Wave glider laying and recovery system and collaborative operation method thereof

Abstract

The invention relates to the technical field of ocean unmanned vehicles, and particularly discloses a wave glider laying and recovery system and a collaborative operation method thereof.The wave glider laying and recovery system is composed of a transferring laying device, a tail buoy, a flat cable recovery device and a salvage recovery rod; the moving, transporting and laying device adopts a modularized quick-release structure and a positive and negative thread screw collinear self-adjusting positioning mechanism and is matched with a hand-pulled spring shackle to achieve five-minute zero-assembly laying, and a tail buoy achieves floating body electric control separation through a waterproof steering engine driving lead screw nut transmission and a guide column-guide sleeve conical self-centering structure. The flat cable recovery device is designed based on an eccentric cam self-locking principle and a progressive clamping mechanism, and is combined with a three-stage hoisting strategy to complete efficient and lossless recovery of the flexible flat cable of 7-8 meters; the invention further discloses a collaborative operation method of the wave glider laying and recovery system, which comprises the processes of moving and positioning, device separation, hand pulling and releasing and underwater unfolding in a laying stage, and a time sequence linkage strategy of buoy separation, positioning and dragging and graded hoisting in a recovery stage.

Description

Technical Field

[0001] This invention relates to the field of marine unmanned aerial vehicle technology, specifically to a deployment and recovery system for wave gliders and its collaborative operation method. Background Technology

[0002] In recent years, marine observation and exploration technologies have developed rapidly. Autonomous navigation devices based on wave energy (such as wave gliders) have been widely used in marine environmental monitoring and resource exploration due to their long endurance and low energy consumption. However, due to complex sea conditions and the structural characteristics of the equipment, their deployment and recovery have long faced the following technical bottlenecks: 1) Complex transport and deployment process with significant safety hazards: Current traditional methods involve transporting surface boats, flexible flat cables, and hydro-gliders separately and individually. Deployment requires temporary assembly and attachment to simple supports, with deployment operations completed via robotic arms. For example, a third-generation wave glider weighs over 150 kg and is 3 meters long. Existing transport devices often use rigid support structures, lacking dynamic adaptability to the streamlined shape of the wave glider. Transferring it on a ship's deck can easily cause vibration damage, especially in sea conditions of level 4 and above. Conventional fixing clamps can lead to stress concentration on the surface boat's hull, with actual measurements showing a damage rate as high as 17%-23% during transport. Furthermore, both transport and deployment rely on manual operation, often resulting in deployment errors due to cumbersome procedures, leading to equipment damage or operator injuries, resulting in poor safety. 2) Low recovery efficiency and high equipment damage rate: Currently, the flexible flat cable, about 7-8 meters long, on the wave glider is pulled manually, which is time-consuming and labor-intensive. Moreover, the sliding friction of the flexible flat cable against the ship's side causes stress cracking of the polyurethane sheath on the surface of the cable, which seriously affects its service life. When the hydrodynamic glider emerges from the water, due to its wide wingspan (typically 1.5 meters), it collides with the side of the mother ship, resulting in a 42% probability of equipment damage. The disclosed technology (CN202121703959.3) requires the recovery device to sink to a depth of 7-8 meters underwater by its own weight to connect with the underwater glider, and it only supports a single lifting operation. If the lifting height of the mother ship's crane is insufficient (for example, the maximum lifting height of a small research vessel is often less than 10 meters), the equipment cannot be fully lifted out of the water, resulting in recovery failure. 3) Lack of safe distance control during recovery: The wave glider travels at only 1-2 knots and is significantly affected by ocean currents (typically 0.5-1.5 m / s) and wave disturbances (lateral deviation >3 m / min when wave height > 1.5 m). The surface vessel cannot autonomously adjust its course to actively approach the mother ship. Large-tonnage mother ships need to approach the surface vessel at a speed of less than 0.5 knots during recovery operations, but are prone to "ship suction effect" due to waves. When the distance between the two vessels is 5 meters, the fluid pressure gradient reaches 120 Pa / m, leading to the risk of loss of control and collision. In addition, in sea state 3, it is difficult for operators to hook the surface vessel when they are 2-3 meters away. It takes 3-5 attempts to successfully hook the surface vessel, which can easily cause the surface vessel's solar photovoltaic panels to break. The equipment damage rate for a single recovery operation is as high as 18%. In summary, there is an urgent need to develop a wave glider deployment and recovery system and its collaborative operation method. This system should be adapted to the separation control of the transfer support and the intelligent float, enabling the wave glider to be deployed and enter the water with zero assembly within 5 minutes. The recovery should employ a dual-guided positioning and flat cable self-locking clamping mechanism, combined with a tiered hoisting strategy to greatly improve deployment and recovery efficiency. This would solve the problems of equipment damage, operational risks, and efficiency bottlenecks under complex sea conditions. To this end, we propose a wave glider deployment and recovery system and its collaborative operation method. Summary of the Invention

[0003] The purpose of this invention is to provide a deployment and recovery system for wave gliders and its collaborative operation method to solve the problems mentioned in the background art. By using modular quick-assembly deployment and transfer brackets, the wave glider can be deployed and put into the water in 5 minutes with zero assembly. The recovery adopts rapid float separation control and flat cable self-locking clamping mechanism, and combined with a staged hoisting strategy, the deployment and recovery efficiency is greatly improved.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a deployment and recovery system for a wave glider and a method for its coordinated operation, comprising: a wave glider, a transport and deployment device, a tail buoy, a flat cable recovery device, and a salvage and recovery pole; The wave glider includes a surface boat, a flexible flat cable, and a hydro-powered glider. The flexible flat cable is connected to the bottom of the surface boat through a first-end universal support mechanism, and the flexible flat cable is connected to the hydro-powered glider through a second-end universal support mechanism. The transfer and deployment device features a detachable support structure and positioning adjustment and manual release functions; The flat cable recovery device features a self-locking progressive flat cable clamping mechanism. The retrieval and recovery rod is equipped with an automatic hook release mechanism; The surface vessel has a hanging ring in the middle and a tail buoy installation interface integrated at the stern. The flexible flat cable has an airfoil cross section and its outer sheath is made of polyurethane elastomer. Its length is 7 to 8 meters. The hydrodynamic glider is equipped with a hanging ring.

[0005] Beneficial effects: The deployment and recovery system for wave gliders has corresponding tools to assist in all operational processes, rather than relying entirely on manpower, reducing the probability of errors in the operation process and improving the efficiency and safety of deployment and recovery.

[0006] The transfer and deployment device includes a transfer frame, a deployment rack, and a positioning and adjustment mechanism. The deployment rack includes a tubular main support, a shock-absorbing sleeve, a hand-pulled spring shackle, and a sling. The transfer frame includes a base, casters, and a tabletop tubular support. The positioning and adjustment mechanism includes a limit clamp, a fork-type screw, a lifting eye positive thread screw, a hand-tightened body nut, and a lifting eye reverse thread screw. The tubular main support and the base are connected by multiple sets of tabletop tubular supports. The load-bearing tube of the tubular main support is covered with a shock-absorbing sleeve. The four corners of the base are equipped with casters with self-locking function. The limit clamp is installed on the side of the tubular main support by fasteners. The fork-shaped screw is installed on the tubular main support and is connected to the lifting eye screw. The lifting eye screw and the lifting eye screw are respectively connected to the hand-unlocking nut and locked by the hand-unlocking nut. One end of the pull spring shackle is connected to the lifting eye screw. The tubular main support has multiple pre-set lifting points and is connected to the lifting straps to prevent detachment. The shock-absorbing sleeve is made of highly elastic polyurethane material. The outer wall of the shock-absorbing sleeve has annular positioning protrusions that match the bottom shape of the surface boat to prevent the surface boat from moving back and forth during transportation. The eye bolts, hand-tightened body nuts, and eye bolts with reverse threads are symmetrically distributed, with their threads having opposite directions and their axes being collinear.

[0007] Beneficial effects: The transfer and deployment device, through the collinear self-adjusting positioning mechanism of the positive and negative thread screws and the clamping quick-release structure, combined with the polyurethane shock-absorbing protective sleeve, achieves modular deployment without disassembly, reduces manual intervention by 90%, compresses deployment time to 5 minutes, and reduces the rate of transportation damage and operational errors to near zero.

[0008] The tail buoy includes a connecting assembly, a float assembly, and a buoyancy line, which is used to connect the connecting assembly and the float assembly. The connecting assembly includes a connecting plate, a motor mounting plate, a waterproof servo, an oval hook, a guide post, and a flange screw. The oval hook and guide post are symmetrically arranged on both sides of the connecting plate. The waterproof servo is mounted in the middle of the connecting plate through the motor mounting plate. The flange screw is connected to the output shaft of the waterproof servo through a coupling. The float assembly includes a float, a guide sleeve, a trapezoidal nut, a ring screw, and a clamping plate. The inner cavity of the float is fixedly provided with a guide sleeve that slides with the guide post. The trapezoidal nut and the ring screw are simultaneously fixed to the float through the clamping plate. One end of the buoyancy rope is tied to two elliptical hooks, and the other end of the buoyancy rope is tied to the ring screw. The connecting plate has four sets of symmetrically distributed mounting holes. The first set of mounting holes is fixedly connected to the elliptical hook by bolts, the second set of mounting holes is fixedly connected to the guide post by set screws, the third set of mounting holes is fixedly connected to the motor mounting plate by screws, and the fourth set of mounting holes is fixedly connected to the stern of the surface boat by screws. The guide sleeve is made of high polymer composite material. The inner wall of the guide sleeve is provided with a self-lubricating coating. The guide sleeve is fixed to the inner cavity of the float by epoxy resin adhesive. The inner diameter of the guide sleeve forms an interference fit with the guide post. The outer circumferential surface of the guide post and the inner circumferential surface of the guide sleeve are provided with mutually matching tapered guides, so that the guide post and the guide sleeve produce a self-centering fit when moving axially. The flange screw and trapezoidal nut form a threaded transmission pair. The waterproof servo motor controls the rotation direction of the flange screw to fix and separate the float assembly. The buoyancy rope has a double-layer braided structure. The inner layer of the buoyancy rope is an aramid fiber tensile core, and the outer layer is wrapped with a polyurethane elastic sheath and has anti-slip protrusions. The buoyancy rope can float on the water surface, automatically floats when it enters the water, and has a reflective effect at night.

[0009] Beneficial effects: During recovery, the stern buoy can safely control the distance between the mother ship and the surface vessel. When the mother ship approaches the surface vessel at a distance of about 5 meters, the waterproof steering gear is activated to drive the trapezoidal nut and flange screw, which work in conjunction with the guide post-guide sleeve conical self-centering structure to detach the buoy from the surface vessel. By hooking the buoy or buoyancy rope with the salvage and recovery rod, the surface vessel can be towed and positioned without collision. The telescopic hook of the salvage and recovery rod is then used to hook the lifting ring in the middle of the surface vessel to carry out the lifting and recovery operation, which can greatly reduce the risk of collision and avoid equipment damage caused by repeated manual casting.

[0010] The flat cable recovery device includes a recovery base, a clamping cam, a torsion spring, a shoulder bolt, a stop tongue, a pressure cap, a compression spring, a limit screw, a rotation center screw, a U-shaped lifting ring, and a lifting rope. The clamping cam and torsion spring are rotatably mounted in the recovery base via shoulder bolts. The torsion spring is housed in the groove of the clamping cam. The first long end of the torsion spring passes through the positioning hole of the clamping cam, and the second long end of the torsion spring passes through the corresponding positioning hole of the recovery base. The rotation center screw passes through the rotation center holes of the pressure cap and the stop tongue in sequence and is fixed to the open end of the recovery base. The stop tongue forms a linkage structure with the pressure cap through the limit screw. The limit screw passes through the arc-shaped limit groove provided in the pressure cap and is threaded to the stop tongue, forming a kinematic pair that swings around the axis of the rotation center screw and within the arc-shaped limit groove of the pressure cap. The compression spring is installed in a pre-compressed state between the side wall of the stop tongue and the corresponding side wall of the recovery base, forming an elastic reset structure. The U-shaped lifting ring is fixed to the side wall of the recovery base by bolt assembly, and the end of the lifting rope is tied to the U-shaped lifting ring. A clamping channel for accommodating the flexible flat cable is formed between the inner wall of the recovery base and the contact surface of the clamping cam. The inner wall of the recovery base is provided with a guide surface that matches the outline of the flexible flat cable. The contact surface of the clamping cam is machined with anti-slip texture. A manual lever is integrally formed on the back of the clamping cam. The tongue is equipped with a guide slope, which together with the opening end of the recycling base forms the insertion guide port for the flexible flat cable. When the flexible flat cable is pressed in laterally, its end is squeezed by the guide slope to rotate the tongue around the rotating center screw and squeeze the compression spring. After the flexible flat cable is fully inserted into the clamping channel, the compression spring pushes the tongue to reset and form a lateral lock. The end of the limit screw exposed in the pressure cap limit groove is equipped with a manual operation part. When the limit screw is moved to drive the stop tongue to retract against the spring force of the compression spring, the lateral lock is released, and the flexible flat cable is taken out laterally through the clamping channel. The eccentric profile of the clamping cam forms a self-locking angle with the mounting axis of the shoulder bolt, thus achieving a locking effect. The torsion spring, through its preload, causes the clamping cam to produce a one-way locking effect on the flexible flat cable: when the flexible flat cable is pulled upward, the clamping cam rotates clockwise around the shoulder bolt under the action of the torsion spring and releases the clamping force on the flexible flat cable; when the flexible flat cable is pressed downward, the clamping cam rotates counterclockwise under the action of the torsion spring and produces a self-locking clamping effect. The anti-slip texture on the clamping cam is a corrugated groove with a peak height of 0.8 to 1.5 mm and a wavelength period of 3 to 6 mm. The axis of the peak is at an angle of 30° to 60° with the direction of movement of the flexible flat cable. The manual lever on the clamping cam is exposed in the operation window of the recovery base. The outer surface of the manual lever on the clamping cam is provided with anti-slip protrusions, which are used to manually move the clamping cam to release the locking state of the flexible flat cable.

[0011] Beneficial effects: The flat cable recovery device uses a progressive flat cable clamping mechanism to replace manual dragging. Through corrugated anti-slip texture and eccentric cam self-locking, it can recover 7-8 meter flat cables without damage in 15 minutes, and the damage rate of flat cable sheath and underwater equipment is greatly reduced.

[0012] The salvage and recovery rod includes a hook seat, a spring hook, a carbon fiber tube, and a hoisting rope. After the spring hook is opened, it is fastened to the hook seat, and the opening of the spring hook is in the open state. The hook seat is fitted onto the top of the carbon fiber tube and fixedly connected by screws. The hoisting rope is tied to the ring at the tail end of the spring hook. One side of the hook seat is used to position and install the spring hook, and the other side of the hook seat is equipped with a fixing hook. Beneficial effect: After the spring hook catches the ring in the middle of the surface boat, pulling the carbon fiber tube will automatically separate the spring hook from the hook seat.

[0013] The surface boat is placed horizontally on the deployment frame, with its bottom in stable contact with the load-bearing tube of the tubular main support. The main frame of the hydro-glider is clamped in the front and rear limit clamps on the side of the deployment frame and is suspended by a hanging ring and a hand-pulled spring shackle. The first universal support mechanism of the flexible flat cable is connected to the bottom of the surface boat and extends along the middle of the deployment frame to the front end of the deployment frame. The second universal support mechanism is then connected to the hydro-glider.

[0014] The tail buoy is fixed to the stern of the surface vessel via its connecting component. When the wave glider receives a remote recovery command, the waterproof rudder drives the float assembly to separate from the connecting component, and the buoyancy rope causes the float assembly to float behind the surface vessel.

[0015] The flat cable recovery device is used to recover the flexible flat cable and the hydro-glider connected to it. When the recovery operation is performed, the lifting rope is vertically lifted in stages, so that the flat cable recovery device is locked and moved upwards segment by segment along the length of the flexible flat cable until the hydro-glider is lifted off the water.

[0016] A collaborative operation method for the deployment and recovery system of a wave glider includes the following steps: S1, Deployment Phase: 1) Transfer and positioning: Transport the transfer and deployment device carrying the wave glider to the deck of the mother ship near the crane, and install four sets of universal wheels to fix it to the deck with self-locking. 2) Device separation: Loosen the clamps of the tabletop pipe support, and the mother ship crane lifts and moves the deployment device with slings to separate the deployment frame from the transfer frame; 3) Manual release: When the crane lowers the deployment frame carrying the wave glider into the water, operate the manual spring shackle to release the sling connection between the hydro-powered glider and the deployment frame; 4) Water Deployment: The flexible flat cable is released freely into the water under the action of gravity along with the hydro-powered glider. The hydro-powered glider generates forward thrust, causing the surface boat to slide out of the deployment rack and into the water. 5) Deployment rack recovery: The deployment rack is always connected to the crane via slings. After the wave glider enters the water as a whole and separates from the deployment rack, it is lifted back to the mother ship deck by the crane. The transfer frame and deployment rack are then combined using a platform tube support.

[0017] S2, Recycling Phase: 1) Tail buoy separation: Send a wireless command to the tail buoy to activate the waterproof rudder to drive the trapezoidal nut to disengage, causing the float assembly to detach from the surface boat; 2) Preliminary positioning: Use the salvage and recovery rod to hook the buoyancy rope and float, drag the surface boat to the side of the mother ship, and then use the spring hook of the salvage and recovery rod to hook the lifting ring on the surface boat, and pull the carbon fiber tube to separate the hook seat. 3) Main body lifting: The surface boat and the first end of the flexible flat cable are lifted vertically by the mother ship crane and placed stably on the deployment rack on the mother ship deck. The second end of the flexible flat cable and the hydrodynamic glider are still submerged underwater. 4) Flat cable retrieval: Insert the flexible flat cable into the flat cable retrieval device, lift the lifting rope in stages, and tighten the cams to lock the flat cable section by section until the hydro-glider is completely lifted off the water. 5) System repositioning: Reposition the recovered hydro-glider between the front and rear limit clamps of the transfer and deployment device, and engage the hand-pulled spring shackle.

[0018] This invention has at least the following beneficial effects: 1) Full-process tool-based collaboration: Through the collaborative design of the transfer and deployment device (modular quick disassembly + positive and negative tooth positioning adjustment), the flat cable retrieval device (eccentric cam self-locking) and the tail buoy (electrically controlled separation), the deployment and retrieval can achieve zero manual assembly / dragging, reduce manual intervention by 90%, and the operation error rate is close to zero. 2) High-efficiency and non-destructive operation: (a) Deployment efficiency: The shock-absorbing sheath of the transport support + 5-minute rapid positioning and deployment reduces the transportation damage rate from 23% to 0.5%; (b) Recovery efficiency: The flat cable self-locking mechanism enables 7-8 meters of non-destructive recovery in 15 minutes, reducing the sheath damage rate to 0.8%; 3) During the deployment phase, the separation and release by manual pulling of the hydrodynamic glider are achieved through the synchronous unlocking device, realizing a rapid connection of the "transfer-separation-water entry" process, reducing the total deployment time to 5 minutes; 4) During the recovery phase, a sequential linkage strategy of "buoy separation - positioning and towing - flat cable clamping - staged hoisting" is adopted, with each link cooperating and working together to improve the efficiency of deployment and recovery; Through a seamless collaborative operation process, the collaborative operation method for the deployment and recovery of marine equipment is standardized; it is especially suitable for equipment deployment and recovery operations under severe sea conditions (level 4-5). The deployment and recovery system of this invention can achieve efficient and safe equipment deployment and recovery operations in complex marine environments and has broad application value. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the deployment and recovery system of the wave glider of the present invention; Figure 2 This is a partially enlarged schematic diagram of the positioning and adjustment mechanism of the deployment and recovery system of the present invention; Figure 3 This is a schematic diagram of the structure of the deployment and recycling system transfer and deployment device of the present invention; Figure 4 This is a schematic diagram of the tail buoy structure of the deployment and recovery system of the present invention; Figure 5This is a top view of the flat cable recovery device of the deployment and recovery system of the present invention; Figure 6 This is an exploded view of the flat cable recovery device of the deployment and recovery system of the present invention; Figure 7 This is a cross-sectional view of the flat cable recovery device of the deployment and recovery system of the present invention, which holds a flexible flat cable. Figure 8 This is a schematic diagram of the structure of the retrieval rod of the deployment and retrieval system of the present invention; Figure 9 This is a flowchart of the deployment phase of the collaborative operation method for the wave glider deployment and recovery system of the present invention; Figure 10 This is a flowchart of the recovery phase of the collaborative operation method for the wave glider deployment and recovery system of the present invention.

[0020] In the diagram: 100, Wave Glider; 200, Transfer and Deployment Device; 300, Tail Buoy; 400, Flat Cable Recovery Device; 500, Salvage and Recovery Pole; 110, Surface Boat; 120, Flexible Flat Cable; 130, Hydrodynamic Glider; 111, Lifting Ring; 121, Universal Load-Bearing Mechanism; 131, Hanging Ring; 210, Transfer Frame; 220, Deployment Rack; 230, Positioning and Adjustment Mechanism; 211, Base; 212, Universal Casters; 213, Tabletop Tube Support; 221, Tube Main Support; 222, Shock Absorbing Sheath; 223, Hand-Pulled Spring Shackle; 224, Sling; 231, Limiting Clamp; 232, Fork-Type Screw; 233, Lifting Ring Positive Thread Screw; 234, Hand-Tightened Body Nut; 235, Lifting Ring Reverse Thread 310. Screw; 320. Connecting assembly; 330. Float assembly; 311. Buoyancy rope; 312. Connecting plate; 313. Motor mounting plate; 314. Waterproof servo; 315. Oval hook; 316. Guide post; 317. Flange screw; 321. Float; 322. Guide sleeve; 323. Trapezoidal nut; 324. Ring screw; 325. Clamping plate; 401. Recovery base; 402. Pressure cam; 403. Torsion spring; 404. Shoulder bolt; 405. Tongue; 406. Pressure cap; 407. Compression spring; 408. Limit screw; 409. Rotation center screw; 410. U-shaped lifting ring; 411. Lifting rope; 501. Hook seat; 502. Spring hook; 503. Lifting rope; 504. Carbon fiber tube. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1 Please see Figures 1 to 3 The present invention provides a technical solution: a deployment and recovery system for a wave glider, comprising a wave glider 100, a transport and deployment device 200, a tail buoy 300, a flat cable recovery device 400, and a salvage and recovery rod 500. The wave glider 100 includes a surface boat 110, a flexible flat cable 120, and a hydro-powered glider 130. The flexible flat cable 120 is connected to the bottom of the surface boat 110 through a first-end universal support mechanism 121, and the flexible flat cable 120 is connected to the hydro-powered glider 130 through a second-end universal support mechanism 121. The transfer and deployment device 200 has a detachable support structure and positioning adjustment and manual release functions; The flat cable recovery device 400 has a progressive flat cable clamping mechanism with a self-locking function. The 500 retrieval and recovery rod is equipped with an automatic hook release mechanism; The surface boat 110 has a hanging ring 111 in the middle and a tail buoy 300 installation interface integrated at the stern end; the flexible flat cable 120 adopts an airfoil section and the outer sheath of the flexible flat cable 120 is made of polyurethane elastomer and is 7-8 meters long; the hydrodynamic glider 130 is equipped with a hanging ring 131.

[0023] When in use, the deployment and recovery system of the Wave Glider 100 has corresponding tools to assist in each operation process, instead of relying entirely on manpower, which reduces the probability of errors in the operation process and improves the efficiency and safety of deployment and recovery.

[0024] The transfer and deployment device 200 includes a transfer frame 210, a deployment rack 220, and a positioning and adjustment mechanism 230; The deployment rack 220 includes a tubular main support 221, a shock-absorbing sleeve 222, a hand-pull spring shackle 223, and a sling 224; the transfer frame 210 includes a base 211, casters 212, and a tabletop tubular support 213; the positioning and adjustment mechanism 230 includes a limit clamp 231, a fork-shaped screw 232, a lifting eye positive thread screw 233, a hand-tightening body nut 234, and a lifting eye reverse thread screw 235. The tubular main support 221 and the base 211 are connected by multiple sets of tabletop tubular supports 213 in a clamping manner. The outer surface of the load-bearing tube of the tubular main support 221 is covered with a shock-absorbing sleeve 222. The four corners of the bottom of the base 211 are equipped with casters 212 with self-locking function. The limit clamp 231 is installed on the side of the tubular main support 221 by fasteners. The fork-shaped screw 232 is installed on the tubular main support 221 and is suspended and connected with the eye bolt 233. The eye bolt 233 and the eye bolt 235 are respectively threaded to the hand-unscrew nut 234 and are locked by the hand-unscrew nut 234. One end of the hand pull spring shackle 223 is suspended and connected to the eye bolt 235. The tubular main support 221 has multiple pre-set lifting points and is respectively connected to the lifting strap 224 to prevent detachment. The shock-absorbing sleeve 222 is made of high-elasticity polyurethane material. Its outer wall is provided with annular positioning protrusions that match the bottom hull shape of the surface boat 110 to prevent the surface boat 110 from moving back and forth during transportation. The eye bolt 233, the hand-tightening body nut 234, and the eye bolt 235 adopt a symmetrical distribution structure, with their threads having opposite directions and their axes being collinear.

[0025] The surface boat 110 is placed horizontally on the deployment frame 220, and the bottom of the surface boat 110 is in stable contact with the load-bearing tube of the tubular main support 221, which is covered with a shock-absorbing sleeve 222. The main frame of the hydro-glider 130 is clamped in the front and rear limit clamps 231 on the side of the deployment frame 220 and is suspended and connected to the hand pull spring shackle 223 through the hanging ring 131. The first universal support mechanism 121 of the flexible flat cable 120 is connected to the bottom of the surface boat 110 and extends along the middle of the deployment frame 220 to the front end of the deployment frame 220. The second universal support mechanism 121 is then connected to the hydro-glider 130.

[0026] The transfer and deployment device 200, through the lifting eye positive thread screw 233 and lifting eye negative thread screw 235, collinear self-adjusting positioning mechanism and clamping quick-release structure, combined with polyurethane shock-absorbing protective sleeve 222, realizes modular deployment without disassembly, reduces manual intervention by 90%, reduces deployment time to 5 minutes, and the rate of transportation damage and operation error is close to zero.

[0027] Example 2 As per the instruction manual Figure 4 As shown, the tail buoy 300 includes a connecting assembly 310, a float assembly 320, and a buoyancy rope 330, which is used to connect the connecting assembly 310 and the float assembly 320. The connecting assembly 310 includes a connecting plate 311, a motor mounting plate 312, a waterproof servo motor 313, an elliptical hook 314, a guide post 315, and a flange screw 316. The elliptical hook 314 and the guide post 315 are symmetrically arranged on both sides of the connecting plate 311. The waterproof servo motor 313 is installed in the middle of the connecting plate 311 through the motor mounting plate 312. The flange screw 316 is connected to the output shaft of the waterproof servo motor 313 through a coupling. The float assembly 320 includes a float 321, a guide sleeve 322, a trapezoidal nut 323, a ring screw 324, and a clamping plate 325. The inner cavity of the float 321 is fixedly provided with a guide sleeve 322 that slides with the guide post 315. The trapezoidal nut 323 and the ring screw 324 are simultaneously fixed on the float 321 through the external clamping plate 325. One end of the buoyancy rope 330 is tied to two elliptical hooks 314, and the other end of the buoyancy rope 330 is tied to the ring screw 324. The connecting plate 311 is provided with four sets of symmetrically distributed mounting holes. The first set of mounting holes is fixedly connected to the elliptical hook 314 by bolts, the second set of mounting holes is fixedly connected to the guide post 315 by set screws, the third set of mounting holes is fixedly connected to the motor mounting plate 312 by screws, and the fourth set of mounting holes is fixedly connected to the stern of the surface boat 110 by screws. The guide sleeve 322 is made of high-molecular composite material and has a self-lubricating coating on its inner wall. The guide sleeve 322 is fixed to the inner cavity of the float 321 by epoxy resin adhesive, and its inner diameter forms an interference fit with the guide post 315. The outer peripheral surface of the guide post 315 and the inner peripheral surface of the guide sleeve 322 are provided with mutually matching tapered guides, so that the guide post 315 and the guide sleeve 322 produce a self-centering fit when moving axially. The flange screw 316 and the trapezoidal nut 323 form a threaded transmission pair. The waterproof servo motor 313 controls the rotation direction of the flange screw 316 to fix and separate the float assembly 320. The buoyancy rope 330 has a double-layer braided structure. The inner layer is an aramid fiber tensile core, and the outer layer is wrapped with a polyurethane elastic sheath with anti-slip protrusions. The buoyancy rope 330 can float on the water surface and automatically floats when it enters the water. It also has a reflective effect at night.

[0028] The tail buoy 300 is installed and fixed to the stern of the surface vessel 110 via its connecting component 310. When the wave glider 100 receives a remote recovery command, the waterproof servo motor 313 drives the float assembly 320 to separate from the connecting component 310, and the buoyancy rope 330 drives the float assembly 320 to float behind the surface vessel 110.

[0029] Beneficial effects: During recovery, the stern buoy 300 can safely control the distance between the mother ship and the surface vessel 110. When the mother ship is about 5 meters away from the surface vessel 110, the waterproof rudder motor 313 is activated to drive the trapezoidal nut 323 and the flange screw 316. With the coordinated action of the guide column 315-guide sleeve 322 conical self-centering structure, the float 321 is detached from the surface vessel 110. The surface vessel 110 is then positioned by hooking the float 321 or the buoyancy rope 330 with the salvage and recovery rod 500, achieving collision-free towing. The telescopic hook of the salvage and recovery rod 500 is used to hook the lifting ring 111 in the middle of the surface vessel 110 for lifting and recovery operations. This greatly reduces the risk of collision and avoids equipment damage caused by repeated manual casting.

[0030] Example 3 As per the instruction manual Figures 5 to 7 As shown, the flat cable recovery device 400 includes a recovery base 401, a clamping cam 402, a torsion spring 403, a shoulder bolt 404, a stop tongue 405, a pressure cover 406, a compression spring 407, a limit screw 408, a rotation center screw 409, a U-shaped lifting ring 410, and a lifting rope 411. The clamping cam 402 and the torsion spring 403 are rotatably mounted in the recovery base 401 via shoulder bolts 404. The torsion spring 403 is housed in the groove of the clamping cam 402. The first long end of the torsion spring 403 passes through the positioning hole of the clamping cam 402, and the second long end of the torsion spring 403 passes through the corresponding positioning hole of the recovery base 401. The rotation center screw 409 passes through the rotation center holes of the pressure cap 406 and the stop tongue 405 in sequence and is then fixed to the open end of the recovery base 401. The stop tongue 405 is connected to the pressure cap 406 via a limit screw 408. 6. A linkage structure is formed. The limiting screw 408 passes through the arc-shaped limiting groove provided in the pressure cover 406 and is threadedly connected to the stop tongue 405, forming a kinematic pair that can swing around the axis of the rotating center screw 409 and within the arc-shaped limiting groove range of the pressure cover 406; the compression spring 407 is installed in a pre-compressed state between the side wall of the stop tongue 405 and the corresponding side wall of the recovery base 401, forming an elastic reset structure; the U-shaped lifting ring 410 is fixed to the side wall of the recovery base 401 by bolt assembly, and the end of the lifting rope 411 is tied to the U-shaped lifting ring 410. A clamping channel for accommodating the flexible flat cable 120 is formed between the inner wall of the recovery base 401 and the contact surface of the clamping cam 402. The inner wall of the recovery base 401 is provided with a guide curved surface that matches the outline of the flexible flat cable 120. The contact surface of the clamping cam 402 is machined with anti-slip texture. The back of the clamping cam 402 is integrally formed with a manual lever. The tongue 405 is provided with a guide slope, and together with the open end of the recycling base 401, it forms the insertion guide port of the flexible flat cable 120. When the flexible flat cable 120 is pressed in laterally, its end is squeezed by the guide slope to rotate the tongue 405 around the rotating center screw 409 and squeeze the compression spring 407. After the flexible flat cable 120 is fully inserted into the clamping channel, the compression spring 407 pushes the tongue 405 to reset and form a lateral lock. The end of the limiting screw 408 exposed in the limiting groove of the pressure cover 406 is provided with a manual operation part. When the limiting screw 408 is moved to drive the stop tongue 405 to retract against the elastic force of the compression spring 407, the lateral locking is released, and the flexible flat cable 120 can be taken out from the side of the clamping channel. The eccentric profile of the clamping cam 402 forms a self-locking angle with the mounting axis of the shoulder bolt 404, achieving a locking effect. The torsion spring 403, through its preload, causes the clamping cam 402 to produce a one-way locking effect on the flexible flat cable 120: when the flexible flat cable 120 is pulled upward, the clamping cam 402 rotates clockwise around the shoulder bolt 404 under the action of the torsion spring 403, releasing the clamping force on the flexible flat cable 120; when the flexible flat cable 120 is pressed downward, the clamping cam 402 rotates counterclockwise under the action of the torsion spring 403, generating self-locking clamping. The anti-slip texture on the clamping cam 402 is a corrugated groove with a peak height of 0.8 to 1.5 mm and a wavelength period of 3 to 6 mm. The axis of the peak is at an angle of 30° to 60° with the moving direction of the flexible flat cable 120. The manual lever on the clamping cam 402 is exposed in the operation window of the recovery base 401. The outer surface of the manual lever is provided with anti-slip protrusions, which are used to manually move the clamping cam 402 to release the locking state of the flexible flat cable 120.

[0031] The flat cable recovery device 400 is mainly used to recover the flexible flat cable 120 and the hydro-powered glider 130 connected to it. When performing the recovery operation, the lifting rope 411 is vertically lifted in stages, so that the flat cable recovery device 400 is locked and moved upward along the length of the flexible flat cable 120 until the hydro-powered glider 130 is lifted off the water surface.

[0032] The flat cable recovery device 400 uses a progressive flat cable clamping mechanism to replace manual dragging. Through corrugated anti-slip texture and eccentric cam self-locking, it can recover 7-8 meter flat cables without damage in 15 minutes, greatly reducing the damage rate of flat cable sheaths and underwater equipment.

[0033] Example 4 As per the instruction manual Figure 8As shown, the retrieval and recovery rod 500 includes a hook seat 501, a spring hook 502, a carbon fiber tube 504, and a lifting rope 503. After the hook spring of the spring hook 502 is opened, it is fastened to the hook seat 501. The opening of the spring hook 502 is in the open state. The hook seat 501 is sleeved on the top of the carbon fiber tube 504 and fixedly connected by screws. The lifting rope 503 is tied to the ring at the tail end of the spring hook 502. One side of the hook seat 501 is used to position and install the spring hook 502, and the other side is provided with a fixing hook. By hooking the spring hook 502 onto the lifting ring 111 in the middle of the surface boat 110, pulling the carbon fiber tube 504 can automatically separate the spring hook 502 from the hook seat 501.

[0034] Example 5 As per the instruction manual Figure 9 , Figure 10 As shown, a collaborative operation method for a wave glider deployment and recovery system includes the following steps: S1, Deployment Phase: 1) Transfer and positioning: Transport the transfer and deployment device 200 carrying the wave glider 100 to the mother ship deck lifting operation area, and set four sets of universal wheels 212 with self-locking pedals to ensure that the frame does not shift when the deck tilts ≤10°. 2) Device separation: The clamps of the four sets of tabletop pipe supports 213 are loosened simultaneously by wrench, and the mother ship crane is lifted vertically by the sling 224 to ensure that the deployment frame 220 is separated from the transfer frame 210. 3) Manual release: When the crane lowers the deployment frame 220 carrying the wave glider 100 into the water, operate the manual spring shackle 223 to release the sling connection between the hydro-powered glider 130 and the deployment frame 220. 4) Water Deployment: The flexible flat cable 120 is released into the water freely under the action of gravity along with the hydro-powered glider 130. The hydro-powered glider 130 generates a forward thrust, causing the surface boat 110 to slide out of the deployment 220 and into the water. 5) Retrieval of deployment frame 220: Deployment frame 220 is always connected to the crane via sling 224 and does not detach. After the wave glider 100 enters the water as a whole and moves away from deployment frame 220, it is lifted back to the mother ship deck by the crane. The transfer frame 210 and deployment frame 220 are assembled by the platform tube support 213.

[0035] S2, Recycling Phase: 1) Separation of tail buoy 300: Send a wireless command to tail buoy 300 to activate waterproof servo motor 313 to drive trapezoidal nut 323 to disengage, so that float assembly 320 is separated from surface boat 110. 2) Preliminary positioning: When the surface boat 110 is about 5 meters away from the mother ship, use the salvage and recovery pole 500 to hook the buoyancy rope 330 and the float 321, drag the surface boat 110 to the side of the mother ship, and then use the salvage and recovery pole 500 to hook the lifting ring 111 on the surface boat 110. 3) Main body lifting: After the lifting ring 111 in the middle of the surface boat 110 is hooked, the crane first lifts it vertically so that the surface boat 110 and the first end of the flexible flat cable 120 are out of the water and are lifted to the deployment rack on the mother ship deck and placed stably. The second end of the flexible flat cable 120 and the hydrodynamic glider 130 are still submerged in the water. 4) Flat cable retrieval: The flexible flat cable 120 is inserted into the flat cable retrieval device 400. The stop tongue 405 automatically rebounds through its guide slope, and the preload of the compression spring 407 ensures lateral locking. The crane adopts a three-stage (2m, 4m, full height) vertical lifting strategy, and the clamping cam 402 locks the flat cable segment by segment until the hydro-glider 130 is completely lifted off the water. 5) System repositioning: Reposition the recovered hydro-powered glider 130 between the front and rear limit clamps 231 of the transfer and deployment device 200, and attach the hand-pulled spring shackle 223.

[0036] During the deployment phase, the device is used to separate the glider from the hydrodynamic glider 130 by hand, enabling a rapid connection between the "transfer-separation-water entry" process and reducing the total deployment time to 5 minutes. The recovery phase employs a sequential, coordinated strategy of "buoy separation - positioning and towing - flat cable clamping - tiered hoisting," with each stage working in concert to improve the efficiency of deployment and recovery.

[0037] Through the above-mentioned seamless collaborative operation process, the collaborative operation method for the deployment and recovery of marine equipment can be standardized; it is especially suitable for equipment deployment and recovery operations under severe sea conditions (level 4-5). The deployment and recovery system of this invention can achieve efficient and safe equipment deployment and recovery operations in complex marine environments and has broad application value.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A deployment and recovery system for a wave glider, characterized in that: include: Wave glider, transfer and deployment device, tail buoy, flat cable recovery device and salvage and recovery rod; The wave glider includes a surface boat, a flexible flat cable, and a hydro-powered glider. The flexible flat cable is connected to the bottom of the surface boat through a first-end universal support mechanism, and the flexible flat cable is connected to the hydro-powered glider through a second-end universal support mechanism. The transfer and deployment device has a detachable support structure and positioning adjustment and manual release functions; The flat cable recovery device has a progressive flat cable clamping mechanism with a self-locking function. The retrieval and recovery rod is equipped with an automatic hook release mechanism; The surface vessel is equipped with a hanging ring in the middle, and the stern end of the surface vessel is integrated with a stern buoy installation interface. The flexible flat cable adopts an airfoil section, and the outer sheath of the flexible flat cable is made of polyurethane elastomer and its length is 7 to 8 meters. The hydrodynamic glider is equipped with a hanging ring.

2. The deployment and recovery system for a wave glider according to claim 1, characterized in that: The transfer and deployment device includes a transfer frame, a deployment rack, and a positioning and adjustment mechanism. The deployment rack includes a tubular main support, a shock-absorbing sleeve, a hand-operated spring shackle, and a sling. The transfer frame includes a base, casters, and a desktop tubular support. The positioning and adjustment mechanism includes a limit clamp, a fork-shaped screw, a lifting eye positive thread screw, a hand-tightening body nut, and a lifting eye reverse thread screw. The tubular main support and the base are connected by multiple sets of tabletop tubular supports in a clamping manner. The load-bearing tube of the tubular main support is covered with a shock-absorbing sleeve. The four corners of the bottom of the base are equipped with casters with self-locking function. The limiting clamp is installed on the side of the tubular main support by fasteners. The fork-shaped screw is installed on the tubular main support and is suspended and connected to the eye bolt. The eye bolt and the eye screw are respectively threaded to the hand-unscrew nut and locked by the hand-unscrew nut. One end of the pull spring shackle is suspended and connected to the eye screw. The tubular main support has multiple pre-set lifting points and is respectively connected to the lifting straps to prevent detachment. The shock-absorbing sleeve is made of highly elastic polyurethane material. The outer wall of the shock-absorbing sleeve is provided with annular positioning protrusions that match the bottom shape of the surface boat to prevent the surface boat from moving back and forth during transportation. The eye bolts, hand-tightening body nuts, and eye bolts with reverse threads are symmetrically distributed, with their threads having opposite directions and their axes being collinear.

3. The deployment and recovery system for a wave glider according to claim 1, characterized in that: The tail buoy includes a connecting assembly, a float assembly, and a buoyancy line, the buoyancy line being used to connect the connecting assembly and the float assembly; The connecting assembly includes a connecting plate, a motor mounting plate, a waterproof servo, an elliptical hook, a guide post, and a flange screw. The elliptical hook and guide post are symmetrically arranged on both sides of the connecting plate. The waterproof servo is mounted in the middle of the connecting plate through the motor mounting plate. The flange screw is connected to the output shaft of the waterproof servo through a coupling. The float assembly includes a float, a guide sleeve, a trapezoidal nut, a ring screw, and a clamping plate. The inner cavity of the float is fixedly provided with a guide sleeve that slides with the guide post. The trapezoidal nut and the ring screw are simultaneously fixed on the float through the clamping plate. One end of the buoyancy rope is tied to two elliptical hooks, and the other end of the buoyancy rope is tied to the ring screw. The connecting plate is provided with four sets of symmetrically distributed mounting holes. The first set of mounting holes is fixedly connected to the elliptical hook by bolts, the second set of mounting holes is fixedly connected to the guide post by set screws, the third set of mounting holes is fixedly connected to the motor mounting plate by screws, and the fourth set of mounting holes is fixedly connected to the stern of the surface boat by screws. The guide sleeve is made of polymer composite material. The inner wall of the guide sleeve is provided with a self-lubricating coating. The guide sleeve is fixed to the inner cavity of the float by epoxy resin adhesive. The inner diameter of the guide sleeve forms an interference fit with the guide post. The outer peripheral surface of the guide post and the inner peripheral surface of the guide sleeve are provided with mutually matching tapered guides, so that the guide post and the guide sleeve produce a self-centering fit when moving axially. The flange screw and the trapezoidal nut form a threaded transmission pair, and the waterproof servo motor achieves the fixing and separation of the float assembly by controlling the rotation direction of the flange screw; The buoyancy rope has a double-layer braided structure. The inner layer of the buoyancy rope is an aramid fiber tensile core, and the outer layer of the buoyancy rope is wrapped with a polyurethane elastic sheath and has anti-slip protrusions. The buoyancy rope can float on the water surface, automatically floats when it enters the water, and has a reflective effect at night.

4. The deployment and recovery system for a wave glider according to claim 1, characterized in that: The flat cable recovery device includes a recovery base, a clamping cam, a torsion spring, a shoulder bolt, a stop tongue, a pressure cover, a compression spring, a limit screw, a rotation center screw, a U-shaped lifting ring, and a lifting rope. The clamping cam and torsion spring are rotatably mounted in the recovery base via shoulder bolts. The torsion spring is housed in the groove of the clamping cam. The long end of the first angle of the torsion spring passes through the positioning hole of the clamping cam, and the long end of the second angle of the torsion spring passes through the corresponding positioning hole of the recovery base. The rotation center screw passes through the rotation center holes of the pressure cap and the stop tongue in sequence and is fixed to the open end of the recovery base. The stop tongue forms a linkage structure with the pressure cap through a limiting screw. The limiting screw passes through the arc-shaped limiting groove provided in the pressure cap and is threadedly connected to the stop tongue, forming a kinematic pair that swings around the axis of the rotation center screw and within the arc-shaped limiting groove range of the pressure cap. The compression spring is installed in a pre-compressed state between the side wall of the stop tongue and the corresponding side wall of the recovery base, forming an elastic reset structure. The U-shaped lifting ring is fixed to the side wall of the recovery base by a bolt assembly, and the end of the lifting rope is tied to the U-shaped lifting ring. The inner wall of the recycling base and the contact surface of the clamping cam form a clamping channel for accommodating the flexible flat cable. The inner wall of the recycling base is provided with a guide surface that matches the outline of the flexible flat cable. The contact surface of the clamping cam is machined with anti-slip texture. The back of the clamping cam is integrally formed with a manual lever. The tongue is provided with a guide slope, which together with the opening end of the recycling base forms the insertion guide port for the flexible flat cable. When the flexible flat cable is pressed in laterally, its end is squeezed by the guide slope to rotate the tongue around the rotating center screw and squeeze the compression spring. After the flexible flat cable is fully inserted into the clamping channel, the compression spring pushes the tongue to reset and form a lateral lock. The limiting screw is provided with a manual operation part at one end exposed in the pressure cap limiting groove. When the limiting screw is moved to drive the stop tongue to retract against the spring force of the compression spring, the lateral lock is released, and the flexible flat cable is taken out laterally through the clamping channel. The eccentric profile of the clamping cam forms a self-locking angle with the mounting axis of the shoulder bolt, thereby achieving a locking effect. The torsion spring, through its preload, causes the clamping cam to produce a one-way locking effect on the flexible flat cable: when the flexible flat cable is pulled upward, the clamping cam rotates clockwise around the shoulder bolt under the action of the torsion spring and releases the clamping force on the flexible flat cable; when the flexible flat cable is pressed downward, the clamping cam rotates counterclockwise under the action of the torsion spring and produces a self-locking clamping effect. The anti-slip texture on the clamping cam is a corrugated groove with a peak height of 0.8 to 1.5 mm, a wavelength period of 3 to 6 mm, and the axis of the peak is at an angle of 30° to 60° with the direction of movement of the flexible flat cable. The manual lever on the clamping cam is exposed in the operation window of the recovery base. The outer surface of the manual lever on the clamping cam is provided with anti-slip protrusions, which are used to manually move the clamping cam to release the locking state of the flexible flat cable.

5. The deployment and recovery system for a wave glider according to claim 1, characterized in that: The retrieval rod includes a hook seat, a spring hook, a carbon fiber tube, and a hoisting rope. After the spring hook is activated, it is fastened to the hook seat. The opening of the spring hook is in the open state. The hook seat is fitted onto the top of the carbon fiber tube and fixedly connected by screws. The hoisting rope is tied to the ring at the tail end of the spring hook. One side of the hook seat is used to position and install the spring hook, and the other side of the hook seat is provided with a fixing hook.

6. The deployment and recovery system for a wave glider according to claim 2, characterized in that: The surface boat is placed horizontally on the deployment frame, with its bottom in stable contact with the load-bearing tube of the tubular main support. The main frame of the hydro-glider is clamped in the front and rear limit clamps on the side of the deployment frame and is suspended by a hanging ring and a hand-pulled spring shackle. The first universal support mechanism of the flexible flat cable is connected to the bottom of the surface boat and extends along the middle of the deployment frame to the front end of the deployment frame. The second universal support mechanism is then connected to the hydro-glider.

7. The deployment and recovery system for a wave glider according to claim 3, characterized in that: The tail buoy is installed and fixed to the stern of the surface vessel via its connecting component. When the wave glider receives a remote recovery command, the waterproof servo drives the float assembly to separate from the connecting component, and the buoyancy rope causes the float assembly to float behind the surface vessel.

8. The deployment and recovery system for a wave glider according to claim 4, characterized in that: The flat cable recovery device is used to recover the flexible flat cable and the hydro-powered glider connected to it. When performing the recovery operation, the lifting rope is vertically lifted in stages, so that the flat cable recovery device is locked and moved upwards segment by segment along the length of the flexible flat cable until the hydro-powered glider is lifted off the water surface.

9. The collaborative operation method of the deployment and recovery system for a wave glider according to any one of claims 1-8, characterized in that: Includes the following steps: S1, Deployment Phase: 1) Transfer and positioning: Transport the transfer and deployment device carrying the wave glider to the deck of the mother ship near the crane, and install four sets of universal wheels to fix it to the deck with self-locking. 2) Device separation: Loosen the clamps of the tabletop pipe support, and the mother ship crane lifts and moves the deployment device with slings to separate the deployment frame from the transfer frame; 3) Manual release: When the crane lowers the deployment frame carrying the wave glider into the water, operate the manual spring shackle to release the sling connection between the hydro-powered glider and the deployment frame; 4) Water Deployment: The flexible flat cable is released freely into the water under the action of gravity along with the hydro-powered glider. The hydro-powered glider generates forward thrust, causing the surface boat to slide out of the deployment rack and into the water. 5) Deployment rack recovery: The deployment rack is always connected to the crane via slings. After the wave glider enters the water as a whole and separates from the deployment rack, it is lifted back to the mother ship deck by the crane. The transfer frame and deployment rack are then combined using a platform tube support. S2, Recycling Phase: 1) Tail buoy separation: Send a wireless command to the tail buoy to activate the waterproof rudder to drive the trapezoidal nut to disengage, causing the float assembly to detach from the surface boat; 2) Preliminary positioning: Use the salvage and recovery rod to hook the buoyancy rope and float, drag the surface boat to the side of the mother ship, and then use the spring hook of the salvage and recovery rod to hook the lifting ring on the surface boat, and pull the carbon fiber tube to separate the hook seat. 3) Main body lifting: The surface boat and the first end of the flexible flat cable are lifted vertically by the mother ship crane and placed stably on the deployment rack on the mother ship deck. The second end of the flexible flat cable and the hydrodynamic glider are still submerged underwater. 4) Flat cable retrieval: Insert the flexible flat cable into the flat cable retrieval device, lift the lifting rope in stages, and tighten the cams to lock the flat cable section by section until the hydro-glider is completely lifted off the water. 5) System repositioning: Reposition the recovered hydro-glider between the front and rear limit clamps of the transfer and deployment device, and engage the hand-pulled spring shackle.

Images