Equipment and methods for dynamic capture and release of A-ROVs (HoVs)

Abstract

This invention relates to an apparatus and method for dynamically capturing and releasing A-ROVs using HOVs (Hot-Air Vehicles). The apparatus includes a HOV and an A-ROV arranged opposite each other. A recovery platform is mounted on the HOV, and a water pump assembly is arranged inside the HOV. The output end of the water pump assembly extends out of the recovery platform and connects to a telescopic rod assembly. The head of the telescopic rod assembly is connected to a nozzle assembly, which, under the action of the telescopic rod assembly, drives the nozzle assembly to extend or retract into the recovery platform. Multiple layers of magnetic biomimetic gecko structures are arranged at intervals on the bottom surface of the A-ROV, corresponding to the recovery platform. These structures can adsorb and detach from the platform. Through the coordinated operation of the recovery platform, water pump assembly, telescopic rod assembly, nozzle assembly, and multiple layers of magnetic biomimetic gecko structures, the dynamic capture and release of A-ROVs by the HOV can be easily achieved.

Description

Technical Field

[0001] This invention relates to the field of submersible auxiliary equipment technology, and in particular to a device and method for dynamically capturing and releasing A-ROVs using HOVs. Background Technology

[0002] A-ROV (Autonomous Remotely Operated Vehicle) combines the advantages of traditional ROVs, such as small size, flexibility, and real-time remote control operation. Furthermore, due to its cableless connection, its movement is not restricted by cables, allowing it to move freely over a wide range of underwater areas and reach complex sea areas.

[0003] HOVs (Human Occupied Vehicles) can carry experts to the seabed, allowing them to observe target areas up close and conduct targeted operations. However, HOVs are relatively large, and for safety reasons, they cannot operate in areas with strong currents or complex terrain.

[0004] By combining HOVs and A-ROVs—with the A-ROV mounted on top of the HOV—experts in relevant fields can be brought to the seabed. In areas where HOV operations are inconvenient, the A-ROV can be deployed to conduct operations using its flexibility. After the operation is completed, the A-ROV can be retrieved back onto the HOV. Furthermore, because the A-ROV is cable-free compared to the ROV, the combined operation of the two will not affect the safety of the HOV on the seabed, such as preventing accidents like cables getting tangled in the HOV thrusters.

[0005] Existing HOV underwater recovery equipment typically completes the recovery process when the HOV is stationary on the seabed. Recovery mechanisms, including poles, cables, troughs, and docking stations, are installed on the HOV. These mechanisms are activated at the end of the HOV recovery of the A-ROV to achieve final capture. However, if both the HOV and A-ROV are in motion during the recovery process (i.e., dynamic recovery), the design complexity of these capture mechanisms increases significantly due to the following reasons:

[0006] When HOV dynamically recovers A-ROV, the stable height difference between the two should not be too small at the end of the recovery stage, otherwise it is easy for the two to collide.

[0007] A large height difference will result in an excessively large capture mechanism; and during the dynamic recovery process, the HOV is always in a state of navigation, so if the capture mechanism is opened too large, the risk of the HOV getting entangled in seabed obstacles will be greatly increased.

[0008] Therefore, in the final stage of HOV dynamic recovery of A-ROV, it is necessary to ensure a large height difference between the two while keeping the capture mechanism on the HOV small in size. There is currently no relevant technology that can solve this problem. Summary of the Invention

[0009] To address the shortcomings of the existing production technologies, the applicant provides a device and method for dynamically capturing and releasing A-ROVs using HOVs. This allows for the dynamic capture of A-ROVs by HOVs at the final stage of the dynamic recovery of A-ROVs by HOVs, under a significant height difference between the two. Simultaneously, it enables the release of A-ROVs by HOVs at the bottom of the water, achieving repeated release and recovery of HOVs and A-ROVs underwater.

[0010] The technical solution adopted in this invention is as follows:

[0011] A device for dynamically capturing and releasing A-ROVs using HOVs includes HOVs and A-ROVs arranged opposite each other. A recovery platform is provided on the HOV, and a water pump assembly is arranged inside the HOV. The output end of the water pump assembly extends out of the recovery platform and connects to a telescopic rod assembly. The head of the telescopic rod assembly is connected to a nozzle assembly, which, under the action of the telescopic rod assembly, drives the nozzle assembly to extend or retract into the recovery platform. Multiple layers of magnetic biomimetic gecko structures are arranged at intervals on the bottom surface of the A-ROV, corresponding to the recovery platform. These structures can adsorb and detach from the recovery platform.

[0012] As a further improvement to the above technical solution:

[0013] The multi-layered magnetic biomimetic gecko structure consists of four layers, from top to bottom: a polymer layer, a magnetic composite material layer, a vertical carbon nanotube growth interface layer, and a vertical carbon nanotube array structure layer, all bonded together sequentially. Several miniature resistance wires are arranged at intervals inside the polymer layer.

[0014] The polymer layer is made of polydimethylsiloxane, which combines flexibility and chemical stability.

[0015] The magnetic composite material layer is made of polydimethylsiloxane and iron oxide.

[0016] The vertical carbon nanotube array structure layer consists of several vertical carbon nanotube arrays arranged in an array.

[0017] The length of a single vertical carbon nanotube is 10-20 μm and the diameter is 10-30 nm.

[0018] The upper surface of the polymer layer is adhered to the bottom platform of the A-ROV.

[0019] The water pump assembly is divided into a first water pump and a second water pump, the telescopic rod assembly is divided into a first telescopic vertical rod and a second telescopic vertical rod, and the nozzle assembly is divided into a first nozzle and a second nozzle. The first water pump and the second water pump are both installed below the recycling platform. The output end of the first water pump is connected to the first telescopic vertical rod, and the head of the first telescopic vertical rod is connected to the first nozzle. The output end of the second water pump is connected to the second telescopic vertical rod, and the head of the second telescopic vertical rod is connected to the second nozzle.

[0020] The first nozzle and the second nozzle are arranged opposite to each other.

[0021] A method for dynamically capturing and releasing A-ROVs using HOVs includes the following operational procedures:

[0022] The underwater dynamic recovery process is as follows:

[0023] When the relative height between the A-ROV and HOV stabilizes at around 1m, the first and second telescopic vertical rods extend to near the bottom of the A-ROV.

[0024] The first and second water pumps are started, and water flows with the same flow rate are sprayed simultaneously forward and backward through the first and second nozzles to accelerate the seawater flow velocity between the HOV and A-ROV. According to Bernoulli's equation, the water pressure at the top of the A-ROV will be higher than that at the bottom. By adjusting the flow rate of the water pump assembly, the pressure difference between the top and bottom of the A-ROV can be adjusted to achieve a slow and flexible approach of the A-ROV towards the HOV. During the approach, the telescopic rod assembly is controlled to retract synchronously as the A-ROV approaches. When the distance between the A-ROV and the HOV is close, the A-ROV is adsorbed onto the recovery platform under the action of the magnetic composite material layer.

[0025] The vertical carbon nanotube array structure layer achieves strong adsorption of the recycling platform through van der Waals forces, thereby establishing a strong connection between A-ROV and HOV.

[0026] The seabed release process is as follows:

[0027] The A-ROV's own power supply is used to energize the resistance wire, heating the multi-layered magnetic biomimetic gecko structure to a suitable temperature. This reduces the van der Waals forces between the vertical carbon nanotube array structure layers and the recovery platform. Simultaneously, the A-ROV's main thruster is activated, and mechanical separation between the multi-layered magnetic biomimetic gecko structure and the recovery platform is achieved through shear and tension forces.

[0028] The beneficial effects of this invention are as follows:

[0029] This invention has a compact and reasonable structure and is easy to operate. Through the cooperation of components such as the recovery platform, water pump assembly, telescopic rod assembly, nozzle assembly, and multi-layer magnetic bionic gecko structure, it can easily complete the repeated dynamic capture and recovery of A-ROV by HOV.

[0030] This invention utilizes Bernoulli's principle (where the flow velocity v is high, the pressure p is low; where the flow velocity v is low, the pressure p is high) to achieve a slow and flexible approach of the A-ROV to the HOV. By installing multi-layered magnetic biomimetic gecko material on the A-ROV, the A-ROV achieves close-range adsorption of the HOV and a firm connection between the two after adsorption, thereby realizing the dynamic recovery of the HOV and A-ROV underwater.

[0031] This invention utilizes the properties of multi-layered biomimetic gecko materials and reduces the adsorption force of these materials through an electric heating method, thereby enabling the release of HOV and A-ROV underwater.

[0032] The repeated release and recovery of HOV and A-ROV underwater will greatly enhance their joint operation capabilities, enabling them to perform multiple underwater operations and achieve an operational capability improvement effect that is far greater than the sum of its parts.

[0033] This invention eliminates the need for sophisticated guidance mechanisms or docking stations, significantly improving the success rate of dynamic recovery.

[0034] The present invention only sets a telescopic vertical bar on the HOV, which is small in size and will not pose a risk to the HOV's navigation during dynamic recovery. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the present invention.

[0036] Figure 2 This is a schematic diagram of the structure of the present invention (after HOV dynamically captures A-ROV).

[0037] Figure 3 This is a schematic diagram illustrating the principle of the multilayer magnetic biomimetic gecko material of this invention.

[0038] The components include: 1. HOV; 2. Recycling platform; 3. Water pump assembly; 4. Telescopic rod assembly; 5. Nozzle assembly; 6. Multi-layer magnetic bionic gecko structure; 7. A-ROV;

[0039] 301. First water pump; 302. Second water pump;

[0040] 401. First telescopic vertical rod; 402. Second telescopic vertical rod; 501. First nozzle; 502. Second nozzle;

[0041] 601. Polymer layer; 602. Magnetic composite material layer; 603. Vertical carbon nanotube growth interface layer; 604. Vertical carbon nanotube array structure layer; 605. Resistance wire. Detailed Implementation

[0042] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0043] like Figures 1-3 As shown, the device for dynamically capturing and releasing A-ROVs in this embodiment includes HOV1 and A-ROV7 arranged opposite to each other. A recovery platform 2 is provided on HOV1, and a water pump assembly 3 is arranged inside HOV1. The output end of the water pump assembly 3 extends out of the recovery platform 2 and is connected to a telescopic rod assembly 4. The head of the telescopic rod assembly 4 is connected to a nozzle assembly 5. Under the action of the telescopic rod assembly 4, the nozzle assembly 5 is driven to extend or retract into the recovery platform 2. A multi-layered magnetic bionic gecko structure 6 is arranged at intervals on the bottom surface of A-ROV7. The multi-layered magnetic bionic gecko structure 6 corresponds to the recovery platform 2, and the multi-layered magnetic bionic gecko structure 6 and the recovery platform 2 can achieve adsorption and peeling.

[0044] The multilayer magnetic biomimetic gecko structure 6 consists of four layers, from top to bottom: a polymer layer 601, a magnetic composite material layer 602, a vertical carbon nanotube growth interface layer 603, and a vertical carbon nanotube array structure layer 604, which are sequentially bonded together. Several miniature resistance wires 605 are arranged at intervals inside the polymer layer 601.

[0045] The polymer layer 601 is made of polydimethylsiloxane, which combines flexibility and chemical stability.

[0046] The magnetic composite material layer 602 is made of polydimethylsiloxane and iron oxide.

[0047] The vertical carbon nanotube array structure layer 604 consists of several vertical carbon nanotube arrays arranged in an array.

[0048] The length of a single vertical carbon nanotube is 10-20 μm and the diameter is 10-30 nm.

[0049] The upper surface of polymer layer 601 is adhered to the bottom platform of A-ROV7.

[0050] The water pump assembly 3 is divided into a first water pump 301 and a second water pump 302; the telescopic rod assembly 4 is divided into a first telescopic vertical rod 401 and a second telescopic vertical rod 402; and the nozzle assembly 5 is divided into a first nozzle 501 and a second nozzle 502. The first water pump 301 and the second water pump 302 are both installed below the recycling platform 2. The output end of the first water pump 301 is connected to the first telescopic vertical rod 401, and the head of the first telescopic vertical rod 401 is connected to the first nozzle 501. The output end of the second water pump 302 is connected to the second telescopic vertical rod 402, and the head of the second telescopic vertical rod 402 is connected to the second nozzle 502.

[0051] The first nozzle 501 and the second nozzle 502 are arranged opposite to each other.

[0052] like Figures 1-3As shown, the specific structure and function of the device for dynamic capture and release of A-ROVs according to the present invention are as follows:

[0053] It mainly includes HOV1, A-ROV7, and a recycling platform 2 installed on HOV1, a first water pump 301, a second water pump 302, a first telescopic vertical rod 401, a second telescopic vertical rod 402, a first nozzle 501, a second nozzle 502, and a multi-layer magnetic bionic gecko structure 6 installed on A-ROV7.

[0054] The multilayer magnetic biomimetic gecko structure 6 consists of four layers. From top to bottom, the layers are: a polymer layer 601, made of polydimethylsiloxane, which is both flexible and chemically stable, and contains several miniature resistance wires 605; a magnetic composite material layer 602, mainly made of polydimethylsiloxane, with the density of ferrite (Fe3O4, diameter 50-100nm) increasing gradually along the thickness direction, forming a magnetic field gradient distribution (bottom density 20-30 vol%, top density 5-10 vol%), achieving a directional magnetic field enhancement effect (the gradient magnetic composite material design increases adsorption efficiency by more than 40% with the same amount of magnetic material, while reducing the magnetic layer thickness by 15-20%); a vertical carbon nanotube growth interface layer 603; and a vertical carbon nanotube array structure layer 604, preferably with a length of 10-20µm, a diameter of 10-30nm, and a density of 10... 8 -10 10 root / cm 2 .

[0055] The water pump assembly 3 is located below the recycling platform 2.

[0056] One end of the telescopic rod assembly 4 is connected to the outlet of the water pump assembly 3, and the other end is connected to the inlet of the nozzle assembly 5. It can extend vertically above the recovery platform 2 or retract below the recovery platform 2.

[0057] The upper surface of polymer layer 601 is adhered to the bottom platform of A-ROV7.

[0058] In actual work process:

[0059] Its dynamic recycling working principle is as follows:

[0060] When the relative height between A-ROV7 and HOV1 is stable at about 1m, the first telescopic vertical bar 401 and the second telescopic vertical bar 402 extend to the vicinity of the bottom of A-ROV7.

[0061] The first water pump 301 and the second water pump 302 are started, and water with roughly the same flow rate is sprayed forward and backward simultaneously through the first nozzle 501 and the second nozzle 502, thereby accelerating the seawater between HOV1 and A-ROV7. According to Bernoulli's equation, the water pressure at the top of A-ROV7 will be slightly higher than that at the bottom. By adjusting the flow rate of the water pump assembly 3, the pressure difference between the top and bottom of A-ROV7 can be adjusted, so that A-ROV7 can slowly and flexibly approach HOV1. During this process, the telescopic vertical rod needs to be retracted synchronously as A-ROV7 approaches. On the other hand, the design of spraying roughly the same flow rate of seawater forward and backward can avoid having a significant impact on the navigation status of HOV1.

[0062] When A-ROV7 and HOV1 are close together, A-ROV7 is adsorbed onto the recovery platform 2 under the action of the magnetic composite material layer 602; then the vertical carbon nanotube array structure layer 604 achieves strong adsorption on the recovery platform 2 through van der Waals forces, thereby establishing a firm connection between A-ROV7 and HOV1.

[0063] Its underwater release mechanism works as follows:

[0064] Using the A-ROV7's own power supply, the resistance wire 605 is energized to heat the multilayer magnetic biomimetic gecko structure 6 to a suitable temperature, which greatly reduces the van der Waals force between the vertical carbon nanotube array structure layer 604 and the recycling platform 2.

[0065] The A-ROV7's thrusters are activated, and shearing and pulling forces are used to mechanically separate the multi-layered magnetic bionic gecko structure 6 from the recovery platform 2.

[0066] Through the above process, at the end of the dynamic recovery of A-ROV7 by HOV1, under the large height difference between the two, HOV1 can dynamically capture A-ROV7, and at the same time, HOV1 can release A-ROV7 at the bottom of the water. This enables repeated release and recovery of HOV1 and A-ROV7 underwater, with good reliability and high efficiency, greatly expanding the operational boundaries of HOV and improving its operational capabilities.

[0067] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A device for dynamically capturing and releasing A-ROVs (Aero-Returnable Valves), characterized in that: Includes HOV (1) and A-ROV (7) arranged opposite to each other. The HOV (1) is provided with a recovery platform (2). A water pump assembly (3) is arranged inside the HOV (1). The output end of the water pump assembly (3) extends out of the recovery platform (2) and is connected to a telescopic rod assembly (4). The head of the telescopic rod assembly (4) is connected to a nozzle assembly (5). Under the action of the telescopic rod assembly (4), the nozzle assembly (5) is driven to extend or retract from the recovery platform (2). At the bottom of the A-ROV (7), there is a spaced multi-layered magnetic bionic gecko structure. 6) The multi-layer magnetic biomimetic gecko structure (6) corresponds to the recycling platform (2). The multi-layer magnetic biomimetic gecko structure (6) and the recycling platform (2) can achieve adsorption and peeling. The multi-layer magnetic biomimetic gecko structure (6) is composed of four layers, which are, from top to bottom, a polymer layer (601), a magnetic composite material layer (602), a vertical carbon nanotube growth interface layer (603), and a vertical carbon nanotube array structure layer (604). Several micro resistance wires (605) are arranged at intervals inside the polymer layer (601).

2. The device for dynamically capturing and releasing A-ROVs as described in claim 1, characterized in that: The polymer layer (601) is made of polydimethylsiloxane, which has both flexibility and chemical stability.

3. The device for dynamically capturing and releasing A-ROVs as described in claim 1, characterized in that: The magnetic composite material layer (602) is made of polydimethylsiloxane and iron oxide.

4. The device for dynamically capturing and releasing A-ROVs as described in claim 1, characterized in that: The vertical carbon nanotube array structure layer (604) is composed of several vertical carbon nanotube arrays.

5. The device for dynamically capturing and releasing A-ROVs as described in claim 4, characterized in that: The length of a single vertical carbon nanotube is 10-20 μm and the diameter is 10-30 nm.

6. The device for dynamically capturing and releasing A-ROVs as described in claim 1, characterized in that: The upper surface of the polymer layer (601) is adhered to the bottom platform of the A-ROV (7).

7. The device for dynamically capturing and releasing A-ROVs as described in claim 1, characterized in that: The water pump assembly (3) is divided into a first water pump (301) and a second water pump (302), the telescopic rod assembly (4) is divided into a first telescopic vertical rod (401) and a second telescopic vertical rod (402), and the nozzle assembly (5) is divided into a first nozzle (501) and a second nozzle (502). The first water pump (301) and the second water pump (302) are both installed below the recycling platform (2). The output end of the first water pump (301) is connected to the first telescopic vertical rod (401), and the head of the first telescopic vertical rod (401) is connected to the first nozzle (501). The output end of the second water pump (302) is connected to the second telescopic vertical rod (402), and the head of the second telescopic vertical rod (402) is connected to the second nozzle (502).

8. The device for dynamically capturing and releasing A-ROVs as described in claim 7, characterized in that: The first nozzle (501) and the second nozzle (502) are arranged opposite to each other.

9. A method for operating a device for dynamically capturing and releasing A-ROVs (Aero-Rolled Vehicles), characterized in that: The following operational procedures are included: The dynamic seabed recovery process is as follows: When the relative height of A-ROV (7) and HOV (1) is stable at 1m, the first telescopic vertical bar (401) and the second telescopic vertical bar (402) extend to near the bottom of A-ROV (7); Start the first water pump (301) and the second water pump (302), and spray water with the same flow rate in front and behind through the first nozzle (501) and the second nozzle (502) to accelerate the seawater flow rate between HOV (1) and A-ROV (7). According to Bernoulli's equation, the water pressure at the top of A-ROV (7) will be higher than the water pressure at the bottom. By adjusting the flow rate of the water pump assembly (3), the pressure difference between the top and bottom of A-ROV (7) can be adjusted to achieve the slow and flexible approach of A-ROV (7) to HOV (1). During the approach process, control the telescopic rod assembly (4) to follow the approach process of A-ROV (7) and retract synchronously. When the distance between A-ROV (7) and HOV (1) is close, under the action of the magnetic composite material layer (602), A-ROV (7) is adsorbed onto the recovery platform (2). The vertical carbon nanotube array structure layer (604) achieves strong adsorption of the recycling platform (2) through van der Waals forces, thereby establishing a strong connection between A-ROV (7) and HOV (1); The seabed release process is as follows: Using the A-ROV (7)'s own power supply to energize the resistance wire (605), the multilayer magnetic biomimetic gecko structure (6) is heated to a suitable temperature, reducing the van der Waals force between the vertical carbon nanotube array structure layer (604) and the recovery platform (2). At the same time, the main thruster of the A-ROV (7) is turned on, and mechanical separation is achieved between the multilayer magnetic biomimetic gecko structure (6) and the recovery platform (2) through shearing and tension.

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