Retrieving and releasing device for underwater robot

Abstract

The present invention relates to a device for deploying and retrieving an underwater robot, belonging to the technical fields of ocean engineering and underwater operations. The device includes a winch, a deployer, a retriever and an underwater robot. The winch is fixed on a ship, a cable is wound around the winch and connected to the retriever, and the retriever can place the underwater robot. A water pump is arranged inside the retriever, the water pump has a water suction port and a water outlet, and a hollow plate is arranged near the water suction port. Steering thrusters and horizontal thrusters are arranged on the outer shell of the retriever, and an inlet and a clamping shell are also provided. A positioning device is arranged on the retriever, and an ultra-wideband radio positioning system can be used. An airbag is also arranged on the outer shell of the retriever, and a clamping device and a pressure sensor are arranged inside. Needle tip mechanisms, drain ports and dryers are arranged on the outer shell of the deployer, and a cable channel and a release device are arranged inside. The device realizes the efficient retrieval of the underwater robot through water pump suction, positioning device navigation, clamping device fixation, etc., and has the advantages of simple operation, high retrieval efficiency and convenient maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of ocean engineering and underwater operations, and particularly to a device for deploying and retrieving an underwater robot. Background Art

[0002] With the development of fields such as ocean resource development, scientific research, and underwater engineering, underwater robots play an important role in underwater operations. There are many problems with the traditional devices for deploying and retrieving underwater robots in practical applications. For example, the retrieval efficiency is relatively low, precise control of the position and orientation of the retriever is required, which consumes a large amount of time and effort; the protective measures for the underwater robot during the retrieval process are insufficient, easily leading to equipment damage; there is a lack of an effective positioning system, making it difficult to achieve precise navigation and docking between the retriever and the underwater robot; during the water surface retrieval stage, the handling of the retriever and the underwater robot is not convenient enough, affecting subsequent maintenance and reuse. These problems seriously affect the working efficiency and service life of underwater robots. To solve these problems, many devices for deploying and retrieving underwater robots have emerged in recent years. The retrieval device and mother ship design of the disclosed technology WO2023015857A1 have many advantages, such as achieving efficient retrieval through a retrieval board, simplifying the process, and improving the efficiency, but there is still room for research in terms of retrieval stability and complex sea areas. Therefore, it is necessary to study a device for deploying and retrieving an underwater robot that can improve the retrieval efficiency, protect the underwater robot, achieve precise navigation, and facilitate handling. Summary of the Invention

[0003] The purpose of the present invention is to provide a device for deploying and retrieving an underwater robot, aiming to solve the problems in the prior art such as low retrieval efficiency, insufficient protection for the underwater robot, and inconvenient handling during water surface retrieval. Through the setting of a unique water pump, airbag, and release device, the release, guided retrieval, and convenient handling of the underwater robot are realized, improving the working efficiency and service life of the underwater robot, and meeting the high-performance requirements of the device for deploying and retrieving underwater robots in fields such as ocean resource development and scientific research.

[0004] The device for deploying and retrieving an underwater robot includes a winch fixedly installed on a ship. The winch winds a cable, and the cable is connected to a retriever. The retriever can be placed inside a deployer and can hold the robot. There is a water pump inside the retriever, which has a water intake and a water outlet. There is a perforated plate near the water intake inside the retriever. The winch is fixed on the ship, and the cable passes through the deployer and is connected to the retriever. The cable is wound around the winch and is connected to the head of the retriever. When the robot needs to be retrieved, the winch can be rotated to release the cable and the retriever. The retriever is equipped with a control module that can be remotely controlled by an operator. The operator remotely controls the retriever to move it near the robot for retrieval. When the retriever approaches the robot, the winch is locked to stop extending the cable, and the water pump is turned on to suck the seawater near the robot. Under the action of the suction force, the robot will approach the retriever and finally be sucked into the retriever. The water pump can directly suck the seawater near the robot to suck in the robot. Therefore, the position and orientation control of the retriever does not need to be very precise when retrieving the robot, which greatly improves the retrieval efficiency and saves the retrieval time. The perforated plate isolates the water intake from the robot while not affecting the pumping and suction of water, playing a protective role for the robot.

[0005] The device for deploying and retrieving an underwater robot has a steering thruster and a horizontal thruster on the outer shell of the retriever, and there is an inlet. When the horizontal thruster is turned on, an air current is generated towards the side of the cable. At this time, the cable will be taut, and the retriever remains horizontally stable under the combined action of the cable and the horizontal thruster. Then, the steering thruster is turned on to align the inlet roughly with the robot, and then the water pump is turned on to retrieve the robot. There is a clamping shell around the inlet. The robot is sucked near the inlet under the action of the water pump, and the clamping shell can rotate and gradually contract towards the central axis of the retriever, thereby driving the robot to remain horizontal. Finally, under the suction force of the water pump, the robot is sucked into the retriever.

[0006] The device for deploying and retrieving an underwater robot is equipped with a positioning device on the retriever. A positioning system is installed on the robot, the retriever, and an external calculator on the ship. The positioning device can use an ultra-wideband radio positioning system, which has many advantages in underwater equipment. It can provide high-precision positioning, which is crucial for the precise navigation of the retriever and the robot. The ultra-wideband radio positioning system supports high-speed data transmission, enabling underwater equipment to transmit a large amount of data in real time. Its strong anti-interference ability ensures stability and reliability in a complex underwater environment.

[0007] The device for retrieving and deploying an underwater robot. The outer shell of the retriever is provided with an airbag, and the interior of the retriever is provided with a clamping device, on which a pressure sensor is arranged. When the robot is sucked into the retriever, the clamping device and the clamping shell jointly clamp the outside of the robot to fix it. The pressure sensor on the clamping device is simultaneously connected to the internal controller of the airbag. When the pressure value of the pressure sensor exceeds the set value and is maintained for a period of time, the internal controller of the airbag activates the igniter to release gas, and the airbag expands to generate buoyancy to drive the retriever to float towards the water surface. The excess water in the water pump is discharged from the water outlet, thereby generating an upward thrust on the retriever to help it quickly float on the water surface. After a period of time, the retriever will float on the sea surface, and the winch retrieves the cable to pull the retriever into the deployer. The airbag reduces the required pulling force for retrieving the robot and improves the retrieval efficiency.

[0008] The device for retrieving and deploying an underwater robot. The outer shell of the deployer is provided with a needle tip mechanism. When the retriever approaches the deployer, the needle tip mechanism will first puncture the airbag to facilitate the cable to pull the retriever into the deployer. There is a drain outlet at the bottom of the deployer and a dryer at the top. When the retriever is pulled into the deployer, the deployer will be lifted, and the remaining seawater in the deployer will be discharged through the drain outlet at the bottom. The dryer at the top dries the surface of the retriever to facilitate subsequent maintenance.

[0009] The device for retrieving and deploying an underwater robot. The interior of the deployer is provided with a cable channel, and the inner end face of the deployer is provided with a release device, and the release head of the release device is made of PU. The cable extends into the interior of the deployer through the cable channel at the head of the deployer to connect the retriever. The cable channel can also isolate the cable and the release device to prevent them from winding around each other. The cable gradually pulls the retriever to the release device of the deployer. The release head of the release device is made of PU material, which is relatively soft. During the stage of launching the robot, the release device will push the retriever into the sea water. The release head material PU is a relatively soft material, which can protect the head of the retriever from being damaged. The release device can quickly push the retriever into the sea water. During the stage of releasing the robot, after the release device pushes the retriever to the sea water, the clamping device can then release to release the robot. The deployer is installed on the lifting frame, and a maintenance platform is provided at the top of the lifting frame. When the retriever is retrieved to the deployer, the lifting frame starts to rise to the ship, and the operator removes the robot on the lifting frame and places it on the maintenance platform for maintenance.

[0010] The underwater robot retraction and deployment device provided by the present invention has remarkable advantages such as efficient recovery, precise positioning, automated operation, strong environmental adaptability, protection of the robot, buoyancy assistance, reasonable structural design, and rapid release and recovery. Through the suction generated by the water pump, the underwater robot can be quickly sucked into the recovery device, significantly improving the recovery efficiency; by adopting an ultra-wideband radio positioning system, high-precision navigation and docking are achieved to ensure accurate task completion in complex underwater environments; the recovery device is equipped with a control module to support remote control, reducing the operation difficulty and labor cost; the internal clamping device and the clamping shell fix the robot to avoid collision or damage; the airbag inflates to generate buoyancy to assist the recovery device to float, reducing the requirement for winch pulling force; the drain port at the bottom and the dryer at the top of the retraction and deployment device facilitate the discharge of seawater and drying of the surface, facilitating maintenance; the release device uses a PU material release head to protect the head of the recovery device and achieve rapid release and recovery. Through design and function integration, the present invention solves the problems of low efficiency, poor accuracy, and complex operation in traditional recovery methods, providing an underwater robot retraction and deployment device that is efficient, precise, automated, and has strong environmental adaptability, with broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can be obtained by extension based on the provided drawings without creative efforts.

[0012] Figure 1 Schematic diagram before the underwater robot retraction and deployment device provided by the present invention releases the robot.

[0013] Figure 2 Schematic diagram of the process of the underwater robot retraction and deployment device provided by the present invention releasing the robot.

[0014] Figure 3 Schematic side view of the recovery device of the underwater robot retraction and deployment device provided by the present invention.

[0015] Figure 4 Schematic diagram of the entrance of the recovery device of the underwater robot retraction and deployment device provided by the present invention.

[0016] Figure 5 Schematic diagram of the recovery device of the underwater robot retraction and deployment device provided by the present invention recovering the robot.

[0017] Figure 6 Schematic diagram of the retraction and deployment device of the underwater robot provided by the present invention receiving the recovery device.

[0018] Figure 7Schematic diagram of the retractor of the underwater robot provided by the present invention.

[0019] Figure 8 Schematic diagram of the elevator and maintenance platform structure of the underwater robot retracting and deploying device provided by the present invention.

[0020] Description of the drawings: 1 - winch, 2 - retractor, 3 - recovery device, 4 - robot, 5 - ship, 11 - cable, 21 - dryer, 22 - needle tip mechanism, 23 - cable channel, 24 - release device, 25 - drain port, 26 - lifting frame, 27 - maintenance platform, 31 - steering thruster, 32 - horizontal thruster, 33 - clamping shell, 34 - positioning device, 35 - airbag, 36 - water pump, 37 - clamping device, 38 - hollow plate, 39 - entrance, 310 - pressure sensor, 241 - release head, 361 - water intake, 362 - water outlet. Detailed implementation manners

[0021] In order to make the purpose and advantages of the present invention clearer, the present invention will be specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific implementation manners of the present invention, and does not strictly limit the scope of protection specifically claimed by the present invention.

[0022] Embodiment 1:

[0023] Referring to the attached Figure 1 and the attached Figure 5 As shown, the retracting and deploying device of the underwater robot includes a winch 1, the winch 1 is fixedly arranged on the ship 5, the winch 1 winds the cable 11, the cable 11 is connected to the recovery device 3, the recovery device 3 can be placed in the retractor 2, the robot 4 can be placed inside the recovery device 3, a water pump 36 is arranged inside the recovery device 3, the water pump 36 has a water intake 361 and a water outlet 362, and a hollow plate 38 is arranged near the water intake 361 inside the recovery device 3. The winch 1 is fixed on the ship 5, the cable 11 passes through the retractor 2 and is connected to the recovery device 3, the cable 11 is wound on the winch 1, the cable 11 is connected to the head of the recovery device 3. When the robot 4 needs to be recovered, the winch 1 can be rotated to release the cable 11 and the recovery device 3. The recovery device 3 is provided with a control module and can be remotely controlled by an operator. The operator remotely controls the recovery device 3 to move it near the robot 4 for recovery. When the recovery device 3 approaches the robot 4, the winch 1 is locked to stop extending the cable 11, and the water pump 36 is turned on to suck the seawater near the robot 4. The robot 4 will approach the recovery device 3 under the action of the suction force and finally be sucked into the recovery device 3. The water pump 36 can suck the seawater near the robot 4, thereby sucking in the robot 4. Therefore, the position and orientation control of the recovery device 3 does not need to be very precise when recovering the robot 4, which greatly improves the recovery efficiency and saves the recovery time. The hollow plate 38 does not affect the pumping of water while isolating the water intake 361 from the robot 4, playing a protective role for the robot 4.

[0024] Refer to the appended Figure 3 , the appended Figure 4 , the appended Figure 5 As shown, for the underwater robot's retrieving and deploying device, the housing of the retriever 3 is provided with a steering thruster 31 and a horizontal thruster 32, and an inlet 39 is provided. When the horizontal thruster 32 is turned on to generate an air current towards the cable 11 side, at this time the winch 1 is in the state of locking the cable 11, the cable 11 will be tensioned, and the retriever 3 remains horizontally stable under the combined action of the cable 11 and the horizontal thruster 32. Then the steering thruster 31 is turned on to align the inlet 39 approximately with the robot 4, and then the water pump 36 is turned on to retrieve the robot 4. By adjusting the length of the cable 11, the horizontal thruster 32, and the steering thruster 31, it is possible to locate near the robot 4. There is a clamping shell 33 around the inlet 39. The robot 4 is sucked near the inlet 39 under the action of the water pump 36, and the clamping shell 33 can rotate and gradually contract towards the central axis of the retriever 3, thereby driving the robot 4 to remain horizontal. Finally, under the suction force of the water pump 36, the robot 4 is sucked into the retriever 3.

[0025] Refer to the appended Figure 4 As shown, for the underwater robot's retrieving and deploying device, the retriever 3 is provided with a positioning device 34. Positioning systems are installed on the external calculators on the robot 4, the retriever 3, and the ship 5. The positioning device 34 can use an ultra-wideband radio positioning system, and the ultra-wideband radio positioning system has many advantages in underwater equipment. It can provide high-precision positioning, which is crucial for the precise navigation of the retriever 3 and the robot 4. The ultra-wideband radio positioning system supports high-speed data transmission, enabling underwater equipment to transmit a large amount of data in real time, and its strong anti-interference ability ensures stability and reliability in a complex underwater environment.

[0026] Refer to the appended Figure 5 , the appended Figure 6 As shown, for the underwater robot's retrieving and deploying device, the housing of the retriever 3 is provided with an airbag 35, and the retriever 3 is internally provided with a clamping device 37, and a pressure sensor 310 is provided on the clamping device 37. When the robot 4 is sucked into the retriever 3, the clamping device 37 and the clamping shell 33 jointly clamp the outside of the robot 4 to fix it. The pressure sensor 310 on the clamping device 37 is simultaneously connected to the internal controller of the airbag 35. When the pressure value of the pressure sensor 310 exceeds the set value and maintains for a period of time, the internal controller of the airbag 35 turns on the igniter to release gas, and the airbag 35 expands to generate buoyancy to drive the retriever 3 to float towards the water surface. The excess water in the water pump 36 is discharged through the water outlet 362, thereby providing an upward thrust for the retriever 3 to help it quickly float on the water surface. After a period of time, the retriever 3 will float on the sea surface, and the winch 1 retrieves the cable 11 to pull the retriever 3 into the retrieving and deploying device 2. The airbag 35 reduces the required pulling force for retrieving the robot 4 and improves the retrieval efficiency.

[0027] Refer to the attached Figure 6 , the attached Figure 7 As shown, for the retracting and deploying device of the underwater robot, the housing of the retractor 2 is provided with a needle tip mechanism 22. When the recycler 3 approaches the retractor 2, the needle tip mechanism 22 will first pierce the airbag 35 to facilitate the cable 11 to pull the recycler 3 into the retractor 2. There is a drain port 25 at the bottom of the retractor 2 and a dryer 21 at the top. After the recycler 3 is pulled into the retractor 2, the retractor 2 will be lifted, and the remaining seawater in the retractor 2 will be drained through the drain port 25 at the bottom. The dryer 21 at the top dries the surface of the recycler 3 to facilitate subsequent maintenance.

[0028] Refer to the attached Figure 2 , the attached Figure 7 , the attached Figure 8 As shown, for the retracting and deploying device of the underwater robot, a cable channel 23 is provided inside the retractor 2, and a release device 24 is provided on the inner end face of the retractor 2. The release head 241 of the release device 24 is made of PU. The cable 11 extends into the retractor 2 through the cable channel 23 at the head of the retractor 2 and is connected to the recycler 3. The cable channel 23 can also isolate the cable 11 and the release device 24 to prevent them from winding around each other. The cable 11 gradually pulls the recycler 3 to the release device 24 of the retractor 2. The release head 241 of the release device 24 is made of PU material, and this material is relatively soft. During the stage of launching the robot 4, the release device 24 will push the recycler 3 into the sea water. The PU material of the release head 241 is a relatively soft material, which can protect the head of the recycler 3 from being damaged. The release device 24 can quickly push the recycler 3 into the sea water. During the stage of releasing the robot 4, after the release device 24 pushes the recycler 3 into the sea water, the clamping device 37 can release the robot 4. The retractor 2 is installed on the lifting frame 26, and a maintenance platform 27 is provided at the top of the lifting frame 26. After the recycler 3 is recovered to the retractor 2, the lifting frame 26 starts to rise to the ship 5, and the operator removes the robot 4 on the lifting frame 26 and places it on the maintenance platform 27 for maintenance.

[0029] Embodiment 2:

[0030] The retracting and deploying device of the underwater robot has three overall stages.

[0031] Release stage: Refer to the attached Figure 1 , the attached Figure 2 As shown, the cable 11 tightens the recycler 3 at the release device 24 of the retractor 2, and the winch 1 is locked and cannot extend the cable 11. At this time, the recycler 3 is fixed in the retractor. When releasing the robot 4, unlocking the winch 1 can release the cable 11, and the release device 24 can be hydraulically driven. The release device 24 pushes the recycler 3 out. After the recycler 3 enters the sea water, the clamping device 37 releases the robot 4. After the robot 4 is released, the recycler 3 is separately recovered to the retractor 2 by the cable 11 and waits for the robot 4 to complete the task.

[0032] Underwater recovery stage: Refer to the attached Figure 5 、 Figure 6 As shown, after the release device 24 releases the recovery device 3 into the seawater, it moves to the vicinity of the robot 4 through the positioning device 34. The recovery device 3 turns on the water pump 36 to suck the robot 4 into the recovery device 3 and fixes it with the clamping device 37 and the clamping shell 33. The airbag 35 is inflated to generate buoyancy, and the airbag 35 and the cable 11 act together to drive the recovery device 3 and the robot 4 to float to the sea surface.

[0033] Above-water recovery stage: Refer to the attached Figure 6 、the attached Figure 7 、the attached Figure 8 As shown, after the recovery device 3 floats to the water surface, the cable 11 is pulled to approach the winch 2, and the needle tip mechanism 22 will first puncture the airbag 35 to deflate it to facilitate pulling the recovery device 3 into the winch 2. The airbag 35 inflation device has a low cost and is convenient for replacement. After the cable 11 holds the recovery device 3 against the release device 24, the cable 11 of the winch 1 is locked and will not extend further. Then the lifting frame 26 starts to rise to lift the winch 2 onto the ship 5. Finally, the operator puts the recovery device 3 and the robot 4 into the maintenance platform 27 for repair and charging.

[0034] The above-described embodiments and / or implementation manners are only used to illustrate the preferred embodiments and / or implementation manners for realizing the technology of the present invention, and do not impose any form of limitation on the implementation manners of the technology of the present invention. Any person skilled in the art, without departing from the scope of the technical means disclosed in the content of the present invention, may make some modifications into other equivalent embodiments, but should still be regarded as the same technology or embodiment as the present invention in essence.

[0035] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application. The above is only the preferred implementation manner of the present application. It should be noted that due to the limited nature of text expression and objectively existing infinite specific structures, for those of ordinary skill in the art in this technical field, without departing from the principle of the present application, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, refinements, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, should all be regarded as the protection scope of the present application.

Claims

1. Retrieving and deploying device for an underwater robot, comprising a winch (1) fixedly arranged on a ship (5), the winch (1) winding a cable (11), the cable (11) connecting a recovery device (3), the recovery device (3) being configured to be accommodated within a retrieving and deploying device (2), the recovery device (3) having an accommodation space for placing a robot (4), characterized in that: A water pump (36) is provided inside the recycler (3). The water pump (36) has a water intake (361) and a water outlet (362). A hollow plate (38) is provided near the water intake (361) inside the recycler (3). An airbag (35) is provided on the outer shell of the recycler (3). A clamping device (37) is provided inside the recycler (3). A pressure sensor (310) is provided on the clamping device (37). A needle tip mechanism (22) is provided on the outer shell of the winder (2). The pressure sensor (310) is simultaneously connected to the internal controller of the airbag (35). When the pressure value of the pressure sensor (310) exceeds the set value and remains for a period of time, the internal controller of the airbag (35) activates the igniter to release gas.

2. The retracting and deploying device for an underwater robot according to claim 1, characterized in that: A steering thruster (31) and a horizontal thruster (32) are provided on the outer shell of the recycler (3). The recycler (3) is provided with an inlet (39).

3. The retracting and deploying device for an underwater robot according to claim 2, characterized in that: There is a clamping shell (33) around the inlet (39).

4. The retracting and deploying device for an underwater robot according to claim 1, characterized in that: The recycler (3) is provided with a positioning device (34). The positioning device (34) incorporates an ultra-wideband radio positioning system.

5. The retracting and deploying device for an underwater robot according to claim 1, characterized in that: There is a drain outlet (25) at the bottom of the winder (2) and a dryer (21) at the top.

6. The retracting and deploying device for an underwater robot according to claim 1, characterized in that: A cable channel (23) is provided inside the winder (2). A release device (24) is provided on the internal end face of the winder (2).

7. The retracting and deploying device for an underwater robot according to claim 6, characterized in that: The release device (24) includes a release head (241). The material of the release head (241) is PU.

8. The retractable device for an underwater robot according to claim 1, characterized in that: The winder (2) is installed on a lifting frame (26). A maintenance platform (27) is provided at the top of the lifting frame (26).

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