AUV (Autonomous Underwater Vehicle) autonomous launching and recovery device based on unmanned surface vessel

Abstract

The invention discloses an AUV (Autonomous Underwater Vehicle) autonomous launching and recovery device based on an unmanned surface vessel, and belongs to the technical field of AUV recovery equipment. Comprising an unmanned ship carrier, a lifting device, a power assembly and a recovery enabling assembly. The unmanned ship carrier comprises a fixed buoyancy module connected with the bottom end of the electric control integrated cabin through a steel structure frame. The recovery enabling assembly comprises a first butt joint module and a second butt joint module; the first butt joint module is arranged at the bottom end of the electric control integrated cabin, and the second butt joint module is installed on the AUV to be recycled. The first butt joint module is connected with the lifting device, and the top end of the lifting device penetrates through the periphery of the electric control integrated cabin and drives the first butt joint module to do vertical motion; the power assembly is arranged on one side of the fixed buoyancy module. The device is suitable for the field of dynamic recovery butt joint and also suitable for the field of AUV long-distance rapid laying, and laying of the AUV can be completed only by issuing related control signals to the self-locking mechanical claw through the electric control integrated cabin to enable the steering engine to open the positioning locking rod outwards.

Description

Technical Field

[0001] The present invention belongs to the technical field of AUV recovery equipment, and in particular relates to an AUV autonomous deployment and recovery device based on an unmanned surface vessel. Background Art

[0002] With the widespread use and research of AUVs, the sustainable operation of AUVs underwater has become an inevitable development trend. However, the limited onboard energy restricts the sustainable detection, cruising, operation and other tasks of AUVs. Therefore, when the power is insufficient, AUVs need to recover and replenish their energy and transmit a large amount of data and information recorded during the operation. Deploying AUVs on ships or on land requires the use of large mechanical equipment, which is complicated to operate, too expensive to use, and has poor platform concealment. Especially in complex sea conditions, the deployment of AUVs is a huge challenge.

[0003] The deployment of AUVs includes two tasks: deployment and recovery. Generally speaking, the deployment task focuses more on the efficiency and safety of the deployment, and its complexity is lower than the recovery task. At present, with the rapid development of unmanned mobile platforms, people are increasingly interested in the mutual cooperation and support between unmanned platforms, and have proposed a variety of deployment schemes. The most commonly used deployment method for AUVs is mothership deployment and recovery. This technology is relatively mature and has high reliability; the disadvantages are that it is not fast enough, and it does not respond quickly enough during emergency rescue and situation reconnaissance, and the speed of information acquisition is slow. In order to make up for the shortcomings of mothership deployment, experts and scholars from various countries have proposed efficient deployment methods such as rocket deployment and aircraft deployment in recent years, which make up for the shortcomings of low speed and short range of AUVs; but these schemes are difficult to achieve sustainable multiple deployments.

[0004] As an intelligent marine transport platform that can be remotely controlled or autonomously navigated, unmanned surface vessels have the advantages of good maneuverability, strong adaptability, and low manufacturing cost. Using USV platforms as AUVs to communicate with offshore mobile base stations on shore and supply power better meets the multiple sustainable operation needs of actual projects. In addition, USVs can also realize dynamic recovery of AUVs, reduce the installation cost of the recovery base, and increase the flexibility of the recovery system, maximizing the operating efficiency of the AUV system.

[0005] In summary, in order to better realize the autonomous and sustainable operation of AUV underwater and realize the autonomous deployment of AUV in multiple scenarios (fixed base recovery, dynamic base recovery), designing an independent, complementary and promising automatic launch and recovery docking system has become a hot topic in current research. Summary of the invention

[0006] The purpose of the present invention is to design an AUV autonomous deployment and recovery device based on an unmanned surface vessel to solve one or more technical problems existing in the above-mentioned background technology.

[0007] The present invention provides an AUV autonomous deployment and recovery device based on an unmanned surface vessel, comprising an unmanned vessel carrier, a lifting device, a power assembly and a recovery enabling assembly; the unmanned vessel carrier comprises a fixed buoyancy module and an electric control integrated cabin; the electric control integrated cabin is connected to the fixed buoyancy module at the bottom through a steel structure frame; the recovery enabling assembly comprises a first docking module and a second docking module; the first docking module is arranged at the bottom end of the electric control integrated cabin and is located between the fixed buoyancy modules; the second docking module is installed on the AUV to be recovered; the first docking module is connected to the lifting device, and the top end of the lifting device passes through the four sides of the electric control integrated cabin; the lifting device drives the first docking module to do vertical movement; and the power assembly is arranged on one side of the fixed buoyancy module.

[0008] Furthermore, the first docking module includes a bell-shaped recovery cabin and an acoustic guiding device; an optical guiding device is provided at the bell mouth of the front end of the bell-shaped recovery cabin; a hook is provided at the gradually expanding part of the bell-shaped recovery cabin and is connected to the electronically controlled integrated cabin through a rope; a self-locking mechanical claw and a surface end of an enabling device are provided inside the parallel section of the bell-shaped recovery cabin; the acoustic guiding device is arranged at the tail end of the bell-shaped recovery cabin; the self-locking mechanical claw includes a positioning locking rod, a servo and a spring damper; the positioning locking rod is arranged in an equidistant circular array near the center end of the bell-shaped recovery cabin; a spring damper connected to the positioning locking rod is provided at the front end of the servo.

[0009] Furthermore, the second docking module includes an underwater end of an enabling device and an acoustic transponder; the underwater end of the enabling device is nested in the middle of the AUV to be recovered; and the acoustic transponder is installed at the tail end of the AUV to be recovered.

[0010] Furthermore, when the AUV to be recovered enters the middle section of the bell-mouth recovery chamber, the positioning locking rod and the groove at the underwater end of the enabling device on the AUV to be recovered are slidably matched. As the AUV to be recovered increases its thrust to enter, the spring damping will be deformed, and the positioning locking rod will be stretched open and slide along the surface of the underwater end of the enabling device until it slides to the groove in the middle of the underwater end of the enabling device, thereby generating a locking match to clamp the AUV to be recovered; the front end of the servo is a rigid rod, which is connected to the positioning locking rod by a spring. When the unmanned boat carrier receives the AUV deployment instruction, the servo rotates outward, driving the spring damping to drive the positioning locking rod to open, and the thruster of the AUV to be recovered provides reverse thrust to complete the deployment.

[0011] Furthermore, the lifting device includes a high-torque winch and a lifting guide rail; the high-torque winch is flexibly connected to the bell-mouth recovery cabin through a hook and a rope, and the high-torque winch is located in the middle of the electrically-controlled integrated cabin; the bottom end of the lifting guide rail is connected to the four sides of the bell-mouth recovery cabin; the top end of the lifting guide rail passes through the four sides of the entire electrically-controlled integrated cabin, and is fixed to the bottom plate of the electrically-controlled integrated cabin through a limit device and a detachable limit device.

[0012] Furthermore, the electrically-controlled integrated cabin includes an embedded control element, a battery pack, and a bidirectional transceiver sensor; the embedded control element, a high-torque winch, and a battery pack are arranged in sequence on the bottom plate of the electrically-controlled integrated cabin; through openings are provided in the center and around the bottom plate to ensure the passage of ropes and lifting rails; the bidirectional transceiver sensor is arranged on the top plate of the electrically-controlled integrated cabin, and the bidirectional transceiver sensor is connected to the embedded control element; the top surface of the electrically-controlled integrated cabin is provided with an upper shell for parking the drone.

[0013] Furthermore, the fixed buoyancy module includes a buoy fixing frame and a buoy; the buoy fixing frame is connected to the bottom end of the steel structure frame; and the buoy is nested in the buoy fixing frame.

[0014] Furthermore, the power assembly includes a propeller and a locking ring; the propeller and the locking ring are fixed and disassembled by a top screw; and the locking ring is connected to the buoy fixing frame.

[0015] The present invention further provides an autonomous deployment and recovery method of an AUV based on an unmanned surface vessel. When recovering the AUV equipment, the power assembly drives the unmanned boat carrier to maneuver along the trajectory. When the lifting device receives the recovery signal from the electronically controlled integrated cabin, the first docking module is inserted underwater, and an acoustic signal is sent through an acoustic guidance device to provide the unmanned boat carrier with the relative position of the AUV to be recovered, and wait for the AUV to approach. After receiving the acoustic signal through the acoustic responder, the AUV to be recovered drives toward the unmanned boat carrier.

[0016] When the AUV to be recovered is docked, the optical guidance light and acoustic guidance equipment of the first docking module jointly guide the AUV. When the AUV passes through the bell-mouth recovery cabin, the throttle is increased to trigger the self-locking mechanical claw so that the AUV is clamped inside the bell-mouth recovery cabin; the self-locking mechanical claw cooperates with the underwater end of the enabling device to position and lock.

[0017] The beneficial effects of the present invention are:

[0018] 1. The present invention can realize unmanned, dynamic deployment and recovery of AUV in multiple scenarios by carrying a liftable guidance device on an unmanned boat carrier, which has an important role in promoting the underwater sustainable ocean exploration operation technology of AUV. In addition, it can also provide a habitat for drones. Using the device as a maritime relay can effectively improve the cross-domain collaborative operation efficiency of "air-sea-submarine" multi-unmanned intelligent devices;

[0019] 2. The self-locking mechanical claw designed in the present invention can capture the AUV carrier to be recovered without the intervention of any electronic control equipment, relying only on the designed mechanical structure, which greatly improves the success rate of the AUV recovery operation;

[0020] 3. The present invention not only ensures the rigidity advantage of the existing similar devices by means of the winch cooperating with the guide rail, but also greatly reduces the total weight of the recovery device;

[0021] 4. The present invention cleverly moves the recovery locking part to the middle section of the AUV by adding an underwater end of an enabling device with a self-locking characteristic at the end of the AUV, thereby effectively avoiding damage to the AUV caused by collision with the top of the recovery component during docking acceleration. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the oblique two-measurement structure of an embodiment of the present invention;

[0023] Figure 2 is a side view schematic diagram of an embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of the structure of a recycling enabling component according to an embodiment of the present invention;

[0025] Figure 4 is a schematic structural diagram of a self-locking mechanical claw according to an embodiment of the present invention;

[0026] Figure 5 Schematic diagram of the recovery and capture process of the AUV to be recovered according to an embodiment of the present invention;

[0027] Figure 6 is a schematic diagram of the deployment process of the AUV to be recovered according to an embodiment of the present invention;

[0028] Figure 7 is a schematic structural diagram of a power assembly according to an embodiment of the present invention;

[0029] Figure 8 is a schematic diagram of the AUV end to be recovered according to an embodiment of the present invention;

[0030] Fig. 9 It is a schematic structural diagram of a lifting device according to an embodiment of the present invention.

[0031] Among them, 1. UAV; 2. Lifting device; 2-1. Winch; 2-2. Lifting guide rail; 2-3. Flexible rope; 2-4. Limiting device; 2-5. Removable limiting device; 3. Power assembly; 3-1. Propeller; 3-2. Locking ring; 4. Float; 5. Float fixing frame; 6. Recovery enabling assembly; 6-1. Hook; 6-2. Optical guidance equipment; 6-3. Bell mouth recovery cabin; 6-4. Surface end of enabling device ; 6-5, acoustic guidance equipment; 6-6, self-locking mechanical claw; 6-6-1, positioning locking rod; 6-6-2, servo; 6-6-3, spring damping; 7, AUV to be recovered; 7-1, underwater end of enabling device; 7-2, acoustic transponder; 8, steel structure frame; 9, electric control integrated cabin; 9-1, embedded control element; 9-2 bottom plate; 9-3, battery pack; 9-4, upper shell; 9-5, two-way transceiver sensor. DETAILED DESCRIPTION

[0032] The accompanying drawings further illustrate the present invention, but the contents in the accompanying drawings do not constitute any limitation to the present invention.

[0033] Example 1

[0034] The present embodiment is an AUV autonomous deployment and recovery device based on an unmanned surface vessel, see the attached Figure 1 , 2 , including an unmanned boat carrier, a lifting device 2, a recovery enabling component 6 and a power component 3; the unmanned boat carrier connects the various parts through a steel structure frame 8; the upper end of the steel structure frame 8 is an electric control integrated cabin 9, and the lower end is a buoy 4 and a power component 3; the recovery enabling component 6 can achieve vertical movement through the lifting device 2; the AUV and drone to be recovered are parked in the recovery enabling component 6 and the upper shell 9-4 on the top of the unmanned boat carrier respectively.

[0035] Reference Figure 3-8The recovery enabling assembly 6 includes a hook 6-1, an optical guidance device 6-2, a bell-mouth recovery chamber 6-3, an enabling device, an acoustic guidance device 6-5, a self-locking mechanical claw 6-6, and an acoustic transponder 7-2; the enabling device includes an enabling device surface end 6-4 and an enabling device underwater end 7-1: one part is the enabling device surface end 6-4 designed on the bell-mouth recovery chamber part of the unmanned surface vessel carrier, and the switch is directly controlled by the embedded control element 9-1 of the unmanned surface vessel, and its function is wireless data and power transmission; the other part of the enabling device underwater end 7-1 is nested In the middle of the AUV to be recovered, its function is to cooperate with the self-locking mechanical claw to position, lock and enable relay; the acoustic transponder 7-2 is installed on the AUV to be recovered, located at the rear end of the underwater end 7-1 of the enabling device; the surrounding of the bell-mouth recovery cabin 6-3 is fixedly connected to the lifting guide rail 2-2; the self-locking mechanical claw 6-6, the hook 6-1, and the surface end 6-4 of the enabling device are installed in the middle section of the bell-mouth recovery cabin 6-3; the optical guidance device 6-2 and the acoustic guidance device 6-5 are installed at the front and rear ends of the bell-mouth recovery cabin 6-3, and are used to guide the AUV to be recovered into the cabin;

[0036] Specifically, the self-locking mechanical claw 6-6 includes a positioning locking rod 6-6-1, a steering gear 6-6-2 and a spring damper 6-6-3; the positioning locking rod 6-6-1 is arranged in an equidistant circular array near the center end of the bell-mouth recovery chamber 6-3; when the AUV to be recovered enters the middle section of the bell-mouth recovery chamber 6-3, the self-locking characteristic of the self-locking mechanical claw 6-6 is triggered. First, the positioning locking rod 6-6-1 will slide and cooperate with the groove on the underwater end 7-1 of the enabling device on the AUV to be recovered; further, as the AUV increases its thrust to enter, the spring damper 6-6-3 will be deformed. In this way, the positioning locking rod 6-6-1 will be stretched open and slide along the surface of the underwater end 7-1 of the enabling device on the AUV, until it slides to the groove in the middle of the underwater end 7-1 of the enabling device, and a locking fit will be generated to clamp the AUV to be recovered; the front end of the servo 6-6-2 is a rigid rod, which is connected to the positioning locking rod 6-6-1 through a spring 6-6-3. When the USV receives the instruction to deploy the AUV, the servo rotates outward, driving the spring damping 6-6-3 to drive the positioning locking rod 6-6-1 to open, and the thruster of the AUV to be recovered provides reverse thrust to complete the deployment.

[0037] Preferably, there are three positioning locking rods 6-6-1, each driven by an independent servo 6-6-2, and multiple servos 6-6-2 and positioning locking rods 6-6-1 are arranged in an equidistant circular array near the center end of the bell-mouth recovery chamber 6-6-1; the advantage of this is that the structure can prevent the AUV from producing bow roll and pitch motion after recovery, avoiding the AUV from falling off or being damaged from the recovery enabling assembly 3, greatly improving the success rate of AUV recovery.

[0038] Reference Fig. 9 The lifting device 2 includes a lifting guide rail 2-2, a large torque hoist 2-1, a limit device 2-4, and a detachable limit device 2-5; the large torque hoist 2-1 is fixed to the bottom plate 9-2 by screws, one end of the rope 2-3 is flexibly connected to the bellmouth recovery cabin 6-3 through a hook 6-1, and the other end is wound around the hoist 2-1. In addition, the bottom end of the lifting guide rail 2-2 is fixedly connected to the recovery enabling component 6;

[0039] Therefore, the recovery enabling assembly 6 can be stably inserted into the water by only driving the winch 2-1 to retract the rope 2-3; the advantage of this is that the heading of the recovery device and the USV are always consistent, and only the heading of the USV needs to be controlled to be stable, without considering the disturbance of the heading of the recovery device by the sea current, and then useful information can be sent to the AUV to be recovered through the acoustic guidance device 6-5;

[0040] Preferably, the limit device 2-4 and the detachable limit device 2-5 are installed at the top of the lifting guide rail 2-2 and the four ends of the electric control integrated cabin bottom plate 9. The main purpose is to limit the vertical travel and horizontal plane shaking of the lifting device 2; when the AUV cannot maneuver to near the water surface, the detachable limit device 2-5 and the recovery enabling component 6 can be changed into a flexible connection, and the USV can be towed underwater for emergency recovery.

[0041] When the AUV equipment is dynamically recovered, it is divided into two stages: "homing-following-docking". When the AUV needs to accept a new task or replenish power, the unmanned boat carrier first issues a homing command to the AUV to be recovered at its relative position, determines the recovery position and azimuth with the AUV at a long distance (about 1km-100km), and then guides the AUV to approach the recovery enabling component 6 through the acoustic guidance equipment 6-5 (USBL, SBL, etc.).

[0042] When the relative position of the AUV and the recovery enabling assembly 6 is shortened to about 40m, the docking procedure is initiated. First, the AUV uses the onboard acoustic transponder 7-2 and acoustic guidance equipment 6-5 to find the position of the bell-mouth recovery cabin. After detecting the recovery mechanism, a virtual waypoint is created 10m-20m in front of it and approaches the waypoint. Finally, under the joint guidance of the optical guidance equipment 6-2, the AUV performs a small three-dimensional maneuver to adjust its posture and enter the recovery mechanism.

[0043] Preferably, in this process, when the AUV passes through the bellmouth recovery chamber 6-3, the self-locking mechanical claw 6-6 is triggered by increasing the throttle to clamp the AUV in the bellmouth recovery chamber 6-3. The advantage of this is that the success rate of the recovery mission is increased without the intervention of any electronic control equipment.

[0044] Preferably, the electric control integrated cabin 9 is an energy storage device and command issuing location of the unmanned boat carrier, and another function of the electric control integrated cabin 9 is to provide installation space for the unmanned boat control system and the lifting device 2; it includes an embedded control element 9-1, a battery pack 9-3, a two-way transceiver sensor 9-5, an upper shell 9-4 with a UAV landing pad and a bottom plate 9-2; the embedded control element 9-1, a high torque winch 2-1 and a battery 9-3 are arranged longitudinally on the bottom plate 9-2; the bottom plate 9-2 has through holes at the center and four ends to allow the flexible rope 2-3 of the winch 2-1 and the lifting guide rail 2-2 of the lifting device 2 to pass smoothly;

[0045] There are two benefits to the AUV achieved in this way; first, placing the electronic control components on the top reduces the cost and difficulty of providing watertight protection for them; second, when the USV is unloaded, the bell-mouth recovery cabin 6-3 can be moved above the water surface through the lifting device 2, reducing the navigation resistance of the USV.

[0046] The power assembly 3 includes a marine propeller 3-1 and a locking ring 3-2; the locking ring 3-2 and the propeller 3-1 are fixed and disassembled by a jackscrew;

[0047] Specifically, the power assembly 3 and the pontoon 4 are fixedly connected to the pontoon fixing frame 5 by screws. The advantage of this is that it can be more convenient to transport and store the unmanned boat carrier on shore. In addition, the power assembly of the unmanned boat carrier is two high-power thrusters arranged laterally and equidistant in vertical positions. By cooperating with the electronically controlled integrated cabin 9, it can achieve control of two degrees of freedom in the longitudinal forward and backward direction and vertical rotation. This data will be sent to the underwater AUV through the acoustic guidance device 6-5, and this data will be used as an expected reference for dynamic recovery.

[0048] Preferably, the electronically controlled integrated cabin also includes a two-way transceiver sensor 9-5, which is used to communicate with the shore-based end; in addition, the device will also receive information from the shore-based end in real time, so as to achieve the goal of issuing tasks and accurately positioning the unmanned boat carrier.

[0049] Specifically, the AUV explores underwater and sends data to the unmanned boat carrier through the underwater end 7-1 of the enabling device, and then the information is transmitted back to the shore through the two-way transceiver 9-5 after being relayed by the unmanned boat carrier. In this way, people can explore the seabed miles away from the shore without the need for the operating AUV to reach the surface. By working together, these robots can more than double the productivity of the scientific team.

[0050] Preferably, the present invention is applicable not only to the field of dynamic recovery docking, but also to the field of long-distance rapid deployment of AUVs. The deployment of the AUV can be completed by only sending a relevant control signal from the electric control integrated cabin 9 to the self-locking mechanical claw 6-6, so that the steering gear 6-6-2 opens the positioning locking rod outward;

[0051] Compared with other methods in the current AUV deployment field, the method of installing the AUV in the USV boat and towing the AUV to the designated area and then starting the AUV and separating it has the advantages of unmanned participation, low cost, good repeatability, high speed and high efficiency. In addition, the idea of ​​switching between the rigid and flexible modes proposed in this embodiment effectively reduces the interference of the marine environment on the AUV deployment, enabling it to adapt to more severe sea conditions.

[0052] Preferably, in addition to being applicable to the field of AUV recovery in multiple scenarios, the present invention can also provide a habitat for drones 1 in the air.

[0053] In this way, the "air-sea-submarine" coordinated full-area inspection can be completed at the lowest cost. People only need to sit in front of the computer to send instructions and receive data without staying on the ship for a long time, which greatly reduces the labor cost.

[0054] The technical principle of the present invention is described above in combination with specific embodiments, but the contents described are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should be included in the scope of the patent coverage of the present invention.

Claims

1. An AUV autonomous deployment and recovery device based on an unmanned surface vessel, characterized in that: It comprises an unmanned boat carrier, a lifting device (2), a power component (3) and a recovery enabling component (6); The unmanned boat carrier comprises a fixed buoyancy module and an electric control integrated cabin (9); the electric control integrated cabin (9) is connected to the fixed buoyancy module at the bottom through a steel structure frame (8); the recovery enabling component (6) comprises a first docking module and a second docking module; the first docking module is arranged at the bottom of the electric control integrated cabin (9) and is located between the fixed buoyancy modules; the second docking module is installed on the AUV to be recovered; the first docking module is connected to a lifting device (2), and the top end of the lifting device (2) passes through the electric control integrated cabin (9); the lifting device (2) drives the first docking module to move vertically; and the power component (3) is arranged on one side of the fixed buoyancy module.

2. The AUV autonomous deployment and recovery device based on an unmanned surface vessel according to claim 1 is characterized in that: The first docking module comprises a bell-shaped recovery cabin (6-3) and an acoustic guidance device (6-5); an optical guidance device (6-2) is provided at the bell mouth of the front end of the bell-shaped recovery cabin (6-3); a hook (6-1) is provided at the gradually expanding part of the bell-shaped recovery cabin (6-3) and is connected to the electric control integrated cabin (9) through a rope (2-3); a self-locking mechanical claw (6-6) and an enabling device surface end (6-4) are provided inside the parallel section of the bell-shaped recovery cabin (6-3); ); the acoustic guiding device (6-5) is arranged at the rear end of the bell-mouth recovery chamber (6-3); the self-locking mechanical claw (6-6) includes a positioning locking rod (6-6-1), a steering gear (6-6-2) and a spring damper (6-6-3); the positioning locking rod (6-6-1) is arranged in an equidistant circular array near the center end of the bell-mouth recovery chamber 6-3; the front end of the steering gear (6-6-2) is provided with a spring damper (6-6-3) connected to the positioning locking rod (6-6-1).

3. The AUV autonomous deployment and recovery device based on an unmanned surface vessel according to claim 2 is characterized in that: The second docking module comprises an underwater end of an enabling device (7-1) and an acoustic transponder (7-2); the underwater end of the enabling device (7-1) is nested in the middle of the AUV to be recovered; and the acoustic transponder (7-2) is installed at the rear end of the AUV to be recovered.

4. The AUV autonomous deployment and recovery device based on an unmanned surface vessel according to claim 3 is characterized in that: When the AUV to be recovered enters the middle section of the bell-mouth recovery chamber (6-3), the positioning locking rod (6-6-1) and the groove of the underwater end (7-1) of the enabling device on the AUV to be recovered are slidably matched. As the AUV to be recovered increases its thrust to enter, the spring damper (6-6-3) is deformed, and the positioning locking rod (6-6-1) is stretched open and slides along the surface of the underwater end (7-1) of the enabling device until it slides to the groove in the middle of the underwater end (7-1) of the enabling device, thereby generating a locking match to clamp the AUV to be recovered. The front end of the steering gear (6-6-2) is a rigid rod, which is connected to the positioning locking rod (6-6-1) through the spring damper (6-6-3). When the unmanned boat carrier receives the AUV deployment instruction, the steering gear (6-6-2) rotates outward, driving the spring damper (6-6-3) to drive the positioning locking rod (6-6-1) to open, and the thruster of the AUV to be recovered provides reverse thrust to complete the deployment.

5. The AUV autonomous deployment and recovery device based on an unmanned surface vessel according to claim 3 is characterized in that: The lifting device (2) comprises a high-torque hoist (2-1) and a lifting guide rail (2-2); the high-torque hoist (2-1) is flexibly connected to a bell-mouth recovery cabin (6-3) via a hook (6-1) and a rope (2-3), and the high-torque hoist (2-1) is located in the middle of an electric control integrated cabin (9); the bottom end of the lifting guide rail (2-5) is connected to the periphery of the bell-mouth recovery cabin (6-3); the top end of the lifting guide rail (2-5) passes through the periphery of the entire electric control integrated cabin (9), and is fixed to the bottom plate (9-2) of the electric control integrated cabin (9) via a limit device (2-4) and a detachable limit device (2-5).

6. The AUV autonomous deployment and recovery device based on an unmanned surface vessel according to claim 5 is characterized in that: The electric control integrated cabin (9) comprises an embedded control element (9-1), a battery pack (9-3), and a bidirectional transceiver sensor (9-5); the embedded control element (9-1), a large torque winch (2-1), and a battery pack (9-3) are arranged in sequence on the bottom plate (9-2) of the electric control integrated cabin (9); through openings are provided at the center and around the bottom plate (9-2) to ensure that a rope (2-3) and a lifting guide rail (2-2) pass through; the bidirectional transceiver sensor (9-5) is arranged on the top plate of the electric control integrated cabin (9), and the bidirectional transceiver sensor (9-5) is connected to the embedded control element (9-1); and an upper shell (9-4) for parking a drone is provided on the top surface of the electric control integrated cabin (9).

7. The AUV autonomous deployment and recovery device based on an unmanned surface vessel according to claim 6 is characterized in that: The fixed buoyancy module comprises a buoy fixing frame (4) and a buoy (5); the buoy fixing frame (4) is connected to the bottom end of the steel structure frame (8); and the buoy (5) is nested in the buoy fixing frame (4).

8. The AUV autonomous deployment and recovery device based on an unmanned surface vessel according to claim 7 is characterized in that: The power assembly comprises a propeller (3-1) and a locking ring (3-2); the propeller (3-1) and the locking ring (3-2) are fixed and disassembled via a jackscrew; and the locking ring (3-2) is connected to a buoy fixing frame (4).

9. The method for autonomous deployment and recovery of an AUV based on an unmanned surface vessel according to any one of claims 1 to 8, characterized in that: When the AUV equipment is recovered, the power assembly (3) drives the unmanned boat carrier to maneuver along the trajectory. When the lifting device (2) receives the recovery signal from the electronically controlled integrated cabin (9), the first docking module is inserted underwater, and an acoustic signal is sent through the acoustic guidance device (6-5) to provide the unmanned boat carrier with the relative position of the unmanned boat carrier to the AUV to be recovered, and the AUV is waited for to approach. After receiving the acoustic signal through the acoustic responder (7-2), the AUV to be recovered moves toward the unmanned boat carrier. When the AUV device to be recovered is docked, the optical guidance light (6-2) and the acoustic guidance device (6-5) of the first docking module jointly guide the AUV, and when the AUV passes through the bell-mouth recovery chamber (8), the throttle is increased to trigger the self-locking mechanical claw (6-6) so that the AUV is clamped inside the bell-mouth recovery chamber (8); the self-locking mechanical claw (6-6) cooperates with the underwater end (7-1) of the enabling device to be positioned and locked.

Images