Launching and recovering device and underwater robot detection system and method based on unmanned ship

Abstract

The invention discloses a launching and recovery device and an underwater robot detection system and method based on an unmanned ship, and the device comprises a main frame which comprises a first frame and a second frame, and the second frame is internally provided with a containing cavity for containing an underwater robot; the winch mechanism is arranged on the main frame and comprises a photoelectric composite cable connected with the underwater robot; the telescopic mechanism is arranged on the first frame and comprises a fixed plate fixedly arranged on the first frame and a movable plate capable of sliding relative to the fixed plate, the movable plate can slide between the first frame and the second frame, and when the movable plate is located on one side of the second frame, the underwater robot in the containing cavity is borne on the movable plate; and the pressing mechanism is located on the upper side of the underwater robot and used for pressing the underwater robot borne on the moving plate. According to the invention, on-site unmanned detection operation can be realized, the safety is increased, and the operation range and the application scene of the underwater robot can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a deployment and recovery device, and an underwater robot detection system and method based on an unmanned ship. Background Art

[0002] Deep-sea underwater detection systems represented by underwater robots have been widely used in marine resource exploration, marine ecological environment monitoring, marine fishery monitoring, and marine disaster warning. In the process of deep-sea operations, underwater robots need a larger mother ship to provide support and guarantee during the operation, and multiple on-site personnel are required to participate in the operation and deployment process. They have certain limitations in environmental adaptability, economy, safety, etc. Summary of the invention

[0003] According to one aspect of the present invention, there is provided a deployment and recovery device, which is arranged on an unmanned ship and comprises: The main frame includes a first frame and a second frame, wherein the second frame has a receiving cavity for receiving the underwater robot, and the bottom of the second frame is provided with a docking guide port for the underwater robot to enter and exit; A winch mechanism, arranged on the main frame, comprising an optoelectronic composite cable connected to the underwater robot; a telescopic mechanism, arranged on the first frame, comprising a fixed plate fixedly arranged on the first frame and a movable plate capable of sliding relative to the fixed plate, wherein the movable plate can slide between the first frame and the second frame, and when the movable plate is located on one side of the second frame, the underwater robot in the accommodating chamber is carried on the movable plate; The clamping mechanism is located on the upper side of the underwater robot and is used to clamp the underwater robot carried on the moving plate.

[0004] In some embodiments, the movable plate is located above the fixed plate, and the movable plate is connected to the fixed plate via a sliding structure, wherein the sliding structure includes a slide rail disposed on the fixed plate and a slider disposed on the fixed plate.

[0005] In some embodiments, the pressing mechanism includes a pressing member and a telescopic member, wherein the telescopic member is connected to the pressing member, and when the telescopic member is extended or retracted, the pressing member is driven to move up and down to press or release the underwater robot.

[0006] In some embodiments, the lower surface of the pressing member has a shape that matches the top surface of the underwater robot.

[0007] In some embodiments, a positioning protrusion is provided on the lower surface of the pressing member of the pressing mechanism, and when the pressing member presses the underwater robot, the positioning protrusion is inserted into a positioning recess on the underwater robot.

[0008] In some embodiments, the clamping mechanism further includes a base, the base is connected to the main frame or the unmanned boat, and a first connecting seat connected to one end of the telescopic member is provided on the base.

[0009] In some embodiments, the pressing member is provided with a second connecting seat connected to the other end of the telescopic member.

[0010] According to a second aspect of the present invention, there is provided an underwater robot detection system based on an unmanned ship, comprising an unmanned ship, an underwater robot and a deployment and recovery device as described in any one of the above items; The unmanned ship is connected to the shore-based control system for communication and receives instructions from the shore-based control system; The deployment and recovery device is arranged on the unmanned ship, and is used to deploy or recover the underwater robot according to the instruction of the shore-based control system; The underwater robot is used to perform underwater autonomous detection operations according to the instructions of the shore-based control system.

[0011] According to a third aspect of the present invention, there is provided an underwater robot detection method based on an unmanned ship, which is applied to the underwater robot detection system based on the unmanned ship as described above, comprising: Receive operation instructions from the shore-based control system; Deploying the underwater robot in response to the operation instruction includes: the pressing mechanism moves upward to release the underwater robot, the moving plate of the telescopic mechanism moves to one side of the first frame, the winch mechanism releases the optoelectronic composite cable, and the underwater robot enters the water under the action of gravity; The underwater robot performs underwater detection operations according to operation instructions.

[0012] In some embodiments, the underwater robot performs underwater detection operations according to the operation instructions, and then further includes: Receive recovery instructions from the shore-based control system; In response to the recovery instruction, a signal is sent to the underwater robot to enable the underwater robot to cruise to the lower side of the docking guide port of the deployment and recovery device, the winch mechanism recovers the optoelectronic composite cable, and pulls the underwater robot from the docking guide port into the accommodating cavity of the second frame, the movable plate of the telescopic mechanism moves to one side of the second frame, the underwater robot is carried on the movable plate, and the clamping mechanism moves downward to clamp the underwater robot.

[0013] Beneficial effects of the present invention: The underwater robot detection system and method based on the unmanned ship of the present invention can realize on-site unmanned detection operations. The underwater robot can be deployed and recovered through remote control of the unmanned ship and the deployment and recovery device, which not only increases safety but also improves the operation range and application scenarios of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of an underwater robot detection system based on an unmanned ship and a shore-based control system of the present invention; Figure 2 It is a structural block diagram of an underwater robot detection system based on an unmanned ship of the present invention; Figure 3 It is a schematic diagram of the overall structure of an underwater robot detection system based on an unmanned ship according to the present invention from one angle; Figure 4 It is a schematic diagram of the overall structure of an underwater robot detection system based on an unmanned ship according to the present invention from another angle; Figure 5 It is a structural schematic diagram of the deployment and recovery device of the present invention from one angle; Figure 6 for Figure 5 The enlarged schematic diagram of point A in the middle; Figure 7 It is a structural schematic diagram of the deployment and recovery device of the present invention from another angle; Figure 8 It is a structural schematic diagram of the clamping mechanism of the present invention; Fig. 9 It is a structural schematic diagram of the underwater robot of the present invention; Fig.10 A flowchart of receiving a navigation instruction in an underwater robot detection method based on an unmanned ship of the present invention; Fig.11 A flow chart of receiving a navigation instruction in an underwater robot detection method based on an unmanned ship of the present invention; Fig.12 A flowchart of deploying an underwater robot by a deployment and recovery device in an underwater robot detection method based on an unmanned ship of the present invention; Fig.13 A flowchart of underwater robot operation in an underwater robot detection method based on an unmanned ship of the present invention; Fig.14 A flow chart of receiving an operation instruction in an underwater robot detection method based on an unmanned ship of the present invention; Fig.15 It is a flowchart of deploying a recovery device to recover an underwater robot in an underwater robot detection method based on an unmanned ship of the present invention; Fig.16 A flowchart of receiving a recovery instruction in an underwater robot detection method based on an unmanned ship of the present invention; Fig.17 The present invention is a flowchart of receiving a return instruction in an underwater robot detection method based on an unmanned ship. DETAILED DESCRIPTION

[0015] The present invention is further described in detail below in conjunction with the accompanying drawings. 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 are within the scope of protection of the present invention.

[0016] It should be noted that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0017] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0018] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0019] In the above description, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means 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 may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0020] like Figures 1 to 4 As shown, this embodiment discloses an underwater robot 200 detection system based on an unmanned ship 100, including an unmanned ship 100, an underwater robot 200 and a deployment and recovery device 300. The detection system can receive instructions from a shore-based control system 400 to realize on-site unmanned detection operations.

[0021] like Figure 1 As shown, the shore-based control system 400 includes a land base station, a data application center, etc., and can communicate with the unmanned ship 100 by sending and receiving satellite signals through the land base station, issue control instructions and receive data, etc.

[0022] like Figures 2 to 4 As shown, the unmanned ship 100 includes a ship body, a power system, a control system and a communication system arranged on the ship body. The unmanned ship 100 communicates with the shore-based control system 400 via a satellite, receives instructions and / or transmits data, and provides an operation, energy and information transmission platform for the deployment and recovery device 300, the underwater robot 200 and the like.

[0023] like Figures 2 to 4 As shown, the deployment and recovery device 300 can be set on the unmanned ship 100 and is used to deploy and recover the underwater robot 200. The deployment and recovery device 300 includes a main frame 310, a control box 320, a winch mechanism 330, a telescopic mechanism 340, a clamping mechanism 350, and a positioning mechanism.

[0024] like Figures 3 to 5As shown, the main frame 310 is fixedly arranged on the unmanned boat 100. The main frame 310 is in the shape of a rectangular parallelepiped as a whole, and includes a first frame 311, a second frame 312 and a fixed bottom plate 313. The first frame 311 and the second frame 312 are arranged in the length direction of the main frame 310. The fixed bottom plate 313 is arranged at the bottom of the first frame 311, and the control box 320 can be assembled on the fixed bottom plate 313. The interior of the second frame 312 is a receiving chamber 314 for accommodating the underwater robot 200. The bottom of the second frame 312 is provided with a docking guide port 315. The docking guide port 315 includes two guide plates 3151. The guide plates 3151 are respectively arranged at both ends of the second frame 312 in the width direction. The two guide plates 3151 are in the shape of a trumpet. The docking guide port 315 is used for the underwater robot 200 to enter the second frame 312.

[0025] like Figure 5 As shown, the control box 320 is fixedly installed above the fixed bottom plate 313. The control box 320 can communicate with the unmanned boat 100. The control box 320 is also used to control the operation of the winch mechanism 330, the telescopic mechanism 340, the clamping mechanism 350, the positioning mechanism and other mechanisms.

[0026] like Figure 5 and Figure 6As shown, the telescopic mechanism 340 is arranged on the first frame 311 and is located at the lower side of the fixed bottom plate 313. The telescopic mechanism 340 includes a fixed plate 341, a movable plate 342 and a sliding structure. The movable plate 342 and the fixed plate 341 are connected by the sliding structure so that the movable plate 342 can slide relative to the fixed plate 341 between a first position and a second position. The sliding direction of the movable plate 342 is along the length direction of the main frame 310. In the first position, the movable plate 342 is located at one side of the first frame 311, and the movable plate 342 does not cover the docking guide port 315, and the underwater robot 200 can enter and exit from the docking guide port 315; the movable plate 342 can move from one side of the first frame 311 to one side of the second frame 312 (i.e., the second position). In the second position, the movable plate 342 covers the docking guide port 315 and is located below the underwater robot 200, and can be used to carry the underwater robot 200, that is, when the underwater robot 200 is not operating, it stays above the movable plate 342. Specifically, the fixed plate 341 is fixedly arranged on the first frame 311, and the sliding structure includes a slide rail 343 and a slider 344. The slide rail 343 is arranged on the upper surface of the fixed plate 341, and the slide rail 343 extends along the length direction of the main frame 310. Two slide rails 343 can be provided, which are arranged on both sides of the fixed plate 341 in the width direction, respectively. The movable plate 342 is located on the upper side of the fixed plate 341, and the slider 344 is arranged on the lower surface of the movable plate 342, and the slider 344 is embedded in the slide rail 343. The slider 344 can move along the slide rail 343 to drive the movable plate 342 to move. Preferably, the slide rail 343 can be an electric slide rail 343, which is electrically connected to the control box 320 and controlled by the control box 320.

[0027] like Figures 3 to 5 , Figure 7 As shown, the winch mechanism 330 includes an umbilical cable winch 331, a cable guide mechanism 332 and a locking mechanism 333. The umbilical cable winch 331 is fixedly arranged on the fixed bottom plate 313 of the first frame 311. The umbilical cable winch 331 is used to retract and release the optoelectronic composite cable 334 wound thereon. The umbilical cable winch 331 is electrically connected to the control box 320 and is controlled by the control box 320. The cable guide mechanism 332 and the locking mechanism 333 are installed on the top of the main frame 310. The optoelectronic composite cable 334 on the umbilical cable winch 331 passes through the cable guide mechanism 332 and the locking mechanism 333 in sequence and is connected to the underwater robot 200. The cable guide mechanism 332 is used to guide the optoelectronic composite cable 334 to pass through, so as to avoid the optoelectronic composite cable 334 from being wound and damaged; the locking mechanism 333 is used to lock the optoelectronic composite cable 334 when the umbilical cable winch 331 stops working, so as to ensure that the optoelectronic composite cable 334 will not slide or fall off due to external force.

[0028] like Figures 3 to 5 , Figures 7 and 8As shown, the clamping mechanism 350 is arranged in the area where the second frame 312 is located. The clamping mechanism 350 can be installed on the top of the unmanned boat 100 or on the top of the second frame 312. The clamping mechanism 350 is used when the underwater robot 200 is not operating (when stored in the accommodating chamber 314 of the second frame 312). The clamping mechanism 350 is located on the upper side of the underwater robot 200. When the robot is located above the moving plate 342 of the telescopic mechanism 340, the underwater robot 200 is clamped and limited to prevent the underwater robot 200 from having a large displacement in the accommodating chamber 314. Specifically, the clamping mechanism 350 includes a base 351, a first connection seat 352, a telescopic member 353 and a pressing member 354, wherein the base 351 is fixedly arranged on the top of the unmanned boat 100 or the second frame 312, the base 351 can be a plate extending along the width direction of the main frame 310, the first connection seat 352 is fixedly arranged on the lower surface of the base 351, one end of the telescopic member 353 is connected to the first connection seat 352, and the other end is connected to the second connection seat 3541 on the pressing member 354. When the telescopic member 353 is extended and retracted, it can drive the pressing member 354 to move in the height direction, thereby realizing downward movement to clamp the underwater robot 200 and upward movement to release the underwater robot 200. Preferably, two telescopic members 353 are provided, and two first connecting seats 352 are also provided, which are respectively located at the two ends of the base 351. One end of the two telescopic members 353 is connected to a first connecting seat 352 respectively. The first connecting seat 352 and the telescopic member 353 are provided with hinge holes. The telescopic member 353 is hinged to the first connecting seat 352. The pressing member 354 is also provided with two second connecting seats 3541. The other ends of the two telescopic members 353 are also hinged to a second connecting seat 3541 respectively. The telescopic member 353 is preferably a telescopic cylinder, and the telescopic cylinder is controlled by the control box 320. The lower surface of the pressing member 354 is the part that contacts the top surface of the underwater robot 200. Preferably, the lower surface of the pressing member 354 has a shape that matches the top surface of the underwater robot 200, so that the pressing member 354 can better fit and press the underwater robot 200. Further, as Figure 8 and Fig. 9 As shown, a positioning protrusion 3542 (bump) is provided on the lower surface of the pressing member 354, and a positioning recess 210 (groove) is provided on the top surface of the underwater robot 200. When the pressing member 354 is pressed down, the positioning protrusion 3542 is inserted into the positioning recess 210, which can limit the displacement of the underwater robot 200.

[0029] like Figure 4 and Figure 5As shown, the positioning mechanism is an acoustic and optical positioning system, which is controlled by the control box 320 to send a positioning signal (acoustic signal and / or optical signal) to the underwater robot 200, so that the underwater robot 200 can navigate to the deployment and recovery device 300 according to the positioning signal and align with the docking guide port 315. The positioning mechanism includes a transmitter 360 arranged at the bottom of the second frame 312. In the length direction, the transmitter 360 is located at the rear end of the second frame 312, and in the width direction, the transmitter 360 is located in the middle of the second frame 312.

[0030] like Figure 3 , Figure 4 and Fig. 9 As shown, the underwater robot 200 is mainly used to perform underwater autonomous detection operations according to the instructions of the shore-based control system 400. When not operating, it is stored in the deployment and recovery device 300. When it is needed, it is deployed by the deployment and recovery device 300. The underwater robot 200 includes a robot body, an optical communication system, an acoustic communication system, a propeller system, an environmental perception system (including various sensors and detectors for completing detection operations), etc. The top surface of the robot body is provided with a positioning recess 210 (groove). The underwater robot 200 is connected to the deployment and recovery device 300 through an optoelectronic composite cable 334.

[0031] like Figures 10 to 17 As shown, this embodiment provides a detection method of an underwater robot 200 based on an unmanned ship 100, comprising the following steps: S100: receiving navigation instructions from the shore-based control system 400.

[0032] In this step, scientists and engineers issue navigation instructions on the shore through the shore-based control system 400 and send instructions through the land base station, and the unmanned ship 100 receives the navigation instructions from the land base station via satellite.

[0033] S110: In response to the navigation instruction, the unmanned boat 100 sails to the predetermined operation area.

[0034] In this step, after receiving the navigation instruction, the unmanned ship 100 independently plans the navigation path according to the specific location of the predetermined operation area, and then sails to the predetermined operation area according to the navigation path; after the unmanned ship 100 arrives at the predetermined operation area, it sends information of arrival at the predetermined operation area to the land base station.

[0035] S200: receiving an operation instruction from the shore-based control system 400.

[0036] After confirming that the unmanned ship 100 has arrived at the predetermined operation area, an operation instruction is issued through the shore-based control system 400 and sent through the land base station. The unmanned ship 100 receives the operation instruction from the land base station via satellite.

[0037] S210: Deploy the underwater robot 200 in response to the operation instruction.

[0038] This step includes pre-operation preparation, including: S211: The clamping mechanism 350 moves upward to release the underwater robot 200.

[0039] S212 : The moving plate 342 of the telescopic mechanism 340 moves to the side of the first frame 311 .

[0040] The clamping mechanism 350 no longer presses the underwater robot 200 , and the movable plate 342 no longer supports the underwater robot 200 after moving to the side of the first frame 311 (ie, the first position). At this time, the underwater robot 200 relies on the optoelectronic composite cable 334 to maintain its position in the accommodating cavity 314 .

[0041] After the pre-job preparation is completed, it also includes: S213 : The winch mechanism 330 releases the optical-electric composite cable 334 .

[0042] S214: The underwater robot 200 enters the water under the action of gravity.

[0043] S300: The underwater robot 200 performs underwater detection operations according to the operation instructions.

[0044] After the underwater robot 200 enters the water, the underwater robot 200 performs the designated operation task by receiving the electrical signal and communication signal of the optical-electric composite cable 334. During the operation or after the operation is completed, the data detected by the underwater robot 200 is transmitted to the unmanned ship 100 through the optical-electric composite cable 334, and the unmanned ship 100 transmits it to the land base station.

[0045] S400: receiving a recovery instruction from the shore-based control system 400.

[0046] After confirming that the underwater robot 200 has completed the operation task, a recovery command is issued through the shore-based control system 400 and the command is sent through the land base station. The unmanned ship 100 receives the recovery command from the land base station via satellite.

[0047] S410 : In response to the recovery command, a signal is sent to the underwater robot 200 to enable the underwater robot 200 to cruise to the lower side of the docking guide port 315 of the deployment and recovery device 300 .

[0048] In this step, the deployment and recovery device 300 sends a positioning signal (sent by the transmitter 360) through the positioning mechanism, and the underwater robot 200 autonomously cruises according to the positioning signal to reach the lower side of the docking guide port 315 of the deployment and recovery device 300.

[0049] S411 : The winch mechanism 330 retracts the optoelectronic composite cable 334 , and pulls the underwater robot 200 into the accommodating cavity 314 of the second frame 312 from the docking guide port 315 .

[0050] In this step, the winch mechanism 330 pulls the underwater robot 200 to a position higher than the moving plate 342 by a certain height.

[0051] S412 : The moving plate 342 of the telescopic mechanism 340 moves to one side of the second frame 312 , and the underwater robot 200 is carried on the moving plate 342 .

[0052] In this step, after the moving plate 342 moves to the second position, the winch mechanism 330 appropriately releases some of the optoelectronic composite cables 334 , so that the underwater robot 200 sits on the moving plate 342 .

[0053] S413: The pressing mechanism 350 moves downward to press the underwater robot 200.

[0054] In this step, the telescopic member 353 of the clamping mechanism 350 is extended, the pressing member 354 moves downward, the lower surface of the pressing member 354 presses the top of the underwater robot 200, and the positioning protrusion 3542 on the pressing member 354 is inserted into the positioning recess 210 on the top of the underwater robot 200, thereby preventing the underwater robot 200 from having a large displacement in the accommodating chamber 314 (including the movement in the horizontal and vertical directions are restricted). At this point, the underwater robot 200 is recovered, and the unmanned ship 100 sends a recovery completion message to the land base station.

[0055] S500: receiving a return instruction from the shore-based control system 400.

[0056] In this step, after confirming that the recovery is completed, a return command is issued through the shore-based control system 400 and the command is sent through the land base station. The unmanned ship 100 receives the return command from the land base station via satellite.

[0057] S510: In response to the return instruction, the unmanned ship 100 starts to return.

[0058] In this step, after receiving the return instruction, the unmanned boat 100 autonomously plans the return route and then returns according to the return route.

[0059] The present invention provides an underwater robot 200 detection system and method based on an unmanned ship 100, which realizes on-site unmanned detection operations through a deployment and recovery device 300 based on the unmanned ship 100 and remote control based on satellite communications. Scientists and engineers can conduct deep-sea scientific research and marine resource surveys in real time on shore, changing the deep-sea detection mode of traditional large scientific research vessels and a large number of on-site workers. The scheme of the present invention deploys and recovers the underwater robot 200 through remote control of the unmanned ship 100 and the deployment and recovery device 300, which not only increases safety, but also improves the operation range and application scenarios of the underwater robot 200.

[0060] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A deployment and recovery device, arranged on an unmanned ship, characterized in that: include: The main frame includes a first frame and a second frame, wherein the second frame has a receiving cavity for receiving the underwater robot, and the bottom of the second frame is provided with a docking guide port for the underwater robot to enter and exit; A winch mechanism, arranged on the main frame, comprising an optoelectronic composite cable connected to the underwater robot; a telescopic mechanism, arranged on the first frame, comprising a fixed plate fixedly arranged on the first frame and a movable plate capable of sliding relative to the fixed plate, wherein the movable plate can slide between the first frame and the second frame, and when the movable plate is located on one side of the second frame, the underwater robot in the accommodating chamber is carried on the movable plate; The clamping mechanism is located on the upper side of the underwater robot and is used to clamp the underwater robot carried on the moving plate.

2. The deployment and recovery device according to claim 1, characterized in that: The movable plate is located above the fixed plate. The movable plate is connected to the fixed plate via a sliding structure. The sliding structure comprises a slide rail arranged on the fixed plate and a slider arranged on the fixed plate.

3. The deployment and recovery device according to claim 1, characterized in that: The pressing mechanism comprises a pressing member and a telescopic member, wherein the telescopic member is connected to the pressing member, and when the telescopic member is extended or retracted, the pressing member is driven to move up and down to press or release the underwater robot.

4. The deployment and recovery device according to claim 3, characterized in that: The lower surface of the pressing member has a shape that matches the top surface of the underwater robot.

5. The deployment and recovery device according to claim 3, characterized in that: A positioning convex portion is provided on the lower surface of the pressing member of the pressing mechanism. When the pressing member presses the underwater robot, the positioning convex portion is inserted into the positioning concave portion on the underwater robot.

6. The deployment and recovery device according to claim 3, characterized in that: The clamping mechanism also includes a base, which is connected to the main frame or the unmanned boat, and a first connecting seat connected to one end of the telescopic member is provided on the base.

7. The deployment and recovery device according to claim 6, characterized in that: The pressing member is provided with a second connecting seat connected with the other end of the telescopic member.

8. An underwater robot detection system based on an unmanned ship, comprising an unmanned ship, an underwater robot and a deployment and recovery device according to any one of claims 1 to 7; The unmanned ship is connected to the shore-based control system for communication and receives instructions from the shore-based control system; The deployment and recovery device is arranged on the unmanned ship, and is used to deploy or recover the underwater robot according to the instruction of the shore-based control system; The underwater robot is used to perform underwater autonomous detection operations according to the instructions of the shore-based control system.

9. An underwater robot detection method based on an unmanned ship, applied to the underwater robot detection system based on an unmanned ship as claimed in claim 8, characterized in that: include: Receive operation instructions from the shore-based control system; Deploying the underwater robot in response to the operation instruction includes: the pressing mechanism moves upward to release the underwater robot, the moving plate of the telescopic mechanism moves to one side of the first frame, the winch mechanism releases the optoelectronic composite cable, and the underwater robot enters the water under the action of gravity; The underwater robot performs underwater detection operations according to operation instructions.

10. The underwater robot detection method based on an unmanned ship according to claim 9, characterized in that: The underwater robot performs underwater detection operations according to the operation instructions, and then further includes: Receive recovery instructions from the shore-based control system; In response to the recovery instruction, a signal is sent to the underwater robot to enable the underwater robot to cruise to the lower side of the docking guide port of the deployment and recovery device, the winch mechanism recovers the optoelectronic composite cable, and pulls the underwater robot from the docking guide port into the accommodating cavity of the second frame, the movable plate of the telescopic mechanism moves to one side of the second frame, the underwater robot is carried on the movable plate, and the clamping mechanism moves downward to clamp the underwater robot.

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