steps:

[0094] S1: See Figure 6a The lifting device lowers the lifting cable to the underwater robot seabed station device, and the lifting cable is locked by the lifting cable connecting mechanism 14 on the underwater robot seabed station device.

[0095] S2: See Figure 6b The lifting device lifts the underwater robot's seabed station device, and the lifting device docks with the positioning mechanism 16 to prevent the underwater robot's seabed station device from shaking. Then, refer to Figure 6c , the hoisting frame is suspended from the inside of the ship to the sea surface, see Figure 6d The underwater robot's subsea stationing device is then lowered to the sea surface via the lifting cable, transferring the underwater robot's subsea stationing device from the mother ship to the sea surface. During the lifting process, the lifting cable bears the weight of the underwater robot's subsea stationing device, and the optoelectronic composite cable is relaxed and does not exert any effort.

[0096] S3: See Figure 6e When the underwater robot's seabed residence device reaches the sea surface, the lifting cable connecting mechanism 14 unlocks the lifting cable, the lifting cable is separated from the underwater robot's seabed residence device, and the lifting device retracts the lifting cable. At the same time, the optoelectronic composite cable is tightened to bear the weight of the underwater robot's seabed residence device.

[0097] S4: See Figure 6f The optoelectronic composite cable retracting and unwinding device releases the optoelectronic composite cable downward through the pulley mechanism of the hoisting frame, and the underwater robot's seabed station device is lowered from the sea surface to the seabed. Since the underwater robot's seabed station device has the buoyancy of seawater in the sea, and the buoyancy of the underwater robot is balanced with its gravity, its weight in the water is close to zero. Therefore, the weight of the entire device in water is much less than its weight in air. Therefore, it is feasible to use optoelectronic composite cables of general specifications to realize the transfer of large-scale underwater robot seabed station devices of multiple underwater robots with a level of more than 10 tons from the sea surface to the seabed. In some embodiments, the buoyancy of the underwater robot's seabed station device can also be increased by adding buoyancy materials with a density less than water.

[0098] S5: The underwater robot's seabed resident device goes down to the seabed, and the underwater robot is released to perform operations.

[0099] The underwater robot is recovered through the following steps: Figure 6f to Figure 6a Play in reverse.

[0100] S6: The underwater robot enters the underwater robot seabed station device and is locked and fixed by the locking mechanism 24.

[0101] S7: The photoelectric composite cable retracting and releasing device on the mother ship retracts the photoelectric composite cable upward through the pulley mechanism on the lifting frame, driving the underwater robot's seabed residence device to rise.

[0102] S8: The underwater robot's seabed station device rises to the water surface (including when it is close to the water surface), the airbag 43 on the underwater robot's seabed station device is inflated to make it float on the water surface, and the lifting device lowers the lifting cable to the underwater robot's seabed station device, and the lifting cable is locked by the lifting cable connecting mechanism 14 on the underwater robot's seabed station device.

[0103] S9: The lifting device hoists the underwater robot's subsea station device. The lifting device docks with the positioning mechanism 16 to prevent the underwater robot's subsea station device from shaking. Then, the lifting frame swings from the sea surface to the inside of the ship, transferring the underwater robot's subsea station device from the sea surface to the mother ship. The lifting cable then lowers the underwater robot's subsea station device and places it on the mother ship's deck. During the lifting process, the lifting cable supports the weight of the underwater robot's subsea station device, and the optoelectronic composite cable is relaxed and does not strain.

[0104] When the underwater robot completes its underwater operation or runs out of power, the following steps are also included:

[0105] S10: The underwater robot is powered by an optoelectronic composite cable and transmits signals to the mother ship in the underwater robot's subsea station. The underwater robot can autonomously leave the subsea station to conduct subsea operations. After completing its scheduled exploration mission, it can autonomously return to the subsea station for energy replenishment and data transmission. The underwater robot can perform missions in multiple phases. After completing a phased mission in the ocean, the underwater robot returns to the subsea station, receives new energy or instructions, and then goes out again to perform subsea operations. After completing the mission, it returns to the station until it is no longer needed for a new mission and needs to be recovered. At this time, it is recovered together with the subsea station to the mother ship.

[0106] The present invention moves the underwater robot seabed resident device equipped with the underwater robot by combining a lifting cable and an optoelectronic composite cable. The lifting cable is responsible for the transfer of the underwater robot seabed resident device in the air (from the mother ship deck to the sea surface), and the optoelectronic composite cable is responsible for the transfer of the underwater robot seabed resident device in the sea (heaving and sinking operations). This can realize the deployment and recovery operations of the underwater robot seabed resident device equipped with a large underwater robot weighing more than 10 tons. By releasing the optoelectronic composite cable, the underwater robot seabed resident device is lowered to a deep sea of ​​several thousand meters for operation, thereby increasing the deployment depth of the large underwater robot. At the same time, the optoelectronic composite cable can supply energy and transmit data to the underwater robot, thereby meeting the long-term and large-scale deep-sea operation needs of the underwater robot. The mother ship can carry the underwater robot and the seabed resident device to transfer the detection operation area and adjust the starting point of the AUV's operation mission.

[0107] It should be noted that the present invention can realize the deployment and recovery operations of underwater robot seabed resident devices carrying large underwater robots weighing more than 10 tons, but is not limited to the deployment and recovery operations of underwater robot seabed resident devices carrying underwater robots weighing more than 10 tons. The deployment and recovery method of the present invention can also be used to deploy and recover underwater robot seabed resident devices carrying underwater robots weighing less than 10 tons.

[0108] The above are only some embodiments of the present invention. Those skilled in the art will appreciate that, without departing from the inventive concept of the present invention, they may make various modifications and improvements, or freely combine the above technical solutions, including freely combining the technical features of the different embodiments described above, all of which fall within the scope of protection of the present invention.

Claims

1. A method for deploying and recovering a large underwater robot subsea resident device, characterized in that: The underwater robot is deployed through the following steps: S1: The lifting device on the mother ship lowers the lifting cable to connect with the underwater robot's seabed station device; S2: The lifting device transfers the underwater robot's seabed resident device from the mother ship to the sea surface; S3: The lifting cable is separated from the underwater robot's seabed station device; S4: The photoelectric composite cable retracting and releasing device on the mother ship releases the photoelectric composite cable, and lowers the underwater robot seabed resident device equipped with the underwater robot from the sea surface to the seabed; S5: The underwater robot seabed station device releases the underwater robot to perform operations; The underwater robot is recovered through the following steps: S6: After the underwater robot finishes the detection operation, it enters the underwater robot seabed residence device; S7: The photoelectric composite cable retracting and releasing device on the mother ship retracts the photoelectric composite cable, driving the underwater robot's seabed resident device to rise; S8: The underwater robot's seabed resident device rises to the water surface, and the lifting device lowers the lifting cable to connect with the underwater robot's seabed resident device; S9: The lifting device recovers the underwater robot seabed station device carrying the underwater robot from the sea surface to the mother ship; When the underwater robot is on the seabed, the following steps are also included: S10: The underwater robot obtains energy supply and transmits signals with the mother ship through the optoelectronic composite cable in the underwater robot seabed station.

2. The method for deploying and recovering a large underwater robot seabed resident device according to claim 1, characterized in that: The underwater robot is deployed through the following steps: S1: The lifting device suspended on the lifting frame of the mother ship lowers the lifting cable and connects and locks it with the lifting cable connection mechanism on the seabed station device of the underwater robot; S2: The lifting device transfers the underwater robot's seabed resident device from the mother ship to the sea surface; S3: The lifting cable connection mechanism unlocks the lifting cable, and the lifting cable is separated from the seabed residence device of the underwater robot; S4: The photovoltaic composite cable retracting and releasing winch device on the mother ship releases the photovoltaic composite cable downward through the pulley mechanism on the lifting frame, and lowers the underwater robot seabed resident device equipped with the underwater robot from the sea surface to the seabed; S5: The underwater robot seabed station device releases the underwater robot to perform operations; The underwater robot is recovered through the following steps: S6: After the underwater robot finishes the detection operation, it enters the underwater robot seabed residence device and is locked through the locking mechanism; S7: The photovoltaic composite cable retracting and releasing winch device on the mother ship retracts the photovoltaic composite cable upwards through the pulley mechanism on the lifting frame, driving the underwater robot's seabed resident device to rise; S8: The underwater robot's seabed stationing device rises to the water surface, the airbag on the underwater robot's seabed stationing device is inflated to make the underwater robot's seabed stationing device float on the water surface, and the lifting device lowers the lifting cable to connect and lock with the lifting cable connection mechanism on the underwater robot's seabed stationing device; S9: The lifting device recovers the underwater robot seabed station device carrying the underwater robot from the sea surface to the mother ship; When the underwater robot is on the seabed, the following steps are also included: S10: The underwater robot obtains energy supply and transmits signals with the mother ship through the optoelectronic composite cable in the underwater robot seabed station.

3. A large underwater robot seabed station device, characterized in that: include: A lifting cable connection mechanism, used to connect or disconnect with the lifting cable of the lifting device; An optoelectronic composite cable fixing mechanism, used to fix the optoelectronic composite cable, through which the underwater robot can obtain power and transmit signals with the mother ship; and A robot accommodating chamber, used for accommodating an underwater robot; When the underwater robot seabed station device is in use, the lifting device lowers the lifting cable, and the lifting cable connection mechanism connects and locks the lifting cable. After the lifting device transfers the underwater robot seabed station device from the mother ship to the sea surface, the lifting cable connection mechanism unlocks the lifting cable, and the lifting cable is separated from the underwater robot seabed station device. The mother ship releases the optoelectronic composite cable, and the underwater robot seabed station device is lowered from the sea surface to the seabed through the optoelectronic composite cable. When the underwater robot's seabed resident device is recovered, the mother ship recovers the optoelectronic composite cable, driving the underwater robot's seabed resident device to rise to the water surface, the lifting device lowers the lifting cable, the lifting cable connecting mechanism connects and locks the lifting cable, and the lifting device transfers the underwater robot's seabed resident device from the sea surface to the mother ship.

4. The large underwater robot seabed station device according to claim 3, characterized in that: The lifting cable connection mechanism includes a connection drive device and a locking part. The connection drive device can drive the locking part to pass through the ring at the end of the lifting cable to lock the lifting cable. The connection drive device can drive the locking part to disengage from the ring at the end of the lifting cable to unlock the lifting cable.

5. The large underwater robot seabed station device according to claim 3, characterized in that: The optoelectronic composite cable fixing mechanism includes a cylindrical fixing portion and at least one articulated bracket. The cylindrical fixing portion is used for the optoelectronic composite cable to be passed through and fixed therein. The cylindrical fixing portion is arranged on the seabed stationing device of the underwater robot through the at least one articulated bracket so that the cylindrical fixing portion obtains at least one rotational degree of freedom.

6. The large underwater robot seabed station device according to claim 4, characterized in that: A lifting structure is provided on the top of the underwater robot seabed station device, and the lifting structure comprises: A first support plate, which is respectively arranged on four sides to form a square structure; a second support plate, which is longitudinally arranged at the center of the lifting structure, and whose end is connected to the first support plate; the lifting cable connection mechanism is arranged on the first side of the second support plate; the locking portion can pass through the middle of the space surrounded by two parallel second support plates under the drive of the connection drive device, so as to lock the circular ring at the end of the lifting cable; the optoelectronic composite cable fixing mechanism is arranged on the second side of the second support plate; and The third support plate is laterally arranged at the center of the lifting structure and connected to the second support plate, and an end portion of the third support plate is connected to the first support plate.

7. The large underwater robot seabed station device according to claim 6, characterized in that: The lifting structure is provided with positioning mechanisms at the four corners of the four first support plates, respectively. The positioning mechanisms extend upwards and are used for docking and positioning with the lifting device to achieve anti-swinging; Two lifting connection columns are also connected between the two second support plates, and the lifting connection columns are used to connect with the connection hooks on the lifting device.

8. The large underwater robot seabed station device according to claim 3, characterized in that: The underwater robot seabed station device further comprises an air bag, which is used to be inflated and expanded when the underwater robot seabed station device rises to the water surface to provide buoyancy.

9. The large underwater robot seabed station device according to claim 3, characterized in that: The robot accommodating chamber is provided with: A docking guide frame, used to guide the underwater robot into the robot accommodating chamber; An in-place detection mechanism, used to detect the in-place status of the underwater robot; and The locking mechanism comprises a locking drive device and a locking part. The locking drive device is used to drive the locking part to cooperate with the underwater robot to achieve locking after the underwater robot is in place, and to drive the locking part to separate from the underwater robot to achieve unlocking.

10. The large underwater robot seabed station device according to claim 3, characterized in that: The underwater robot seabed resident device also includes: A transformer, which is connected to the photoelectric composite cable and is used to convert the high-voltage alternating current transmitted from the mother ship into low-voltage direct current; The wireless sensing end is arranged on the robot accommodating cavity and is connected to the transformer to receive low-voltage direct current for powering the underwater robot and transmitting signals between the mother ship and the underwater robot.

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