Autonomous buoyancy adjusting and sensor releasing device and method based on deepwater ARV

Abstract

The invention provides an autonomous buoyancy adjusting and sensor releasing device and method based on a deepwater ARV. The autonomous buoyancy adjusting and sensor releasing device comprises a launching cylinder; the sensor brackets are arranged in the launching cylinder in sequence, and a sealed cavity is formed in the launching cylinder; the water pump is connected to one end away from the launching port of the launching cylinder; the reversing valves are selectively communicated with the sealing cavity through first pipelines; the water pump is connected with the reversing valves in series through a second pipeline and used for conveying pressure liquid, and the reversing valves are selectively communicated. The multiple reversing valves are electrically connected and connected to the submersible vehicle controller, and the submersible vehicle controller is used for controlling opening, closing and reversing of all the reversing valves. The buoyancy lost by putting the sensor bracket with the built-in sensor is equal to the weight of the sensor bracket with the built-in sensor, so that the putting device always keeps the buoyancy balance; according to the launching device, the submersible vehicle can load more sensors at a time, the requirement for the load capacity of the submersible vehicle is low, the navigation performance is not affected in the launching process, and the situation that the sensors are loaded in water frequently is reduced.

Description

Technical Field

[0001] The present invention relates to the field of underwater autonomous submersibles, and in particular to an autonomous buoyancy adjustment and sensor delivery device and method based on a deep-water ARV. Background Art

[0002] Glossary: ​​Submersibles / submersibles are a general term for underwater vehicles including AUV, ROV, ARV, etc. Among them, AUV: unmanned autonomous submersible, that is, a submersible that is separated from the real-time control of the cable and performs underwater navigation operations simply according to the preset program; ARV: unmanned autonomous remote-controlled hybrid submersible, that is, a multi-mode submersible that can not only perform underwater navigation operations according to the preset program, but also use fine optical fiber cables for remote control; ROV: unmanned cable remote-controlled submersible, that is, a real-time cable remote-controlled submersible that always carries a communication power cable during its operation, has a strong load-bearing capacity, but poor flexibility.

[0003] In recent years, with the emergence of deep-sea near-seabed exploration platforms such as AUV and ARV with high intelligence and autonomous operation capabilities, the demand for related operation expansion tools is also increasing. When this type of submersible is sailing, it is necessary to adjust the buoyancy state of the submersible body to a state close to zero buoyancy in the water by increasing the weight or reducing the buoyancy material. During navigation, the submersible can be compensated by its own power to navigate at a fixed height / depth in the water. However, the greater the deviation of the buoyancy state, the more power is needed for compensation, and the navigation and maneuverability of the submersible in the water will be limited. When the buoyancy state deviation exceeds the submersible's own power compensation capability, the submersible cannot sail stably in the water.

[0004] When using the traditional method to deploy sensors based on a submersible, as the sensors are deployed one by one, the load of the submersible gradually decreases, the buoyancy state tends to be unbalanced, and its navigation performance will be further weakened. Because the submersible cannot sail stably in the water, the submersible needs to frequently enter and exit the water to load sensors, and the number of sensors it can carry at a time is also limited. Because the traditional method requires frequent entry and exit of the water to load sensors, online remote-controlled submersibles such as ROVs with stronger load capacity are often used. Although submersibles with offline autonomous capabilities such as AUVs and ARVs are more flexible, their load capacity is limited and they can only achieve the deployment of one or two small sensors at a time. After each deployment, they need to exit the water to reload and set up autonomous operation procedures. The feasibility of their operation is poor and they are generally not selected for this type of operation. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention proposes an autonomous buoyancy adjustment and sensor deployment device and method based on a deepwater ARV, and the scheme is as follows:

[0006] On the one hand, the present invention provides an autonomous buoyancy adjustment and sensor deployment device based on a deepwater ARV, comprising:

[0007] Launch tube;

[0008] A sensor bracket, in which a sensor is installed. There are multiple sensor brackets, which are arranged in rows in the launch tube in sequence and form a sealed cavity with the interior of the launch tube;

[0009] A water pump connected to the end of the launch port away from the launch tube;

[0010] There are multiple reversing valves, which are selectively connected to the sealed chamber through a first pipeline; a water pump and multiple reversing valves are connected in series through a second pipeline for conveying pressurized liquid, and the reversing valves are selectively connected; the multiple reversing valves are electrically connected to each other and connected to a submersible controller, and the submersible controller is used to control the switching and reversing of each reversing valve;

[0011] The buoyancy lost by the sensor bracket with the built-in sensor during deployment is equal to the weight of the sensor bracket with the built-in sensor, so that the deployment device always maintains buoyancy balance;

[0012] Before launching, each reversing valve is not connected to the corresponding sealed chamber, the sealed chamber is filled with air, the reversing valves are connected, and the water pump is connected to the reversing valve; during launching, the submersible controller first controls the reversing valve adjacent to the launching port to be connected to the sealed chamber, and the water pump delivers pressurized liquid into the sealed chamber until the water pressure in the sealed chamber is higher than the external environmental water pressure and the resistance of the seal, and the sensor bracket is ejected out of the launching tube under the push of pressure, and the submersible controller controls the reversing valve adjacent to the launching end to be not connected to the adjacent reversing valve; similarly, the remaining sensor brackets are separated from the launching tube one by one.

[0013] Furthermore, the sensor bracket includes a sealing part, a supporting part and an abutting part; the outer surface of the sealing part is adapted to the inner wall structure of the launch tube, and the outer surface of the sealing part is also provided with a sealing member for forming a seal with the inner wall of the launch tube; the mounting part is in the shape of a cavity for built-in sensors, and the mounting part includes a plurality of supporting rods to connect the sealing part and the abutting part; the abutting part includes an annular plate, which is parallel to the end face of the sealing part away from the abutting part, and is used to abut against an adjacent sensor bracket.

[0014] Furthermore, the sealing part is cylindrical, and the sealing member is an O-ring, two of which are arranged in parallel and embedded in the side wall of the cylinder. A recessed groove is arranged near one end of the supporting part of the sealing part for fixing and installing the sensor.

[0015] Furthermore, the reversing valve is a three-position four-way reversing valve, so as to enable the pressure liquid delivered by the water pump to be connected with the sealing chamber, or connected with an adjacent reversing valve, or cut off.

[0016] On the other hand, the present invention proposes a method for autonomous buoyancy adjustment and sensor deployment device based on deep-water ARV, comprising the following steps:

[0017] S1. Multiple sensor brackets equipped with sensors are sequentially installed into the launch tube, the sealed cavity is filled with air, the reversing valve and the sealed cavity are in a non-connected state, and the water pump and the reversing valve are in a connected state;

[0018] S2. The launching device dives into the water. The outside of the sensor bracket is under water pressure, and the sealed cavity is filled with air. Due to the supporting structure of the sensor bracket, the air in the sealed cavity will not be compressed. The pressure difference between the inside and outside causes the sensor bracket to be compressed in the axial direction as a whole, and it will not fall off from the launching barrel.

[0019] S3, start the water pump, the water pump delivers pressure liquid to each reversing valve, the submersible controller controls the reversing valve adjacent to the launch port to be connected with the sealing chamber, the water pump delivers pressure liquid into the sealing chamber until the water pressure in the sealing chamber is higher than the external environmental water pressure and the resistance of the seal, and the sensor bracket is ejected out of the launch tube under the push of pressure, and at the same time, the submersible controller controls the reversing valve and the adjacent reversing valve to be in a non-connected state;

[0020] S4. Repeat the previous step and detach the remaining sensor brackets from the launch tube one by one.

[0021] Furthermore, in steps S3 and S4, the buoyancy lost by the deployment of the sensor bracket with the built-in sensor is equal to the weight of the sensor bracket with the built-in sensor, so that the deployment device always maintains buoyancy balance.

[0022] Furthermore, the sealed chamber is empty before deployment, and the filling medium in the chamber is air, which provides buoyancy F in the water environment. 浮 , the buoyancy is related to the cavity volume V 腔体 and 海水 Related, that is, F 浮 =V 腔体 *ρ 海水 ;

[0023] The sensor bracket with built-in sensor is in a negative buoyancy state in water. The magnitude of its negative buoyancy is related to its own weight M in water. 水中 For the whole device, when F 浮1 +F 浮2 +F 浮3 ......+F 浮n =M 水中1 +M 水中2 +M 水中3 ........+M 水中nThe device as a whole is in a buoyancy balance state, where n is the number of sensor brackets. Since the external tank and water pump are not involved in the sensor deployment process, their negative buoyancy is balanced by adding buoyancy materials in the submersible.

[0024] For a single sensor bracket and its corresponding buoyancy seal chamber, the premise of buoyancy balance is F 浮1 =M 水中1 After the sensor model and working water area are confirmed, its own weight in water M 水中 and 海水 is a constant, the only remaining variable V can be calculated according to the above formula 腔体 value, while V 腔体 It is related to the length of the support rod in the sensor bracket, so by adjusting the length of the support rod, the appropriate buoyancy parameters can be matched to achieve buoyancy balance before and after deployment.

[0025] Furthermore, the method further includes step S5, wherein after the submersible has completed the sensor deployment, the submersible implements a recovery function through an auxiliary device, and the implementation steps are as follows:

[0026] S51. Grab the sensor bracket by using the auxiliary device and put the sensor bracket back into the launch tube;

[0027] S53, the submersible controller controls the water pump to pump water in reverse to discharge the seawater in the launching tube;

[0028] S54, the sensor bracket moves in the launch tube as the seawater is discharged until it reaches the position before launching;

[0029] S55, after the sensor bracket reaches the limit position, the water pump continues to work to discharge the remaining seawater, forming an empty cabin sealed cavity again to generate buoyancy;

[0030] S56. Repeat the above steps S51 to S55 until all the brackets are recovered.

[0031] Furthermore, in step S53, the water pump is connected to the reversing valve, and the reversing valve is connected to the sealing chamber.

[0032] Compared with the prior art, the advantages of the present invention are as follows:

[0033] 1. The present invention arranges sensor brackets that are sequentially discharged, and forms a sealed cavity with the sensor bracket structure and the launching tube. The water pump and the reversing valve are used to adjust and change the pressure in the sealed cavity to realize sensor casting, thereby solving the problem that the existing sensor delivery device based on the submersible cannot achieve buoyancy self-balance, so that the submersible can be loaded with more sensors at a time, the load capacity requirement of the submersible itself is small, and the navigation performance is not affected during the delivery process, thereby reducing the impact on operating efficiency caused by frequent entry and exit of water to load sensors.

[0034] 2. The present invention adopts a water pump as a power source, does not require the support of a hydraulic system, can be released one by one according to a predetermined program, does not require manual triggering, solves the problem of traditional release, and is suitable for unmanned autonomous submersible operations.

[0035] 3. The present invention realizes batch sensor deployment based on offline autonomous submersibles, solving the problem that traditional remote-controlled submersibles are not flexible enough when performing such operations; offline autonomous submersibles can be used to realize sensor deployment in certain specific environments, such as underwater caves, culverts and other restricted areas.

[0036] 4. The delivery device of the present invention can also realize the recovery of the sensor with the aid of an auxiliary device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic diagram of the overall structure of the delivery device according to an embodiment of the present invention;

[0038] Figure 2 1. It is a schematic diagram of the overall structure of the delivery device according to an embodiment of the present invention (the launching tube is made transparent);

[0039] Figure 3 is a schematic diagram of the assembly of the delivery device and the ARV according to an embodiment of the present invention;

[0040] Figure 4 is a schematic cross-sectional structural diagram of a delivery device according to an embodiment of the present invention;

[0041] Figure 5 is a schematic diagram of the reversing valve according to the embodiment of the present invention injecting water into the sealing cavity through the first pipeline;

[0042] Figure 6 is a schematic diagram of the connection between the first and second level reversing valves in an embodiment of the present invention;

[0043] Figure 7 is a schematic diagram of the structure of a delivery device according to an embodiment of the present invention;

[0044] Figure 8 is a schematic diagram of the structure of a sensor bracket according to an embodiment of the present invention (sensor omitted);

[0045] Fig. 9 It is a schematic diagram of the cross-sectional structure of a sensor bracket according to an embodiment of the present invention (sensor omitted).

[0046] In the above figures: 1. Launch tube; 2. Sensor bracket; 21. O-ring; 22. Support rod; 23. Ring plate; 3. Sealing chamber; 4. Water pump; 5. Reversing valve; 6. First pipeline; 7. Second pipeline; 8. Cable. DETAILED DESCRIPTION

[0047] To facilitate those skilled in the art to understand the present invention, specific implementations of the present invention are described below with reference to the accompanying drawings.

[0048] Embodiment 1

[0049] like Figures 1-2 As shown, the present invention proposes an autonomous buoyancy adjustment and sensor delivery device based on a deepwater ARV, comprising a launch tube 1, a plurality of sensor brackets 2 with sensors installed therein, a water pump 4 and a plurality of reversing valves 5. There are a plurality of sensor brackets 2, which are sequentially arranged in the launch tube 1 and form a sealed cavity 3 with the inside of the launch tube 1. The water pump 4 is connected to one end of the launch port away from the launch tube 1. The reversing valve 5 is selectively connected to the sealed cavity 3 through a first pipeline 6; the water pump 4 is connected in series with a plurality of reversing valves 5 through a second pipeline 7 for conveying pressure liquid, and the reversing valves 5 are selectively connected; the plurality of reversing valves 5 are electrically connected to each other and to a submersible controller, and the submersible controller is used to control the switching and reversing of each reversing valve 5.

[0050] The sensor bracket 2 hereinafter refers to the sensor bracket 2 in a state where a sensor has been installed therein.

[0051] The sensor bracket 2 is ejected from the launch tube 1 from left to right in sequence. Because the buoyancy lost by the sensor bracket 2 with built-in sensors during delivery is equal to the weight of the sensor bracket 2 with built-in sensors, the delivery device always maintains buoyancy balance.

[0052] like Figure 2 As shown, the sensor bracket 2 (sensor is not shown) is arranged in sequence in the launch tube 1, and a sealing ring is arranged on the periphery to form a sealed cavity 3 with the interior of the launch tube 1. The reversing valve 5 is connected to the sealed cavity 3 through the first pipeline 6. Figure 7 The figure shows a partial view of the electrically controlled reversing valve 5. The first pipeline 6 is used to connect the reversing valve 5 and the sealed chamber 3. The cable 8 is connected in series to the reversing valves 5 of each stage and is connected to the submersible controller for controlling the switching of each reversing valve 5. The second pipeline 7 is connected in series to the reversing valves 5 of each stage and is connected to the front-end water pump 4 for conveying pressurized liquid.

[0053] Before launching, each reversing valve 5 is not connected to the corresponding sealed chamber 3, the sealed chamber 3 is filled with air, the reversing valves 5 are connected, and the water pump 4 is connected to the reversing valve 5; when launching, the submersible controller first controls the reversing valve 5 adjacent to the launching port to be connected to the sealed chamber 3, and the water pump 4 delivers pressurized liquid into the sealed chamber 3 until the water pressure in the sealed chamber 3 is higher than the external environmental water pressure and the resistance of the seal, and the sensor bracket 2 is ejected out of the launching tube 1 under the push of pressure, and at the same time, the submersible controller controls the reversing valve 5 adjacent to the launching end to be not connected to the adjacent reversing valve 5; similarly, the remaining sensor brackets 2 are separated from the launching tube 1 one by one.

[0054] In this example, the reversing valve 5 is an electromagnetic reversing valve 5 , and the cable 8 is a watertight cable 8 .

[0055] Taking the first-stage sensor bracket 2 as an example, its working principle is explained below.

[0056] Loading status: Figure 3 As shown, when the device is in water, the outside is water pressure (see the arrow on the left side of the figure indicating the water pressure), and the sealed cavity 3 is air. Due to the supporting structure of the sensor bracket 2, the air in the sealed cavity 3 will not be compressed. The pressure difference between the inside and the outside causes the sensor bracket 2 to be compressed in the axial direction as a whole, and it will not fall off from the launching barrel.

[0057] Release status: Control reversing valve 5 passes Figure 5 The first pipeline 6 shown injects water into the sealed chamber 3, and the pressure in the sealed chamber 3 will first reach the same level as the external environmental water pressure, and then be higher than the external environmental water pressure, and then the sensor bracket 2 will be ejected out of the launch tube 1 under the push of the pressure.

[0058] Principle of buoyancy balance: the buoyancy lost when the sensor bracket 2 of the present invention is deployed is equal to the weight of the sensor bracket 2 with the built-in sensor. The action of deploying the sensor will simultaneously lose buoyancy (i.e., the sealed cavity 3 is filled with water) and weight (the sensor bracket 2 is ejected), so that the overall buoyancy of the device remains balanced.

[0059] like Figure 1 As shown, the water pump 4 is located at the front end of the entire device, used to provide hydraulic power for casting, connected to the submersible through a watertight cable, and powered and controlled by the submersible. The output section of the water pump 4 is connected to the reversing valves 5 at various levels through the first pipeline 6. Figure 3 As shown, this is a schematic diagram of the device of the present invention being connected to a submersible, wherein the device is connected to the bottom of the submersible.

[0060] Figure 6 As shown, it is a partial view of the reversing valve 5. The reversing valve 5 is equipped with a control module. Each reversing valve 5 has a control module. The control modules are connected in series through a cable 8. The control module of the last stage reversing valve 5 near the water pump 4 of the device is provided with a watertight connector, which is connected to the submersible controller to realize the submersible to control each reversing valve 5 individually. The reversing valve 5 used in the device is a three-position four-way structure, which can control the water pressure from the second pipeline 7 to be connected only to the first pipeline 6 (A position) or only to the adjacent second pipeline 7 (B position) or cut off (C position).

[0061] Specifically, Figure 7As shown, the reversing valves 5 are numbered 1, 2, 3, 4...n from left to right. Before the first-stage sensor bracket 2 is ejected, all the reversing valves 5 are in the B position; when the first-stage sensor bracket 2 is ejected, the reversing valve 5 at position 1 is controlled to the A position to supply pressure into the sealed cavity 33, and the other reversing valves 5 are in the B position; when the second-stage sensor bracket 2 is ejected, the reversing valve 5 at position 2 is controlled to the A position to supply pressure into the sealed cavity 33, and the other reversing valves 5 are in the B position; the same steps are followed, and the corresponding valves can be ejected in turn for 3, 4, 5...n-stage sensor brackets 2.

[0062] After the first-stage sensor bracket 2 is ejected, the reversing valve 5 at position 1 is closed (to position C).

[0063] like Figure 8 As shown, the sensor bracket 2 includes a sealing portion, a supporting portion and an abutting portion. The outer surface of the sealing portion is adapted to the inner wall structure of the launch tube 1, and a sealing member for forming a seal with the inner wall of the launch tube 1 is also provided on the outer surface of the sealing portion. The mounting portion is in the shape of a cavity, which is used for the built-in sensor, and the mounting portion includes a plurality of supporting rods 22 to connect the sealing portion and the abutting portion. The abutting portion includes an annular plate 23, which is parallel to the end surface of the sealing portion away from the abutting portion end, and is used to abut against the adjacent sensor bracket 2.

[0064] Further, if Fig. 9 As shown, the sealing part is cylindrical, and the sealing member is an O-ring 21, two in number, arranged in parallel, and embedded in the side wall of the cylinder. A recessed groove is arranged near one end of the supporting part of the sealing part for fixing and installing the sensor.

[0065] Embodiment 2

[0066] The present invention proposes a method for autonomous buoyancy adjustment and sensor deployment device based on deep-water ARV, comprising the following steps:

[0067] S1. Multiple sensor brackets 2 with sensors installed are sequentially placed in the launch tube 1. The sealed chamber 3 is filled with air. The reversing valve 5 and the sealed chamber 3 are in a non-connected state. The water pump 4 and the reversing valve 5 are in a connected state.

[0068] S2. The launching device dives into the water. The outside of the sensor bracket 2 is under water pressure, and the sealed cavity 3 is filled with air. Due to the supporting structure of the sensor bracket 2, the air in the sealed cavity 3 will not be compressed. The pressure difference between the inside and outside makes the sensor bracket 2 as a whole axially compressed, and it will not fall off from the launching barrel.

[0069] S3, start the water pump 4, the water pump 4 delivers pressure liquid to each reversing valve 5, the submersible controller controls the reversing valve 5 adjacent to the launch port to communicate with the sealed chamber 3, the water pump 4 delivers pressure liquid into the sealed chamber 3, until the water pressure in the sealed chamber 3 is higher than the external environmental water pressure and the resistance of the seal, the sensor bracket 2 is ejected out of the launch tube 1 under the pressure, and at the same time the submersible controller controls the reversing valve 5 and the adjacent reversing valve 5 to be in a non-connected state;

[0070] S4. Repeat the previous step, and the remaining sensor brackets 2 are separated from the launch tube 1 one by one.

[0071] S5. After the submersible has completed the deployment of the sensor, it uses auxiliary devices such as manipulators to realize the recovery function. The implementation steps are as follows:

[0072] S51, grab the sensor bracket 2 by the manipulator, and put the sensor bracket 2 back into the launch tube 1;

[0073] S53, the submersible controller controls the water pump 4 to pump water in reverse to discharge the seawater in the launch tube 1; the water pump 4 is connected to the reversing valve 5, and the reversing valve 5 is connected to the sealed chamber 3;

[0074] S54, the sensor bracket 2 moves in the launch tube 1 as the seawater is discharged until it reaches the position before launching;

[0075] S55, after the sensor bracket 2 reaches the limit position, the water pump 4 continues to work to discharge the remaining seawater, forming an empty cabin sealed cavity 3 again to generate buoyancy;

[0076] S56. Repeat the above steps S51 to S55 until all sensor brackets 2 are recovered.

[0077] Specifically, in steps S3 and S4, the buoyancy lost when the sensor bracket 2 with the built-in sensor is deployed is equal to the weight of the sensor bracket 2 with the built-in sensor, so that the deployment device always maintains buoyancy balance.

[0078] The buoyancy balance principle is as follows:

[0079] The sealed chamber 3 is empty before launch, and the filling medium in the chamber is air, which provides buoyancy F in the water environment. 浮 , the buoyancy is related to the cavity volume V 腔体 and 海水 Related, that is, F 浮 =V 腔体 *ρ 海水 ;

[0080] The sensor bracket 2 with built-in sensor is in a negative buoyancy state in water, and its negative buoyancy is proportional to its own weight M in water. 水中 For the whole device, when F 浮1 +F浮2 +F 浮3 ......+F 浮n =M 水中1 +M 水中2 +M 水中3 ........+M 水中n The device as a whole is in a buoyancy balance state, where n is the number of sensor brackets 2. Since the external tank and water pump 4 do not participate in the sensor delivery process, their negative buoyancy is balanced by adding buoyancy materials in the submersible.

[0081] For a single sensor bracket 2 and its corresponding buoyancy seal chamber 3, the premise of buoyancy balance is F 浮1 =M 水中1 After the sensor model and working water area are confirmed, its own weight in water M 水中 and 海水 is a constant, the only remaining variable V can be calculated according to the above formula 腔体 value, while V 腔体 It is related to the length of the support rod 22 in the sensor bracket 2. Therefore, in the design stage, by adjusting the length of the support rod 22, the appropriate buoyancy parameters can be matched to achieve buoyancy balance before and after deployment.

[0082] The above-described embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. Autonomous buoyancy adjustment and sensor delivery device based on deepwater ARV, characterized in that: include: Launch tube (1); A sensor bracket (2) having a sensor installed therein, wherein the sensor brackets (2) are multiple in number and are sequentially arranged in the launch tube (1) and form a sealed cavity (3) with the interior of the launch tube (1); A water pump (4) is connected to an end of the launching port away from the launching tube (1); There are a plurality of reversing valves (5), and the reversing valves (5) are selectively connected to the sealed chamber (3) through a first pipeline (6); the water pump (4) and the plurality of reversing valves (5) are connected in series through a second pipeline (7) for conveying pressurized liquid, and the reversing valves (5) are selectively connected to each other; the plurality of reversing valves (5) are electrically connected to each other and to a submersible controller, and the submersible controller is used to control the switching and reversing of each reversing valve (5); The buoyancy lost by the sensor bracket (2) with the built-in sensor during deployment is equal to the weight of the sensor bracket (2) with the built-in sensor, so that the deployment device always maintains buoyancy balance; Before launching, each reversing valve (5) is in a non-connected state with the corresponding sealed chamber (3), the sealed chamber (3) is filled with air, the reversing valves (5) are connected, and the water pump (4) is connected with the reversing valve (5); during launching, the submersible controller first controls the reversing valve (5) adjacent to the launch port to be connected with the sealed chamber (3), and the water pump (4) delivers pressurized liquid into the sealed chamber (3) until the water pressure in the sealed chamber (3) is higher than the external environmental water pressure and the resistance of the seal, and the sensor bracket (2) is ejected out of the launch tube (1) under the push of the pressure, and at the same time, the submersible controller controls the reversing valve (5) adjacent to the launch end to be in a non-connected state with the adjacent reversing valve (5); similarly, the remaining sensor brackets (2) are separated from the launch tube (1) in sequence.

2. The autonomous buoyancy adjustment and sensor delivery device based on deepwater ARV according to claim 1, characterized in that: The sensor bracket (2) comprises a sealing portion, a supporting portion and an abutting portion; the outer surface of the sealing portion is adapted to the inner wall structure of the launch tube (1), and a sealing member for forming a seal with the inner wall of the launch tube (1) is also provided on the outer surface of the sealing portion; the mounting portion is in the shape of a cavity for built-in sensors, and the mounting portion comprises a plurality of supporting rods (22) for connecting the sealing portion and the abutting portion; the abutting portion comprises an annular plate (23), and the annular plate (23) is parallel to the end face of the sealing portion away from the abutting portion end, and is used to abut against an adjacent sensor bracket (2).

3. The autonomous buoyancy adjustment and sensor delivery device based on deepwater ARV according to claim 2, characterized in that: The sealing part is cylindrical, and the sealing member is an O-ring (21), two in number, arranged in parallel and embedded in the side wall of the cylinder. A recessed groove is arranged adjacent to one end of the supporting part of the sealing part for fixing and installing the sensor.

4. The autonomous buoyancy adjustment and sensor delivery device based on deepwater ARV according to claim 1, characterized in that: The reversing valve (5) is a three-position four-way structure, so as to enable the pressure liquid delivered by the water pump (4) to be connected with the sealing chamber (3), or to be connected with an adjacent reversing valve (5), or to be cut off.

5. The method of autonomous buoyancy adjustment and sensor deployment device based on deepwater ARV according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1. Multiple sensor brackets (2) equipped with sensors are sequentially placed in the launch tube (1), the sealed chamber (3) is filled with air, the reversing valve (5) and the sealed chamber (3) are in a non-connected state, and the water pump (4) and the reversing valve (5) are in a connected state; S2. The launching device is submerged in water. The outside of the sensor bracket (2) is under water pressure, and the inside of the sealed cavity (3) is filled with air. Due to the supporting structure of the sensor bracket (2), the air in the sealed cavity (3) will not be compressed. The pressure difference between the inside and outside causes the sensor bracket (2) to be compressed in the axial direction as a whole, and the sensor bracket (2) will not fall off from the launching barrel. S3, start the water pump (4), the water pump (4) delivers pressurized liquid to each reversing valve (5), the submersible controller controls the reversing valve (5) adjacent to the launch port to be connected with the sealed chamber (3), the water pump (4) delivers pressurized liquid into the sealed chamber (3), until the water pressure in the sealed chamber (3) is higher than the external environmental water pressure and the resistance of the seal, and the sensor bracket (2) is ejected out of the launch tube (1) under the push of the pressure, and at the same time, the submersible controller controls the reversing valve (5) and the adjacent reversing valve (5) to be in a non-connected state; S4. Repeat the previous step, and the remaining sensor brackets (2) are separated from the launch tube (1) one by one.

6. The method according to claim 5, characterized in that In steps S3 and S4, the buoyancy lost by the deployment of the sensor bracket (2) with a built-in sensor is equal to the weight of the sensor bracket (2) with a built-in sensor, so that the deployment device always maintains buoyancy balance.

7. The method according to claim 6, characterized in that The sealed chamber (3) is empty before deployment, and the filling medium in the chamber is air, which provides buoyancy F in the water environment. 浮 , the buoyancy is related to the cavity volume V 腔体 and 海水 Related, that is, F 浮 =V 腔体 * 海水 ; The sensor bracket (2) with a built-in sensor is in a negative buoyancy state in water, and the magnitude of the negative buoyancy is proportional to its own weight M in water. 水中 For the whole device, when F 浮1 +F 浮2 +F 浮3 ......+F 浮n =M 水中1 +M 水中2 +M 水中3 ........+M 水中n The device as a whole can be placed in a buoyancy balance state, wherein n is the number of sensor brackets (2). Since the external tank and water pump (4) are not involved in the sensor deployment process, their negative buoyancy is balanced by adding buoyancy materials in the submersible. For a single sensor bracket (2) and its corresponding buoyancy sealing chamber (3), the premise for buoyancy balance is that F 浮1 =M 水中1 After the sensor model and working water area are confirmed, its own weight in water M 水中 and 海水 is a constant, the only remaining variable V can be calculated according to the above formula 腔体 value, while V 腔体 It is related to the length of the support rod (22) in the sensor bracket (2), so by adjusting the length of the support rod (22), the appropriate buoyancy parameters can be matched to achieve buoyancy balance before and after launching.

8. The method according to claim 5, characterized in that The step S5 is also included. After the submersible completes the sensor deployment, the submersible implements the recovery function through the auxiliary device. The implementation steps are as follows: S51, grabbing the sensor bracket (2) by the auxiliary device, and placing the sensor bracket (2) back into the launch tube (1); S53, the submersible controller controls the water pump (4) to pump water in the reverse direction to discharge the seawater in the launch tube (1); S54, the sensor bracket (2) moves in the launch tube (1) as the seawater is discharged until it reaches the position before launching; S55, after the sensor bracket (2) reaches the limit position, the water pump (4) continues to work to discharge the remaining seawater, thereby forming an empty cabin sealing cavity (3) again and generating buoyancy; S56. Repeat the above steps S51 to S55 until all the brackets are recovered.

9. The method according to claim 7, characterized in that: In step S53, the water pump (4) is connected to the reversing valve (5), and the reversing valve (5) is connected to the sealed chamber (3).

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