Wave glider disposable deployment system and method of coordinated operation thereof

Abstract

The application discloses a wave glider disposable deployment system and a cooperative operation method thereof, and belongs to the technical field of ocean engineering. The system comprises a wave glider and a moving and deploying device. The moving and deploying device is a detachable separated support, which is connected by a positioning pin between an upper deployment support and a lower moving support. The deployment support is provided with a supporting surface matched with a ship body, four lifting rings, a supporting rod for supporting a traction machine, and a float arranged at a middle rear part. The method comprises the following steps: moving the device to a deck and locking; removing the positioning pin, vertically lifting the deployment support and the glider as a whole through four lifting ropes; immersing in water, tilting the support forward by the float, and automatically separating the glider; moving away from a mother ship, and recycling the deployment support. The application realizes rapid, stable and safe one-time deployment of the wave glider under complex sea conditions, avoids the risk of hierarchical deployment and the entanglement of a umbilical cable, and significantly improves operation efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, and in particular to a one-time deployment system for wave gliders and its collaborative operation method. Background Technology

[0002] Wave gliders, as a new type of unmanned marine observation platform, consist of a surface hull, a connecting umbilical cable, and an underwater tractor (or "underwater glider"). They utilize wave energy to achieve long-endurance, large-scale marine environmental monitoring and resource exploration. However, their unique structure (often exceeding 150 kg in weight and up to 3 meters in length) presents significant challenges to deployment operations at sea.

[0003] The current mainstream deployment method is "staged deployment": First, the hull, umbilical cable, and traction machine are assembled on the mother ship's deck and secured to a simple rigid support. After being lifted to the overboard by a marine crane, the traction machine is released into the water first, and the hull is released only after it has stabilized and sunk. This method has the following significant drawbacks: First, it is complex and highly dangerous. In sea conditions of level 4 and above, the mother ship rolls violently, and the manual assembly, securing, hooking, and staged release of equipment are cumbersome and time-consuming. Second, operators are exposed to a hazardous environment, highly susceptible to collisions due to equipment swaying, leading to injury or equipment damage. Third, the umbilical cable is prone to entanglement. During staged release, the 7-8 meter long umbilical cable is in a semi-suspended state, easily becoming entangled with itself or with the support and hull components due to gravity, water currents, and ship movement, leading to deployment failure or even structural damage. Fourth, the release reliability is poor. Some existing technologies (such as patent CN121133918A) rely on manual release mechanisms, which are prone to causing the glider to fall from a height of several meters due to misoperation or accidental triggering in harsh sea conditions, resulting in serious losses. It is also inefficient and lacks adaptability: the entire deployment process involves many steps and is time-consuming, failing to meet the needs of rapid response or high-efficiency operations, and the success rate drops sharply in complex sea conditions.

[0004] Therefore, there is an urgent need to develop a one-time deployment solution that can achieve rapid, stable, and safe deployment without complex human intervention. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a one-time deployment system for wave gliders and its collaborative operation method. This system, through an integrated transport and deployment device and an optimized operation process, aims to achieve a rapid deployment target of "zero-assembly water entry in 5 minutes." Utilizing a four-point stable lifting mechanism and an automatic detachment mechanism based on the floating body, it fundamentally solves the problems of operational risks, equipment damage, and umbilical cable entanglement under complex sea conditions.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, a disposable deployment system for wave gliders includes:

[0008] A wave glider includes a surface hull, an umbilical cable, and an underwater traction machine. The two ends of the umbilical cable are connected to the bottom of the surface hull and the underwater traction machine, respectively, through a universal support mechanism.

[0009] A transport and deployment device is used to carry and deploy the wave glider in one go;

[0010] The transfer and deployment device includes a detachable movable support and a deployment support;

[0011] The mobile support includes a frame and multiple casters with locking function at its bottom for stable transport on the mother ship deck;

[0012] The deployment bracket is detachably connected to the upper part of the mobile bracket. Its top is provided with a support structure that is adapted to the shape of the bottom of the hull of the water surface, and its bottom is provided with a support structure for supporting the underwater tractor. The deployment bracket is provided with at least four lifting rings for connecting lifting equipment.

[0013] The middle and rear parts of the deployment support are equipped with floats, so that after the deployment support enters the water, the buoyancy obtained by the rear part is greater than that of the front part, thereby forming an inclined posture with the front lower and the rear higher.

[0014] Furthermore, the deployment bracket and the movable bracket are detachably connected by a positioning pin.

[0015] Furthermore, the float is mounted on a structure near the tail end of the deployment support.

[0016] Furthermore, the number of lifting rings is four, symmetrically arranged at the four corners of the placement bracket.

[0017] Secondly, a collaborative operation method based on the aforementioned system includes the following steps:

[0018] S1: Transfer and Positioning: Move the transfer and deployment device carrying the wave glider to the lifting operation area on the mother ship deck via the mobile support, and lock the casters;

[0019] S2: Device separation: Disconnect the connection between the deployment support and the mobile support, use the mother ship's lifting equipment to connect the lifting ring of the deployment support, and vertically lift the deployment support together with the wave glider on it to separate it from the mobile support.

[0020] S3: Overall water entry: Adjust the direction so that the bow of the wave glider faces away from the mother ship, and use the lifting equipment to immerse the deployment support and the wave glider as a whole into the water;

[0021] S4: Automatic detachment and deployment: After the deployment support enters the water, it forms an inclined posture with the front lower and the back higher under the action of the float, so that the underwater tractor first detaches from the support structure under the action of gravity; the mother ship then provides separation motion, so that the floating hull slides backward along the inclined support structure until it completely detaches from the deployment support, completing the one-time deployment of the wave glider.

[0022] S5: Deployment Support Recovery: After the wave glider has completely detached, the deployment support is hoisted back to the mother ship deck using a constantly connected lifting device.

[0023] Furthermore, in step S1, the locking of the casters ensures that the transfer and deployment device does not shift when the deck tilt angle is ≤10°.

[0024] Furthermore, in step S2, the device is separated by removing the positioning pin that connects the deployment bracket and the movable bracket.

[0025] Furthermore, in step S4, the separation motion provided by the mother ship is a slow departure, and the detachment process of the surface hull does not require manual intervention from the release mechanism.

[0026] The advantages of this invention over the prior art are:

[0027] High efficiency and safety: It realizes the zero-assembly operation mode of "loading on land and releasing at sea", which reduces the time of high-risk operations at sea to the shortest (about 5 minutes), greatly reduces the exposure time and operation of personnel on the swaying deck, and significantly improves safety.

[0028] Stable and reliable: The four-point lifting method effectively counteracts the torque effect of the mother ship's roll and pitch on the lifted object, ensuring high stability throughout the entire process from deck to water entry, and is suitable for sea conditions of level 4 and above.

[0029] Completely eliminate umbilical cable entanglement: The hull and tractor are placed in a single, integrated water entry method with the hull and tractor in a relatively fixed position. The umbilical cable is always under controlled tension, completely avoiding the risk of the umbilical cable swinging freely and entangled in the air during the staged deployment.

[0030] Innovative automatic release mechanism: It cleverly utilizes the water entry angle generated by the float to achieve automatic and smooth release of the glider, eliminating all manual or trigger-based release mechanisms and fundamentally eliminating the risk of "high-altitude fall" caused by misoperation. The structure is simple and the reliability is extremely high.

[0031] Integration and reusability: The system integrates transportation, storage and deployment functions. The deployment bracket can be quickly recycled and reused, improving the continuity of the operation process and the economy of the equipment. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of a one-time deployment system for wave gliders according to the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of a transfer and deployment device according to the present invention;

[0035] Figure 3 This is a schematic diagram of the transfer and positioning status during the operation of this invention;

[0036] Figure 4 This is a schematic diagram showing the device in a separated state during the operation of this invention;

[0037] Figure 5 This is a schematic diagram showing the overall state of being submerged in water during the operation of this invention;

[0038] Figure 6 This is a schematic diagram illustrating the automatic detachment and deployment states during the operation of this invention;

[0039] Figure 7 This is a schematic diagram of the deployment and retrieval of the support frame during the operation of this invention.

[0040] Reference numerals: 100-Wave glider, 101-Surface hull, 102-Umbilical cable, 103-Underwater tractor; 200-Transfer and deployment device, 201-Deployment support, 2012-Support rod, 202-Mobile support, 2021-Wheel, 203-Float, 204-Hanging ring, 205-Positioning pin. Detailed Implementation

[0041] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limiting purposes, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details.

[0042] Figure 1 and Figure 2 The structure of a one-time deployment system for a wave glider according to the present invention is shown. As shown in the figure, the system mainly includes a wave glider 100 and a transport and deployment device 200.

[0043] The wave glider 100 is the deployment equipment, comprising a surface hull 101, an underwater towing machine 103, and an umbilical cable 102 connecting the two. Preferably, both ends of the umbilical cable 102 are connected to the bottom of the surface hull 101 and the underwater towing machine 103 respectively via universal support mechanisms to improve the adaptability and durability of the connection points in complex sea conditions.

[0044] The transfer and deployment device 200 is used to carry the wave glider 100 and to enable its safe and rapid transfer and release between the mother ship deck and the sea surface. The device is a detachable support structure, including an upper deployment support 201 and a lower movable support 202.

[0045] The mobile support 202 consists of a rigid frame with multiple casters 2021 at its bottom, each equipped with a locking function (such as a brake pedal). This design allows the entire device to move easily and stably on surfaces such as docks and mother ship decks. In the deployment area, locking the casters 2021 ensures the device remains fixed even when the deck sways, for example, at an angle of inclination ≤10°, preventing accidental slippage.

[0046] The deployment support 201 is detachably fixed to the movable support 202 by multiple positioning pins 205. The top of the deployment support 201 is designed with a top support surface that precisely matches the streamlined profile of the bottom of the wave glider's surface hull 101, providing stable support for the hull and preventing displacement or stress concentration during transport and lifting. The bottom of the deployment support 201 is equipped with support rods 2012, such as two transverse support rods, to support the underwater tractor 103 during transport, maintaining it at a preset relative position and distance from the surface hull 101, thereby ensuring the umbilical cable 102 remains in a neat position. Four lifting rings 204 are symmetrically arranged at the four corners of the deployment support 201 for connecting the four independent slings of the mother ship crane.

[0047] One of the core features of this invention is that a large float 203 is fixedly installed at the rear middle part of the deployment support 201, specifically near its stern end, below the stern of the hull 101 it supports. This float 203 can be made of closed-cell foam, sealed air chambers, or other high-buoyancy materials. Its volume and position ensure that when the deployment support 201 enters the water, the buoyancy obtained at its rear (i.e., the part with the float 203) is significantly greater than that at its front (the part without a float or with less buoyancy).

[0048] Based on the above system, the collaborative operation method of the present invention is as follows: Figures 3 to 7 As shown, the specific steps include:

[0049] S1: Transfer and positioning (corresponding to) Figure 3 )

[0050] On land or in a non-operational area on the mother ship deck, the wave glider 100 is pre-loaded onto the transfer and deployment device 200: the surface hull 101 is placed on the top support surface, and the underwater tractor 103 is placed on the support rod 2012. Then, the operator pushes the moving support 202 to safely and conveniently move the entire load-bearing unit to the pre-designated lifting operation area on the mother ship deck. Once in place, the locking pedals of all casters 2021 are immediately depressed to secure the device firmly and prevent the mother ship from swaying.

[0051] S2: Device separation (corresponding to) Figure 4 )

[0052] Workers remove all the locating pins 205 connecting the deployment support 201 and the moving support 202, thus severing the mechanical connection between them. The mother ship crane operator reliably connects the four slings to the four lifting rings 204 of the deployment support 201, and then performs vertical lifting. At this point, the deployment support 201, together with the wave glider 100 it fully supports (including the surface hull 101, umbilical cable 102, and underwater tractor 103), is smoothly lifted off the moving support 202 below as a single unit.

[0053] S3: Complete immersion in water (corresponding to) Figure 5 )

[0054] The crane smoothly transfers the lifted unit to the side of the mother ship. The unit's orientation is adjusted to ensure that the bow of the wave glider 100 faces away from the mother ship's side. Then, the crane hook is slowly lowered so that the deployment support 201 and the entire wave glider 100 it carries are fully submerged in seawater.

[0055] S4: Automatic disengagement and deployment (corresponding to...) Figure 6 )

[0056] This step is crucial to the invention. When the entire unit enters the water, the float 203 at the rear of the deployment support 201 generates significant buoyancy, while the front lacks corresponding buoyancy support, causing the deployment support 201 to quickly tilt towards the rear. This tilt triggers two consecutive automatic disengagement actions:

[0057] First, under the action of the tilt angle, the underwater towing machine 103 naturally detaches from the bottom support rod 2012 due to its own weight and is in a suspended state.

[0058] Immediately afterwards, the forward section of the surface hull 101, which was floating on the water, lost its support due to the forward tilt of the support structure. At this time, the mother ship began to slowly move away, providing a slight horizontal pull. With the assistance of this separation motion, the surface hull 101, under its own buoyancy and the action of the water flow, smoothly glided forward (towards the bow) along the smooth surface of the inclined support structure. Finally, the entire wave glider 100 completely and smoothly detached from the deployment support 201 and floated on the sea surface, with the umbilical cable 102 remaining fully extended and free from any entanglement. The wave glider 100 then activated and entered autonomous navigation and observation mode.

[0059] S5: Deployment and retrieval of support frame (corresponding) Figure 7 )

[0060] After detaching from the wave glider 100, the deployment support 201 becomes unloaded. Since it remains connected to the crane via slings throughout the operation, the operator can directly manipulate the crane to lift the empty deployment support 201 back onto the mother ship deck. Subsequently, it is re-aligned with the movable support 202, the locating pin 205 is inserted, and it is ready for the next deployment operation.

[0061] Through the aforementioned integrated and automated system design and operation process, this invention enables the rapid (within 5 minutes), safe, and reliable one-time deployment of wave gliders in complex sea conditions, completely solving the technical bottlenecks of traditional tiered deployment methods, such as high operational risks, easy tangling of umbilical cables, and low efficiency.

[0062] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0063] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A disposable deployment system for wave gliders, characterized in that, include: The wave glider (100) includes a surface hull (101), an umbilical cable (102) and an underwater tractor (103). The two ends of the umbilical cable (102) are connected to the bottom of the surface hull (101) and the underwater tractor (103) respectively through a universal support mechanism. A transport and deployment device (200) is used to carry and deploy the wave glider (100) in one go. The transfer and deployment device (200) includes a separable movable support (202) and a deployment support (201); the deployment support (201) and the movable support (202) are detachably connected by a positioning pin; The mobile support (202) includes a frame and a plurality of casters (2021) with locking function located at its bottom for stable transport on the mother ship deck; The deployment bracket (201) is detachably connected to the upper part of the movable bracket (202). Its top is provided with a top support surface that is adapted to the bottom shape of the surface hull (101). Its bottom is provided with a support rod (2012) for supporting the underwater tractor (103). The deployment bracket (201) is provided with at least four lifting rings (204) for connecting lifting equipment. The middle and rear part of the deployment support (201) is provided with a float (203), so that after the deployment support (201) enters the water, the buoyancy obtained by the rear part is greater than that of the front part, thereby forming an inclined posture with the front lower and the rear higher. The underwater tractor (103) naturally detaches from the bottom support rod (2012) due to its own weight and is in a suspended state. The glider automatically and smoothly detaches by using the water entry angle generated by the float, without the need for a trigger-type release mechanism, thus eliminating the risk of falling from a height due to misoperation.

2. The wave glider deployment system according to claim 1, characterized in that, The float (203) is mounted on the structure of the deployment support (201) near its tail end.

3. The wave glider deployment system according to claim 1, characterized in that, The number of lifting rings (204) is four, which are symmetrically arranged at the four corners of the placement bracket (201).

4. A collaborative operation method for a one-time deployment system of a wave glider based on any one of claims 1-3, characterized in that, Includes the following steps: S1: Transfer and positioning: Move the transfer and deployment device (200) carrying the wave glider (100) to the lifting operation area on the mother ship deck via the mobile support (202), and lock the caster wheel (2021). S2: Device Separation: Disconnect the connection between the deployment support (201) and the mobile support (202), use the mother ship's lifting equipment to connect the lifting ring (204) of the deployment support (201), and vertically lift the deployment support (201) together with the wave glider (100) on it to separate it from the mobile support (202); the device separation is achieved by removing the positioning pin connecting the deployment support (201) and the mobile support (202); S3: Whole-body immersion: Adjust the direction so that the bow of the wave glider faces away from the mother ship, and use the lifting equipment to immerse the deployment support (201) and the wave glider (100) into the water as a whole; S4: Automatic Departure and Deployment: After the deployment support (201) enters the water, it forms an inclined posture with the front lower and the back higher under the action of the float (203), so that the underwater tractor (103) first detaches from the support rod (2012) under the action of gravity; the mother ship then provides separation motion, so that the floating hull (101) slides forward along the inclined top support surface until it completely detaches from the deployment support (201), completing the one-time deployment of the wave glider (100); the glider’s automatic and smooth detachment is achieved by using the water entry angle generated by the float, without the need for a trigger-type release mechanism, eliminating the risk of falling from a height due to misoperation; S5: Frame recovery: After the wave glider (100) has completely detached, the deployment frame (201) is hoisted back to the mother ship deck by a hoisting device that is always connected.

5. The collaborative operation method according to claim 4, characterized in that, In step S1, the locking of the caster wheel (2021) ensures that the transfer and deployment device (200) does not shift when the deck tilt angle is ≤10°.

6. The collaborative operation method according to claim 4, characterized in that, In step S4, the separation motion provided by the mother ship is a slow departure, and the separation process of the surface hull (101) does not require manual intervention from the release mechanism.

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