Launching and recycling system and method suitable for polar region AUV deep ice deployment

Abstract

The invention discloses a laying and recycling system and method suitable for polar region AUV deep ice deployment, the laying and recycling system is an execution system composed of a traction device, a bearing cable, a laying and recycling device and the like, a main frame of the laying and recycling device is a grid-shaped rotary body made of a rubber material, and the laying and recycling device can adapt to the passing requirement of ice holes with limited sizes through compression deformation; the gyroscope, the propeller, the floating bag, the guiding equipment and other parts are arranged on the main frame, so that the underwater posture adjustment of the device and the accurate guiding of the polar region AUV are realized; when the polar region AUV needs to be recycled, the traction motor drags the rope, so that the polar region AUV is tightly sleeved with the main frame, the guide opening is contracted and closed, and the polar region AUV is recycled to the ice surface under the protection of the main frame; in the non-recovery stage, the device can provide energy supplement, information exchange and underwater parking services for the polar region AUV in the operation period, the deep ice deployment and recovery problem of the polar region AUV is effectively solved, and the residence capacity and recovery efficiency of the polar region AUV are improved.

Description

Technical Field

[0001] The present invention relates to the field of marine engineering technology, and in particular to a deployment and recovery system and method suitable for polar AUV deep ice deployment. Background Art

[0002] In the investigation of the polar subglacial marine environment, autonomous underwater vehicles (AUVs) can replace humans to enter the complex and dangerous deep ice layers to conduct hydrological collection, ice shelf observation, topographic mapping and other operations. Due to the limited energy carried by AUVs, in order to conduct exploration of the deep polar waters (deep ice exploration), the expedition team needs to carry AUVs into the polar regions and drill through the ice at tens or hundreds of meters to release the AUVs to save energy consumed by the AUV's round trip. Unlike common ice-based deployments, the ice layer is thick in deep ice deployments, and the difficulty of drilling ice holes increases with the increase of the ice hole diameter. Therefore, the ice hole diameter in deep ice deployments is usually very limited.

[0003] At present, there are relatively few devices for ice-based deployment and recovery of polar AUVs. In ice-based deployment in thinner ice layers, sufficiently large ice holes can be dug in the ice layer through mechanical cutting or hot water drilling technology, and the water surface is close to the ice surface. Polar AUVs can use high-precision hydroacoustic communication and positioning technology to find ice holes and surface; or ROVs or recovery devices can be deployed through ice holes to assist in the recovery of polar AUVs. However, in thicker ice layers (tens to hundreds of meters), the distance between the water surface and the ice surface is large, and it is difficult to drill ice holes. The diameter of the ice hole is only slightly larger than the cross-section of the hull, resulting in conventional AUV deployment and recovery methods not being suitable for deep ice deployment.

[0004] In the prior art, for example, Chinese patent document CN117508464A discloses a deployment and recovery device and a deployment and recovery method suitable for polar AUVs. The deployment and recovery device in the patent is in the shape of a cylindrical cylinder, and multiple propeller thrusters are installed on the outside of the cylinder. Multiple sets of limit mechanisms are arranged side by side along the depth direction of the cylinder to fix the AUV, and a horizontal deployment and recovery method is adopted.

[0005] For another example, Chinese patent document CN115489702A discloses a device and method for rapid autonomous recovery of an unmanned and cable-free submersible across ice. The invention uses a tracked self-propelled buoyancy vehicle with a towing cable to achieve the recovery of the unmanned and cable-free submersible. The tracked self-propelled buoyancy vehicle drives upside down on the bottom of the ice surface, one end of the cable is fixed to the self-propelled buoyancy system, and the other end is fixed to the hook of the AUV body through the cable's fixing ring.

[0006] For another example, Chinese patent document CN11005374 A discloses an under-ice detection system based on a capture ROV and suitable for ice hole deployment and recovery. Although the invention has the ability to enter underwater through an ice hole with a limited aperture, it is more suitable for small ROVs and has higher requirements for docking technology.

[0007] It can be seen from the above-mentioned prior art that most of the existing polar AUV recovery devices and methods require the excavation of ice holes with larger apertures as a prerequisite, and are mostly suitable for thinner ice layers. For ice holes with limited apertures, especially deep ice deployment operations, the above-mentioned published devices and methods are not well applicable. Therefore, during the deployment of polar AUVs in deep ice, how to design a recovery device and method to solve the difficulties of small apertures and large hole depths has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0008] The purpose of the present invention is to provide a deployment and recovery system and method suitable for polar AUV deep ice deployment, which can solve the problem of deep ice deployment of polar AUV and provide support conditions for polar AUV to operate deep in polar oceans.

[0009] In order to achieve the above object, the present invention adopts the following scheme:

[0010] A deployment and recovery system suitable for polar AUV deep ice deployment, comprising a traction device, a load-bearing cable, a deployment and recovery device, and an ice surface base electric control device; the traction device is installed on the ice surface above the ice hole; the load-bearing cable is connected to the traction device and suspended in the ice hole, and is used for lifting and lowering the polar AUV and the deployment and recovery device, and has power transmission, communication information transmission and load-bearing functions; the deployment and recovery device comprises a main frame, a hollow rubber tube, a first rope, a second rope, a first buoyancy bag, a second buoyancy bag, a guide device, an equipment cabin and a propulsion cabin; the main frame is a grid-shaped rotating body made of rubber material, one end of the main frame is a guide port, which is horn-shaped, and the other end of the main frame is a closed end and is connected to the load-bearing cable; the first buoyancy bag is arranged on the outside of the end of the guide port, the guide device is installed on the first buoyancy bag, the equipment cabin and the propulsion cabin are both cylindrical in shape and are coaxially arranged with the main frame, the propulsion cabin is fixed on the outside of the closed end of the main frame, and the equipment cabin is fixed on the outside of the closed end of the main frame. The second buoyancy bag ring is arranged on the outside of the equipment cabin on the inner side of the closed end of the main frame; a plurality of hollow rubber tubes arranged at intervals along the axial direction are arranged on the inner side of the main frame, each of the hollow rubber tubes is wound along the circumferential direction of the main frame, a first rope is buried in the hollow rubber tube located in the middle area of ​​the main frame, and a groove is opened on the hollow rubber tube in which the first rope is buried; a second rope is buried in the hollow rubber tube located at the end of the guide port; a thruster for changing the posture of the deployment and recovery device is arranged in the propulsion cabin, a first traction motor for pulling the first rope, a second traction motor for pulling the second rope, a gyroscope for real-time sensing of the posture of the deployment and recovery device, and a wireless communication device for establishing a communication connection with the polar AUV are arranged in the equipment cabin; the ice base electronic control device is arranged on the ice surface, and the ice base electronic control device is electrically connected to the guide device, the thruster, the first traction motor, the second traction motor, the gyroscope and the wireless communication device through the load-bearing cable.

[0011] As a preferred solution of the above deployment and recovery system, a wireless charging coil capable of charging the polar AUV is provided in the main frame, and the wireless charging coil is electrically connected to the electric control equipment of the ice base through the load-bearing cable.

[0012] As a preferred solution of the above-mentioned deployment and recovery system, a camera is provided in the main frame, the camera is located on the central axis of the main frame, and the camera is electrically connected to the electric control equipment of the ice base through the load-bearing cable.

[0013] As a preferred solution of the above-mentioned deployment and recovery system, the thruster is provided with a vertical thrust duct and an axial thrust duct, and the vertical thrust duct and the axial thrust duct are distributed in a cross shape.

[0014] As a preferred embodiment of the above-mentioned deployment and recovery system, the guiding device includes a plurality of homing beacons and a plurality of guiding lights; the plurality of homing beacons are evenly spaced around the end circumference of the guiding port; a plurality of guiding lights are provided, and the plurality of guiding lights are evenly spaced around the end circumference of the guiding port.

[0015] As a preferred solution of the above-mentioned deployment and recovery system, the traction device includes a triangular support frame for supporting the load-bearing cable to be suspended in the ice hole and a cable machine for providing traction force for the load-bearing cable.

[0016] As a preferred solution of the above deployment and recovery system, it also includes a locking and releasing device, and the deployment and recovery device is connected to the ballast weight through the locking and releasing device.

[0017] In addition, the present invention also provides a deployment and recovery method suitable for polar AUV deep ice deployment, which uses the deployment and recovery system suitable for polar AUV deep ice deployment described in the above contents, including the following steps:

[0018] 1. Steps for deploying polar AUV and deployment and recovery device:

[0019] After the polar AUV is towed through the ice hole and lowered to the specified ocean depth by the traction device, the polar AUV rotates to a horizontal state through its own propulsion system and buoyancy adjustment system and performs the mission, completing the deployment steps of the polar AUV;

[0020] The deployment and recovery device is packed and compressed, and the packed deployment and recovery device is connected to the ballast weight through the locking and releasing device; after the deployment and recovery device and the ballast weight are towed by the traction device through the ice hole to the specified ocean depth, the memory alloy in the locking and releasing device is heated to disconnect the deployment and recovery device and the ballast weight, and the deployment and recovery device is slowly deployed after losing the gravity constraint of the ballast weight, and the posture is adjusted by the thrusters and floating bags on the deployment and recovery device, completing the deployment steps of the deployment and recovery device;

[0021] 2. Recovery steps of polar AUV and deployment recovery device:

[0022] Start the gyroscope to sense the posture of the deployment and recovery device in real time. The deployment and recovery device rotates from a vertical state to a horizontal state under the cooperation of the thruster and the float.

[0023] Turn on the guidance device and use the homing beacon in the guidance device to guide the polar AUV to the vicinity of the guidance port; at the same time, the camera of the polar AUV identifies the light source position of the guidance light in the guidance device and feeds it back to the control system of the polar AUV. Under the dual guidance of the homing beacon and the guidance light, the polar AUV adjusts its posture and enters the main frame through the guidance port;

[0024] Start the first traction motor in the equipment cabin, and pull the first rope through the slot to detach from the hollow rubber tube until the polar AUV is tightly wrapped in the main frame by the first rope;

[0025] Shut down the propulsion system of the polar AUV;

[0026] Start the second traction motor in the equipment cabin, pull the second rope to drive the guide opening to retract and close;

[0027] The polar AUV reduces the buoyancy of its hull through its own buoyancy adjustment system. At the same time, the deployment and recovery device rotates from a horizontal state to a vertical state under the cooperation of the thruster and the float bag, so that the closed end of the main frame faces upward;

[0028] The traction device is started to tow the deployment and recovery device and the polar AUV through the ice hole and pull them up to the ice surface, completing the recovery steps of the polar AUV and the deployment and recovery device.

[0029] As a preferred solution of the above deployment and recovery method, the polar AUV charging step is also included:

[0030] Start the gyroscope to sense the posture of the deployment and recovery device in real time. The deployment and recovery device rotates from a vertical state to a horizontal state under the cooperation of the thruster and the float.

[0031] Turn on the guidance device and use the homing beacon in the guidance device to guide the polar AUV to the vicinity of the guidance port; at the same time, the camera of the polar AUV identifies the light source position of the guidance light in the guidance device and feeds it back to the control system of the polar AUV. Under the dual guidance of the homing beacon and the guidance light, the polar AUV adjusts its posture and enters the main frame through the guidance port;

[0032] Start the second traction motor in the equipment cabin, pull the second rope to drive the guide opening to retract and close;

[0033] The wireless charging coil is powered on to replenish the power of the polar AUV. At the same time, the wireless communication equipment in the equipment cabin establishes a communication connection with the polar AUV to exchange data and transmit it to the control equipment through the load-bearing cable;

[0034] After charging is completed, the second traction motor in the equipment cabin is started, the second rope is released, the guide port is opened, the polar AUV reverses and drives away from the deployment and recovery device, continues to perform the mission, and completes the charging steps of the polar AUV.

[0035] The deployment and recovery system and method for polar AUV deep ice deployment provided by the present invention have the following beneficial effects compared with the prior art:

[0036] The embodiments of the present invention are applicable to the deployment and recovery system and method of polar AUV deep ice deployment, through an execution system composed of a traction device, a load-bearing cable, a deployment and recovery device and an ice surface base electric control device, wherein the traction device can pull the load-bearing cable to realize lifting and lowering operations on the polar AUV and the deployment and recovery device; the main frame of the deployment and recovery device is a grid-shaped rotating body made of rubber material, which can adapt to the passing requirements of ice holes with limited sizes through compression deformation; by arranging gyroscopes, thrusters, floats and other components on the main frame, the underwater posture adjustment of the main frame is realized; by arranging a guiding device on the guide port, the polar AUV is accurately guided into the main frame, effectively reducing the difficulty of docking and docking of the polar AUV; by the first traction motor and the second traction motor arranged in the equipment cabin, and the first rope and the second rope buried in the hollow rubber tube, When the polar AUV needs to be recovered, the first traction motor and the second traction motor are started, and the first rope is pulled through the slot to detach from the hollow rubber tube until the polar AUV is tightly wrapped in the main frame by the first rope, and the second rope is pulled to drive the guide port to shrink and close, so that the polar AUV can be recovered to the ice surface under the protection of the main frame to avoid scratches with the ice layer when passing through the ice hole; in addition, in the non-recovery stage, the guide port can be temporarily closed after the polar AUV enters the main frame to protect the polar AUV from being touched by foreign objects, providing underwater docking services for the polar AUV during operation, and the first traction motor does not work, so as to facilitate the polar AUV to reverse and drive away from the deployment and recovery device to continue to perform the task; and when the polar AUV is docked in the main frame, it can also provide charging and data exchange services for the polar AUV during operation through wireless charging coils and wireless communication equipment.

[0037] In summary, the embodiments of the present invention are applicable to the deployment and recovery system and method for polar AUV deep ice deployment, and can enable the polar AUV and the deployment and recovery device to enter the underwater through an ice hole with a limited aperture. It is not only used for the deployment and recovery of polar AUVs, but also provides energy replenishment, information exchange and underwater docking services for polar AUVs during operations, effectively solving the deep ice deployment and recovery problems of polar AUVs and improving the polar AUV's residence capability and recovery efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of a deployment and recovery system suitable for polar AUV deep ice deployment provided by an embodiment of the present invention;

[0039] Figure 2 is a schematic diagram of the structure of a deployment and recovery device in an embodiment of the present invention;

[0040] Figure 3 is a schematic diagram of a structure in which a first rope is buried in a hollow rubber tube in the middle area of ​​a main frame in an embodiment of the present invention;

[0041] Figure 4 is a schematic diagram of a structure in which a second rope is buried in a hollow rubber tube at the end of a guide port in an embodiment of the present invention;

[0042] Figure 5 It is a structural schematic diagram of an embodiment of the present invention in which the main frame is designed as a non-load-bearing wire arrangement channel;

[0043] Figure 6 It is a block diagram of the connection between the electric control equipment of the ice base and the various electrical components in the deployment and recovery device in the embodiment of the present invention;

[0044] Figure 7 is a state diagram of a polar AUV deployed through an ice hole in an embodiment of the present invention;

[0045] Figure 8 is a state diagram of a deployment and recovery device in an embodiment of the present invention when deployed through an ice hole;

[0046] Fig. 9 This is a state diagram of the deployment and recovery device in the embodiment of the present invention when it is deployed and docked with the polar AUV underwater;

[0047] Fig.10 is a state diagram of a polar AUV entering a deployment and recovery device in an embodiment of the present invention;

[0048] Fig.11 It is a state diagram of the polar AUV and the deployment and recovery device when being recovered through the ice hole in an embodiment of the present invention.

[0049] Reference numerals:

[0050] 1. Traction device; 11. Triangular support frame; 12. Cable machine; 2. Load-bearing cable; 3. Deployment and recovery device; 31. Main frame; 32. Hollow rubber tube; 33. First rope; 34. Second rope; 35. First buoyancy bag; 36. Second buoyancy bag; 37. Guidance equipment; 38. Equipment cabin; 39. Propulsion cabin; 310. Guidance port; 311. Slot; 312. Thruster; 313. First traction motor; 314. Second traction motor; 315. Gyroscope; 316. Wireless communication equipment; 317. Wireless charging coil; 318. Homing beacon; 319. Guidance light; 320. Camera; 321. Non-load-bearing wire; 4. Electric control equipment of ice base; 5. Polar AUV; 6. Locking and release device; 7. Ballast weight; 8. Ice hole. DETAILED DESCRIPTION

[0051] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0052] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0054] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0055] See also Figures 1 to 11 The embodiment of the present invention provides a deployment and recovery system suitable for polar AUV deep ice deployment, which includes a traction device 1, a load-bearing cable 2, a deployment and recovery device 3 and an ice surface base electric control device 4.

[0056] The traction device 1 is installed on the ice surface above the ice hole 8; in this embodiment, the traction device 1 includes a triangular support frame 11 for supporting the load-bearing cable 2 suspended in the ice hole 8 and a cable machine 12 for providing traction force for the load-bearing cable 2.

[0057] The load-bearing cable 2 is connected to the traction device 1 and suspended in the ice hole 8, and is used for lifting and lowering the polar AUV 5 and the deployment and recovery device 3, and has the functions of power transmission, communication information transmission and load-bearing.

[0058] The deployment and recovery device 3 includes a main frame 31, a hollow rubber tube 32, a first rope 33, a second rope 34, a first float 35, a second float 36, a guide device 37, an equipment cabin 38 and a propulsion cabin 39; the main frame 31 is a grid-shaped rotating body made of rubber material, which can be compressed and deformed under the action of appropriate external force, and will restore its original shape after the external force is removed; one end of the main frame 31 is a guide port 310, which is horn-shaped; the first float 35 is arranged on the outside of the end of the guide port 310, and is used to assist in adjusting the deployment. The recovery device 3 is shown in FIG. 3 . The guide device 37 is installed on the first buoy 35 and is used to guide the polar AUV5 into the main frame 31. The other end of the main frame 31 is a closed end, which serves as both a connection end for connecting the deployment and recovery device 3 with the load-bearing cable 2 and an autonomous driving device end for deploying and recovering the device 3. The equipment cabin 38 and the propulsion cabin 39 are both cylindrical in shape and are coaxially arranged with the main frame 31. The propulsion cabin 39 is fixedly arranged on the outer side of the closed end of the main frame 31 and is used to actively adjust the deployment and recovery device 3. Underwater posture; the equipment cabin 38 is fixedly arranged on the inner side of the closed end of the main frame 31, and the second float bladder 36 is arranged around the outer side of the equipment cabin 38 to provide sufficient buoyancy to balance the gravity of the equipment cabin 38 and the equipment inside; the inner side of the main frame 31 is provided with a plurality of hollow rubber tubes 32 arranged along the axial direction, each of the hollow rubber tubes 32 is arranged along the circumferential direction of the main frame 31, and a first rope 33 is buried in the hollow rubber tube 32 located in the middle area of ​​the main frame 31, and a hollow rope 33 is buried A groove 311 is provided on the rubber tube 32; a second rope 34 is buried in the hollow rubber tube 32 at the end of the guide port 310; a thruster 312 for changing the posture of the deployment and recovery device 3 is provided in the propulsion cabin 39, and a first traction motor 313 for pulling the first rope 33, a second traction motor 314 for pulling the second rope 34, a gyroscope 315 for real-time sensing of the posture of the deployment and recovery device 3, and a wireless communication device 316 for establishing a communication connection with the polar AUV5 are provided in the equipment cabin 38.

[0059] It is worth noting that when the polar AUV5 enters the main frame 31, the first traction motor 313 is started, and the first rope 33 is pulled through the slot 311 to detach from the hollow rubber tube 32, until the polar AUV5 is tightly wrapped in the main frame 31 by the first rope 33, so as to facilitate the recovery of the polar AUV5; or, the second traction motor 314 is started, and the second rope 34 is pulled to drive the guide port 310 to contract and close or loosen and open, so that the polar AUV5 can enter the main frame 31 for underwater docking, charging and data exchange, while avoiding scratches with the ice layer when passing through the ice hole 8.

[0060] The ice base electric control device 4 is arranged on the ice surface, and the ice base electric control device 4 is electrically connected to the guide device 37, the propeller 312, the first traction motor 313, the second traction motor 314, the gyroscope 315 and the wireless communication device 316 through the load-bearing cable 2. The ice base electric control device 4 includes a power supply device and a control device. The power supply device can provide power for the electrical devices in the deployment and recovery device 3, such as: the guide device 37, the propeller 312, the first traction motor 313, the second traction motor 314, the gyroscope 315, the wireless communication device 316, etc.; the control device is used to control the operating state of the guide device 37, the propeller 312, the first traction motor 313, the second traction motor 314, the gyroscope 315, and the wireless communication device 316, and at the same time establish a communication connection with the polar AUV 5 through the wireless communication device 316 to realize data communication interaction.

[0061] Furthermore, a wireless charging coil 317 capable of charging the polar AUV5 is provided in the main frame 31, and the wireless charging coil 317 is electrically connected to the ice base electric control device 4 through the load-bearing cable 2. In this embodiment, the wireless charging coil 317 is arranged between two adjacent hollow rubber tubes 32, and the outside of the wireless charging coil 317 is covered with rubber to isolate the seawater. In addition, the position and quantity of the wireless charging coil 317 can be adjusted according to the specific needs of the polar AUV5.

[0062] It should be noted that most of the main frame 31 is a solid structure, and a small amount of the main frame 31 is a hollow channel structure (see Figure 5 ), as a layout channel for non-load-bearing wires 321 (such as cables, optical fibers and ropes, etc.), to avoid corrosion of non-load-bearing wires by seawater. The electric control equipment 4 of the ice base is transported to the equipment cabin 38 through the load-bearing cable 2, one way to provide power for various electrical equipment in the equipment cabin 38, such as wireless communication equipment 316, traction motor, thruster 312, gyroscope 315, etc., and one way to the wireless charging coil 317 and the guide device 37 through the cable hidden in the hollow channel of the main frame 31. The layout of the communication optical fiber is similar to that of the cable.

[0063] Exemplarily, a camera 320 is provided in the main frame 31, the camera is located on the central axis of the main frame 31, and the camera is electrically connected to the ice base electric control device 4 through the load-bearing cable 2. Thus, the camera can identify the specific position of the polar AUV5 after entering the main frame 31, ensuring that the polar AUV5 is accurately in the charging position or the fixed recovery position after entering the main frame 31.

[0064] Exemplarily, the thruster 312 is provided with a vertical thrust duct and an axial thrust duct, and the vertical thrust duct and the axial thrust duct are distributed in a cross shape, and are used to control the four-degree-of-freedom posture of the deployment and recovery device 3 .

[0065] Exemplarily, the guiding device 37 includes a plurality of homing beacons 318 and a plurality of guiding lights 319; the plurality of homing beacons 318 are evenly spaced around the end circumference of the guiding port 310; the plurality of guiding lights 319 are evenly spaced around the end circumference of the guiding port 310. The homing beacon 318 and the guiding light 319 can be powered by a cable branched from the load-bearing cable 2, or by a built-in power supply; the homing beacon 318 helps the polar AUV5 determine its position relative to the beacon by sending a signal, thereby accurately guiding the polar AUV5 to the vicinity of the guiding port 310 and improving navigation accuracy; the light source position emitted by the guiding light 319 can be recognized by the camera of the polar AUV5, and the camera will feed back to the control system of the polar AUV5 after recognition, thereby guiding the AUV to adjust its posture and approach the deployment and recovery device 3, so that it is aligned with the guiding port 310, thereby improving the safety and efficiency of recovery.

[0066] Exemplarily, the deployment and recovery system further includes a locking release device 6, and the deployment and recovery device 3 is connected to the ballast weight 7 through the locking release device 6. In this embodiment, the locking release device 6 is a locking release device 6 that uses a memory alloy to drive a slotted 311 bolt, that is, a Frangi bolt device, and the locking release device 6 will automatically disconnect after being heated to a set temperature to release the ballast weight 7.

[0067] In addition, the present invention also provides a deployment and recovery method suitable for polar AUV deep ice deployment, which uses the deployment and recovery system suitable for polar AUV deep ice deployment described in the above contents, including the following steps:

[0068] 1. Deployment steps of polar AUV5 and deployment and recovery device 3:

[0069] The polar AUV5 is towed by the traction device 1 to pass through the ice hole 8 in a vertical state and lowered to a specified ocean depth. During this process, it can be decided whether to add ballast weights to the tail of the polar AUV5 according to the polar AUV5 situation. After reaching the specified depth, the rope is disconnected, and the polar AUV5 is rotated to a horizontal state through its own propulsion system and buoyancy adjustment system, and performs the task, thereby completing the deployment steps of the polar AUV5.

[0070] The deployment and recovery device 3 is packed and compressed, and the packed deployment and recovery device 3 is connected to the ballast weight 7 through the locking and releasing device 6; after the deployment and recovery device 3 and the ballast weight 7 are pulled by the traction device 1 through the ice hole 8 to the specified ocean depth, the memory alloy in the locking and releasing device 6 is heated to disconnect the deployment and recovery device 3 and the ballast weight 7, and the deployment and recovery device 3 is slowly deployed after losing the gravity constraint of the ballast weight 7, and the posture is adjusted by the propeller 312 and the floating bag on the deployment and recovery device 3, and the deployment steps of the deployment and recovery device 3 are completed;

[0071] 2. Recovery steps of polar AUV5 and deployment recovery device 3:

[0072] The gyroscope 315 is started to sense the posture of the deployment and recovery device 3 in real time through the gyroscope 315. The deployment and recovery device 3 rotates from a vertical state to a horizontal state under the cooperation of the propeller 312 and the floating bag;

[0073] The guidance device 37 is turned on, and the homing beacon 318 in the guidance device 37 is used to guide the polar AUV5 to the vicinity of the guidance port 310; at the same time, the camera of the polar AUV5 identifies the light source position emitted by the guidance light 319 in the guidance device 37, and feeds back to the control system of the polar AUV5. Under the dual guidance of the homing beacon 318 and the guidance light 319, the polar AUV5 adjusts its posture and enters the main frame 31 through the guidance port;

[0074] Start the first traction motor 313 in the equipment compartment 38, and pull the first rope 33 through the slot 311 to detach from the hollow rubber tube 32, until the polar AUV5 is tightly wrapped in the main frame 31 by the first rope 33;

[0075] Shut down the propulsion system of the Polar AUV5;

[0076] The second traction motor 314 in the equipment compartment 38 is started to pull the second rope 34 to drive the guide opening 310 to retract and close;

[0077] The polar AUV 5 reduces the buoyancy of its hull through its own buoyancy adjustment system, and at the same time, the deployment and recovery device 3 rotates from a horizontal state to a vertical state under the cooperation of the propeller 312 and the floating bag, so that the closed end of the main frame 31 faces upward;

[0078] The traction device 1 is started to tow the deployment and recovery device 3 and the polar AUV 5 through the ice hole 8 and pull them up to the ice surface, completing the recovery step of the polar AUV 5 and the deployment and recovery device 3.

[0079] Furthermore, the deployment and recovery method of the embodiment of the present invention also includes a charging step of the polar AUV5:

[0080] The gyroscope 315 is started to sense the posture of the deployment and recovery device 3 in real time through the gyroscope 315. The deployment and recovery device 3 rotates from a vertical state to a horizontal state under the cooperation of the propeller 312 and the floating bag;

[0081] The guidance device 37 is turned on, and the homing beacon 318 in the guidance device 37 is used to guide the polar AUV5 to the vicinity of the guidance port 310; at the same time, the camera of the polar AUV5 identifies the light source position emitted by the guidance light 319 in the guidance device 37, and feeds back to the control system of the polar AUV5. Under the dual guidance of the homing beacon 318 and the guidance light 319, the polar AUV5 adjusts its posture and enters the main frame 31 through the guidance port;

[0082] The second traction motor 314 in the equipment compartment 38 is started to pull the second rope 34 to drive the guide opening 310 to retract and close;

[0083] The wireless charging coil 317 is powered on to replenish the power of the polar AUV5. At the same time, the wireless communication device 316 in the equipment compartment 38 establishes a communication connection with the polar AUV5 to exchange data and transmit it to the control device through the load-bearing cable 2;

[0084] After charging is completed, the second traction motor 314 in the equipment compartment 38 is started, the second rope 34 is released, the guide port is opened, the polar AUV5 reverses and drives away from the deployment and recovery device 3, continues to perform the mission, and completes the charging steps of the polar AUV5.

[0085] Thus, the deployment and recovery system and method for deep ice deployment of polar AUVs according to the embodiment of the present invention are implemented, which is an execution system composed of a traction device 1, a load-bearing cable 2, a deployment and recovery device 3, and an ice surface base electric control device 4, wherein the traction device 1 can pull the load-bearing cable 2 to achieve lifting and lowering operations on the polar AUV 5 and the deployment and recovery device 3; the main frame 31 of the deployment and recovery device 3 is a grid-shaped rotating body made of rubber material, which can adapt to the passing requirements of the ice hole 8 with limited size through compression deformation; by arranging gyroscopes 315, thrusters 312, floats and other components on the main frame 31, the underwater attitude adjustment of the main frame 31 is achieved; by arranging a guiding device 37 on the guide port 310, the polar AUV 5 is accurately guided into the main frame 31, effectively reducing the difficulty of docking and docking of the polar AUV 5; by the first traction motor 313 and the second traction motor 314 arranged in the equipment cabin 38, and the first rope 33 and the second rope 34 buried in the hollow rubber tube 32 When the polar AUV5 needs to be recovered, the first traction motor 313 and the second traction motor 314 are started, and the first rope 33 is pulled through the slot 311 to detach from the hollow rubber tube 32 until the polar AUV5 is tightly wrapped in the main frame 31 by the first rope 33, and the second rope 34 is pulled to drive the guide port 310 to shrink and close, so that the polar AUV5 is recovered to the ice surface under the protection of the main frame 31, avoiding scratches on the ice layer when passing through the ice hole 8; in addition, in the non-recovery stage, the polar AUV5 After the AUV5 enters the main frame 31, the guide opening 310 can be temporarily closed to protect the polar AUV5 from being touched by foreign objects, and provide underwater docking services for the polar AUV5 during operation. The first traction motor 313 does not work to facilitate the polar AUV5 to reverse and drive away from the deployment and recovery device 3 to continue to perform the task; and when the polar AUV5 is docked in the main frame 31, it can also provide charging and data exchange services for the polar AUV5 during operation through the wireless charging coil 317 and the wireless communication device 316.

[0086] In summary, the implementation of the deployment and recovery system and method for deep ice deployment of polar AUVs in the embodiments of the present invention can allow the polar AUV5 and the deployment and recovery device 3 to enter the water through the ice hole 8 with a limited aperture. It is not only used for the deployment and recovery of the polar AUV5, but also provides energy replenishment, information exchange and underwater docking services for the polar AUV5 during operation, effectively solving the deep ice deployment and recovery problems of the polar AUV5 and improving the polar AUV5 residence capacity and recovery efficiency.

[0087] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" 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 representation of the above terms does 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.

[0088] Although embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A deployment and recovery system suitable for polar AUV deep ice deployment, characterized in that: include: A traction device, wherein the traction device is installed on the ice surface above the ice hole; A load-bearing cable, which is connected to the traction device and suspended in the ice hole, and is used for lifting and lowering the polar AUV and the deployment and recovery device, and has the functions of power transmission, communication information transmission and load-bearing; A deployment and recovery device, the deployment and recovery device comprises a main frame, a hollow rubber tube, a first rope, a second rope, a first float, a second float, a guide device, an equipment cabin and a propulsion cabin; the main frame is a grid-shaped rotating body made of rubber material, one end of the main frame is a guide port, which is trumpet-shaped, and the other end of the main frame is a closed end and is connected to the load-bearing cable; the first float is arranged on the outside of the end of the guide port, the guide device is installed on the first float, the equipment cabin and the propulsion cabin are both cylindrical in shape and are arranged coaxially with the main frame, the propulsion cabin is fixed on the outside of the closed end of the main frame, the equipment cabin is fixed on the inside of the closed end of the main frame, and the second float is arranged on the outside of the closed end of the main frame. The outside of the equipment cabin; the inside of the main frame is provided with a plurality of hollow rubber tubes arranged at intervals along the axial direction, each of the hollow rubber tubes is wound along the circumferential direction of the main frame, a first rope is buried in the hollow rubber tube located in the middle area of ​​the main frame, and a groove is provided on the hollow rubber tube in which the first rope is buried; a second rope is buried in the hollow rubber tube located at the end of the guide port; a thruster for changing the posture of the deployment and recovery device is provided in the propulsion cabin, a first traction motor for pulling the first rope, a second traction motor for pulling the second rope, a gyroscope for real-time sensing of the posture of the deployment and recovery device, and a wireless communication device for establishing a communication connection with the polar AUV are provided in the equipment cabin; The ice surface base electronic control equipment is arranged on the ice surface, and the ice surface base electronic control equipment is electrically connected to the guiding device, the propeller, the first traction motor, the second traction motor, the gyroscope and the wireless communication equipment through the load-bearing cable.

2. A deployment and recovery system suitable for polar AUV deep ice deployment according to claim 1, characterized in that: A wireless charging coil capable of charging the polar AUV is arranged in the main frame, and the wireless charging coil is electrically connected to the electric control equipment of the ice base through the load-bearing cable.

3. The deployment and recovery system suitable for polar AUV deep ice deployment according to claim 1, characterized in that: A camera is arranged in the main frame, and the camera is located on the central axis of the main frame. The camera is electrically connected to the electric control equipment of the ice surface base through the load-bearing cable.

4. The deployment and recovery system for polar AUV deep ice deployment according to claim 1, characterized in that: The thruster is provided with a vertical thrust duct and an axial thrust duct, and the vertical thrust duct and the axial thrust duct are distributed in a cross shape.

5. The deployment and recovery system suitable for polar AUV deep ice deployment according to claim 1, characterized in that: The guiding device comprises a plurality of homing beacons and a plurality of guiding lights; the plurality of homing beacons are evenly spaced around the end circumference of the guiding opening; a plurality of guiding lights are provided, and the plurality of guiding lights are evenly spaced around the end circumference of the guiding opening.

6. The deployment and recovery system suitable for polar AUV deep ice deployment according to claim 1, characterized in that: The traction device comprises a triangular support frame for supporting the load-bearing cable to be suspended in the ice hole and a cable machine for providing traction force for the load-bearing cable.

7. A deployment and recovery system suitable for polar AUV deep ice deployment according to any one of claims 1 to 6, characterized in that: It also includes a locking and releasing device, and the deployment and recovery device is connected to the ballast weight through the locking and releasing device.

8. A deployment and recovery method suitable for polar AUV deep ice deployment, characterized in that: The deployment and recovery system for polar AUV deep ice deployment as claimed in any one of claims 1 to 7 comprises the following steps:

1. Steps for deploying polar AUV and deployment and recovery device: After the polar AUV is towed through the ice hole and lowered to the specified ocean depth by the traction device, the polar AUV rotates to a horizontal state through its own propulsion system and buoyancy adjustment system and performs the mission, completing the deployment steps of the polar AUV; The deployment and recovery device is packed and compressed, and the packed deployment and recovery device is connected to the ballast weight through the locking and releasing device; after the deployment and recovery device and the ballast weight are towed by the traction device through the ice hole to the specified ocean depth, the memory alloy in the locking and releasing device is heated to disconnect the deployment and recovery device and the ballast weight, and the deployment and recovery device is slowly deployed after losing the gravity constraint of the ballast weight, and the posture is adjusted by the thrusters and floating bags on the deployment and recovery device, completing the deployment steps of the deployment and recovery device; 2. Recovery steps of polar AUV and deployment recovery device: Start the gyroscope to sense the posture of the deployment and recovery device in real time. The deployment and recovery device rotates from a vertical state to a horizontal state under the cooperation of the thruster and the float. Turn on the guidance device and use the homing beacon in the guidance device to guide the polar AUV to the vicinity of the guidance port; at the same time, the camera of the polar AUV identifies the light source position of the guidance light in the guidance device and feeds it back to the control system of the polar AUV. Under the dual guidance of the homing beacon and the guidance light, the polar AUV adjusts its posture and enters the main frame through the guidance port; Start the first traction motor in the equipment cabin, and pull the first rope through the slot to detach from the hollow rubber tube until the polar AUV is tightly wrapped in the main frame by the first rope; Shut down the propulsion system of the polar AUV; Start the second traction motor in the equipment cabin, pull the second rope to drive the guide opening to retract and close; The polar AUV reduces the buoyancy of its hull through its own buoyancy adjustment system. At the same time, the deployment and recovery device rotates from a horizontal state to a vertical state under the cooperation of the thruster and the float bag, so that the closed end of the main frame faces upward; The traction device is started to tow the deployment and recovery device and the polar AUV through the ice hole and pull them up to the ice surface, completing the recovery steps of the polar AUV and the deployment and recovery device.

9. The method for deploying and recovering an AUV in deep ice in polar regions according to claim 1, characterized in that: Also included are the charging steps for polar AUVs: Start the gyroscope to sense the posture of the deployment and recovery device in real time. The deployment and recovery device rotates from a vertical state to a horizontal state under the cooperation of the thruster and the float. Turn on the guidance device and use the homing beacon in the guidance device to guide the polar AUV to the vicinity of the guidance port; at the same time, the camera of the polar AUV identifies the light source position of the guidance light in the guidance device and feeds it back to the control system of the polar AUV. Under the dual guidance of the homing beacon and the guidance light, the polar AUV adjusts its posture and enters the main frame through the guidance port; Start the second traction motor in the equipment cabin, pull the second rope to drive the guide opening to retract and close; The wireless charging coil is powered on to replenish the power of the polar AUV. At the same time, the wireless communication equipment in the equipment cabin establishes a communication connection with the polar AUV to exchange data and transmit it to the control equipment through the load-bearing cable; After charging is completed, the second traction motor in the equipment cabin is started, the second rope is released, the guide port is opened, the polar AUV reverses and drives away from the deployment and recovery device, continues to perform the mission, and completes the charging steps of the polar AUV.

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