Automatic laying and recycling module and method for anchor chain cleaning and detecting device

Abstract

The invention discloses an automatic laying and recycling module and method for an anchor chain cleaning and detecting device, the automatic laying and recycling module comprises a docking system and a transportation system, the transportation system is installed on an overwater system of the device, and the docking system is installed on an underwater system of the device; the automatic laying and recycling module automatically completes the following three steps: putting the device into water, clamping an anchor chain by the device, and returning the device to a ship, excessive human interference is not needed, errors of manual operation are reduced, the anchor chain cleaning and detecting device can more stably and efficiently complete tasks in a complex underwater environment, and the working efficiency is improved. And the maintenance efficiency and safety of the anchor chain are obviously improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine equipment, and particularly relates to an automatic deployment and recovery module and method for an anchor chain cleaning and detection device. Background Art

[0002] With the increasing size of ships and the growing emphasis on efficiency and safety of water platforms, the semi-automatic operation mode of traditional anchor chain cleaning and detection devices has been difficult to meet the requirements of high-efficiency operations. Manual deployment and recovery of anchor chains not only consume time and effort but also pose certain safety risks.

[0003] The existing deployment and recovery modules mainly have the following problems: Most of the robots in existing automatic deployment and recovery devices are cage-type recovery. Cage-type recovery has high requirements for the posture and environment of the robot, relatively poor load-bearing capacity and adaptability, and the cage structure is usually large, occupying more space, especially inconvenient to operate in complex environments. In addition, during the docking process with the anchor chain, the existing cleaning devices need to rely on manual docking, and the operating environment is limited to water. Summary of the Invention

[0004] The present invention provides an automatic deployment and recovery module and method for an anchor chain cleaning and detection device. On the basis of the existing anchor chain cleaning and detection device, a fully automatic deployment and recovery module is newly added. This module integrates intelligent control, laser positioning, and machine vision technologies to achieve automatic deployment, positioning, and recovery of the anchor chain, significantly improving the operation efficiency, reducing the risk of manual operation, and providing a more efficient and safe solution for the maintenance of anchor chains on ships and water platforms.

[0005] To solve the above problems, the technical solutions provided by the present invention are as follows:

[0006] An embodiment of the present invention provides an automatic deployment and recovery module for an anchor chain cleaning and detection device, including a docking system and a transportation system. The transportation system is installed on the water system of the device, and the docking system is installed on the underwater system of the device;

[0007] The docking system includes a multi-degree-of-freedom platform, which includes an upper clamping plate (1), an upper backing plate (4), a hydraulic rod (5), a lower backing plate (6), a lower clamping plate (7), and a guide groove (3). The upper clamping plate (1) and the lower clamping plate (7) are arranged in alignment. The upper backing plate (4) is installed at the bottom of the upper clamping plate (1), and the lower backing plate (6) is installed on the lower clamping plate (7). There are 3 connecting plates on both the upper backing plate (4) and the lower backing plate (6). One ends of 6 hydraulic rods (5) are sequentially connected to 3 connecting plates arranged at intervals on the upper backing plate (4), and the other ends of 6 hydraulic rods (5) are sequentially connected to 3 connecting plates arranged at intervals on the lower backing plate (6). The guide groove (3) is arranged at the central position of the upper clamping plate (1);

[0008] The transportation system includes a support frame (9), a shock absorption structure (10), guide vanes (11), and a square tongue lock striker (12). The shock absorption structure (10) is installed at the bottom of the support frame (9), and three guide vanes (11) are installed at the top of the support frame (9) and are inclined towards the center of the support frame (9). One square tongue lock striker (12) is installed on each guide vane (11), and the square tongue lock striker (12) is controlled by an electromagnetic lock to move up and down along the slideway of the guide vane (11).

[0009] During deployment, the electromagnetic lock is closed, and the square tongue lock striker (12) between the docking system and the transportation system is released, thus completing the separation of the docking system and the transportation system. During recovery, the docking system and the transportation system use laser positioning technology to accurately judge the relative position between the docking system and the transportation system. With the assistance of the thrusters of the underwater system, after the guide vanes (11) of the transportation system are inserted into the guide grooves (3) of the docking system, they are automatically locked by the square tongue lock striker (12) to complete the docking work during recovery.

[0010] In a preferred embodiment of the present invention, the docking system further includes a first array of positioning grooves (2) and a second array of positioning grooves (8), and the first array of positioning grooves (2) and the second array of positioning grooves (8) are respectively arranged in a circumferential manner on the upper clamping plate (1) and the lower clamping plate (7).

[0011] In a preferred embodiment of the present invention, the lower clamping plate (7) is fixed to the underwater system (13), and the upper clamping plate (1) can be docked with the transportation system; through the control of six hydraulic rods (5), it is used to ensure that the upper clamping plate (1) and the lower clamping plate (7) are in a relatively parallel posture.

[0012] In a preferred embodiment of the present invention, a relative attitude measuring device and five high-precision underwater displacement laser sensors are arranged on the upper clamping plate (1). The five high-precision underwater displacement laser sensors are used for micro-distance measurement and can achieve high-precision measurement of the relative attitude between the docking system and the transportation system; when the upper clamping plate (1) faces the transportation system, the laser sensors can measure the distances between two surfaces at five known points, and the relative attitude between the docking system and the transportation system can be calculated through this data and the installation matrix of the laser sensors.

[0013] In a preferred embodiment of the present invention, the square tongue lock striker (12) is made of high-strength steel or stainless steel, and the hardness of the square tongue lock striker (12) is greater than HRC50.

[0014] The embodiment of the present invention provides an automatic deployment and recovery method for an anchor chain cleaning and detection device, including the following steps:

[0015] Step 1, Detection and Deployment: Locate and arrange each functional kit on the platform or deck, including the control cabinet, power cabinet, umbilical winch, and high-pressure water pump station. Connect the umbilical cable and check the stability and safety of the connection. After the preparation work is completed, start the deployment operation: The winch rope will hoist the automatic deployment and recovery device and the connected underwater system to the underwater target position, about 5 meters within the radius of the anchor chain. When the underwater system reaches the predetermined position, release the tongue lock latch and start moving towards the target position. During the movement, the underwater system remains in a fully deployed posture, with the upper clamping device of the underwater system as the head and the lower clamping device of the underwater system as the tail, and the underwater system is pushed to move by the propeller thruster, and the movement posture can be adjusted. The length and tension of the umbilical cable will be automatically adjusted according to the position of the underwater system to ensure the stability of power supply and communication.

[0016] Step 2, Locate the Anchor Chain: After the underwater system is deployed underwater, it will activate the machine vision module to search for the nearby anchor chain. If no anchor chain is found within the detectable range, the underwater system will perform a circular motion within a circle with a radius of 10 meters centered on itself. If the anchor chain is not found within five minutes, a prompt will be sent to the shore, and at this time, manual operation can be used to make the underwater system approach the anchor chain. When the underwater system detects and approaches the anchor chain, it will select a section of the anchor chain through the equipped machine vision module, measure the attitude, position of the current anchor chain, and the relative distance from the underwater system, and use the propeller thruster to adjust its own attitude and position. During the positioning process of approaching the anchor chain, the machine vision module is responsible for precise positioning, and the guide plate will also assist in the precise docking with the anchor chain. Subsequently, the underwater system activates the clamping mechanism to firmly lock the anchor chain.

[0017] Step 3, Disengagement and Recovery: The underwater system is equipped with a positioning system that can receive the positioning information sent by the recovery module. After completing the cleaning and detection work, the underwater system will return to the position of the automatic deployment and recovery device according to the positioning information, align with the docking system of the automatic deployment and recovery device through laser positioning, and perform the docking automatically underwater. The docking module mainly relies on the positioning and transportation module to complete the docking locking stage, which can be divided into three stages: guiding, positioning, and suction. Guiding stage: The main guiding flap and the guiding groove cooperate with each other to complete the preliminary guiding work in the early stage of the docking process. Positioning stage: The positioning pin enters the cooperation range of the positioning groove to achieve precise positioning. Locking stage: When the guiding groove and the guiding flap are successfully matched, the tongue lock latch will automatically lock. After the docking is completely completed, the winch on the ship will lift the automatic deployment and recovery device and the underwater system, that is, the recovery work is completed.

[0018] Compared with the prior art, the automatic deployment and recovery module and method of the anchor chain cleaning and detection device provided by the embodiments of the present invention have the following beneficial effects: The present invention adds a module for fully automatic execution of deployment and recovery operations to the anchor chain cleaning and detection device. The automatic deployment and recovery module can automatically complete the following three steps: putting the device into the water, clamping the anchor chain by the device, and returning the device to the ship. It requires little human intervention, reduces the error of manual operation, enables the anchor chain cleaning and detection device to complete tasks more stably and efficiently in complex underwater environments, and significantly improves the efficiency and safety of anchor chain maintenance. In addition, the present invention can handle recovery work under different conditions. Regardless of the size and attitude of the items to be recovered, as long as the necessary components are installed, fully automatic deployment and recovery can be achieved. Therefore, the present invention is not only applicable to the anchor chain cleaning and detection device, but also can be applied to other underwater robots in the same field. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 Top view of the docking system of the automatic deployment and recovery module of an anchor chain cleaning and detection device provided by an embodiment of the present application.

[0021] Figure 2 Front view of the docking system of the automatic deployment and recovery module of an anchor chain cleaning and detection device provided by an embodiment of the present application.

[0022] Figure 3 Partial structural schematic diagram of the docking system of the automatic deployment and recovery module of an anchor chain cleaning and detection device provided by an embodiment of the present application.

[0023] Figure 4 Three-dimensional view of the docking system of the automatic deployment and recovery module of an anchor chain cleaning and detection device provided by an embodiment of the present application.

[0024] Figure 5 Front view of the transportation system of the automatic deployment and recovery module of an anchor chain cleaning and detection device provided by an embodiment of the present application.

[0025] Figure 6 Top view of the transportation system of the automatic deployment and recovery module of an anchor chain cleaning and detection device provided by an embodiment of the present application.

[0026] Figure 7Stereogram of the transportation system of the automatic deployment and recovery module of an anchor chain cleaning and detection device provided by an embodiment of the present application.

[0027] Figure 8 Schematic diagram of the installation method of a docking system and an underwater system provided by an embodiment of the present application.

[0028] Figure 9 Partial schematic diagram of the docking effect between a docking system and a transportation system provided by an embodiment of the present application.

[0029] Figure 10 Schematic diagram of the overall docking effect between a docking system and a transportation system provided by an embodiment of the present application.

[0030] Figure 11 Schematic diagram of the deployment process of the automatic deployment and recovery module of an anchor chain cleaning and detection device provided by an embodiment of the present application.

[0031] Figure 12 Schematic diagram of the horizontal motion posture of a docking system and an underwater system provided by an embodiment of the present application.

[0032] Figure 13 Schematic diagram of the tilting motion posture of a docking system and an underwater system provided by an embodiment of the present application.

[0033] Figure 14 Schematic diagram of the positioning of the clamping device of an underwater system provided by an embodiment of the present application.

[0034] Figure 15 Schematic diagram of the recovery process of the automatic deployment and recovery module of an anchor chain cleaning and detection device provided by an embodiment of the present application. Detailed implementation manners

[0035] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application. The "upper", "lower", "front", "rear", "left", "right", etc. used when describing the installation position or direction of the structure or components in this embodiment are based on the orientation of the given drawings. They are only for the convenience of description to distinguish the relative positions of the components or directions, and do not represent the orientation when the device or components in this embodiment are used.

[0036] Such as Figures 1 - 14As shown in the figure, an automatic deployment and recovery module of an anchor chain cleaning and detection device is provided in an embodiment of the present invention, which includes a docking system and a transportation system. The transportation system is installed on the water system of the device, and the docking system is installed on the underwater system of the device. The anchor chain cleaning and detection device of this embodiment includes a water system and an underwater system 13. The water system consists of a winch rope, a monitoring system, and an artificial control system, and is used to control and monitor the underwater system. The underwater system 13 consists of a central module, a robotic arm, a connecting bearing, and a clamping device 14, and is used for underwater anchor chain cleaning and detection work. The present invention includes a docking system and a transportation system. The transportation system is installed on the water system of the anchor chain cleaning and detection device, and the docking system is installed on the underwater system. The installation method is as Figure 8 shown.

[0037] As Figure 1 , Figure 2 , Figure 3 and Figure 4 shown, the docking system includes a multi-degree-of-freedom platform, which includes an upper clamping plate 1, an upper backing plate 4, a hydraulic rod 5, a lower backing plate 6, a lower clamping plate 7, and a guide groove 3. The upper clamping plate 1 and the lower clamping plate 7 are arranged in alignment. The upper backing plate 4 is installed at the bottom of the upper clamping plate 1, and the lower backing plate 6 is installed on the lower clamping plate 7. There are 3 connecting plates on both the upper backing plate 4 and the lower backing plate 6. One end of 6 hydraulic rods 5 is sequentially connected to 3 connecting plates arranged at intervals on the upper backing plate 4, and the other end of 6 hydraulic rods 5 is sequentially connected to 3 connecting plates arranged at intervals on the lower backing plate 6; the guide groove 3 is arranged at the center position of the upper clamping plate 1.

[0038] As Figure 5 , Figure 6 and Figure 7 shown, the transportation system includes a support frame 9, a shock absorption structure 10, a guide flap 11, and a square tongue lock striker 12. The shock absorption structure 10 is installed at the bottom of the support frame 9. Three guide flaps 11 are installed at the top of the support frame 9 and are inclined towards the center of the support frame 9. One square tongue lock striker 12 is installed on each guide flap 11, and the square tongue lock striker 12 is controlled by an electromagnetic lock to move up and down along the slideway of the guide flap 11. The square tongue lock striker 12 is made of high-strength steel or stainless steel, and its hardness is greater than HRC50.

[0039] As Figure 8 , Figure 9 , Figure 10 and Figure 11As shown, the docking system and the transportation system can be locked to each other through the tongue lock latch 12. During deployment, the electromagnetic lock is closed, and the tongue lock latch 12 between the docking system and the transportation system is released, thus completing the separation of the docking system and the transportation system. During recovery, the docking system and the transportation system use laser positioning technology to accurately determine the relative position between the docking system and the transportation system. With the assistance of the thrusters of the underwater system, after the guiding flap 11 of the transportation system inserts into the guiding groove 3 of the docking system, it is automatically locked through the tongue lock latch 12 to complete the docking work during recovery. During the docking process, the underwater system will maintain a fully deployed posture. After docking, the effect is as Figure 10 shown.

[0040] The docking system further includes a first array of positioning grooves 2 and a second array of positioning grooves 8, which are respectively arranged in a circumferential manner on the upper clamping plate 1 and the lower clamping plate 7. The lower clamping plate 7 is fixed to the underwater system 13, and the upper clamping plate 1 can be docked with the transportation system. Through the control of six hydraulic rods 5, it is used to ensure that the upper clamping plate 1 and the lower clamping plate 7 are in a relatively parallel posture. A relative attitude measuring device and five high-precision underwater displacement laser sensors are arranged on the upper clamping plate 1. The five high-precision underwater displacement laser sensors are used for micro-distance measurement and can achieve high-precision measurement of the relative attitude between the docking system and the transportation system. When the upper clamping plate 1 faces the transportation system, the laser sensors can measure the distances between the two surfaces at five known points, and the relative attitude between the docking system and the transportation system can be calculated through this data and the laser sensor installation matrix.

[0041] The underwater displacement laser sensors in this embodiment have high precision and high reliability, and can meet the positioning requirements in complex environments. Experimental data shows that the positioning accuracy of the laser sensors in the underwater environment can reach ±1.5 mm to ±5 mm, and in turbid waters with a visibility of 0.5 - 2 m, the positioning success rate is as high as 90% - 98%. In addition, the positioning error of the system at a flow rate of 0.3 - 0.5 m / s is less than 5 mm, and the response time is only 0.1 s, which can quickly adapt to dynamic environmental changes. These data prove that the underwater displacement laser sensors are reliable enough and are very suitable for application in the docking process of this project, and can achieve high-precision docking and recovery operations, ensuring the stability and efficiency of the system in complex underwater environments.

[0042] The guiding flap 11 is used to dock with the docking system, and the lower end of the transportation system can be fixed to the water system. The guiding flaps 11 are evenly installed around the center of the docking system. The guiding flap 11 has a three-lobe structure and can complete preliminary three-axis guiding at the initial stage of docking. The tongue lock latch 12 is installed at the center of the guiding flap 11 and can move along the normal direction of the guiding flap 11. The shock-absorbing structure 10 is used to reduce the force generated by the collision during docking.

[0043] According to the test data, the high-quality square tongue lock striker 12 can still keep the lock tongue from retracting when bearing an impact force exceeding 1000 kg, ensuring that the lock structure cannot be forced open. The lock tongue of the square tongue lock striker 12 is made of high-strength steel or stainless steel, with a hardness of above HRC50, which can effectively resist external force damage. Since the mass of the anchor chain cleaning and detection robot and the value of the external force it receives are much smaller than the maximum value that the locking structure can bear, the strength of the locking structure is sufficient for application in the anchor chain cleaning and detection device.

[0044] This automatic deployment and recovery device can automatically complete the following three steps: putting the device into the water, clamping the anchor chain by the device, and the device returning to the ship. It requires little human intervention, reduces the error of manual operation, enables the anchor chain cleaning and detection device to complete tasks more stably and efficiently in complex underwater environments, and significantly improves the efficiency and safety of anchor chain maintenance. In addition, the present invention can handle recovery work in different situations. Regardless of the size and attitude of the item to be recovered, as long as necessary components are installed, fully automatic deployment and recovery can be achieved. Therefore, the present invention is not only applicable to the anchor chain cleaning and detection device of the present invention, but also can be applied to other underwater robots in the same field. Since a fully automatic deployment and recovery device is newly added to the anchor chain cleaning and detection device, the work process has changed greatly compared with the original, and the manual operation links are subtracted in many steps. However, when the device encounters special situations, some work process troubles can still be solved through manual operation.

[0045] Specifically, an embodiment of the present invention further provides an automatic deployment and recovery method for anchor chain cleaning and detection, including the following steps:

[0046] Step 1, detection and deployment: Arrange and position each functional kit on the platform or deck, including the control cabinet, power cabinet, umbilical cable winch, and high-pressure water pump station, connect the umbilical cable, check the stability and safety of the connection. After the preparation work is completed, start the deployment operation: Use the winch rope to lift the automatic deployment and recovery device and the connected underwater system to the underwater target position, about 5 meters around the anchor chain; as Figure 11 shown, when the underwater system reaches the predetermined position, release the square tongue lock striker 12 and start moving towards the target position. During the movement, the underwater system still maintains a fully deployed posture, with the upper clamping device of the underwater system 13 as the head and the lower clamping device of the underwater system as the tail. The underwater system is pushed to move by the propeller thruster, and the movement posture can be adjusted. As Figure 12 and Figure 13 shown, clamping devices 14 are provided at both ends of the underwater system 13, one end is the upper clamping device and the other end is the lower clamping device. The length and tension of the umbilical cable will be automatically adjusted according to the position of the underwater system to ensure the stability of power supply and communication.

[0047] Step 2, Locate the anchor chain: After the underwater system is deployed underwater, the underwater system will activate the machine vision module to search for nearby anchor chains. If no anchor chain is found within the detectable range, the underwater system will perform a circular motion within a circle with a radius of 10 meters centered on itself. If no anchor chain is found within five minutes, a prompt will be sent to the shore, and at this time, manual operation can be used to make the underwater system approach the anchor chain. When the underwater system detects and approaches the anchor chain, the underwater system will select a piece of anchor chain through the equipped machine vision module, measure the attitude, position, and relative distance from the underwater system of the current anchor chain, and use the propeller thruster to adjust its own attitude and position. As Figure 14 shown in the positioning schematic diagram, during the positioning process of approaching the anchor chain, the machine vision module is responsible for precise positioning, and the guide plate will also assist in the precise docking with the anchor chain. Subsequently, the underwater system activates the clamping mechanism to firmly lock the anchor chain. In this embodiment of Figure 14 the clamping device 14 is also provided with a plurality of clamping mechanisms 15 and guide plates 16, and the plurality of clamping mechanisms 15 and guide plates 16 are used to fix the anchor chain 13.

[0048] Step 3, Detach and recover: The underwater system is equipped with a positioning system and can receive the positioning information sent by the recovery module. After completing the cleaning and detection work, the underwater system will return to the position of the fully automatic deployment and recovery device according to the positioning information, align with the docking system of the fully automatic deployment and recovery device through laser positioning, and perform docking automatically underwater. As Figure 15 shown, the docking module mainly relies on the positioning and transportation module to complete the docking and locking stage, and this process can be divided into three stages: guiding, positioning, and suction. Guiding stage: The main guiding flap and the guiding groove cooperate with each other to complete the preliminary guiding work in the early stage of the docking process. Positioning stage: The positioning pin enters the cooperation range of the positioning groove to achieve the purpose of precise positioning. Locking stage: When the guiding groove and the guiding flap are successfully matched, the square tongue lock striker will automatically lock. After the docking is completely completed, the ship's winch rope will pull up the fully automatic deployment and recovery device and the underwater system, that is, the recovery work is completed.

[0049] Although the present invention has been disclosed above with preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those of ordinary skill in the art can make various modifications and alterations without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. An automatic deployment and recovery module of an anchor chain cleaning and detection device, characterized in that, It includes a docking system and a transportation system. The transportation system is installed on the water system of the device, and the docking system is installed on the underwater system of the device; The docking system includes a multi-degree-of-freedom platform, which includes an upper clamping plate (1), an upper backing plate (4), a hydraulic rod (5), a lower backing plate (6), a lower clamping plate (7) and a guide groove (3). The upper clamping plate (1) and the lower clamping plate (7) are arranged in alignment. The upper backing plate (4) is installed at the bottom of the upper clamping plate (1), and the lower backing plate (6) is installed on the lower clamping plate (7). There are 3 connecting plates on both the upper backing plate (4) and the lower backing plate (6). One end of 6 hydraulic rods (5) is sequentially connected to 3 connecting plates arranged at intervals on the upper backing plate (4), and the other end of 6 hydraulic rods (5) is sequentially connected to 3 connecting plates arranged at intervals on the lower backing plate (6). The guide groove (3) is arranged at the center position of the upper clamping plate (1); The transportation system includes a support frame (9), a shock absorption structure (10), guide vanes (11) and a square tongue lock striker (12). The shock absorption structure (10) is installed at the bottom of the support frame (9). 3 guide vanes (11) are installed at the top of the support frame (9) and are inclined towards the center of the support frame (9). One square tongue lock striker (12) is installed on each guide vane (11), and the square tongue lock striker (12) is controlled by an electromagnetic lock to move up and down along the slideway of the guide vane (11); During deployment, the electromagnetic lock is closed, and the square tongue lock striker (12) between the docking system and the transportation system is released, and the separation between the docking system and the transportation system can be completed. During recovery, the docking system and the transportation system use laser positioning technology to accurately judge the relative position between the docking system and the transportation system. With the assistance of the thruster of the underwater system, after the guide vane (11) of the transportation system is inserted into the guide groove (3) of the docking system, it is automatically locked by the square tongue lock striker (12) to complete the docking work during recovery.

2. The automatic deployment and recovery module of an anchor chain cleaning and detection device according to claim 1, characterized in that, The docking system further includes a first array of positioning grooves (2) and a second array of positioning grooves (8), and the first array of positioning grooves (2) and the second array of positioning grooves (8) are respectively arranged in a circumferential manner on the upper clamping plate (1) and the lower clamping plate (7).

3. The automatic deployment and recovery module of an anchor chain cleaning and detection device according to claim 2, characterized in that, The lower clamping plate (7) is fixed to the underwater system (13), and the upper clamping plate (1) can be docked with the transportation system; through the control of six hydraulic rods (5), it is used to ensure that the upper clamping plate (1) and the lower clamping plate (7) are in a relatively parallel posture.

4. The automatic deployment and recovery module of an anchor chain cleaning and detection device according to claim 3, characterized in that, The upper clamping plate (1) is provided with a relative attitude measuring device and 5 high-precision underwater displacement laser sensors. The 5 high-precision underwater displacement laser sensors are used for micro measurement and can achieve high-precision measurement of the relative attitude between the docking system and the transportation system; when the upper clamping plate (1) faces the transportation system, the laser sensors can measure the distances between two surfaces at 5 known points, and the relative attitude between the docking system and the transportation system can be calculated through this data and the installation matrix of the laser sensors.

5. The automatic deployment and recovery module of an anchor chain cleaning and detection device according to claim 1, characterized in that, The square tongue lock striker (12) is made of high-strength steel or stainless steel, and the hardness of the square tongue lock striker (12) is greater than HRC50.

6. An automatic deployment and recovery method for an anchor chain cleaning and detection device, characterized in that, It includes the following steps: Step 1, Detection and Deployment: Locate and deploy each functional kit on the platform or deck, including the control cabinet, power cabinet, umbilical cable winch, and high-pressure water pump station, connect the umbilical cable, check the stability and safety of the connection. After the preparatory work is completed, start the deployment operation: The winch rope will hoist the automatic deployment and recovery device and the connected underwater system to the underwater target position, at a position about 5 meters around the anchor chain; when the underwater system reaches the predetermined position, release the square tongue lock striker and start moving towards the target position. During the movement, the underwater system still maintains a fully deployed posture, with the upper clamping device of the underwater system as the head and the lower clamping device of the underwater system as the tail, and the underwater system is pushed to move by the propeller thruster, and the movement posture can be adjusted; the length and tension of the umbilical cable will be automatically adjusted according to the position of the underwater system to ensure the stability of power supply and communication. Step 2, Locate the Anchor Chain: After the underwater system is deployed underwater, the underwater system will activate the machine vision module to search for the nearby anchor chain; if no anchor chain is found within the detectable range, the underwater system will make a circular motion within a circle with a radius of 10 meters centered on itself; if the anchor chain is not found within five minutes, a prompt will be sent to the shore, and at this time, the underwater system can be manually operated to approach the anchor chain; when the underwater system detects and approaches the anchor chain, the underwater system will select a section of the anchor chain through the equipped machine vision module, measure the posture, position of the current anchor chain and the relative distance from the underwater system, and use the propeller thruster to adjust its own posture and position; during the positioning process of approaching the anchor chain, the machine vision module is responsible for precise positioning, and the guide plate will also assist in the precise docking with the anchor chain. Subsequently, the underwater system activates the clamping mechanism to firmly lock the anchor chain. Step 3, Disengagement and Recovery: The underwater system is equipped with a positioning system and can receive the positioning information sent by the recovery module; after completing the cleaning and detection work, the underwater system will return to the position of the automatic deployment and recovery device according to the positioning information, align with the docking system of the automatic deployment and recovery device through laser positioning, and perform docking automatically underwater; the docking module mainly relies on the positioning and transportation module to complete the docking locking stage, and this process can be divided into three stages: guiding, positioning, and suction; Guiding stage: The main guiding lobe and the guiding groove cooperate with each other to complete the preliminary guiding work in the early stage of the docking process; Positioning stage: The positioning pin enters the cooperation range of the positioning groove to achieve the purpose of precise positioning; Locking stage: When the guiding groove and the guiding lobe are successfully matched, the square tongue lock striker will automatically lock. After the docking is completely completed, the winch on the ship will hoist the automatic deployment and recovery device and the underwater system, that is, the recovery work is completed.

Images