Mechanism for autonomous deployment and recovery of micro-miniature AUV (autonomous underwater vehicle) of unmanned surface vehicle

Abstract

The invention discloses a mechanism for autonomous deployment and recovery of a micro-miniature AUV (Autonomous Underwater Vehicle) of an unmanned surface vehicle, and belongs to the field of unmanned underwater operation. The mechanism comprises an unmanned ship platform and a recovery device, wherein the recovery device is provided with an optical guide device, an elastic belt, a binocular camera, a long rod, a buckle, a flexible net and a gear rack lifting mechanism. After the AUV is driven into the recovery device through the visual identification optical guiding device, the binocular camera detects the posture and height of the AUV, the motor drives the gear to move along the rack to drive the long rod to move downwards, the AUV is elastically fixed through the elastic belt, self-adaptive pressing is achieved through torque limitation, and the AUV body is prevented from being damaged. The unmanned ship platform adopts a catamaran structure to improve the stability, and is equipped with a solar energy and lithium battery hybrid power supply system. The requirement for butt joint precision is low, collision damage is avoided through the inner wall flexible material, the device can be suitable for recycling and laying of AUVs of any shape with the size smaller than that of a storage bin, the AUV operation efficiency is effectively improved, and the laying and recycling risk is reduced.

Description

Technical Field

[0001] This invention belongs to the field of unmanned underwater operations, and in particular relates to a mechanism for the autonomous deployment and retrieval of micro-sized AUVs by unmanned surface vessels. Background Technology

[0002] Autonomous Underwater Vehicles (AUVs) play a crucial role in scientific research and underwater archaeology as unmanned underwater vehicles. Due to their high degree of autonomy, AUVs can perform certain underwater tasks in place of humans. However, limited by their size, miniature AUVs have limited battery capacity, requiring frequent retrieval for refueling, thus hindering large-scale operations. At greater operating depths, AUV retrieval is time-consuming and carries certain risks. Traditional manual deployment and retrieval methods are no longer sufficient for future operational needs.

[0003] Unmanned surface vessels (USVs), as autonomous surface robots, possess powerful payload capacity, endurance, and relatively high speed. Therefore, developing a mechanism for the autonomous deployment and retrieval of miniature AUVs using USVs, and utilizing USVs for autonomous deployment and retrieval of AUVs, greatly improves AUV operational efficiency, reduces deployment risks, and has broad application prospects.

[0004] Currently, common AUV recovery equipment can be divided into horn-type and gripper-type. Horn-type AUV recovery equipment generally has a horn-shaped guide device and a compartment for storing the AUV. During recovery, the AUV must be accurately aligned with the guide device to successfully enter the compartment. If the docking is inaccurate, it may lead to failure or damage to the AUV and the guide device. Its high docking precision requirement greatly increases the difficulty of operation.

[0005] Gripper-type AUV recovery equipment requires complex mechanical structures such as rotating robotic arms and manipulators, which increases the manufacturing cost and maintenance difficulty of the equipment. This method is usually designed to recover AUVs of fixed shape and size. Although it can reduce the difficulty of AUV operation and the probability of collision, it limits its applicability and may not be effective in recovering AUVs of different shapes or sizes. Summary of the Invention

[0006] This invention provides a mechanism for the autonomous deployment and retrieval of miniature AUVs (unmanned surface vessels), aiming to solve the problems of low efficiency and high risk associated with traditional manual AUV retrieval methods, and to improve the operational efficiency and range of miniature AUVs. The specific technical solution is as follows:

[0007] A mechanism for autonomous deployment and retrieval of micro-sized AUVs on surface unmanned surface vessels includes an unmanned surface vessel platform and a retrieval device; wherein, the retrieval device can be raised and lowered and installed on the unmanned surface vessel platform; when the retrieval device is in the lowered position, the AUV is retrieved, and after the AUV enters the retrieval device, the AUV is fixed inside the retrieval device, and then the retrieval device is raised so that the retrieval device is located inside the unmanned surface vessel platform.

[0008] Preferably, the recovery device includes an optical guide device, an elastic band, a binocular camera, a long rod, a buckle, a flexible net, a slide rail, a slider, a rack, a gear, and a motor; the optical guide device is used for AUV identification and positioning, and is installed above the outside of the recovery device entrance; the elastic band is used to elastically fix the AUV, and its two ends are fixed to the long rod through double-hole pressure plates, and the up and down movement of the long rod achieves the clamping and fixing of AUVs of different heights; the binocular camera is used to detect the AUV's attitude and height, and is installed inside the recovery device; the long rod is used to support the elastic band, is a square lightweight alloy rod, and its two ends are fixedly connected to the slider through motor fixing components, and moves up and down along the slide rail with the slider; the buckle is used to connect the winch rope, is fixed to the top frame of the recovery device, and is detachably connected to the winch rope through a knot. The system connects to achieve overall lifting and lowering of the recycling device. The flexible netting is used to block interference and buffer collisions, and is installed on the inner sides of the front, left, and right sides of the recycling device. The slide rails provide movement guidance for the slider; two parallel slide rails are symmetrically installed on the inner sides of the frame on both sides of the recycling device, arranged parallel to the rack. The slider connects the long rod to the slide rails; its outer side is connected to both ends of the long rod via a motor fixing component, and its bottom is embedded in the slide rail groove, moving horizontally along the slide rail as the gear moves. The rack meshes with the gear to transmit power and is fixed inside the frame of the recycling device, parallel to the slide rails. The gear transmits the power of the motor and is coaxially fixedly connected to the output shaft of the motor. The teeth of the gear mesh with the grooves of the rack; when the motor drives the gear to rotate, the gear moves linearly along the rack. The motor provides the power for lifting and lowering the long rod and is fixed to the slider.

[0009] Preferably, the unmanned surface vessel (USV) platform includes a solar panel, a wireless bridge, a GPS, a core control box, a battery box, and a winch. The solar panel is used to convert solar energy into electrical energy and is fixed to the front frame of the hull via an aluminum profile bracket. The wireless bridge is used for remote communication and has two gigabit Ethernet ports. It is fixed to the top of the USV via an aluminum profile bracket, with one Ethernet port connected to the Ethernet port of a Jetson Nano inside the core control box and the other connected to a power line carrier module. The GPS is used for USV positioning and navigation and is connected to a Jetson Nano inside the core control box via a USB interface. It is installed on the top right side of the USV. The battery box is used to store the lithium battery pack and photovoltaic controller. It is a waterproof box fixed to the right rear of the hull and contains a 24V lithium battery pack and a photovoltaic controller. The lithium battery pack is connected to various electrical components via a voltage regulator module. The input end of the photovoltaic controller is connected to the solar panel, and the output end is connected to the lithium battery pack. The winch is used for lifting and recovering the device and is symmetrically installed on both sides of the internal frame of the USV platform. It is connected to a relay inside the core control box via a cable, and the winch rope is connected to the recovery device via a buckle.

[0010] Preferably, the elastic band is made of highly elastic and wear-resistant rubber.

[0011] Preferably, the slide rail is made of stainless steel and the slider is made of wear-resistant engineering plastic.

[0012] Preferably, the rack is made of stainless steel.

[0013] Preferably, the hull of the unmanned surface vessel platform adopts a catamaran unmanned surface vessel structure design, with an aluminum profile frame forming the main hull and two foam floating materials placed symmetrically on the left and right sides.

[0014] Preferably, the propellers of the unmanned surface vessel platform are symmetrically installed below the foam floats on both sides and fixed on the aluminum profile frame, and the propellers of the catamaran unmanned surface vessel are independently controlled.

[0015] Preferably, the lithium battery pack in the battery box is a 24V lithium battery pack.

[0016] Preferably, the Jetson Nano inside the core control box is connected to the PCA9685 module via an I2C interface. The PCA9685 module outputs PWM signals to two bidirectional ESCs, each of which is connected to a corresponding underwater brushless thruster. The Jetson Nano is connected to four relays via a GPIO interface, and the four relays are connected to four winches respectively. The winding and unwinding of the winch ropes are controlled by changing the current direction of the relays. The Jetson Nano is connected to a stereo camera and a GPS module via a USB interface. The Jetson Nano is connected to a gigabit Ethernet port of a wireless bridge via an Ethernet port.

[0017] Compared with existing recycling equipment and methods, the docking precision requirements of this invention are relatively low, which reduces the difficulty of operation during the recycling process. At the same time, the flexible material on the inner wall can effectively avoid collision damage between the AUV and the device during the recycling process. Furthermore, this invention utilizes a clever combination of mechanical structures such as slide rails and gear racks, and uses elastic ropes to fix the AUV, making it applicable to the recycling and deployment of AUVs of any shape with dimensions smaller than the storage bin. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the recycling device;

[0019] Figure 2 This is a schematic diagram of the internal structure of the recycling device;

[0020] Figure 3 A schematic diagram of the overall structure of the unmanned surface vessel platform after the AUV has been recovered;

[0021] Figure 4 This is a schematic diagram of the initial docking state between the AUV and the unmanned surface vessel platform.

[0022] Figure 5 This is a schematic diagram showing the recovery device in its lowered state.

[0023] Figure 6 This is a schematic diagram of the recovery device after the AUV is fixed.

[0024] Figure 7 A detailed schematic diagram of the power transmission and fixing mechanism of the recycling device;

[0025] Figure 8 A schematic diagram of the AUV's fixed state;

[0026] Figure 9 This is a schematic diagram of the overall structure of the unmanned surface vessel platform, including the recovery device.

[0027] Figure 10 This is a schematic diagram showing the connection between the circuitry and communication system of an unmanned surface vessel (USV) platform. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other. To achieve the above objectives, this invention adopts the following technical solution.

[0029] This invention provides a mechanism for the autonomous deployment and retrieval of miniature AUVs (unmanned surface vessels). It includes an unmanned surface vessel platform and a retrieval device, such as... Figure 1 As shown in Figures 2 and 3, the recycling device includes the following components:

[0030] The system comprises: 1. Optical guidance device; 2. Elastic band; 3. Binocular camera; 4. Long rod; 5. Buckle; 6. Flexible net; 7. Slide rail; 8. Slider; 9. Rack; 10. Gear; and 11. Motor. The optical guidance device 1, used for AUV identification and positioning, is installed above and outside the inlet of the recovery unit and connected to the core control box 15 of the unmanned surface vessel platform via a cable. The elastic band 2, made of highly elastic and wear-resistant rubber to elastically fix the AUV and prevent damage, is fixed to the long rod 4 at both ends by double-hole pressure plates. The up-and-down movement of the long rod 4 achieves compression and fixation of the AUV at different heights. The binocular camera 3, used for detecting the AUV's attitude and altitude, is installed above and inside the recovery unit and connected to the Jetson sensor inside the core control box 15 via a USB interface. The Nano main control board is directly connected for real-time image data transmission; the long rod 4 is used to support the elastic band 2, and is a square lightweight alloy rod. Both ends are fixedly connected to the slider 8 through motor fixing components. It moves up and down along the slide rail 7 with the slider to realize the height adjustment of the elastic band; the buckle 5 is used to connect the rope of the winch 17, and is fixed to the top frame of the recovery device. It is detachably connected to the winch rope through a knot to realize the overall lifting of the recovery device; the flexible net 6 is used to block the entry of interference objects and buffer collisions. It is made of high-toughness nylon material and is installed on the inner sides of the front, left and right sides of the recovery device. The edges are fixed to the frame of the recovery device with bolts, and the bottom is connected to the sponge pad of the bottom vertical beam of the device; the slide rail 7 provides a moving guide for the slider 8. It is made of stainless steel. The two slide rails 7 are installed parallel and symmetrically on the inner sides of the frame on both sides of the recovery device and are arranged parallel to the rack 9. The slider 8 can slide smoothly along the slide rail; the slider 8 is used to connect the long rod 4 and the slide rail 7. It is made of wear-resistant engineering plastic. The outer side is connected to both ends of the long rod 4 through the motor fixing component. The bottom is embedded in the slide rail 7 and moves along the slide rail with the movement of the gear 10. The rack 9 meshes with the gear 10 to transmit power. It is made of stainless steel and is fixed inside the frame of the recycling device. It is parallel to the slide rail 7. The tooth groove on the rack 9 is precisely matched with the tooth of the gear 10 to provide guidance for the gear movement. The gear 10 transmits the power of the motor 11 and is coaxially fixedly connected to the output shaft of the motor 11. The tooth of the gear 10 meshes with the tooth groove of the rack 9. When the motor 11 drives the gear 10 to rotate, the gear 10 moves linearly along the rack 9. The motor 11 provides the power for the lifting and lowering of the long rod 4. It is a servo motor and is fixed on the slider 8. It is connected to the motor controller through a cable. The motor controller receives the instructions from the core control box 15 to control the start, stop, speed and output torque of the motor 11.

[0031] The unmanned surface vessel (USV) platform includes: a solar panel 12, a wireless bridge 13, a GPS 14, a core control box 15, a battery box 16, and a winch 17. The solar panel 12 converts solar energy into electrical energy and is fixed to the front frame of the hull via an aluminum profile bracket. Its output is connected to a photovoltaic controller via a cable, providing partial power to the USV platform. The wireless bridge 13 is used for remote communication and has two gigabit Ethernet ports. It is fixed to the top of the USV via an aluminum profile bracket; one Ethernet port connects to the Ethernet port of the Jetson Nano inside the core control box 15, and the other connects to a power line carrier module. The GPS 14 is used for USV positioning and navigation. It connects to the Jetson Nano inside the core control box 15 via a USB interface and is installed on the top right side of the USV. It receives satellite positioning signals and transmits them to the main control board, providing position data for USV navigation. The core control box 15 houses the core control components. It is a waterproof enclosure fixed to the left rear of the hull and contains the Jetson Nano. The Nano main control board, PCA9685 module, power line carrier module, etc., are connected to various actuators (thrusters, motors, winches, etc.) and sensors (cameras, GPS, etc.) via cables to achieve overall control. Battery box 16: used to store lithium battery packs and photovoltaic controllers. It is a waterproof box fixed to the right rear of the hull. It contains 24V lithium battery packs and photovoltaic controllers. The lithium battery packs are connected to various electrical components through a voltage regulator module. The input terminal of the photovoltaic controller is connected to the solar panel 12, and the output terminal is connected to the lithium battery pack to achieve charging control. Winches 17 are used to lift and lower the recovery device. There are 4 winches in total, symmetrically installed on the two side frames inside the unmanned surface vessel platform. They are connected to four relays in the core control box 15 via cables. The winch ropes are connected to the recovery device through buckles 5. The current direction is controlled by the relays to realize the rope winding and unwinding, thereby driving the recovery device to rise and fall.

[0032] Working principle:

[0033] 1. Once the AUV and the unmanned surface vessel platform are within a certain range, docking operations begin. For example... Figure 4 As shown;

[0034] 2. After receiving the docking command, the unmanned surface vessel platform activates winch 17 to lower the recovery device to the appropriate position. For example... Figure 4 As shown in (a) and (b);

[0035] 3. The AUV accurately identifies the beacon on the optical guidance device 1 using a visual deep learning algorithm, and estimates its pose in three-dimensional space using its own sensors. After alignment, it drives into the recovery device. (The vertical beam at the bottom of the device is covered with a sponge pad, and flexible nets are installed on the front, left, and right sides, which can effectively reduce collision damage during the recovery process and also prevent other interference from entering.) Figure 5 As shown in (a) and (b);

[0036] 4. After the AUV enters the recovery frame, the binocular camera 3 above the recovery device detects the AUV's attitude and height, and calculates the motor output torque limit based on the AUV's shape. Motor 11 drives the long rod 4 downwards. When the elastic band 2 on the long rod 4 contacts the AUV, the output torque of motor 11 increases. Once the output torque limit is reached, motor 11 stops rotating, and the entire recovery device is fixed at this height, securing the AUV while preventing excessive pressure from damaging the AUV itself. Figure 6 As shown in (a) and (b);

[0037] like Figure 7 As shown in (a), (b), (c), and (d), the operating principle of the recycling device is as follows: Motor 11 drives gear 10 to rotate via its output shaft. The rotation of gear 10 causes its teeth to engage with the grooves on rack 9. Since rack 9 is fixed, this engagement causes gear 10 to move along the direction of rack 9. Slide rail 7 is placed parallel to rack 9, while slider 8 is connected to the motor and a long rod 4 is fixed to it via a connector. As gear 10 moves, the entire system translates along slide rail 7. The power of the entire system is provided by motor 11, and the linear movement of long rod 4 along slide rail is achieved through the engagement of gear 10 and slider 8.

[0038] 5. After securing the AUV, winch 17 operates, pulling the recovery device and the AUV as a whole back to their initial position inside the unmanned surface vessel platform, completing the recovery. Figure 8 As shown in (a) and (b);

[0039] like Figure 9 As shown, the unmanned surface vessel (AUV) platform adopts a catamaran structure design. The main hull is constructed with a high-strength aluminum frame, with two symmetrically placed foam floats on either side to provide buoyancy. The hollow double-hull structure maximizes storage space to meet the needs of AUV recovery. Simultaneously, the catamaran structure better resists the effects of lateral waves and crosswinds, reducing hull sway and tilt, and providing better stability and maneuverability.

[0040] The unmanned surface vessel (USV) platform's propellers are symmetrically mounted below the foam floats on both sides and fixed to a high-strength aluminum frame. The propellers of the catamaran USV can be independently controlled, and a differential model allows for forward, backward, turning, and stationary rotation, giving it better maneuverability and flexibility. Additionally, a net covering the propellers effectively prevents debris such as fallen leaves and seaweed from getting caught in the propellers and affecting their rotation.

[0041] The unmanned surface vessel (USV) platform's power supply module employs a "solar panel + lithium battery" design. An 880mm × 667mm solar panel with a peak power of 160W is mounted on the front of the hull, secured to the hull frame by an aluminum profile bracket. A 24V lithium battery pack is housed in a waterproof tank at the starboard rear of the hull, providing power to the propeller thrusters, main control module, and peripheral expansion modules via a voltage regulator module. Simultaneously, a photovoltaic controller connected to the solar panel is also housed in the waterproof tank, converting solar energy into electrical energy to charge the lithium battery pack.

[0042] The core control module of the unmanned surface vessel (USV) platform is housed in a waterproof tank at the port rear of the hull, utilizing the high-performance Jetson Nano with its powerful image processing capabilities as the main control board. The Jetson Nano connects to the PCA9685 (a 16-channel 12-bit PWM signal generator) via an I2C interface, allowing it to send PWM signals to a bidirectional ESC for precise control of the underwater thrusters. It also connects to the controller of the recovery unit's motor, detecting its output torque and controlling its rotation speed and angle. Simultaneously, the Jetson Nano connects to four relays, controlling four winches by changing the current direction, thus controlling the lowering and raising of the recovery unit. Furthermore, a binocular camera on top of the recovery unit connects directly to the Jetson Nano's USB port, enabling high-speed, real-time image transmission.

[0043] The communication module of the unmanned surface vessel (USV) platform consists of a wireless bridge 13 and a power line carrier module. The wireless bridge 13 is fixed to the top of the USV by an aluminum profile, while the power line carrier module is placed in a waterproof box on the left rear side of the USV. The TP-LINK 5GHz band wireless bridge is equipped with two gigabit Ethernet ports. One of them connects to the Ethernet port of the Jetson Nano main control board, using a point-to-point bridging mode. By connecting another wireless bridge on the ground, remote control and data transmission of the USV platform can be achieved from the ground base station. The other Ethernet port of the wireless bridge is connected to the power line carrier module, which can be used to extend the connection to an underwater robot, enabling remote control and data transmission of the underwater robot from the ground base station.

[0044] Figure 10 This is a schematic diagram of the circuit and communication system connections for an unmanned surface vessel (USV) platform. The components and their connections are as follows:

[0045] 1. Power supply module: including a 24V battery (placed inside battery box 16), solar panel, photovoltaic controller (placed inside battery box 16), and power management module;

[0046] The solar panel output is connected to the photovoltaic controller input, which in turn connects to the 24V battery input, enabling solar energy to charge the battery. The 24V battery output is connected to the power management module input, which converts the 24V voltage to 5V and 12V to power various electrical components. The 5V output from the power management module powers the Jetson Nano.

[0047] 2. Core control module: Jetson Nano (located inside the core control box 15);

[0048] The device connects to the PCA9685 module via an I2C interface. The PCA9685 module outputs PWM signals to two bidirectional ESCs, each of which is connected to a corresponding underwater brushless thruster, enabling speed and direction control of the thruster. It also connects to the motor controller via wiring. The motor controller receives commands from the Jetson Nano and outputs control signals to the motors in the recovery unit, enabling start / stop, speed, and torque control of the motors. Furthermore, it connects to four relays via a GPIO interface, each corresponding to one of the four winches. Changing the current direction of the relays controls the winding and unwinding of the winch ropes. Finally, it connects to a stereo camera and a GPS module via a USB interface to receive image and location data. Finally, it connects to a gigabit Ethernet port on a wireless bridge via an Ethernet port for data transmission.

[0049] 3. Communication modules: wireless bridge, power line carrier module;

[0050] Another gigabit Ethernet port of the wireless bridge is connected to the power line carrier module, which in turn connects to the underwater robot, enabling communication between the Jetson Nano and the underwater robot. The wireless bridge uses a point-to-point bridging mode to establish a connection with the wireless bridge of the ground base station, enabling remote control and data transmission between the ground base station and the unmanned surface vessel platform and the underwater robot.

Claims

1. A mechanism for the autonomous deployment and retrieval of miniature AUVs on surface unmanned surface vessels, characterized in that, It includes an unmanned surface vessel (AUV) platform and a recovery device; wherein, the recovery device can be raised and lowered and installed on the AUV platform; when the recovery device is in the lowered position, it recovers the AUV, and after the AUV enters the recovery device, it is fixed inside the recovery device. Then the recovery device is raised so that the recovery device is located inside the AUV platform.

2. The mechanism for autonomous deployment and recovery of miniature AUVs for surface unmanned surface vessels according to claim 1, characterized in that, The recovery device includes an optical guide, an elastic band, a binocular camera, a long rod, buckles, a flexible net, a slide rail, a slider, a rack, gears, and a motor. The optical guide is used for AUV identification and positioning and is installed above and outside the recovery device's entrance. The elastic band is used to elastically fix the AUV; both ends are fixed to the long rod via double-hole pressure plates, and the up-and-down movement of the long rod achieves compression and fixation of AUVs at different heights. The binocular camera is used to detect the AUV's attitude and height and is installed inside and above the recovery device. The long rod, a square lightweight alloy rod, supports the elastic band and is fixed to the slider at both ends via motor fixing components, moving up and down along the slide rail with the slider. The buckle is used to connect the winch rope and is fixed to the top frame of the recovery device, detachably connected to the winch rope via a knot. The system enables the overall lifting and lowering of the recycling device. The flexible netting, used to block interference and buffer collisions, is installed on the inner sides of the front, left, and right sides of the recycling device. The slide rails provide movement guidance for the slider; two parallel slide rails are symmetrically installed on the inner sides of the frame on both sides of the recycling device, arranged parallel to the rack. The slider connects the long rod to the slide rails; its outer side is connected to both ends of the long rod via a motor fixing component, and its bottom is embedded in the slide rail groove, moving horizontally along the slide rail as the gear moves. The rack meshes with the gear to transmit power and is fixed inside the frame of the recycling device, parallel to the slide rails. The gear transmits power from the motor and is coaxially fixed to the motor's output shaft. The gear teeth mesh with the rack's tooth grooves; when the motor drives the gear to rotate, the gear moves linearly along the rack. The motor provides the power for lifting and lowering the long rod and is fixed to the slider.

3. The mechanism for autonomous deployment and recovery of micro-sized AUVs for surface unmanned surface vessels according to claim 1, characterized in that, The unmanned surface vessel (USV) platform includes solar panels, a wireless bridge, GPS, a core control box, a battery box, and a winch. The solar panels, used to convert solar energy into electricity, are fixed to the front frame of the hull via aluminum profile brackets. The wireless bridge, used for remote communication, has two gigabit Ethernet ports and is fixed to the top of the USV via aluminum profile brackets; one Ethernet port connects to the Ethernet port of a Jetson Nano inside the core control box, and the other connects to a power line carrier module. The GPS, used for USV positioning and navigation, connects to the Jetson Nano inside the core control box via a USB interface and is installed on the top right side of the USV. The battery box, a waterproof enclosure fixed to the right rear of the hull, houses the lithium battery pack and photovoltaic controller. It contains a 24V lithium battery pack and a photovoltaic controller. The lithium battery pack is connected to various electrical components via a voltage regulator module. The input of the photovoltaic controller is connected to the solar panel, and its output is connected to the lithium battery pack. The winch, used for lifting and recovering the device, is symmetrically installed on both sides of the USV platform's internal frame and connected to a relay inside the core control box via cables. The winch rope is connected to the recovery device via buckles.

4. The mechanism for autonomous deployment and recovery of miniature AUVs for unmanned surface vessels according to claim 1, characterized in that, The elastic band is made of highly elastic and wear-resistant rubber.

5. The mechanism for autonomous deployment and recovery of micro-sized AUVs for unmanned surface vessels according to claim 1, characterized in that, The slide rail is made of stainless steel, and the slider is made of wear-resistant engineering plastic.

6. The mechanism for autonomous deployment and recovery of miniature AUVs for unmanned surface vessels according to claim 1, characterized in that, The rack is made of stainless steel.

7. The mechanism for autonomous deployment and recovery of miniature AUVs for unmanned surface vessels according to claim 1, characterized in that, The unmanned surface vessel platform adopts a catamaran structure design, with an aluminum profile frame forming the main hull and two foam floating materials placed symmetrically on the left and right sides.

8. The mechanism for autonomous deployment and recovery of micro-sized AUVs for unmanned surface vessels according to claim 7, characterized in that, The propellers of the unmanned surface vessel platform are symmetrically installed below the foam floats on both sides and fixed to the aluminum profile frame. The propellers of the catamaran unmanned surface vessel are independently controlled.

9. A mechanism for the autonomous deployment and recovery of miniature AUVs on surface unmanned surface vessels according to claim 1, characterized in that, The lithium battery pack in the battery box is a 24V lithium battery pack.

10. A mechanism for the autonomous deployment and retrieval of micro-sized AUVs for unmanned surface vessels according to claim 1, characterized in that, The Jetson Nano inside the core control box is connected to the PCA9685 module via an I2C interface. The PCA9685 module outputs PWM signals to two bidirectional ESCs, each of which is connected to a corresponding underwater brushless thruster. The Jetson Nano is connected to four relays via a GPIO interface, and the four relays are connected to four winches respectively. The winding and unwinding of the winch ropes are controlled by changing the current direction of the relays. The Jetson Nano is connected to a stereo camera and a GPS module via a USB interface. The Jetson Nano is also connected to a gigabit Ethernet port of a wireless bridge via an Ethernet port.

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