Method and device for deploying and recovering surface and underwater equipment suitable for complex sea conditions

Abstract

The application relates to a water surface and underwater equipment laying and recovering device suitable for complex sea conditions, which comprises an A-frame and a stabilizing mechanism; the stabilizing mechanism comprises a stabilizer and a collision-proof net mechanism; the stabilizer comprises a swing connecting rod, a stabilizing oil cylinder and a connecting ring; the upper end of the swing connecting rod is hingedly connected to the A-frame body, and the lower end is fixed with the connecting ring; the upper end of the stabilizing oil cylinder is connected with the swing connecting rod, and the lower end is connected with the connecting ring; a group of steel cable launchers are arranged around the connecting ring; the steel cable launchers can release the steel cable through ejection, and can continuously release or recover the steel cable through the internal steel cable winch; the lower end of the steel cable in the steel cable launcher is connected with a steel cable clamp; the steel cable clamp is provided with an opening and closing mechanism, and can grab and release the lifting lug on the target equipment; the collision-proof net mechanism comprises two groups of supporting arms, and a collision-proof net held by the distal ends of the two groups of supporting arms and hingedly fixed with the A-frame base. The application can improve the accuracy and success rate of equipment recovery.

Description

Technical Field

[0001] The present invention relates to a method and device for deploying and recovering surface and underwater equipment suitable for complex sea conditions, belonging to the technical field of deploying underwater equipment on ships. Background Art

[0002] To advance deep-sea scientific and technological research and resource surveys, protect the marine environment, and promote the sustainable use of deep-sea resources, my country is steadily advancing the construction of large-scale floating offshore research platforms. Demand for surface and underwater exploration equipment, based on semi-submersible platforms, is also increasing daily. This equipment typically needs to be transported to the work site on a semi-submersible platform and deployed before it can be put into operation. This process often requires the coordination of rear deck support equipment, which primarily includes large systems such as winches and A-frames. The winches retract and extend the equipment, while the A-frames move the equipment from the platform to the outside. Together with their respective control systems, this completes the equipment deployment and recovery system.

[0003] During operations, when the equipment is detached from the deck or the water surface and hoisted into the air by the A-frame pulley via the umbilical cable, the platform will shake due to the influence of waves, often causing the equipment to sway erratically, which is very likely to cause serious collisions with the platform and cause damage to the platform. During current scientific research operations, the equipment is prevented from entering and exiting the water using traditional methods. First, multiple thin ropes need to be manually hung on the equipment's lifting lugs, and after being wrapped and fixed with mooring piles, the swing is manually prevented. Because the weight of the equipment ranges from hundreds of kilograms to several tons, its instantaneous tension in severe sea conditions far exceeds the range of human control, which poses certain risks to the equipment and personnel on the platform. In addition, the entire process takes a lot of time, making it difficult to recover the equipment in an emergency in a timely manner to avoid losses. Therefore, a safe and efficient underwater and surface equipment deployment and recovery system is needed to replace traditional methods to ensure the safety of scientific research team members and equipment.

[0004] List of existing technologies:

[0005] Publication date: June 8, 2018, Publication number: CN207466910U, Multi-purpose anti-sway device based on shipborne large A-frame system

[0006] Publication date: August 11, 2020, Publication number: CN117382816A, A recovery and deployment device for underwater robots

[0007] Publication date: August 11, 2020, Publication number: CN111516806A, A deployment and recovery system and method for underwater equipment

[0008] Deficiencies of existing technology:

[0009] 1) Existing technologies fail to suppress equipment sway through effective mechanical or control measures;

[0010] 2) Existing technologies lack intelligent cable tension control mechanisms, making it difficult to maintain stable deployment and retrieval of equipment in dynamic environments;

[0011] 3) The existing patent recovery stage of the steel cable connection is relatively slow, making it difficult to complete the operation in an emergency in a timely manner. Summary of the Invention

[0012] This invention aims to address the current issues of underwater equipment recovery and deployment technology for semi-submersible offshore platforms, particularly in complex waters. These include unstable equipment swaying, inability to adaptively control cable tension, and inefficient connection and recovery. The system proposes a surface and underwater equipment deployment and recovery system suitable for complex sea conditions. By integrating high-precision computer vision positioning, intelligent tension control, and a fast-response actuator, the system achieves dynamic balance and efficient connection during cable recovery, significantly improving the safety and efficiency of both underwater and surface equipment deployment and recovery operations.

[0013] The present invention adopts the following technical solutions:

[0014] A surface and underwater equipment deployment and recovery device suitable for complex sea conditions, comprising an A-frame 1 and an anti-sway mechanism; the A-frame 1 comprises an A-frame base and an A-frame body that are hingedly connected; the anti-sway mechanism comprises an anti-sway device 3 and an anti-collision net mechanism 4; the anti-sway device 3 comprises a swing link 33, an anti-sway oil cylinder 32, and a connecting ring 31; the upper end of the swing link 33 is hingedly connected to the A-frame body, and the lower end is fixed to the connecting ring 31; the upper end of the anti-sway oil cylinder 32 is connected to the swing link 33, and the lower end is connected to the connecting ring 31; along the connecting ring A group of steel cable launchers 36 are arranged around the ring 31. The steel cable launchers 36 can release the steel cable by ejection, and can continue to release or retract the steel cable through the steel cable winch inside it; the lower end of the steel cable 38 in the steel cable launcher 36 is connected to the steel cable clamp 35, and the steel cable clamp 35 has its own opening and closing mechanism, which can grab and release the lifting lug on the target equipment; a tension sensor is provided on the steel cable 38; the anti-collision net mechanism 4 includes two groups of support arms, and a protective net structure clamped by the far ends of the two groups of support arms, and the proximal end is hinged and fixed to the A-frame base.

[0015] Preferably, the A-frame 1 is provided with an A-frame positioning camera 5, and the stopper 3 is provided with a stopper positioning camera 37; the steel cable launcher 36 and the stopper cylinder 32 are positioned by computer vision; the hydraulic system dynamically adjusts the tension and relaxation of the steel cable through a fuzzy PID controller according to the real-time feedback signal of the tension sensor, thereby achieving an adaptive response to the shaking of the equipment.

[0016] Preferably, each wire rope launcher 36 is equipped with a servo motor, an intelligent control unit and an independent positioning sensor.

[0017] Preferably, the swing link 33 is a two-link structure having an upper link and a lower link, and the anti-swing oil cylinder 32 has two groups, the upper end of the first group is hinged to the upper link, and the upper end of the second group is hinged to the lower link.

[0018] Furthermore, the connecting ring 31 arranged at the bottom of the anti-sway device can adjust the angle and height through the upper connecting rod and hinge. When the equipment swings, the positions of multiple steel cable connection points can be adjusted in real time through the steel cable launcher 36; the middle of the connecting ring 31 is fixedly connected to the umbilical cable hole disc 34 through 8 flat connecting plates.

[0019] Preferably, the two groups of support arms of the anti-collision net mechanism 4 each include a crank and a sliding component, a slide rail is set along the crank, and the sliding component serves as a component that directly clamps the anti-collision net and can slide along the slide rail; the anti-collision net is made of bamboo fiber material with certain elasticity and toughness.

[0020] Furthermore, the anti-collision net has certain elasticity and toughness.

[0021] A working method of the above-mentioned environment-adaptive surface and underwater equipment deployment and recovery device,

[0022] Equipment deployment process:

[0023] S1. Umbilical cable connection: Pass the umbilical cable that provides power, communication and control signals around the umbilical cable pulley, pass it through the umbilical cable hole, connect it correctly and firmly to the equipment, and tighten it;

[0024] S2. Swing the A-frame out of the deck: On the deck, clip the steel cable onto the lifting lugs of the operating equipment and retract the cable to its shortest length. Using the large oil cylinder on the deck, move the A-frame from its standby position to the edge of the aft deck and extend it out of the platform. Perform precise horizontal and vertical adjustments of the A-frame based on the specific deployment requirements of the underwater equipment and sea conditions.

[0025] S3. Underwater Equipment Release: As the A-frame slowly hoists the equipment and moves it toward the rear of the platform, the winch gradually releases the umbilical cable to ensure that the cable is not damaged by excessive tension. During this process, the anti-sway mechanism adaptively adjusts the oil cylinder to control the swing link to reduce the equipment's sway. At the same time, the steel cable of the anti-sway mechanism is released synchronously with the umbilical cable, autonomously adjusting the tension to maintain the equipment's stability and prevent it from rotating.

[0026] Anti-collision net following: During the equipment descent, the anti-collision net always follows the equipment through the control of the slide rail and crank. When the equipment descends to a certain height above the water surface, the anti-collision net stops following, and the umbilical cable and the steel cable of the anti-sway device continue to be released.

[0027] S4. The opening and closing mechanism of the cable clamp releases the lifting lug: When the equipment is mostly or completely submerged in water and it is assumed that the equipment will not swing, the opening and closing mechanism of the cable clamp releases the lifting lug and the equipment is completely released into the water by the umbilical cable.

[0028] Further, the equipment recovery process:

[0029] S5. Cable connection: The sway stopper is swung outboard along with the A-frame. When the equipment approaches the hull or surfaces, the A-frame positioning camera and the sway stopper positioning camera simultaneously capture the equipment's spatial position. Based on this position information, the angle of the cable launcher on the sway stopper is adjusted to aim at the lifting lug on the equipment. Once aimed, the cable launcher is launched. When the cable clamp contacts the lifting lug, the lifting lug pushes the internal gear of the opening and closing mechanism, closing it and completing the connection.

[0030] S6. Recovering and anti-swaying: The cable launcher reels the cable. During this process, the internal tension of the launcher is adjusted to balance the tension. The anti-swaying cylinder pulls the connecting rod to prevent swaying. The anti-collision net is controlled by the slide rail and crank to always follow the movement of the equipment.

[0031] S7. Swing into the deck: After the steel cable is fully rolled up, the A-frame swings the entire system back into the deck to complete the recovery.

[0032] Furthermore, the working process of the cable launcher and cable clamp is as follows:

[0033] Equipment deployment: Initially, the cable clamp is connected to the lifting lug on the equipment and closed, and the cable is reeled in the cable launcher. During equipment deployment, the cable winch in the cable launcher rotates, slowly releasing the cable. During this period, the winch controls the release speed according to the tension to maintain a stable tension. When the equipment reaches the target position at the water surface or a certain depth underwater, the cable clamp opening and closing mechanism is controlled to open, releasing the equipment. Finally, the cable winch reels in the cable, waiting for equipment recovery.

[0034] Equipment recovery: Initially, the cable clamp is open and the cable is reeled inside the cable launcher. When performing the equipment recovery task, the system identifies the spatial position of the equipment based on the images of the cameras on the A-frame and the stabilizer. At the same time, the launch spring in the cable launcher contracts to accumulate ejection energy, and the launch spring is released and pushes the launch plate, which pushes the cable clamp to complete the launch. Its launching principle is similar to that of a grappling hook launcher. The grappling hook and the cable are launched to a high altitude or the top of an obstacle through a spring drive to facilitate climbing or transporting supplies. It is now widely used in rescue, special operations and other fields. When the cable clamp contacts and collides with the lifting lug on the equipment, the lifting lug pushes the gear under the opening and closing mechanism of the cable clamp to close it, and the cable is connected to the lifting lug. If the docking fails due to equipment swinging, the cable is reeled in and the above process is repeated. However, it is not necessarily required that all cable clamps complete the grabbing of the lifting lug. The specific degree of completion requirement can be set.

[0035] The beneficial effects of the present invention are:

[0036] 1) Improving the accuracy and success rate of equipment recovery: This device and control method integrates computer vision technology to automatically identify and accurately locate the lifting lugs of surface or underwater equipment, completely resolving the inaccuracy issues inherent in traditional methods that rely on manual operation. An adaptive fuzzy control strategy adjusts the launcher in real time, ensuring precise insertion of the cable into the lifting lugs and significantly improving the success rate of launches. The system maintains efficient operation in dynamic environments, significantly reducing recovery failures and time lost from repeated operations due to launch deviations.

[0037] 2) Enhanced system adaptability and stability: The adaptive fuzzy control strategy and tension feedback adjustment control strategy employed are able to address in real time the uncertainties introduced by changing sea conditions during equipment recovery. Fuzzy control effectively addresses the complex relationship between equipment sway and launcher alignment, enabling the system to maintain efficient operational performance in a volatile environment. Furthermore, the tension feedback adjustment mechanism dynamically adjusts the cable tension based on the real-time tension state, ensuring a smooth and impact-free recovery process and preventing equipment unhooking or damage caused by sway. The combination of these control strategies provides the system with exceptional environmental adaptability and operational stability.

[0038] 3) The structure of the anti-sway device and anti-collision net is cleverly designed. The circular ring structure arranged at the bottom of the anti-sway device can adjust the angle and height through the upper connecting rod and hinge. When the equipment swings, the position of the connection points of the 8 steel cables can be adjusted in real time using the above method. The 8 flat connecting plates connecting the ring and the umbilical cable hole disc have high bending strength and low torsional strength. This structure can effectively resist the bending deformation caused by the pulling of the steel cable, ensuring that the equipment is always in a horizontal state. When the equipment rotates around the vertical axis, the torque generated is too large to be rigidly resisted. Due to the flat shape of the connecting plate, elastic deformation will occur at this time to reduce the torque transmitted upward and prevent the anti-sway device from being damaged and failing. At the same time, the stopper and the two can cooperate and adapt to each other to achieve the functions of anti-sway and anti-collision.

[0039] 4) Visual positioning is achieved through two pairs of cameras on the A-frame and the stabilizer. The image information captured by the cameras is comprehensively processed to achieve spatial positioning of the equipment, so as to facilitate the launch of the steel cable launcher. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is the control logic diagram of the anti-swing mechanism.

[0041] Figure 2 It is a control logic diagram for computer vision target positioning, transmitter attitude adjustment, and cable tension feedback adjustment.

[0042] Figure 3Schematic diagram of the environment-adaptive surface and underwater equipment deployment and recovery device of the present invention installed on a semi-submersible marine platform, wherein (a) is a stereogram, (b) is a front view, and (c) is a left view.

[0043] Figure 4 Schematic diagram of the environment-adaptive surface and underwater equipment deployment and recovery device of the present invention, wherein (a) is the front view and (b) is the left view.

[0044] Figure 5 Schematic diagram of the stabilizer, where (a) is a perspective view, (b) is a side view, and (c) is a front view.

[0045] Figure 6 Schematic diagram of the anti-collision net, where (a) is a perspective view, (b) is a side view, and (c) is a front view.

[0046] Figure 7 It is a schematic diagram of the release state of the anti-oscillation cable.

[0047] Figure 8 This is an enlarged view of the lower part of the stabilizer.

[0048] Figure 9 It is a stereoscopic diagram of the environmentally adaptive surface and underwater equipment deployment and recovery device of the present invention in a working state (when connected to the equipment).

[0049] Figure 10 Schematic diagram of the environmentally adaptive surface and underwater equipment deployment and recovery device of the present invention in working state (when connected to the equipment), wherein (a) is the front view and (b) is the left view.

[0050] Figure 11 Schematic diagram of a cable clamp and its opening and closing mechanism for grabbing the lifting lug. (a) is a perspective view, and (b) is an inverted front view.

[0051] Figure 12 This is a schematic diagram of the internal structure of the steel cable launcher.

[0052] In the figure, 1-A frame, 2-umbilical cable pulley, 3-swing stopper, 4-anti-collision net mechanism, 5-A frame positioning camera, 31-connecting ring, 32-swing stopper cylinder, 33-swing stopper swing link, 34-umbilical cable hole, 35-cable clamp, 36-cable launcher, 37-swing stopper positioning camera, 38-cable, 41-anti-collision net slide rail, 42-anti-collision net. DETAILED DESCRIPTION

[0053] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0054] The entire deployment and recovery system consists of the operating equipment, an A-frame, and an anti-sway mechanism, which consists of a sway stopper and an anti-collision net. The sway stopper includes a steel cable launcher based on computer vision positioning and a sway reduction system, ensuring safety and efficiency during the deployment and recovery process. The anti-collision net moves synchronously with the equipment to prevent swaying during cable reeling.

[0055] like Figure 1 The oscillator can absorb and buffer the swing energy through the expansion and contraction of the oscillator cylinder, reducing the swing amplitude. High-precision sensors are installed in key parts of the oscillator. These sensors can continuously monitor the equipment's dynamic parameters such as swing amplitude and frequency.

[0056] Next, the data collected by the sensors is instantly transmitted to the control system. This control system, equipped with efficient signal processing algorithms, rapidly analyzes the received data and determines whether the underwater equipment's current oscillation status exceeds a preset range. If intervention is determined, the control system automatically calculates and issues appropriate control signals to activate or adjust the operating mode of the anti-sway cylinder.

[0057] The anti-sway cylinder is a key actuator. When underwater equipment is subjected to external forces and causes it to swing, it quickly responds to control signals, absorbing and converting the swing energy through its expansion and contraction motion. During this process, the hydraulic oil within the cylinder acts as a damping medium, effectively slowing the swing speed through its viscous resistance. Furthermore, springs or elastic elements integrated within the cylinder provide additional cushioning during the swing process, further reducing the impact force and amplitude of the swing, thereby protecting the underwater equipment and its critical components from damage.

[0058] It ensures that the anti-swing system can continuously adapt to the actual swing conditions of underwater equipment, always maintain the best anti-swing effect, and provide stable and reliable anti-swing protection for the equipment deployment and recovery process.

[0059] In addition, the circular ring structure at the bottom of the stabilizer can be adjusted in angle and height via the upper connecting rod and hinge. This method can be used to adjust the position of the eight steel cable connection points in real time when the equipment is swinging. The eight flat connecting plates connecting the ring to the umbilical cable hole disc have high bending strength but low torsional strength. This structure can effectively resist the bending deformation caused by the pulling of the steel cable, ensuring that the equipment is always in a horizontal state. However, when the equipment rotates about the vertical axis, the torque generated is too large to be resisted rigidly. Due to the flat shape of the connecting plates, elastic deformation occurs at this time to reduce the torque transmitted upward and prevent damage and failure of the stabilizer.

[0060] Vision positioning cable launcher control mechanism such as Figure 2 shown.

[0061] Several cable launchers are positioned beneath the swaybars, launching cables to the equipment's lifting lugs for connection. These devices utilize computer vision-based precision positioning and adaptive tension control strategies to precisely lock onto the equipment's lifting lugs, automatically launch the cables, and dynamically adjust the tension. Visual positioning is achieved through two pairs of cameras on the A-frame and the swaybars. The images captured by these cameras are processed to spatially locate the equipment, facilitating launch from the cable launchers.

[0062] The core control strategy of the device is: combining adaptive fuzzy control with tension feedback adjustment, and performing closed-loop control through multi-sensor fusion data to achieve precise adjustment of the launch path and dynamic optimization of the cable tension.

[0063] Adaptive fuzzy control strategy: This control strategy uses real-time data from the equipment's lifting lugs acquired by a computer vision system, employing deep learning algorithms such as convolutional neural networks (CNNs) for feature recognition and positioning. The launch mechanism, incorporating fuzzy control rules, dynamically adjusts the launcher's orientation and firing force, addressing launch errors caused by equipment movement and fluctuating sea conditions. The fuzzy control strategy generates launch adjustment commands based on fuzzy inference of the target's position and launcher's posture, ensuring precise insertion of the cable into the lifting lugs.

[0064] Tension Feedback Adjustment Control Strategy: After the cable is connected to the lifting lug, the system enters tension adjustment mode, using a built-in tension sensor to monitor the cable's stress status in real time. A fuzzy PID control algorithm uses the tension signal from the sensor as input to finely adjust the cable tension. The PID controller, taking into account the equipment's sway characteristics and using asymmetric fuzzy logic processing, achieves a gradual increase or decrease in cable tension, preventing equipment uncoupling or damage caused by sudden changes in tension.

[0065] Actuator: The control system's actuators consist of multiple launch units and a hydraulically driven tension adjustment system. The launcher positioning module is driven by a high-precision servo motor, ensuring precise alignment of the launcher in space. Real-time position data captured by the vision system ensures precise alignment of the launch direction with the equipment's lifting lugs. The tension adjustment system utilizes a closed-loop hydraulic drive, comprised of a high-response hydraulic cylinder and a precision tension sensor. Based on real-time feedback from the tension sensor, the hydraulic system dynamically adjusts the tension and slack of the cable using a fuzzy-PID controller, achieving adaptive response to equipment sway.

[0066] Innovation 1: Multiple launchers work together to improve connection fault tolerance: The device uses multiple launchers to work together, improving the fault tolerance of the connection with the equipment lugs and ensuring efficient deployment and recovery operations in complex sea conditions. In the device design, multiple launchers are arranged in a ring and evenly distributed around the front of the deployment and recovery system. Each launcher is equipped with a high-precision servo motor, an intelligent control unit, and an independent positioning sensor to achieve full coverage of the target lugs at different angles and orientations. The system adopts an equipment recovery strategy that combines flexible traction and rigid connection. After the connection is completed, the equipment is flexibly towed by a steel cable, and the tension of the steel cable is adjusted in real time through an intelligent control algorithm to ensure that the equipment remains stable during movement. After the equipment is stabilized, the system rigidly connects the steel cable to the anti-sway device. This design can significantly reduce the time required for equipment recovery operations and ensure that the equipment can be quickly recovered and avoided in the face of adverse sea conditions and other emergency situations.

[0067] Innovation 2: Precise positioning and control at sea based on computer vision: This device innovatively integrates computer vision technology with the equipment recovery process, and uses real-time image processing and deep learning algorithms to achieve accurate identification and positioning of surface and underwater equipment lifting lugs. The system uses three high-resolution cameras, which are arranged on both sides and the front end of the retraction and deployment system to ensure that the target is monitored from multiple angles. The information from multiple cameras is comprehensively processed through the multi-source information fusion method, which effectively eliminates the blind spots caused by a single perspective and improves the reliability and accuracy of target identification. The system first captures the image data of the target area in real time through three cameras, and the convolutional neural network (CNN) processes this data to extract the feature information of the lifting lug. By matching with the preset model, the system can quickly and accurately determine the three-dimensional coordinates of the lifting lug to ensure that the launch path of the steel cable is accurate.

[0068] Innovation 3: Combination of dynamic tension feedback and fuzzy PID control: After the steel cable is connected to the equipment, the control system uses a dynamic tension feedback mechanism to achieve safe recovery and stable deployment of the equipment. The device adopts a multi-sensor configuration, and each transmitter unit is equipped with an independent high-precision tension sensor. The central control system conducts a comprehensive analysis of multi-source information on the feedback data of these tension sensors, and uses multi-sensor fusion technology to process and evaluate the tension changes of the steel cable. The multi-sensor comprehensive analysis can quickly respond to the shaking of the equipment based on real-time data, and promptly adjust the tension or relaxation of the steel cable, thereby reducing the shaking amplitude of the equipment under external factors such as waves. The device adopts a fuzzy PID control strategy to monitor the shaking amplitude and tension changes of the equipment in real time, and accurately adjust the tension of the steel cable to ensure that it is always within the appropriate range, preventing the steel cable from breaking due to improper tension, and ensuring the safety and durability of the entire system.

[0069] Innovation 4: A bamboo fiber anti-collision net follows the equipment in real time to prevent collisions: When equipment is hoisted, especially in complex sea or wind conditions, sway arresters, which are only suitable for small, high-frequency swaying, are unable to cope with larger swaying. A high-strength, lightweight, and wear-resistant bamboo fiber anti-collision net directly covering the underwater equipment provides a relatively stable environment, effectively preventing collisions and damage caused by large, low-frequency swaying. It can be used in conjunction with sway arresters to improve the safety of the entire recovery process.

[0070] The specific structure of the present invention is introduced below:

[0071] A ring-shaped device for deploying and recovering surface and underwater equipment suitable for complex sea conditions, comprising an A-frame 1 and an anti-sway mechanism; the A-frame 1 comprises an A-frame base and an A-frame body that are hingedly connected; the anti-sway mechanism comprises an anti-sway device 3 and an anti-collision net mechanism 4; the anti-sway device 3 comprises a swing link 33, an anti-sway oil cylinder 32, and a connecting ring 31; the upper end of the swing link 33 is hingedly connected to the A-frame body, and the lower end is fixed to the connecting ring 31; the upper end of the anti-sway oil cylinder 32 is connected to the swing link 33, and the lower end is connected to the connecting ring 31; along the connecting ring A group of steel cable launchers 36 are arranged around the ring 31. The steel cable launchers 36 can release the steel cable by ejection, and can continue to release or retract the steel cable through the steel cable winch inside it; the lower end of the steel cable 38 in the steel cable launcher 36 is connected to the steel cable clamp 35, and the steel cable clamp 35 has its own opening and closing mechanism, which can grab and release the lifting lug on the target equipment; a tension sensor is provided on the steel cable 38; the anti-collision net mechanism 4 includes two groups of support arms, and a protective net structure clamped by the far ends of the two groups of support arms, and the proximal end is hinged and fixed to the A-frame base.

[0072] See also Figures 4-5 The A-frame 1 is provided with an A-frame positioning camera 5, and the stopper 3 is provided with a stopper positioning camera 37; the steel cable launcher 36 and the stopper cylinder 32 are positioned by computer vision; the hydraulic system dynamically adjusts the tension and relaxation of the steel cable through the fuzzy PID controller according to the real-time feedback signal of the tension sensor, thereby realizing an adaptive response to the shaking of the equipment.

[0073] Each wire rope launcher 36 is equipped with a servo motor, an intelligent control unit and an independent positioning sensor.

[0074] See also Figure 5 The swing link 33 is a two-link structure with an upper link and a lower link. The anti-swing oil cylinder 32 has two groups. The upper end of the first group is hinged to the upper link, and the upper end of the second group is hinged to the lower link.

[0075] Combine Figure 5 and Figure 8The connecting ring 31 arranged at the bottom of the anti-sway device can adjust the angle and height through the upper connecting rod and hinge. When the equipment swings, the positions of multiple steel cable connection points can be adjusted in real time through the steel cable launcher 36; the middle of the connecting ring 31 is fixedly connected to the umbilical cable hole disc 34 through 8 flat connecting plates.

[0076] See also Figure 6 The two groups of support arms of the anti-collision net mechanism 4 each include a crank and a sliding component. A slide rail is set along the crank. The sliding component serves as a component that directly clamps the anti-collision net and can slide along the slide rail. The enclosure net structure of the anti-collision net is a bamboo fiber material with certain elasticity and toughness.

[0077] In this embodiment, the anti-collision net 42 is made of bamboo fiber material with certain elasticity and toughness.

[0078] Equipment recovery process:

[0079] 1. Cable Connection: The sway stopper is swung outboard with the A-frame, ready for equipment recovery. When the equipment approaches the hull or surfaces, the A-frame's positioning camera and the sway stopper's positioning camera simultaneously capture the equipment's spatial position. Once aligned, the cable is launched. When the cable clamp contacts the lifting lug, the lug pushes the internal gear of the opening and closing mechanism, closing it and completing the connection.

[0080] 2. Recovery and anti-sway: The steel cable launcher reels the steel cable. During this period, the launcher adjusts the tension balance inside. The anti-sway device pulls the connecting rod through the oil cylinder to prevent swaying. The anti-collision net is controlled by the slide rail and crank to always follow the movement of the equipment.

[0081] 3. Swing into the deck: After the steel cable is fully reeled in, the A-frame swings the entire system back into the deck to complete the recovery.

[0082] Working process of cable launcher and cable clamp:

[0083] 1. Equipment Deployment: Initially, the cable clamp is connected to the lifting lug on the equipment and closed, with the cable retracted inside the cable launcher. During equipment deployment, the cable winch inside the cable launcher rotates, slowly releasing the cable. During this process, the winch controls the release speed based on the tension to maintain a stable tension. When the equipment reaches the target location (the water surface or a certain depth underwater), the cable clamp's opening and closing mechanism is controlled to open, releasing the equipment. Finally, the cable winch reels in the cable, allowing the equipment to be retrieved.

[0084] 2. Equipment Retrieval: Initially, the cable clamp is open, and the cable is reeled inside the cable launcher. During the equipment retrieval mission, the system identifies the equipment's spatial position based on images from the cameras on the A-frame and the stabilizer. Simultaneously, the launch spring inside the cable launcher contracts, accumulating ejection energy in preparation for the cable clamp's release. Once the cable clamp's posture is adjusted, the launch spring releases and pushes the launch plate, which in turn pushes the cable clamp to complete the launch. When the cable clamp contacts the equipment's lifting lug, the lug pushes the gear underneath the clamp's opening and closing mechanism, closing it and completing the connection between the cable and the lug. If the equipment sways, docking may fail; in this case, simply reel in the cable and repeat the process. It should be noted that not all cable clamps are required to fully engage the lifting lug; the specific degree of completion can be configured.

[0085] The above are preferred embodiments of the present invention. Those skilled in the art may make various changes or improvements based on the above. Without departing from the overall concept of the present invention, these changes or improvements should fall within the scope of protection claimed by the present invention.

Claims

1. A surface and underwater equipment deployment and recovery device suitable for complex sea conditions, characterized by: It comprises an A frame (1) and an anti-swing mechanism; The A-frame (1) comprises an A-frame base and an A-frame body which are hingedly connected; The anti-sway mechanism comprises an anti-sway device (3) and an anti-collision net mechanism (4); The anti-swing device (3) includes a swing link (33), an anti-swing oil cylinder (32), and a connecting ring (31); the upper end of the swing link (33) is hingedly connected to the A frame body, and the lower end is fixed to the connecting ring (31); the upper end of the anti-swing oil cylinder (32) is connected to the swing link (33), and the lower end is connected to the connecting ring (31); a group of steel cable launchers (36) are arranged around the connecting ring (31), and the steel cable launchers (36) can release the steel cable by ejection, and can continue to release or retract the steel cable through the steel cable winch inside the steel cable launcher (36); the lower end of the steel cable (38) in the steel cable launcher (36) is connected to the steel cable clamp (35), and the steel cable clamp (35) has an opening and closing mechanism that can grab and release the lifting lug on the target equipment; a tension sensor is provided on the steel cable (38); The anti-collision net mechanism (4) comprises two groups of support arms, and an anti-collision net (42) clamped by the distal ends of the two groups of support arms, and a proximal end hingedly fixed to the A-frame base.

2. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions according to claim 1, characterized in that: The A-frame (1) is provided with an A-frame positioning camera (5), and the stopper (3) is provided with a stopper positioning camera (37); the steel cable launcher (36) and the stopper oil cylinder (32) are positioned by computer vision; The hydraulic system dynamically adjusts the tension and relaxation of the steel cable through a fuzzy PID controller based on the real-time feedback signal from the tension sensor, achieving an adaptive response to equipment shaking.

3. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions according to claim 1, characterized in that: Each steel cable transmitter (36) is equipped with a servo motor, an intelligent control unit and an independent positioning sensor.

4. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions according to claim 1, characterized in that: The swing link (33) is a two-link structure having an upper link and a lower link. The anti-swing oil cylinder (32) has two groups. The upper end of the first group is hinged to the upper link, and the upper end of the second group is hinged to the lower link.

5. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions as claimed in claim 3, characterized in that: The connecting ring (31) arranged at the bottom of the anti-sway device can adjust the angle and height through the upper connecting rod and hinge. When the equipment swings, the positions of multiple steel cable connection points can be adjusted in real time through the steel cable transmitter (36); The middle of the connecting ring (31) is fixedly connected to the umbilical cable hole disc (34) through 8 flat connecting plates.

6. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions according to claim 1, characterized in that: The two groups of support arms of the anti-collision net mechanism (4) each include a crank and a sliding component. A slide rail is arranged along the crank. The sliding component is a component that directly clamps the anti-collision net and can slide along the slide rail.

7. The surface and underwater equipment deployment and recovery device suitable for complex sea conditions according to claim 6, characterized in that: The protective net structure of the anti-collision net is made of bamboo fiber material with certain elasticity and toughness.

8. A method for deploying and recovering surface and underwater equipment suitable for complex sea conditions according to any one of claims 1 to 7, characterized in that: Equipment deployment process: S1. Umbilical cable connection: Pass the umbilical cable that provides power, communication and control signals around the umbilical cable pulley, pass it through the umbilical cable hole, connect it correctly and firmly to the equipment, and tighten it; S2. Swing the A-frame out of the deck: On the deck, clip the steel cable onto the lifting lugs of the operating equipment and retract the cable to its shortest length. Using the large oil cylinder on the deck, move the A-frame from its standby position to the edge of the aft deck and extend it out of the platform. Perform precise horizontal and vertical adjustments of the A-frame based on the specific deployment requirements of the underwater equipment and sea conditions. S3. Underwater Equipment Release: As the A-frame slowly hoists the equipment and moves it toward the rear of the platform, the winch gradually releases the umbilical cable to ensure that the cable is not damaged by excessive tension. During this process, the anti-sway mechanism adaptively adjusts the oil cylinder to control the swing link to reduce the equipment's sway. At the same time, the steel cable of the anti-sway mechanism is released synchronously with the umbilical cable, autonomously adjusting the tension to maintain the equipment's stability and prevent it from rotating. Anti-collision net following: During the equipment descent, the anti-collision net always follows the equipment through the control of the slide rail and crank. When the equipment descends to a certain height above the water surface, the anti-collision net stops following, and the umbilical cable and the steel cable of the anti-sway device continue to be released. S4. The opening and closing mechanism of the cable clamp releases the lifting lug: When the equipment is mostly or completely submerged in water and it is assumed that the equipment will not swing, the opening and closing mechanism of the cable clamp releases the lifting lug and the equipment is completely released into the water by the umbilical cable.

9. The operating method of the surface and underwater equipment deployment and recovery device applicable to complex sea conditions as claimed in claim 8, characterized in that: Equipment recovery process: S5. Cable connection: The sway stopper is swung outboard along with the A-frame. When the equipment approaches the hull or surfaces, the A-frame positioning camera and the sway stopper positioning camera simultaneously capture the equipment's spatial position. Based on this position information, the angle of the cable launcher on the sway stopper is adjusted to aim at the lifting lug on the equipment. Once aimed, the cable launcher is launched. When the cable clamp contacts the lifting lug, the lifting lug pushes the internal gear of the opening and closing mechanism, closing it and completing the connection. S6. Recovering and anti-swaying: The cable launcher reels the cable. During this process, the internal tension of the launcher is adjusted to balance the tension. The anti-swaying cylinder pulls the connecting rod to prevent swaying. The anti-collision net is controlled by the slide rail and crank to always follow the movement of the equipment. S7. Swing into the deck: After the steel cable is fully rolled up, the A-frame swings the entire system back into the deck to complete the recovery.

10. The operating method of the surface and underwater equipment deployment and recovery device applicable to complex sea conditions according to claim 8 or 9, characterized in that: Working process of cable launcher and cable clamp: Equipment deployment: Initially, the cable clamp is connected to the lifting lug on the equipment and closed, and the cable is reeled in the cable launcher. During equipment deployment, the cable winch in the cable launcher rotates, slowly releasing the cable. During this period, the winch controls the release speed according to the tension to maintain a stable tension. When the equipment reaches the target position at the water surface or a certain depth underwater, the cable clamp opening and closing mechanism is controlled to open, releasing the equipment. Finally, the cable winch reels in the cable, waiting for equipment recovery. Equipment recovery: Initially, the cable clamp is open and the cable is reeled inside the cable launcher. When performing the equipment recovery task, the system identifies the spatial position of the equipment based on the images from the cameras on the A-frame and the stabilizer. At the same time, the launch spring in the cable launcher contracts to accumulate ejection energy, and the launch spring is released to push the launch plate, which pushes the cable clamp to complete the launch. When the cable clamp contacts and collides with the lifting lug on the equipment, the lifting lug pushes the gear under the opening and closing mechanism of the cable clamp to close it, and the cable and the lifting lug are connected. If the docking fails due to equipment swinging, the cable is reeled in and the above process is repeated.

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