Emergency recovery device and recovery method for underwater glider under high sea condition

Abstract

The invention relates to the technical field of sea surface unmanned autonomous observation platform recovery, in particular to an emergency recovery device and method for an underwater glider under a high sea condition. The device comprises a capturing structure, the capturing structure is movably connected with a mother ship through a crane, the capturing structure comprises a capturing support, the capturing support is a square support, a capturing net is arranged on the capturing support, protection pads are wound around the four corners of the capturing support, and balancing weights are arranged at the four corners of the bottom of the capturing net. The method comprises the steps that a capturing support provided with a capturing net and a balancing weight is hoisted to a proper position outside a ship board through a crane, the capturing support is in an open state through water flow, and after a glider drifts to the position above the capturing structure, the capturing structure and the glider are rapidly hoisted together and put back to a deck of a scientific investigation ship, and recovery is completed. According to the capturing structure and the crane system, the underwater glider can be rapidly and accurately captured and recycled under the high sea condition, and the recycling efficiency and safety are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of recovery of unmanned autonomous observation platforms on sea surfaces, and in particular to an emergency recovery device and a recovery method for underwater gliders under high sea conditions. Background Art

[0002] The development of unmanned autonomous ocean observation technology is of great significance to my country's efforts to strengthen marine environmental protection, enhance marine resource development capabilities, and safeguard marine rights and interests. It is one of the key technologies for realizing the strategy of building a strong maritime nation. Cross-domain collaborative observation of unmanned autonomous systems is the development trend of ocean observation, and it has an increasingly broad development and application space in wide-area, heterogeneous, cross-media collaboration and complex marine environments. At present, many types of unmanned autonomous observation platforms have been applied to the ocean observation forest valley, such as underwater gliders, surface drifting buoys, profiling buoys, small AUVs, wave energy gliders, anchored submersibles, anchored buoys, etc.

[0003] Underwater glider is a new type of underwater robot. It uses slight changes in its own buoyancy and the wings to change vertical movement into horizontal movement. It can propel itself forward with very low power consumption, achieving ultra-long range and endurance. It has the advantages of strong endurance, long standby time, good stealth performance, good navigation stability, good maneuverability, high navigation efficiency, high cost-effectiveness, reusability, large-scale deployment, and a wide range of uses. It can work continuously for a long time in a large range and has low working noise. It can adapt to the needs of harsh and complex marine environment and long-term and large-scale exploration.

[0004] As a reusable observation platform, underwater gliders can significantly reduce observation costs through recycling and reuse; however, due to the complex conditions of the operating sea area and the influence of sea waves, the recovery of underwater gliders has always been a difficult problem that on-site operators must face and overcome. For example, the Chinese patent with authorization announcement number CN109353475B discloses an underwater glider recovery method and the Chinese patent with authorization announcement number CN217918361U discloses a portable underwater glider recovery device, and the glider capture devices used are long sleeve rods; for example, the Chinese patent with publication number CN106240772A discloses a ship-based underwater glider deployment and recovery system and a corresponding deployment and recovery method, which adopts a recovery mechanism with a multi-sensor fusion positioning system and a sleeve structure as the core to achieve the hooking and clamping of the glider; for example, the Chinese patent with publication number CN114919716A discloses a docking and clamping system for recovering underwater gliders, which adopts the method of adding a clamping mechanism to the docking mechanism and controlling the remote control mechanism. The clamping mechanism can clamp the glider; for example, a recovery device for underwater gliders disclosed in Chinese patent publication number CN115946825A cooperates with a trumpet-shaped guide port and a locking mechanism to complete the clamping and capture of the underwater glider under the cooperation of real-time monitoring by an underwater camera; the above technology provides a relatively ideal recovery technology for recovering underwater gliders when the sea conditions are good, but it is difficult to carry out recovery operations under severe sea conditions, and it is difficult to achieve glider recovery under complex marine meteorological conditions such as the open ocean and polar regions where the operation time is tight, there are drift ice on the sea surface, the weather is cold, and the visibility is low. At the same time, it is not suitable for the emergency recovery of other unmanned autonomous observation equipment drifting on the sea surface under high sea conditions, nor is it suitable for the emergency salvage of other small drifting objects on the sea surface and the life-saving salvage of people falling into the water. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an emergency recovery device and recovery method for underwater gliders under high sea conditions, which can recover gliders under complex marine meteorological conditions such as the open ocean and polar regions where other operation methods are difficult to carry out, or the operation time is tight, there is drift ice on the sea surface, the weather is cold, the visibility is low, etc.

[0006] The technical solution of the present invention is:

[0007] An emergency recovery device for an underwater glider under high sea conditions comprises a capture structure, which is movably connected to a mother ship via a crane. The capture structure comprises a capture bracket, which is a square bracket on which a capture net is provided. Pads are wrapped around the four corners of the capture bracket, and counterweights are provided at the four corners of the bottom of the capture net.

[0008] Preferably, the crane includes a crane base, which is fixed on the hull of the mother ship. The crane base is provided with a crane bracket facing upward, and a crane arm is movably connected to the crane bracket. A sling is provided at the end of the crane arm, and a hook is provided on the sling. Lifting cables are provided on the four corners of the capture bracket, and the hook is connected to the capture bracket through the lifting cable.

[0009] Preferably, the counterweight block is semi-ellipsoidal, and is provided with two mutually penetrating holes.

[0010] Preferably, the counterweight blocks are used in pairs, and the two counterweight blocks are connected by fixing bolts.

[0011] Preferably, the capture bracket is made of a high-strength corrosion-resistant alloy material having excellent seawater corrosion resistance and sufficient mechanical strength.

[0012] Preferably, a signal receiving device is also provided on the top of the capture structure, and the device is used to receive wireless signals from the underwater glider.

[0013] Preferably, the capture net is made of synthetic fiber material and is a square cable net.

[0014] A method for emergency recovery of an underwater glider under high sea conditions, using an emergency recovery device for an underwater glider under high sea conditions, the method comprising the following steps:

[0015] S1: Before the research vessel arrives at the floating sea area of ​​the underwater glider, the capture structure, counterweight and suspension cable are assembled and placed on the deck near the crane;

[0016] S2: Start the crane and hang the assembled capture structure, counterweight and cable on the hook of the crane;

[0017] S3: When the research vessel reaches the floating sea area of ​​the underwater glider, the captured structure is lowered to the water surface outside the ship by a crane;

[0018] S4: The research vessel slowly maneuvers toward the underwater glider, so that the glider gradually moves toward the capture structure parallel to the ship's side from the side of the ship where the capture structure is lowered;

[0019] S5: Before the glider drifts to the capture structure, sink the capture structure into the water, and keep the front side of the capture bracket at a depth of 50 cm underwater. At this time, keep the relative speed between the research vessel and the glider at about 1 knot;

[0020] S6: After the glider drifts above the capture structure, the capture structure is quickly lifted from the water, and the capture structure and the glider are hoisted onto the deck of the research vessel to complete the glider recovery;

[0021] S7: On the deck, dismantle the capture structure, counterweight, and cable assembly and put them back in place, maintain and safely place the glider, return the crane to its original position and shut down, and complete the glider recovery.

[0022] Preferably, the step S2 further includes the following sub-steps:

[0023] S21: Before starting the crane, conduct a comprehensive safety inspection of the crane, including the wear and damage of key parts of the boom, sling and hook;

[0024] S22: After hanging the assembled capture structure, counterweight and lifting cable on the hook of the crane, a load test is performed to ensure that the crane can safely bear the weight of the entire capture structure.

[0025] Preferably, the step S6 further includes the following sub-steps:

[0026] S61: Before the glider drifts above the capture structure, use sensors or cameras installed on the capture structure to monitor the relative position and attitude of the capture structure and the underwater glider in real time;

[0027] S62: Once the glider enters the capture range, the capture mechanism is activated immediately, while ensuring that the capture process is smooth and does not damage the glider;

[0028] S63: When lowering the capture structure and glider onto the deck of the research vessel, use a slow and steady lifting method to avoid sudden shocks or vibrations.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] Through the cooperation of the crane and the capture structure, the underwater glider can be quickly and effectively recovered under high sea conditions, thereby improving the speed and efficiency of emergency response; a capture net and a counterweight block are provided on the capture bracket, and the design of the counterweight block helps to maintain the stability of the capture net in the water, thereby improving the reliability of capturing the underwater glider; through the flexible operation of the crane's boom, sling, hook and other components, the position and posture of the capture structure can be conveniently adjusted to adapt to different sea conditions and the drift of the glider, making the recovery process more simple and flexible; during the recovery process, the sensor or camera installed on the capture structure can be used to monitor the relative position and posture of the capture structure and the underwater glider in real time, so as to adjust the recovery strategy in time and ensure the stability and safety of the recovery process; the present invention has a simple structure, simple operation, low cost and strong adaptability, and solves the problem that other recovery devices cannot work under severe sea conditions, and is suitable for emergency recovery of gliders under complex marine meteorological conditions such as tight operation time, high ship operation surface, drift ice on the sea surface, open sea and polar regions, etc., which reduces the workload of operators, saves operation ship time and improves operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0033] Figure 2 Schematic diagram of the capture structure of the present invention.

[0034] Figure 3 It is a structural schematic diagram of the counterweight block of the present invention.

[0035] In the figure: 1. capture mechanism; 11. capture bracket; 12. capture net; 13. pad; 14. counterweight; 15. fixing bolt; 2. crane; 21. crane base; 22. crane bracket; 23. boom; 24. sling; 25. hook; 26. lifting cable; 3. mother ship. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] Example 1

[0038] like Figure 1-Figure 3 As shown, this embodiment provides an emergency recovery device for underwater gliders under high sea conditions, including a capture structure, which is movably connected to a mother ship 3 through a crane 2. The capture structure includes a capture bracket 11, which is a square bracket. A capture net 12 is provided on the capture bracket 11, and protective pads 13 are wrapped around the four corners of the capture bracket 11. Counterweights 14 are provided on the four corners of the bottom of the capture net 12.

[0039] Furthermore, the capture structure includes a capture bracket 11 and a capture net 12; the capture bracket 11 is a square steel pipe bracket with a side length of 3m, and the steel pipe adopts a scaffolding steel pipe with an outer diameter of 48mm and a wall thickness of 3.5mm; the selected scaffolding steel pipe is required to have a smooth surface, no cracks, no bending, and not easy to rust; the capture net 12 is made of synthetic fiber material and a square cable net with a side length of 4m, and the four sides of the square cable net are fixed on the four steel pipes of the square capture bracket 11; the maximum load of the overall capture bracket 11 in the air is not less than 1t.

[0040] Furthermore, the counterweight 14 is composed of 4 pairs of semi-ellipsoidal cast iron blocks, and the weight of a single semi-ellipsoid is 1 kg; each pair of cast iron blocks has 2 mutually penetrating holes, and is equipped with fixing bolts 15 matching the diameter of the holes; a pair of semi-ellipsoidal cast iron blocks are fixed on each of the two diagonal lines of the square capture net 12, about 1 m away from each of the four corners, so that the capture net 12 is approximately an inverted tetrahedron when naturally hanging in the water.

[0041] Furthermore, the protective pad 13 adopts 4 soft rubber pads with a length of not less than 300 mm, a thickness of not less than 10 mm, and a width of 200 mm; the 4 rubber pads are respectively wrapped around the 4 corners of the square steel pipe bracket, and then tied with tape; when the sea conditions are severe, the rubber pads can prevent direct collision between the capture structure and the ship's side and deck.

[0042] Furthermore, the suspension cable 26 is composed of four synthetic fiber cables with a length of 4m, a diameter of 12mm and a breaking load of not less than 5kN; one end of the four cables is respectively tied to the four corners of the square steel pipe bracket, and the other end is tied together as the hanging position of the crane 2.

[0043] Furthermore, the crane 2 uses a simple ship crane 2 with a simple structure, small size, light weight and easy installation; the crane 2 is composed of a crane base 21, a crane bracket 22, a boom 23, a sling 24 and a hook 25; the crane 2 is fixed to the side of the ship on one side of the research vessel through the base, and the research vessel provides power supply; the boom 23 of the crane 2 is retractable, with a maximum length of 5m and a maximum hanging weight of 2t at the end; when the length of the sling 24 of the crane 2 meets the maximum arm span, the hook 25 can be hung from the deck surface to the sea surface; the crane 2 is connected to the capture structure through the hook 25, the cable 26. When there is a folding arm crane, gantry crane, rotating crane or other type of crane 2 that meets the load and the extension position of the boom 23 meets the requirements on the research vessel, the existing crane 2 can be used directly.

[0044] Working principle:

[0045] When in use, firstly, the pre-assembled capture structure is hoisted to the side of the research vessel by the crane 2 and adjusted to an appropriate height. The capture bracket 11 is designed to be square, and the capture net 12 thereon is naturally suspended in the water by the counterweight block 14 to form an inverted tetrahedron shape to increase the capture area. When the research vessel approaches the sea area where the underwater glider floats, the vessel adjusts its course and approaches the glider in the direction of the wind and waves. The crane 2 will hoist the capture structure out of the side of the ship, but keep it above the water. As the research vessel slowly maneuvers toward the glider, the glider will gradually approach the capture structure from the side of the ship's side of the capture structure parallel to the side of the ship.

[0046] Before the glider is about to drift to the capture structure, the research vessel will maintain a certain relative speed with the glider and sink the capture structure into the water. Due to the effect of the water flow, the capture bracket 11 will be deeper at the front and shallower at the back, forming a slightly forward opening, and the capture net 12 will flow downstream and backward. This design helps the capture structure to intercept and capture gliders more effectively. Once the glider drifts above the capture structure, the crane 2 will quickly lift the capture structure from the water and lift the capture structure and the glider onto the deck of the research vessel. On the deck, the staff will disassemble the capture structure, the counterweight 14 and the lifting cable 26, and maintain and safely place the glider. Finally, the crane 2 is turned off to complete the recovery of the glider.

[0047] Example 2

[0048] On the basis of Example 1, further, a method for emergency recovery of an underwater glider in high sea conditions is provided, and the underwater glider recovery process comprises the following steps:

[0049] Step 1: Before the research vessel arrives at the floating sea area of ​​the underwater glider, assemble the capture structure, counterweight, and suspension cable 26 and place them on the deck near the crane 2; if the sea conditions are too bad, tie and fix the relevant equipment;

[0050] Step 2: Start the crane 2, and hang the assembled capture structure, counterweight, and cable 26 on the hook 25 of the crane 2; all personnel should do a good job of safety protection, such as wearing safety equipment and hanging safety ropes;

[0051] Step 3: When the research vessel is about to reach the floating sea area of ​​the underwater glider, it adjusts to face the wind and waves and approaches the glider; at this time, the capture structure is lifted and released to the water surface outside the ship by crane 2;

[0052] Step 4: The research vessel maneuvers slowly (about 5 knots) toward the underwater glider, so that the glider gradually moves toward the capture structure parallel to the ship's side from the side where the capture structure is lowered;

[0053] Step 5: Before the glider drifts to the capture structure, maintain a relative speed of about 1 knot between the research vessel and the glider, sink the capture structure into the water, and keep the front side of the capture bracket 11 at a depth of 50 cm underwater. At this time, under the impact of the water flow, the capture bracket 11 is deeper at the front and shallower at the back, with a slightly forward opening (the angle between the opening axis and the vertical line is about 20°), and the capture net 12 moves backward downstream;

[0054] Step 6: After the glider drifts above the capture structure, quickly lift the capture structure out of the water and place the capture structure and the glider on the deck of the research vessel to complete the glider recovery;

[0055] Step 7: On the deck, the capture structure, counterweight, and suspension cable 26 are disassembled and put back to their original positions, the glider is maintained and safely placed, and the suspension crane 2 is returned to its original position and turned off to complete the glider recovery;

[0056] Furthermore, the device is suitable for emergency recovery of gliders in high sea conditions, relying only on the operating platform of the scientific research vessel without the assistance of an operating boat. The device can also be used to recover gliders when the sea conditions are good, and it can effectively save ship time. The recovery operation takes less than 2 hours.

[0057] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person of ordinary skill in the art may easily think of changes or substitutions within the technical scope disclosed by the present invention, and these shall be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. An emergency recovery device for underwater gliders in high sea conditions, characterized in that: The invention comprises a capture structure, wherein the capture structure is movably connected to a mother ship (3) via a crane (2), and the capture structure comprises a capture bracket (11), wherein the capture bracket (11) is a square bracket, a capture net (12) is provided on the capture bracket (11), pads (13) are wound around the four corners of the capture bracket (11), and counterweights (14) are provided at the four corners of the bottom of the capture net (12).

2. The underwater glider emergency recovery device in high sea conditions as claimed in claim 1, characterized in that: The crane (2) comprises a crane base (21), the crane base (21) is fixed on the hull of the mother ship (3), the crane base (21) is provided with a crane bracket (22) upward, a crane arm (23) is movably connected to the crane bracket (22), a sling (24) is provided at the end of the crane arm (23), and a hook (25) is provided on the sling (24), and the four corners of the capture bracket (11) are provided with sling cables (26), and the hook (25) is connected to the capture bracket (11) through the sling cables (26).

3. The underwater glider emergency recovery device in high sea conditions as claimed in claim 1, characterized in that: The counterweight block (14) is semi-ellipsoidal in shape, and is provided with two boreholes which are mutually penetrating.

4. The underwater glider emergency recovery device in high sea conditions as claimed in claim 1, characterized in that: The counterweight blocks (14) are used in pairs, and the two counterweight blocks (14) are connected by fixing bolts (15).

5. The underwater glider emergency recovery device in high sea conditions as claimed in claim 1, characterized in that: The capture bracket (11) is made of a high-strength corrosion-resistant alloy material and has excellent seawater corrosion resistance and sufficient mechanical strength.

6. The underwater glider emergency recovery device in high sea conditions as claimed in claim 1, characterized in that: A signal receiving device is also provided on the top of the capture structure, and the device is used to receive wireless signals from the underwater glider.

7. The underwater glider emergency recovery device in high sea conditions as claimed in claim 1, characterized in that: The capture net (12) is made of synthetic fiber material and is a square cable net.

8. A method for emergency recovery of an underwater glider in high sea conditions, using an emergency recovery device for an underwater glider in high sea conditions as claimed in any one of claims 1 to 7, characterized in that: The method comprises the following steps: S1: Before the research vessel arrives at the floating sea area of ​​the underwater glider, the capture structure, counterweight, and suspension cable (26) are assembled and placed on the deck near the crane (2); S2: Start the crane (2) and hang the assembled capture structure, counterweight and suspension cable (26) on the hook (25) of the crane (2); S3: When the research vessel reaches the floating sea area of ​​the underwater glider, the capture structure is lowered to the water surface outside the ship by a crane (2); S4: The research vessel slowly maneuvers toward the underwater glider, so that the glider gradually moves toward the capture structure parallel to the ship's side from the side of the ship where the capture structure is lowered; S5: before the glider drifts to the capture structure, the capture structure is sunk into the water, the front side of the capture bracket (11) is kept at a fixed distance underwater, and a relative speed is maintained between the research vessel and the glider; S6: After the glider drifts above the capture structure, the capture structure is quickly lifted from the water, and the capture structure and the glider are hoisted onto the deck of the research vessel to complete the glider recovery; S7: On the deck, the capture structure, counterweight, and suspension cable (26) are disassembled and put back to their original positions, the glider is maintained and safely placed, and the suspension crane (2) is returned to its original position and turned off to complete the recovery of the glider.

9. The method for emergency recovery of an underwater glider in high sea conditions as claimed in claim 8, characterized in that: The step S2 further comprises the following sub-steps: S21: Before starting the crane (2), a comprehensive safety inspection of the crane (2) is performed, including the wear and damage of key components such as the boom (23), the sling (24), and the hook (25); S22: After the assembled capture structure, counterweight and suspension cable (26) are hung on the hook (25) of the crane (2), a load test is performed to ensure that the crane (2) can safely bear the weight of the entire capture structure.

10. The method for emergency recovery of an underwater glider in high sea conditions as claimed in claim 8, characterized in that: The step S6 also includes the following sub-steps: S61: Before the glider drifts above the capture structure, use sensors or cameras installed on the capture structure to monitor the relative position and attitude of the capture structure and the underwater glider in real time; S62: Once the glider enters the capture range, the capture mechanism is activated immediately, while ensuring that the capture process is smooth and does not damage the glider; S63: When lowering the capture structure and glider onto the deck of the research vessel, use a slow and steady lifting method to avoid sudden shocks or vibrations.

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