ROV-oriented underwater multi-mode laying and recovery system and method

Abstract

The invention relates to the technical field of underwater robots, in particular to an underwater multi-mode laying and recovery system and method for an ROV. The system comprises a first support, a second support, a third support and a mechanical arm, a first electric driving device for driving the second support to horizontally move is installed on the first support, the second support is slidably installed on the first support, and a second electric driving device for driving the mechanical arm to horizontally move is installed on the second support. The driving direction of the second electric driving device is perpendicular to the driving direction of the first electric driving device, and the bottom of the second support is connected with a hydraulic driving device used for driving the mechanical arm to move longitudinally. And a third electric driving device for driving the first bracket to move longitudinally is mounted on the third bracket. Movement of the mechanical arm is achieved through the electric driving device under the calm sea condition, the degree of freedom is high, precision is high, the mechanical arm is driven to move through the hydraulic driving device under the complex sea condition, and the working stability of the recovery system under the complex sea condition is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, and particularly relates to a multi-mode underwater deployment and recovery system for ROV and a method thereof. BACKGROUND

[0002] With the rapid growth of marine resource development and underwater exploration demand, the requirements for underwater equipment deployment and recovery system are increasingly improved. Although the traditional hydraulic drive type recovery system can meet the basic operation requirements, it has many shortcomings in practical application. This kind of system needs to replace the hose and filter regularly, and the maintenance operation is frequent and costly, and there is a risk of hydraulic oil leakage, which cannot meet the strict requirements of modern marine operation on environmental performance. In terms of space arrangement, the traditional system needs to set up a separate hydraulic pump station, which occupies a large amount of activity space, which not only increases the system complexity, but also prolongs the equipment delivery cycle. In terms of control performance, the integration degree and control accuracy of the hydraulic system are low, and it is difficult to realize high-precision real-time state monitoring and remote operation function. While the scheme of directly using electric cylinder to replace hydraulic cylinder solves part of the environmental protection problem, but the system arrangement is complex, and it performs poorly under heavy load operation conditions, and the control accuracy is still difficult to meet the requirements of many high-requirement operation scenes.

[0003] In the prior art, the underwater equipment recovery system generally has the problem of insufficient adaptability. In complex sea conditions, a single degree of freedom design is difficult to meet the multi-dimensional attitude adjustment demand, resulting in a significant decrease in docking success rate. The capture mechanism often lacks sufficient flexibility and cannot quickly respond to the spatial position changes of the sub-machine under the action of waves. The locking mechanism mostly adopts a simple mechanical fixing method and lacks intelligent correction capability, and under the continuous wave disturbance, docking failure may occur. In addition, the coordination between the functional units of the system is poor, and it is difficult to realize the fully automated deployment and recovery operation process, and still needs to rely on a large amount of manual intervention. These problems are particularly prominent in deep sea operation environment. The sealing performance of the traditional hydraulic system in high pressure environment decreases significantly, and the failure rate increases substantially. The mechanical guide mechanism cannot effectively compensate for the relative motion between the mother ship and the sub-machine, and there is a lack of reliable real-time monitoring means, which makes the whole operation process have a great safety hazard. Therefore, developing a multi-mode deployment and recovery system with high integration, fast response capability and precise control performance has become a technical problem to be solved in the field of modern marine engineering. SUMMARY

[0004] In view of the technical problems of the existing underwater equipment deployment and recovery system, such as low degree of freedom, poor precision and poor recovery efficiency in complex sea conditions, a multi-mode underwater deployment and recovery system for ROV and a method thereof are provided.

[0005] The technical means adopted by the present application are as follows:

[0006] The underwater multi-mode laying and recovering system for ROV comprises a first support, a second support, a third support and a mechanical arm, the first support is provided with a first power driving device for driving the second support to move horizontally, the second support is slidingly installed on the first support, the second support is provided with a second power driving device for driving the mechanical arm to move horizontally, the driving direction of the second power driving device is perpendicular to the driving direction of the first power driving device, the bottom of the second support is connected with a hydraulic driving device for driving the mechanical arm to move longitudinally, the mechanical arm is connected with the output end of the hydraulic driving device; two third supports are respectively arranged on the two sides of the first support, the third support is provided with a third power driving device for driving the first support to move longitudinally, and the two ends of the first support are respectively connected with the output ends of the corresponding third power driving devices.

[0007] Further, the first power driving device comprises a first rack and a first motor, the first motor is installed on the second support, the first rack is installed on the first support, the output end of the first motor is installed with a first gear wheel engaged with the first rack, the first support is installed with a first guide rail parallel to the first rack, and the second support is slidingly installed on the first guide rail; the second power driving device comprises a second rack and a second motor, the second rack is installed on the second support and is perpendicular to the first rack, the second motor is installed with a second gear wheel engaged with the second rack, the top of the hydraulic driving device is installed with a support plate, the bottom of the second support is installed with a second guide rail parallel to the second rack, the support plate is slidingly installed on the second guide rail, and the second motor is installed on the support plate.

[0008] Further, the third power driving device comprises a third rack and a third motor, the third rack is longitudinally installed on the third support, the third support is longitudinally installed with a guide rod, the guide rod is slidingly installed with a guide plate, the third motor is installed on the guide plate, the output end of the third motor is installed with a first bevel gear, the guide plate is installed with a bearing seat, the bearing seat is installed with a rotating shaft through a bearing, the rotating shaft is installed with a second bevel gear engaged with the first bevel gear, the end of the rotating shaft is installed with a third gear engaged with the third rack, the guide plate is installed with a bent connecting plate, and the connecting plate is connected with the first support.

[0009] Further, the third support is installed in a cabin, the cabin has an open-bottomed cubic shape, the cabin is installed with a first hinge support and a rudder on the inner walls on the two sides of the first support, the first hinge support is hinged with a first rotating rod, the output end of the rudder is connected with a second rotating rod, and the second rotating rod is rotationally connected with the first rotating rod and the extrusion rod between adjacent first rotating rods.

[0010] Further, a second hinge support is installed on the inner wall of the cabin body, the second hinge support is located above the first hinge support and is integrally formed with the first hinge support, the second hinge support is hinged to the first limiting rod, one end of the first limiting rod is hinged to the second limiting rod, and the other end of the second limiting rod is hinged to the first rotating rod.

[0011] Further, the surface of the extrusion rod is coated with an elastic composite material layer, and the surface of the elastic composite material layer is provided with anti-skid lines.

[0012] Further, the hydraulic driving device is a scissor type hydraulic lifting platform.

[0013] Further, a mechanical clamping groove is arranged on the inner side of the mechanical gripper of the mechanical arm.

[0014] Further, a network camera and an acoustic sensor are installed on the mechanical arm.

[0015] A ROV-oriented underwater multi-mode laying and recovering method is realized by using the ROV-oriented underwater multi-mode laying and recovering system, and the method comprises the following steps:

[0016] The sea conditions are judged, when the judgment result is a calm sea condition, the sub-machine is floated up, and when the judgment result is a complex sea condition, the sub-machine is sunk to the bottom and stationary;

[0017] The recovering system is driven by the autonomous underwater vehicle to reach above the sub-machine;

[0018] The pose of the sub-machine is positioned by the network camera and the acoustic sensor, and the method comprises the following steps:

[0019] The world coordinates of the feature points on the sub-machine in the world coordinate system are obtained, the world coordinates of the feature points of the sub-machine are projected to the pixel plane to obtain the pixel coordinates of the feature points of the sub-machine through the network camera intrinsic matrix, and the calculation formula is as follows:

[0020]

[0021] In the formula, (u, v) is the pixel coordinates of the feature points of the sub-machine, K is the camera intrinsic matrix, Z c is the depth of the feature points of the sub-machine in the camera coordinate system, is the rotation matrix of the camera relative to the world coordinate system, P w is the world coordinates of the feature points of the sub-machine, is the translation vector of the feature points of the sub-machine in the world coordinate system, and wherein:

[0022]

[0023] In the formula, (f x ,f y ) is the focal length of the camera, and (u0, v0) is the principal point coordinates.

[0024] Calculate the depth of the sub-machine feature point. Use the acoustic sensor to obtain the depth of the sub-machine feature point in the camera coordinate system. Combine the pixel coordinates to obtain the three-dimensional coordinates of the sub-machine feature point in the camera coordinate system, and then obtain the depth of the sub-machine feature point in the camera coordinate system. The calculation formula is as follows:

[0025]

[0026] Where: P c is the 3D coordinate of the sub-machine feature point in the camera coordinate system;

[0027] Combining the world coordinates and pixel coordinates of the sub-machine feature points, the position of the sub-machine relative to the camera is solved by minimizing the reprojection error The calculation formula is as follows:

[0028]

[0029] Where: is the rotation matrix from the sub-machine feature point to the camera, is the translation vector of the sub-machine feature point in the camera coordinate system, n is the number of feature points on the sub-machine, n≥3, p i is the pixel coordinate of the feature point of the i-th sub-machine, p i =(u i ,v i ),π(·) is the projection function, is the world coordinate of the feature point of the i-th sub-machine;

[0030] In calm sea conditions, the first, second, and third electric drive devices drive the second bracket to move horizontally and vertically based on the calculation results, allowing the robotic arm to capture the sub-machine. In complex sea conditions, the first and second electric drive devices drive the second bracket to move horizontally based on the calculation results, allowing the robotic arm to reach above the sub-machine, and the hydraulic drive device drives the robotic arm to move vertically to capture the sub-machine.

[0031] Mission completed.

[0032] Compared with the prior art, the present invention has the following advantages:

[0033] The robot arm is moved in the horizontal direction by the first electric drive device and the second electric drive device. In calm sea conditions, the robot arm is moved in the vertical direction by the third electric drive device. In complex sea conditions, the robot arm is moved in the vertical direction by the hydraulic drive device. The robot arm can move in three-dimensional space with a high degree of freedom. In calm sea conditions, the robot arm is moved by the electric drive device, which has high precision and can achieve more accurate positioning between the robot arm and the sub-machine. In complex sea conditions, the robot arm is driven to move by the hydraulic drive device, which can adapt to harsh working environments and improve the stability of the recovery system in complex sea conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0035] Figure 1 The present invention discloses an internal structure of a cabin of an underwater multi-mode deployment and recovery system for ROV.

[0036] Figure 2 For the present invention Figure 1 main view.

[0037] Figure 3 For the present invention Figure 1 side view.

[0038] Figure 4 This is a top view of an underwater multi-mode deployment and recovery system for ROVs according to the present invention.

[0039] Figure 5 This is a bottom view of an underwater multi-mode deployment and recovery system for ROVs according to the present invention.

[0040] Figure 6 This is a structural diagram of the third electric drive device of an underwater multi-mode deployment and recovery system for ROVs according to the present invention.

[0041] Figure 7 This is a three-dimensional diagram of an extrusion device of an underwater multi-mode deployment and recovery system for ROVs according to the present invention.

[0042] Figure 8 For the present invention Figure 7 A partial enlarged view of point A in the middle.

[0043] Figure 9 For the present invention Figure 2 A partial enlarged view of point B in the middle.

[0044] Figure 10 A perspective view of a ROV-oriented underwater multi-mode laying and recovering system in a working state according to the present application.

[0045] Figure 11 A flow chart of the working process of a ROV-oriented underwater multi-mode laying and recovering system according to the present application.

[0046] In the figure: 1, guide rod; 2, first rack; 3, first guide rail; 4, first gear; 5,

[0047] Second motor; 6, hydraulic drive device; 7, upper installation network camera; 8, mechanical arm; 9, steering engine; 10, second rotating rod; 11, extrusion rod; 12, first hinged support; 13, acoustic sensor; 14, first support; 15, second support; 16, third support; 17, first motor; 18, second rack; 19, second gear; 20, third gear; 21, first rotating rod; 22, support plate; 23, third rack; 24, third motor; 25, guide plate; 26, first bevel gear; 27, bearing seat; 28, rotating shaft; 29, second bevel gear; 30, connecting plate; 31, mechanical clamping groove; 32, cabin body; 33, second hinged support; 34, hinged first limiting rod; 35, second limiting rod; 36, second guide rail. DETAILED DESCRIPTION

[0048] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0049] The embodiment of the present application discloses a ROV-oriented underwater multi-mode laying and recovering system, like Figures 1-5As shown, it comprises a first support 14, a second support 15, a third support 16 and a mechanical arm 8, the first support 14 is provided with a first power driving device for driving the second support 15 to move horizontally, the second support 15 is slidingly installed on the first support 14, the second support 15 is provided with a second power driving device for driving the mechanical arm 8 to move horizontally, the driving direction of the second power driving device is perpendicular to the driving direction of the first power driving device, the bottom of the second support 15 is connected with a hydraulic driving device 6 for driving the mechanical arm 8 to move longitudinally, the mechanical arm 8 is connected with the output end of the hydraulic driving device 6; the two third supports 16 are respectively located on the two sides of the first support 14, the third support 16 is provided with a third power driving device for driving the first support 14 to move longitudinally, and the two ends of the first support 14 are respectively connected with the output ends of the corresponding third power driving devices. Since the energy transmission speed of the power driving device is fast, the efficiency is high, and the control precision is high, in the calm sea condition, the power driving device is used to realize the efficient and high-precision laying and recovery of underwater equipment, but in the complex sea condition, the power driving device is easily affected by the surrounding sea waves and other harsh environmental factors, which reduces its stability, while the driving force generated by the hydraulic driving device is larger, the transmission is stable, and the impact and vibration can be buffered, so in the complex sea condition, the hydraulic driving device is used as the main power source to lay and recover the underwater equipment, so that the laying and recovery system can be used for targeted operation according to different sea conditions, and better underwater equipment laying and recovery effect is achieved.

[0050] The first support 14 is provided with a first guide rail 3 parallel to the first rack 2, the second support 15 is slidingly installed on the first guide rail 3, the first power driving device comprises the first rack 2 and a first motor 17, the first motor 17 is installed on the second support 15, the first rack 2 is installed on the first support 14, and the output end of the first motor 17 is provided with a first gear 4 engaged with the first rack 2; the second power driving device comprises a second rack 18 and a second motor 5, the second rack 18 is installed on the second support 15 and is perpendicular to the first rack 2, the second motor 5 is provided with a second gear 19 engaged with the second rack 18, the top of the hydraulic driving device 6 is provided with a support plate 22, the bottom of the second support 15 is provided with a second guide rail 36 parallel to the second rack 18, the support plate 22 is slidingly installed on the second guide rail 36, and the second motor 5 is installed on the support plate 22. The first motor 17 drives the first gear 4 to rotate, so that the second support 15 moves along the first rack 4, the second motor 5 drives the second gear 19 to rotate, so that the second support 15 moves along the second rack 18, and the mechanical arm 8 can move in the X and Z directions in the horizontal plane.

[0051] The third power driving device comprises a third rack 23 and a third motor 24. The third rack 23 is longitudinally installed on the third support 16, the guiding rod 1 is longitudinally installed on the third support 16, the guiding plate 25 is slidingly installed on the guiding rod 1, the third motor 24 is installed on the guiding plate 25, the output end of the third motor 24 is installed with the first bevel gear 26, the bearing seat 27 is installed on the guiding plate 25, the bearing seat 27 is installed with the rotating shaft 28 through a bearing, the rotating shaft 28 is installed with the second bevel gear 29 which is engaged with the first bevel gear 26, the end of the rotating shaft 28 is installed with the third gear 20 which is engaged with the third rack 23, the bent connecting plate 30 is installed on the guiding plate 25, and the connecting plate 30 is connected with the first support 14. The third motor 24 drives the first bevel gear 26 to rotate, and then drives the second bevel gear 29 to rotate, and then drives the rotating shaft 28 to rotate, and then drives the third gear 20 to rotate, so as to realize the movement of the first support 14 in the vertical Y direction, and finally realize the movement of the mechanical arm 8 in the horizontal and vertical XYZ directions, improve the degree of freedom of the mechanical arm 8, improve the precision of the moving distance of the mechanical arm 8 through the gear and rack power driving device, and improve the docking efficiency and precision of the mechanical arm 8 and the underwater equipment.

[0052] The hydraulic driving device 6 is a scissor type hydraulic lifting platform, which saves the setting of the pump station, has smaller volume, stronger transmission power and better stability, and can adapt to operation in complex sea conditions.

[0053] Further comprising a cabin 32, the third support 16 is installed in the cabin 32, the shape of the cabin 32 is an open-bottomed cube, as shown in the figure, Figures 7-8 The first hinge support 12 is hinged to the first rotating rod 21, the output end of the rudder 9 is connected to the second rotating rod 10, the extrusion rod 11 is rotatably connected between the second rotating rod 10 and the first rotating rod 21 and between adjacent first rotating rods 21. There are clamping grooves on both sides of the sub-machine. After the mechanical arm 8 captures the sub-machine, the rudder 9 is rotated to rotate the second connecting rod 10, and then the first rotating rod 21 is simultaneously rotated to make the extrusion rod 11 clamped into the clamping groove of the sub-machine, so as to realize the secondary fixation of the position of the sub-machine through the extrusion rods 11 on both sides, and improve the stability. The surface of the extrusion rod 11 is coated with an elastic composite material layer to avoid damaging the sub-machine, and the surface of the elastic composite material layer is provided with anti-skid lines. The second hinge support 33 is installed on the inner wall of the cabin 32, the second hinge support 33 is located above the first hinge support 12 and is integrally formed with the first hinge support 12, the second hinge support 33 is hinged to the first limiting rod 34, one end of the first limiting rod 34 is hinged to the second limiting rod 35, and the other end of the second limiting rod 35 is hinged to the first rotating rod 21. The rotating range of the first rotating rod 21 and the second rotating rod 10 is limited through the first limiting rod 34 and the second limiting rod 35 to avoid damage caused by excessive rotation.

[0054] As shown in the figure, Figure 9As shown, the mechanical arm 8 is provided with a mechanical clamping groove 31 on the inner side of the mechanical gripper, which cooperates with the handle on the sub-machine.

[0055] As shown, a ROV-oriented underwater multi-mode deployment and recovery method is realized by using the above-mentioned ROV-oriented underwater multi-mode deployment and recovery system, and the method comprises the following steps: Figures 10-11

[0056] The surrounding environment can be scanned in real time through the network camera, and the characteristic marks of the sub-machine can be accurately identified in the environment with low underwater visibility through a target recognition algorithm, and the spatial position and attitude information of the sub-machine can be calculated in real time. According to the obtained surrounding environment information, the sea conditions are judged, and when the judgment result is a calm sea condition, the sub-machine floats up; when the judgment result is a complex sea condition, the sub-machine sinks to the bottom and is stationary, and the sub-machine is an ROV, i.e. a remotely operated underwater robot and other underwater equipment.

[0057] The recovery system is driven by the mother machine, i.e. an autonomous underwater vehicle, to reach above the sub-machine.

[0058] The pose of the sub-machine is located through the network camera 7 and the acoustic sensor 13, comprising the following steps:

[0059] The world coordinates of the feature points on the sub-machine in the world coordinate system are obtained, and the world coordinates of the feature points of the sub-machine are projected to the pixel plane to obtain the pixel coordinates of the feature points of the sub-machine through the intrinsic matrix of the network camera 7, and the calculation formula is as follows:

[0060]

[0061] In the formula, (u, v) is the pixel coordinates of the feature points of the sub-machine, K is the camera intrinsic matrix, Z c is the depth of the feature points of the sub-machine in the camera coordinate system, is the rotation matrix of the camera relative to the world coordinate system, P w is the world coordinates of the feature points of the sub-machine, is the translation vector of the feature points of the sub-machine in the world coordinate system, and wherein:

[0062]

[0063] In the formula, (f x ,f y ) is the focal length of the camera, and (u0, v0) is the principal point coordinates.

[0064] The depth of the feature points of the sub-machine is calculated, the depth of the feature points of the sub-machine in the camera coordinate system is obtained by using the acoustic sensor 13, the three-dimensional coordinates of the feature points of the sub-machine in the camera coordinate system are obtained in combination with the pixel coordinates, and thus the depth of the feature points of the sub-machine in the camera coordinate system is obtained, and the calculation formula is as follows:

[0065] ​

[0066] P = (u c is the three-dimensional coordinate of the feature point of the sub-machine in the camera coordinate system;

[0067] The pose of the sub-machine relative to the camera is solved by minimizing the re-projection error combined with the world coordinates and pixel coordinates of the sub-machine feature points The re-projection error is minimized, and the calculation formula is as follows:

[0068]

[0069] P = (u is the rotation matrix of the sub-machine feature point to the camera, is the translation vector of the sub-machine feature point in the camera coordinate system, n is the number of feature points on the sub-machine, n≥3, p i is the pixel coordinate of the i-th sub-machine feature point, p i = (u i ,v i ), π(·) is a projection function, is the world coordinate of the i-th sub-machine feature point.

[0070] In calm sea conditions, the first, second and third electric power driving devices drive the second support 15 to move in the horizontal and vertical directions, so that the mechanical arm 8 can grab the sub-machine; in complex sea conditions, the mother machine drives the deployment and recovery system to dive to the upper side of the sub-machine, the first and second electric power driving devices drive the second support 15 to move in the horizontal direction to fine-tune the position of the mechanical arm 8, the hydraulic driving device 6 drives the mechanical arm 8 to move in the vertical direction to grab the sub-machine, and the height of the mechanical arm 8 is adjusted according to the depth data provided by the network camera 7.

[0071] The mechanical arm 8 adjusts the claw pose according to the pose calculation result of the sub-machine to realize the capture of the sub-machine.

[0072] After the mechanical arm 8 captures the sub-machine, the steering wheel 9 rotates to make the extrusion rod 11 fix the sub-machine again.

[0073] End the task.

[0074] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An underwater multi-mode deployment and recovery system for ROV, characterized by: The invention comprises a first bracket (14), a second bracket (15), a third bracket (16) and a mechanical arm (8), wherein a first electric drive device for driving the second bracket (15) to move horizontally is installed on the first bracket (14), the second bracket (15) is slidably installed on the first bracket (14), a second electric drive device for driving the mechanical arm (8) to move horizontally is installed on the second bracket (15), the driving direction of the second electric drive device is perpendicular to the driving direction of the first electric drive device, the bottom of the second bracket (15) is connected to a hydraulic drive device (6) for driving the mechanical arm (8) to move longitudinally, and the mechanical arm (8) is connected to the output end of the hydraulic drive device (6); two third brackets (16) are respectively located on both sides of the first bracket (14), a third electric drive device for driving the first bracket (14) to move longitudinally is installed on the third bracket (16), and both ends of the first bracket (14) are respectively connected to the output ends of the corresponding third electric drive devices.

2. The underwater multi-mode deployment and recovery system for ROV according to claim 1, characterized in that: The first electric drive device comprises a first rack (2) and a first motor (17), the first motor (17) being mounted on a second bracket (15), the first rack (2) being mounted on a first bracket (14), a first gear (4) meshing with the first rack (2) being mounted on an output end of the first motor (17), a first guide rail (3) parallel to the first rack (2) being mounted on the first bracket (14), and the second bracket (15) being slidably mounted on the first guide rail (3); the second electric drive device comprises a second rack (18) and A second motor (5) and a second rack (18) are mounted on the second bracket (15) and the second rack (18) is perpendicular to the first rack (2). A second gear (19) meshing with the second rack (18) is mounted on the second motor (5). A support plate (22) is mounted on the top of the hydraulic drive device (6). A second guide rail (36) parallel to the second rack (18) is mounted on the bottom of the second bracket (15). The support plate (22) is slidably mounted on the second guide rail (36). The second motor (5) is mounted on the support plate (22).

3. The underwater multi-mode deployment and recovery system for ROV according to claim 1, characterized in that: The third electric drive device comprises a third rack (23) and a third motor (24), the third rack (23) is longitudinally mounted on a third bracket (16), a guide rod (1) is longitudinally mounted on the third bracket (16), a guide plate (25) is slidably mounted on the guide rod (1), the third motor (24) is mounted on the guide plate (25), a first bevel gear (26) is mounted on the output end of the third motor (24), a bearing seat (27) is mounted on the guide plate (25), a rotating shaft (28) is mounted on the bearing seat (27) through a bearing, a second bevel gear (29) meshing with the first bevel gear (26) is mounted on the rotating shaft (28), a third gear (20) meshing with the third rack (23) is mounted on the end of the rotating shaft (28), a bent connecting plate (30) is mounted on the guide plate (25), and the connecting plate (30) is connected to the first bracket (14).

4. The underwater multi-mode deployment and recovery system for ROV according to claim 1, characterized in that: The invention also includes a cabin (32), wherein the third bracket (16) is installed in the cabin (32), and the cabin (32) is in the shape of an open-bottomed cube. The cabin (32) is located on the inner wall of both sides of the first bracket (14), and a first hinge support (12) and a steering gear (9) are installed. The first hinge support (12) is hinged to the first rotating rod (21), and the output end of the steering gear (9) is connected to the second rotating rod (10). The second rotating rod (10) and the first rotating rod (21) and adjacent first rotating rods (21) are rotatably connected to the extrusion rod (11).

5. The underwater multi-mode deployment and recovery system for ROV according to claim 4, characterized in that: A second hinge support (33) is installed on the inner wall of the cabin (32), the second hinge support (33) is located above the first hinge support (12) and is integrally formed with the first hinge support (12), the second hinge support (33) is hinged to the first limiting rod (34), the first limiting rod (34) is hinged to one end of the second limiting rod (35), and the other end of the second limiting rod (35) is hinged to the first rotating rod (21).

6. The underwater multi-mode deployment and recovery system for ROV according to claim 4, characterized in that: The surface of the extrusion rod (11) is covered with an elastic composite material layer, and the surface of the elastic composite material layer is provided with anti-slip lines.

7. The underwater multi-mode deployment and recovery system for ROV according to claim 1, characterized in that: The hydraulic drive device (6) is a scissor-type hydraulic lifting platform.

8. The underwater multi-mode deployment and recovery system for ROV according to claim 1, characterized in that: A mechanical slot (31) is provided on the inner side of the mechanical gripper of the mechanical arm (8).

9. The underwater multi-mode deployment and recovery system for ROV according to claim 1, characterized in that: A network camera (7) and an acoustic sensor (13) are installed on the mechanical arm (8).

10. An underwater multi-mode deployment and recovery method for ROVs implemented by using the underwater multi-mode deployment and recovery system for ROVs according to any one of claims 1 to 9, characterized in that: The following steps are involved: Determine the sea conditions. If the sea conditions are calm, the drone will surface. If the sea conditions are complex, the drone will sink to the bottom and remain stationary. The recovery system is driven by the autonomous underwater vehicle to reach the top of the daughter aircraft; The position of the sub-machine is located by using a network camera (7) and an acoustic sensor (13), including the following steps: Obtain the world coordinates of the feature points on the sub-machine in the world coordinate system, and project the world coordinates of the feature points of the sub-machine onto the pixel plane through the internal parameter matrix of the network camera (7) to obtain the pixel coordinates of the feature points of the sub-machine. The calculation formula is as follows: Where: (u, v) is the pixel coordinate of the sub-machine feature point, K is the camera internal parameter matrix, Z c is the depth of the sub-machine feature point in the camera coordinate system, is the rotation matrix of the camera relative to the world coordinate system, P w is the world coordinate of the sub-machine feature point, is the translation vector of the sub-machine feature point in the world coordinate system, in: Where: (f x ,f y ) is the focal length of the camera, (u0,v0) is the coordinate of the principal point; Calculate the depth of the sub-machine feature point. Use the acoustic sensor (13) to obtain the depth of the sub-machine feature point in the camera coordinate system. Combine the pixel coordinates to obtain the three-dimensional coordinates of the sub-machine feature point in the camera coordinate system, and thus obtain the depth of the sub-machine feature point in the camera coordinate system. The calculation formula is as follows: Where: P c is the 3D coordinate of the sub-machine feature point in the camera coordinate system; Combining the world coordinates and pixel coordinates of the sub-machine feature points, the position of the sub-machine relative to the camera is solved by minimizing the reprojection error The calculation formula is as follows: Where: is the rotation matrix from the sub-machine feature point to the camera, is the translation vector of the sub-machine feature point in the camera coordinate system, n is the number of feature points on the sub-machine, n≥3, p i is the pixel coordinate of the feature point of the i-th sub-machine, p i =(u i ,v i ),π(·) is the projection function, is the world coordinate of the feature point of the i-th sub-machine; In calm sea conditions, the first, second, and third electric drive devices drive the second bracket to move horizontally and vertically based on the calculation results, allowing the robotic arm to capture the sub-machine. In complex sea conditions, the first and second electric drive devices drive the second bracket to move horizontally based on the calculation results, allowing the robotic arm to reach above the sub-machine, and the hydraulic drive device drives the robotic arm to move vertically to capture the sub-machine. Mission completed.

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