A launch and recovery system and method suitable for polar AUV deep ice deployment

Abstract

The application discloses a kind of deployment and recovery system and method suitable for polar AUV deep ice deployment, it is by traction device, load cable, deployment and recovery device etc. The execution system of component, the main frame of deployment and recovery device is the grid-like rotator made of rubber material, can pass through compression deformation to adapt the through demand of limited ice hole size;By setting gyroscope, propeller, float bag, guiding equipment and other components on the main frame, the underwater posture adjustment of the device and the accurate guidance of polar AUV are realized;When it is necessary to recover polar AUV, the rope is pulled by traction motor, so that polar AUV is tightly sleeved in the main frame and the guide opening is contracted and closed, so that polar AUV is recovered to ice surface under the protection of main frame;In non-recovery stage, the device can also provide energy supplement, information exchange and underwater berthing service for polar AUV during operation, effectively solve the deep ice deployment recovery problem of polar AUV, improve the residence capacity and recovery efficiency of polar AUV.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean technology engineering, and in particular to a deployment and recovery system and method suitable for polar AUV deep ice deployment. BACKGROUND

[0002] In the polar under-ice ocean environment investigation, an autonomous underwater vehicle (AUV) can replace humans to enter the complex and dangerous deep ice layer to carry out hydrological collection, ice shelf observation and topographic mapping and other operations. Since the energy carried by the AUV is limited, in order to detect the deep sea area in the polar region (deep ice detection), the investigation team needs to carry the AUV into the polar region, and through drilling through the ice layer at tens of meters or hundreds of meters of ice layer to deploy the AUV, so as to save the energy consumed by the AUV on the round trip. Unlike common ice-based deployment, the ice layer is thick in deep ice deployment, and the difficulty of opening the ice hole increases with the increase of the ice hole diameter, so the ice hole diameter in deep ice deployment is usually very limited.

[0003] At present, there are relatively few devices for polar AUV ice-based deployment and recovery. In the ice-based deployment in the relatively thin ice layer, a large enough ice hole can be opened in the ice layer through mechanical cutting or hot water drilling technology, and the distance from the water surface to the ice surface is relatively close, so the polar AUV can find the ice hole through high-precision underwater acoustic communication and positioning technology and float to the water surface; or the recovery device assisted by the ROV is used to deploy the polar AUV. But in the thick ice layer (tens of meters to hundreds of meters), the distance from the water surface to the ice surface is large, the difficulty of opening the ice hole is high, and the ice hole diameter is only slightly larger than the cross section of the boat body, so the conventional AUV deployment and recovery method is not suitable for deep ice deployment.

[0004] In the prior art, for example, a deployment and recovery device and method suitable for polar AUV are disclosed in Chinese patent document CN117508464A. The deployment and recovery device in the patent has a cylindrical barrel shape, and a plurality of propellers are installed on the outer side of the barrel, and a plurality of sets of limiting mechanisms are arranged side by side inside the barrel along the depth direction of the barrel to fix the AUV, and a horizontal deployment and recovery method is adopted.

[0005] For another example, a cross-ice layer fast autonomous recovery device and method for unmanned and cableless submersible are disclosed in Chinese patent document CN115489702A. The invention adopts a caterpillar type self-propelled buoyancy vehicle to realize the recovery of the unmanned and cableless submersible by using a traction cable. The caterpillar type self-propelled buoyancy vehicle is inverted and travels at the bottom of the ice surface, and 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 main body through the fixed ring of the cable.

[0006] For example, Chinese patent document CN11005374A discloses an underwater detection system based on a capture ROV suitable for ice hole deployment and recovery. Although this invention has the ability to enter the underwater through the ice hole with limited aperture, it is more suitable for small ROVs and has high requirements for docking technology.

[0007] From the above prior art, it can be seen that most of the existing recovery devices and methods for polar AUVs require the excavation of a large-aperture ice hole as a prerequisite and are mostly suitable for thin ice layers. For ice holes with limited aperture, especially deep ice deployment operations, the above-mentioned published devices and methods cannot be well applied. Therefore, during the deep ice deployment of the polar AUV, how to design a recovery device and method to solve the problems of small aperture and large hole depth has become a technical problem that needs to be solved by the technical personnel in the field. SUMMARY

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

[0009] In order to achieve the above-mentioned purpose, the present application adopts the following scheme:

[0010] The application discloses a deployment and recovery system suitable for polar AUV deep ice deployment, which comprises a traction device, a load-bearing cable, a deployment and recovery device, and an ice surface base electric control equipment; the traction device is installed on the ice surface above the ice hole; the load-bearing cable is connected with the traction device and hung 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; the deployment and recovery device comprises a main frame, hollow rubber tubes, a first rope, a second rope, a first floating balloon, a second floating balloon, a guide device, an equipment cabin and a propulsion cabin; the main frame is a grid-shaped rotary body made of rubber material, one end of the main frame is a guide port and is in a horn shape, and the other end of the main frame is a closed end and is connected with the load-bearing cable; the first floating balloon is annularly arranged outside the end of the guide port, the guide device is installed on the first floating balloon, the equipment cabin and the propulsion cabin are both in a cylindrical shape and coaxially arranged with the main frame, the propulsion cabin is fixedly arranged outside the closed end of the main frame, the equipment cabin is fixedly arranged inside the closed end of the main frame, and the second floating balloon is annularly arranged outside the equipment cabin; the inside of the main frame is provided with a plurality of hollow rubber tubes which are arranged at intervals along the axial direction, each of the hollow rubber tubes is annularly arranged along the circumferential direction of the main frame, the hollow rubber tubes located in the middle region of the main frame are embedded with the first rope, and the hollow rubber tubes embedded with the first rope are provided with grooves; the hollow rubber tubes located at the end of the guide port are embedded with the second rope; the propulsion cabin is provided with a propeller for changing the posture of the deployment and recovery device, the equipment cabin is provided with a first traction motor for traction of the first rope, a second traction motor for traction of 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; the ice surface base electric control equipment is arranged on the ice surface, and the ice surface base electric control equipment is electrically connected with the guide device, the propeller, the first traction motor, the second traction motor, the gyroscope and the wireless communication device through the load-bearing cable.

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

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

[0013] As a preferred scheme of the above deployment and recovery system, the propeller 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 solution of the above deployment and recovery system, the guiding device comprises a plurality of homing beacons and a plurality of guiding lights; the plurality of homing beacons are evenly distributed around the end circumference of the guiding port; the guiding lights are provided in a plurality, and the plurality of guiding lights are evenly distributed around the end circumference of the guiding port.

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

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

[0017] In addition, the present application also provides a deployment and recovery method suitable for polar AUV deep ice deployment, which applies the above-mentioned deployment and recovery system suitable for polar AUV deep ice deployment, and comprises the following steps:

[0018] I. Deployment step of polar AUV and deployment and recovery device:

[0019] After the polar AUV is lowered to the specified ocean depth through the ice hole by the traction device, the polar AUV rotates to a horizontal state by its own propulsion system and buoyancy adjustment system, and performs a task, thereby completing the deployment step 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 lowered to the specified ocean depth through the ice hole by the traction device, 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 slowly expands after losing the gravitational constraint of the ballast weight, and adjusts the posture through the propeller and the float on the deployment and recovery device, thereby completing the deployment step of the deployment and recovery device;

[0021] II. Recovery step of polar AUV and deployment and recovery device:

[0022] The gyroscope is started, and the posture of the deployment and recovery device is sensed in real time through the gyroscope; the deployment and recovery device rotates from a vertical state to a horizontal state under the cooperation of the propeller and the float;

[0023] The guiding device is opened, and the polar AUV is guided to the vicinity of the guiding port by the homing beacon in the guiding device; at the same time, the camera of the polar AUV identifies the light source position of the guiding light in the guiding device, and feeds back to the control system of the polar AUV, and under the double guidance of the homing beacon and the guiding light, the polar AUV adjusts the posture and enters the main frame through the guiding port;

[0024] starting the first traction motor in the equipment cabin to pull the first rope through the slot to disengage the hollow rubber tube until the polar AUV is tightly sleeved in the main frame by the first rope;

[0025] turning off the propulsion system of the polar AUV;

[0026] starting the second traction motor in the equipment cabin to pull the second rope to contract and close the guide port;

[0027] the polar AUV lowers its buoyancy by its own buoyancy adjustment system, and the deployment and recovery device is rotated from a horizontal state to a vertical state by the cooperation of the propeller and the buoyancy capsule, so that the closed end of the main frame faces upward;

[0028] starting the traction device to pull the deployment and recovery device and the polar AUV to be pulled up to the ice surface through the ice hole, and the recovery step of the polar AUV and the deployment and recovery device is completed.

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

[0030] starting the gyroscope to sense the posture of the deployment and recovery device in real time through the gyroscope, and the deployment and recovery device is rotated from a vertical state to a horizontal state by the cooperation of the propeller and the buoyancy capsule;

[0031] opening the guide device, guiding the polar AUV to the vicinity of the guide port by using the homing beacon in the guide device; at the same time, the camera of the polar AUV identifies the light source position of the guide light in the guide device and feeds back to the control system of the polar AUV, and under the double guidance of the homing beacon and the guide light, the polar AUV adjusts the posture and enters the main frame through the guide port;

[0032] starting the second traction motor in the equipment cabin to pull the second rope to contract and close the guide port;

[0033] the wireless charging coil is powered on to supplement the power of the polar AUV, and the wireless communication device in the equipment cabin and the polar AUV establish a communication connection to exchange data, and the data is transmitted to the control device through the load-bearing cable;

[0034] after the charging is completed, the second traction motor in the equipment cabin is started to release the second rope, the guide port is opened, the polar AUV reverses to drive away from the deployment and recovery device, and continues to perform the task, and the charging step of the polar AUV is completed.

[0035] The deployment and recovery system and method suitable for polar AUV deep ice deployment provided by the application has the beneficial effects compared with the prior art:

[0036] The embodiment of the present application is suitable for a deployment and recovery system and method for polar AUV deep ice deployment, which comprises 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 the operations such as lifting and lowering of the polar AUV and the deployment and recovery device; the main frame of the deployment and recovery device is a grid-shaped rotary body made of rubber material, which can adapt to the passing requirement of the limited ice hole through compression deformation; the underwater posture adjustment of the main frame is realized by setting gyroscopes, propellers, floating balloons and other components on the main frame; the polar AUV is accurately guided into the main frame by setting a guide device on the guide port, thereby effectively reducing the difficulty of polar AUV docking and docking; when the polar AUV needs to be recovered, the first traction motor and the second traction motor set in the equipment cabin and the first rope and the second rope buried in the hollow rubber pipe are started, the first traction motor and the second traction motor are started, the first rope is pulled to pass through the slot and separate from the hollow rubber pipe, until the polar AUV is tightly sleeved in the main frame by the first rope, and the guide port is contracted and closed by the second rope, so that the polar AUV is recovered to the ice surface under the protection of the main frame, avoiding scratching with the ice layer when passing through the ice hole; in addition, during the non-recovery stage, the guide port can be temporarily closed after the polar AUV enters the main frame, protecting the polar AUV from being touched by external objects, providing underwater parking service for the polar AUV during the operation period, and the first traction motor is not working, so as to facilitate the polar AUV to reverse and drive away from the deployment and recovery device and continue to perform the task; and when the polar AUV is parked in the main frame, the wireless charging coil and the wireless communication device can also provide charging and data exchange services for the polar AUV during the operation period.

[0037] In summary, the embodiment of the present application is suitable for a deployment and recovery system and method for polar AUV deep ice deployment, which can make the polar AUV and the deployment and recovery device pass through the ice hole with limited aperture into the water, not only for the deployment and recovery of the polar AUV, but also for the polar AUV during the operation period to provide energy supply, information exchange and underwater parking service, effectively solving the problem of polar AUV deep ice deployment and recovery, and improving the residence capacity and recovery efficiency of the polar AUV. BRIEF DESCRIPTION OF DRAWINGS

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

[0039] Figure 2 is a structural schematic diagram of the deployment and recovery device in the embodiment of the present application;

[0040] Figure 3 is a structural schematic diagram of the first rope buried in the hollow rubber pipe in the middle region of the main frame;

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

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

[0043] Figure 6 is a connection frame line diagram of the ice surface base electric control equipment and each electrical component in the laying and recovering device in an embodiment of the present application;

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

[0045] Figure 8 is a state diagram of the laying and recovering device being laid through the ice hole in an embodiment of the present application;

[0046] Figure 9 is a state diagram of the laying and recovering device being expanded and underwater docking with the polar AUV in an embodiment of the present application;

[0047] Figure 10 is a state diagram of the polar AUV entering the laying and recovering device in an embodiment of the present application;

[0048] Figure 11 is a state diagram of the polar AUV and the laying and recovering device being recovered through the ice hole in an embodiment of the present application.

[0049] Reference signs:

[0050] 1, traction device; 11, triangular support frame; 12, cable machine; 2, load-bearing cable; 3, laying and recovering device; 31, main frame; 32, hollow rubber tube; 33, first rope; 34, second rope; 35, first floating bladder; 36, second floating bladder; 37, guiding equipment; 38, equipment cabin; 39, propulsion cabin; 310, guide port; 311, slot; 312, propeller; 313, first traction motor; 314, second traction motor; 315, gyroscope; 316, wireless communication equipment; 317, wireless charging coil; 318, homing beacon; 319, guide light; 320, camera; 321, non-load-bearing wire; 4, ice surface base electric control equipment; 5, polar AUV; 6, locking and releasing device; 7, ballast weight; 8, ice hole. DETAILED DESCRIPTION

[0051] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings and embodiments. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0052] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by the upper, lower, front, rear, left, right and the like, is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0053] In the description of the present application, the meaning of one or more is one or more, the meaning of multiple is two or more, greater than, less than, more than and the like are understood as not including the number, above, below, within and the like are understood as including the number. If the first, second is described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of technical features indicated.

[0054] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting and the like should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0055] For reference Figures 1 to 11 The embodiment of the present application provides a kind of to be suitable for polar AUV deep ice deployment's deployment and recovery system, it includes traction device 1, bearing cable 2, deployment and recovery device 3 and ice surface base electric control equipment 4.

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

[0057] The bearing cable 2 is connected with the traction device 1, and is suspended in the ice hole 8, for the upper lifting and lowering of polar AUV 5 and deployment and recovery device 3, with power transmission, communication information transmission and bearing function.

[0058] The deployment and recovery device 3 comprises a main frame 31, hollow rubber pipes 32, a first rope 33, a second rope 34, a first float 35, a second float 36, a guide device 37, a device cabin 38 and a propulsion cabin 39. The main frame 31 is a lattice-shaped rotary body made of rubber material, which can be compressed and deformed under the action of an 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 in the shape of a horn. The first float 35 is annularly arranged outside the end of the guide port 310 and is used to assist in adjusting the underwater posture of the deployment and recovery device 3. The guide device 37 is installed on the first float 35 and is used to guide the polar AUV 5 into the main frame 31. The other end of the main frame 31 is a closed end, which serves as a connection end of the deployment and recovery device 3 and the load-bearing cable 2 and as a self-driven device end of the deployment and recovery device 3. The device cabin 38 and the propulsion cabin 39 are both cylindrical in shape and coaxially arranged with the main frame 31. The propulsion cabin 39 is fixedly arranged outside the closed end of the main frame 31 and is used to actively adjust the underwater posture of the deployment and recovery device 3. The device cabin 38 is fixedly arranged inside the closed end of the main frame 31. The second float 36 is annularly arranged outside the device cabin 38 to provide sufficient buoyancy to balance the weight of the device cabin 38 and the devices therein. The inside of the main frame 31 is provided with a plurality of hollow rubber pipes 32 spaced along the axial direction. Each hollow rubber pipe 32 is annularly arranged along the circumferential direction of the main frame 31. The first rope 33 is embedded in the hollow rubber pipes 32 located in the middle region of the main frame 31. The hollow rubber pipes 32 in which the first rope 33 is embedded are provided with a slot 311. The second rope 34 is embedded in the hollow rubber pipes 32 located at the end of the guide port 310. The propulsion cabin 39 is provided with a propeller 312 for changing the posture of the deployment and recovery device 3. The device cabin 38 is provided with a first traction motor 313 for traction of the first rope 33, a second traction motor 314 for traction of 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 AUV 5.

[0059] It is worth noting that when the polar AUV 5 enters the main frame 31, the first traction motor 313 is started to traction the first rope 33 to pass through the slot 311 and to be separated from the hollow rubber pipes 32, until the polar AUV 5 is tightly sleeved in the main frame 31 by the first rope 33, so as to facilitate the recovery of the polar AUV 5. Alternatively, the second traction motor 314 is started to traction the second rope 34 to make the guide port 310 contract and close or expand, so as to facilitate the polar AUV 5 to enter the main frame 31 for underwater parking, charging and data exchange, while avoiding scratching with the ice layer when passing through the ice hole 8.

[0060] The ice surface base electric control device 4 is arranged on the ice surface, and the ice surface base electric control device 4 is electrically connected with 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 surface 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 laying and recovering device 3, such as 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. The control device is used to control the running 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 simultaneously establish a communication connection with the polar AUV 5 through the wireless communication device 316 to realize data communication interaction.

[0061] Further, the main frame 31 is provided with a wireless charging coil 317 capable of charging the polar AUV 5, and the wireless charging coil 317 is electrically connected with the ice surface base electric control device 4 through the load-bearing cable 2. In the embodiment, the wireless charging coil 317 is arranged between two adjacent hollow rubber pipes 32, and the outside of the wireless charging coil 317 is covered with rubber to isolate seawater. In addition, the position and number of the wireless charging coil 317 can be adjusted according to the specific needs of the polar AUV 5.

[0062] It should be noted that most of the main frame 31 is of solid structure, and a small amount of the inside is of hollow channel structure (see Figure 5 , which serves as a laying channel for non-load-bearing wires 321 (such as cables, optical fibers and ropes, etc.), avoiding corrosion of seawater to the non-load-bearing wires. The ice surface base electric control device 4 is delivered to the equipment cabin 38 through the load-bearing cable 2, which provides power for various electrical devices in the equipment cabin 38, such as the wireless communication device 316, the traction motor, the propeller 312, the gyroscope 315, etc. The cable hidden in the hollow channel of the main frame 31 is delivered to the wireless charging coil 317 and the guide device 37. The communication optical fiber is arranged similarly to the cable.

[0063] For example, the main frame 31 is provided with a camera 320, which is located on the central axis of the main frame 31, and the camera is electrically connected with the ice surface base electric control device 4 through the load-bearing cable 2. Thus, the camera can identify the specific position of the polar AUV 5 after entering the main frame 31, ensuring that the polar AUV 5 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 vertical thrust ducts and axial thrust ducts, which are distributed in a cross shape for controlling the four degrees of freedom attitude of the deployment and recovery device 3.

[0065] Exemplarily, the guide device 37 comprises a plurality of homing beacons 318 and a plurality of guide lights 319; the plurality of homing beacons 318 are evenly distributed around the end circumference of the guide port 310; the plurality of guide lights 319 are evenly distributed around the end circumference of the guide port 310. The homing beacons 318 and the guide lights 319 can be powered by the cable separated from the load cable 2, or can be powered by the built-in power supply. The homing beacons 318 help the polar AUV 5 to determine its position relative to the beacons by sending signals, so as to accurately guide the polar AUV 5 to the vicinity of the guide port 310, and improve the navigation accuracy. The light source position of the guide light 319 can be recognized by the camera of the polar AUV 5, and the camera recognition is fed back to the control system of the polar AUV 5, so as to guide the AUV to adjust the attitude and approach the deployment and recovery device 3, so as to improve the safety and efficiency of the recovery.

[0066] Exemplarily, the deployment and recovery system further comprises a locking and releasing device 6, and the deployment and recovery device 3 is connected to the ballast weight 7 through the locking and releasing device 6. In the embodiment, the locking and releasing device 6 is a Frangi bolt device which drives the slotted 311 bolt by using a memory alloy. The locking and releasing device 6 will automatically disconnect after being heated to a set temperature, and release the ballast weight 7.

[0067] In addition, the application also provides a deployment and recovery method suitable for polar AUV deep ice deployment, which applies the deployment and recovery system suitable for polar AUV deep ice deployment described above, and comprises the following steps:

[0068] I. The deployment step of the polar AUV 5 and the deployment and recovery device 3:

[0069] The polar AUV 5 is pulled by the traction device 1 to pass through the ice hole 8 in a vertical state and is lowered to a specified ocean depth. Whether the ballast weight is matched at the tail of the polar AUV 5 can be determined according to the condition of the polar AUV 5. After reaching the specified depth, the rope is disconnected, the polar AUV 5 is rotated to a horizontal state by its own propulsion system and buoyancy adjusting system, and performs a task, thereby completing the deployment step of the polar AUV 5.

[0070] The cloth is packaged and compressed by the cloth releasing and recovering device 3, and the packaged cloth releasing and recovering device 3 is connected with the ballast weight 7 through the locking and releasing device 6; after the cloth releasing and recovering device 3 and the ballast weight 7 are lowered to the specified depth of the sea through the ice hole 8 by the traction device 1, the memory alloy in the locking and releasing device 6 is heated, the connection between the cloth releasing and recovering device 3 and the ballast weight 7 is disconnected, the cloth releasing and recovering device 3 slowly expands after losing the gravity constraint of the ballast weight 7, and the posture is adjusted through the propeller 312 and the floating balloon on the cloth releasing and recovering device 3, so that the cloth releasing and recovering step of the cloth releasing and recovering device 3 is completed;

[0071] II. The recovery step of the polar AUV 5 and the cloth releasing and recovering device 3:

[0072] The gyroscope 315 is started, the posture of the cloth releasing and recovering device 3 is sensed in real time through the gyroscope 315, and the cloth releasing and recovering device 3 rotates from the vertical state to the horizontal state under the cooperation of the propeller 312 and the floating balloon;

[0073] The guide device 37 is opened, the homing beacon 318 in the guide device 37 is used to guide the polar AUV 5 to the vicinity of the guide port 310; at the same time, the camera of the polar AUV 5 identifies the light source position of the guide light 319 in the guide device 37 and feeds back to the control system of the polar AUV 5, under the double guidance of the homing beacon 318 and the guide light 319, the posture of the polar AUV 5 is adjusted, and the polar AUV 5 enters the main frame 31 through the guide port;

[0074] The first traction motor 313 in the equipment cabin 38 is started, the first rope 33 is pulled to separate from the hollow rubber pipe 32 through the slot 311, and the polar AUV 5 is tightly sleeved in the main frame 31 by the first rope 33;

[0075] The propelling system of the polar AUV 5 is closed;

[0076] The second traction motor 314 in the equipment cabin 38 is started, and the second rope 34 drives the guide port 310 to shrink and close;

[0077] The polar AUV 5 reduces the buoyancy of the hull through the buoyancy adjusting system thereof, and the cloth releasing and recovering device 3 rotates from the horizontal state to the vertical state under the cooperation of the propeller 312 and the floating balloon, so that the closed end of the main frame 31 faces upward;

[0078] The traction device 1 is started, the cloth releasing and recovering device 3 and the polar AUV 5 are pulled up to the ice surface through the ice hole 8, and the recovery step of the polar AUV 5 and the cloth releasing and recovering device 3 is completed.

[0079] Further, the cloth releasing and recovering method of the embodiment of the present application further includes a charging step of the polar AUV 5:

[0080] The gyroscope 315 is started to sense the posture of the deployment and recovery device 3 in real time, and the deployment and recovery device 3 is rotated from the vertical state to the horizontal state by the cooperation of the thruster 312 and the float bag;

[0081] The guide device 37 is opened, the homing beacon 318 in the guide device 37 is used to guide the polar AUV 5 to the vicinity of the guide port 310; at the same time, the camera of the polar AUV 5 identifies the light source position of the guide light 319 in the guide device 37 and feeds back to the control system of the polar AUV 5, under the double guidance of the homing beacon 318 and the guide light 319, the polar AUV 5 adjusts the posture and enters the main frame 31 through the guide port;

[0082] The second traction motor 314 in the equipment cabin 38 is started to drive the second rope 34 to shrink and close the guide port 310;

[0083] The wireless charging coil 317 is powered on to supplement the power of the polar AUV 5, at the same time, the wireless communication device 316 in the equipment cabin 38 establishes a communication connection with the polar AUV 5, exchanges data information, and transmits to the control device through the load cable 2;

[0084] After the charging is completed, the second traction motor 314 in the equipment cabin 38 is started to release the second rope 34, the guide port is opened, the polar AUV 5 reverses and leaves the deployment and recovery device 3, continues to perform the task, and completes the charging step of the polar AUV 5.

[0085] Thus, the embodiment of the present application is suitable for the deployment and recovery system and method of the polar AUV in deep ice, which comprises 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 equipment 4, wherein the traction device 1 can pull the load-bearing cable 2 to realize the lifting and lowering of 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 rotary body made of rubber material, which can adapt to the passing requirement of the limited ice hole 8 through compression deformation; the underwater posture adjustment of the main frame 31 is realized by setting a gyroscope 315, a propeller 312 and a float chamber on the main frame 31; the polar AUV 5 is accurately guided into the main frame 31 by setting a guide device 37 on the guide port 310, which effectively reduces the docking and docking difficulty of the polar AUV 5; when the polar AUV 5 needs to be recovered, the first traction motor 313 and the second traction motor 314 are started to pull the first rope 33 through the slot 311 to separate the hollow rubber pipe 32, until the polar AUV 5 is tightly wrapped in the main frame 31 by the first rope 33, and the guide port 310 is closed to make the polar AUV 5 recover to the ice surface under the protection of the main frame 31, avoiding scratching with the ice layer when passing through the ice hole 8; in addition, during the non-recovery stage, the guide port 310 can be temporarily closed after the polar AUV 5 enters the main frame 31 to protect the polar AUV 5 from being touched by external objects, providing underwater parking service for the polar AUV 5 during operation, and the first traction motor 313 does not work to facilitate the polar AUV 5 to back off the deployment and recovery device 3 and continue to perform the task; and when the polar AUV 5 is parked in the main frame 31, the wireless charging coil 317 and the wireless communication device 316 can also provide charging and data exchange services for the polar AUV 5 during operation.

[0086] In summary, the embodiment of the present application is suitable for the deployment and recovery system and method of the polar AUV in deep ice, which can make the polar AUV 5 and the deployment and recovery device 3 enter underwater through the ice hole 8 with limited aperture, not only for the deployment and recovery of the polar AUV 5, but also for providing energy supply, information exchange and underwater parking service for the polar AUV 5 during operation, effectively solving the problem of deep ice deployment and recovery of the polar AUV 5 and improving the residence ability and recovery efficiency of the polar AUV 5.

[0087] In the description of the present application, reference can be made to terms such as "one embodiment", "some embodiments", "certain embodiments", "an example", "a specific example", or "some examples" etc. It is to be understood that such terms are merely referring to a particular feature, structure, material or characteristic under discussion. Therefore, in the description of the present application, whenever a particular feature, structure, material or

[0088] While the embodiments of the application have been shown and described, it is to be understood that the embodiments described are only by way of example and are not limiting of the scope of the application. Accordingly, modifications and alterations can be made to the embodiments of the application without departing from the spirit and scope of the application as set forth in the following claims and equivalents thereof.

Claims

1. A deployment and recovery system suitable for deep ice deployment of polar AUVs, characterized in that, include: A traction device, which 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. It is used for lifting and lowering polar AUVs and deployment and recovery devices, and has the functions of power transmission, communication information transmission and load bearing. A deployment and recovery device includes a main frame, a hollow rubber tube, a first rope, a second rope, a first float, a second float, a guiding device, an equipment compartment, and a propulsion compartment. The main frame is a grid-shaped rotating body made of rubber material. One end of the main frame is a guide opening, which is funnel-shaped, and the other end is a closed end connected to the load-bearing cable. The first float is ringed on the outer side of the end of the guide opening. The guiding device is mounted on the first float. The equipment compartment and the propulsion compartment are both cylindrical and coaxially arranged with the main frame. The propulsion compartment is fixed to the outer side of the closed end of the main frame, and the equipment compartment is fixed to the inner side of the closed end of the main frame. The second float is ringed on... On the outside of the equipment compartment and on the inside of the main frame, there are multiple hollow rubber tubes arranged at intervals along the axial direction. Each hollow rubber tube is wound around the circumference of the main frame. A first rope is embedded in the hollow rubber tube located in the middle region of the main frame, and a slot is opened on the hollow rubber tube with the first rope embedded in it. A second rope is embedded in the hollow rubber tube located at the end of the guide port. The propulsion compartment is equipped with a thruster for changing the attitude of the deployment and recovery device. The equipment compartment is equipped with 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 attitude of the deployment and recovery device, and a wireless communication device for establishing a communication connection with the polar AUV. An ice surface base electrical control device is installed on the ice surface and is electrically connected to the guiding device, the thruster, the first traction motor, the second traction motor, the gyroscope, and the wireless communication device via the load-bearing cable.

2. The deployment and recovery system for deep ice deployment of polar AUVs according to claim 1, characterized in that, The main frame is equipped with a wireless charging coil that can charge polar AUVs. The wireless charging coil is electrically connected to the ice surface base electrical control equipment through the load-bearing cable.

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

4. A deployment and recovery system suitable for deep ice deployment of polar AUVs according to claim 1, characterized in that, The thruster is provided with a vertical thrust duct and an axial thrust duct, which are arranged in a cross shape.

5. A deployment and recovery system suitable for deep ice deployment of polar AUVs according to claim 1, characterized in that, The guidance device includes several homing beacons and several guide lights; the several homing beacons are evenly distributed at intervals around the end circumference of the guidance port; several guide lights are provided, and the several guide lights are evenly distributed at intervals around the end circumference of the guidance port.

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

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

8. A deployment and recovery method suitable for deep ice deployment of polar AUVs, characterized in that, The deployment and recovery system for deep ice deployment of polar AUVs according to any one of claims 1 to 7 includes the following steps: I. Deployment steps of polar AUVs and deployment and recovery devices: After being towed by a traction device and lowered through an ice hole to the designated ocean depth, the polar AUV rotates to a horizontal position using its own propulsion system and buoyancy adjustment system and performs its mission, thus completing the deployment of the polar AUV. The deployment and recovery device is packaged and compressed, and then connected to the ballast weight via a locking and releasing device. The deployment and recovery device and the ballast weight are then lowered through an ice hole to a designated ocean depth using a traction device. The shape memory alloy in the locking and releasing device is then heated to disconnect the deployment and recovery device from the ballast weight. After the deployment and recovery device loses the gravity constraint of the ballast weight, it slowly unfolds and adjusts its attitude using the thrusters and floats on the device, thus completing the deployment process. II. Recovery Procedures for Polar AUVs and Deployment / Recovery Devices: The gyroscope is activated to sense the attitude of the deployment and recovery device in real time. With the help of the thrusters and floats, the deployment and recovery device rotates from a vertical state to a horizontal state. The guidance equipment is activated, and the polar AUV is guided to the vicinity of the guide port using the homing beacon in the guidance equipment. At the same time, the polar AUV's camera identifies the position of the light source emitted by the guide light in the guidance equipment and feeds it back to the polar AUV's control system. Under the dual guidance of the homing beacon and the guide light, the polar AUV adjusts its attitude and enters the main frame through the guide port. Start the first traction motor in the equipment compartment, and pull the first rope through the slot to get off the hollow rubber tube until the polar AUV is secured to the main frame by the first rope. Shut down the propulsion system of the polar AUV; Start the second traction motor inside the equipment compartment, which pulls the second rope to cause the guide port to retract and close. The polar AUV reduces its buoyancy through its own buoyancy adjustment system, while the deployment and recovery device rotates from a horizontal to a vertical state with the help of the propeller and floats, so that the closed end of the main frame faces upward. The traction device is activated to pull the deployment and recovery device and the polar AUV through the ice hole to the ice surface, completing the recovery steps of the polar AUV and the deployment and recovery device.

9. A deployment and recovery method for deep ice deployment of polar AUVs according to claim 8, characterized in that, This also includes the charging process for polar AUVs: The gyroscope is activated to sense the attitude of the deployment and recovery device in real time. With the help of the thrusters and floats, the deployment and recovery device rotates from a vertical state to a horizontal state. The guidance equipment is activated, and the polar AUV is guided to the vicinity of the guide port using the homing beacon in the guidance equipment. At the same time, the polar AUV's camera identifies the position of the light source emitted by the guide light in the guidance equipment and feeds it back to the polar AUV's control system. Under the dual guidance of the homing beacon and the guide light, the polar AUV adjusts its attitude and enters the main frame through the guide port. Start the second traction motor inside the equipment compartment, which pulls the second rope to cause the guide port to retract and close. When the wireless charging coil is powered on, it replenishes the power of the polar AUV. At the same time, the wireless communication equipment in the equipment compartment establishes a communication connection with the polar AUV, exchanges data, and transmits it to the control equipment through the load-bearing cable. After charging is complete, the second traction motor in the equipment compartment is started, the second rope is released, the guide port is opened, and the polar AUV reverses away from the deployment and recovery device to continue its mission, completing the charging process for the polar AUV.

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