Mother ship mounted dual robotic arm recovery apparatus and method for underwater vehicle recovery

Abstract

This invention belongs to the technical field of unmanned underwater vehicle (UUV) recovery and discloses a mother ship-mounted dual-manipulator recovery device and method for UUV recovery. The device includes two manipulators, each comprising a telescopic rod, a sliding unit, and a gripper unit. When the mother ship undergoes vertical heave, the telescopic rod adaptively adjusts its length to compensate for vertical displacement changes. The sliding unit on the telescopic rod engages with a laterally positioned guide rail on the mother ship, allowing the manipulator to have lateral movement freedom. Angle compensation mechanisms are provided at the connections between the telescopic rod and the gripper unit, and between the telescopic rod and the sliding unit, to counteract the vertical angular displacement of the manipulator caused by the mother ship's roll and pitch movements. This invention solves the collision problem between the UUV and the recovery device and the mother ship during UUV recovery, improves the recovery device's tolerance for UUV movement errors, and reduces the difficulty of UUV recovery.

Description

Technical Field

[0001] This invention belongs to the technical field of unmanned underwater vehicle recovery, and more specifically, relates to a mother ship equipped with a dual-robotic arm recovery device and method for underwater vehicle recovery. Background Technology

[0002] With increasing demands for marine resources, environmental protection, and military operations, unmanned underwater vehicles (UUVs) are widely used for underwater exploration and mission execution. The technology of deploying UUVs on large ships can address the shortcomings of traditional underwater operations, such as high risk, low efficiency, and high cost. The military field particularly emphasizes UUVs for reconnaissance, tactical operations, and anti-submarine warfare, while civilian applications include marine mapping, environmental monitoring, and deep-sea exploration. Underwater docking and recovery technology for large UUVs is crucial for the successful application, high efficiency, and effective exploration of these operations.

[0003] The Key Laboratory of Underwater Robotics Technology at Harbin Engineering University conducted research on optical vision and acoustic guidance docking. Using an underactuated AUV and a conical docking station, the docking station was suspended from the bottom of the XY rovers. Acoustic guidance was used for long-range docking, while binocular vision guidance was used for short-range docking. Multiple docking tests were conducted with different initial positions. However, the fixed horn-shaped docking interface was only used during UUV recovery. The interface protrudes outwards, resulting in abrupt changes in cross-section and poor overall hydrodynamic performance. Gao Jian et al. from Northwestern Polytechnical University proposed a position-based visual servoing (PBVS) method for underactuated underwater robot visual docking controllers based on unscented Kalman filtering. However, this also uses a horn-shaped docking interface and has shortcomings in deployment and integration, making it unsuitable for shipboard deployment.

[0004] In complex sea conditions, the combined heave, roll, and pitch motions of the mother ship are the core cause of collisions between the robotic arm and the UUV's hull structure. Heave easily leads to vertical impacts between the recovery device and the UUV, while roll and pitch can cause the recovery device to scrape against the edges of the hull openings or the railcar, and can also cause misalignment and collisions between the recovery device and the UUV. High control precision is required for the UUV to achieve alignment with the recovery device, increasing the difficulty of recovery. Therefore, a device is needed to solve these problems. Summary of the Invention

[0005] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a mother ship equipped with a dual robotic arm recovery device and method for underwater vehicle recovery, which solves the problem of collision between the vehicle and the recovery device and the mother ship during the recovery process.

[0006] To achieve the above objectives, according to one aspect of the present invention, a large ship-underwater unmanned vehicle recovery device is provided. The device includes two robotic arms mounted on a mother ship. Each robotic arm includes a telescopic rod, a sliding unit at the upper end of the telescopic rod, and a gripper unit at the end of the telescopic rod, wherein: When the mother ship experiences vertical heave or sag, the telescopic boom compensates for the vertical displacement by adaptively adjusting its length. The sliding unit cooperates with the horizontally set track on the mother ship. The sliding unit moves along the track, giving the robotic arm the freedom to move laterally. By adjusting the two robotic arms to different lateral positions, the gripping action can be achieved when the vehicle to be recovered is at an angle to the axis of the mother ship. An angle compensation mechanism is provided at the connection between the telescopic rod and the gripper unit, and at the connection between the telescopic rod and the sliding unit. The angle compensation mechanism at the upper and lower ends of the telescopic rod ensures that the telescopic rod always remains vertical.

[0007] More preferably, the angle compensation mechanism includes a hydraulic drive mechanism and a compensation rod. The hydraulic drive is used to drive the compensation rod to adjust its length. One end of the compensation rod is fixed to the telescopic rod, and the other end is fixed to the gripper mechanism or the sliding unit.

[0008] More preferably, the device further includes a vision unit for measuring the lateral offset distance and vertical height difference of the vehicle to be recovered relative to the robotic arm.

[0009] More preferably, the device further includes an acoustic guidance unit for traction of the gripper vehicle toward the mother ship.

[0010] More preferably, the device further includes an optical guidance unit for guiding the recoverable vehicle toward the bottom of the mother ship.

[0011] More preferably, the gripper is equipped with a pressure sensor for measuring the gripping pressure in real time.

[0012] More preferably, the contact area between the gripper and the vehicle to be launched is made of a highly elastic and wear-resistant material.

[0013] More preferably, the adaptive change in the length of the telescopic rod is achieved through hydraulic drive.

[0014] According to another aspect of the present invention, a method for recovering a large ship-underwater unmanned vehicle using the aforementioned large ship-underwater unmanned vehicle recovery device is provided, the method comprising the following steps: Guide the recoverable vehicle to swim towards the mother ship; guide the recoverable vehicle to swim towards the bottom of the mother ship; The heave, roll, and pitch data of the mother ship are measured in real time and fed back to the control unit. The control unit controls the extension rod of the robotic arm, the angle compensation mechanism, and the sliding unit to perform compensation respectively. The position of the vehicle to be recovered is measured in real time, and the grippers grip the vehicle based on that position.

[0015] More preferably, the control unit uses a Kalman filter multi-dimensional compensation algorithm to control the telescopic rod, angle compensation unit and sliding unit to compensate for the heave, roll and pitch of the mother ship.

[0016] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art: 1. The sliding mechanism of this invention allows the robotic arm to move flexibly along the track, achieving precise lateral position adjustment over a wide range. The high-precision drive of the track vehicle enables the robotic arm to complete millimeter-level positional adaptation, quickly offsetting the angular positional deviation between the recoverable vehicle and the mother ship's centerline. This ensures that the gripping range of the robotic arm's gripper precisely covers the gripping position of the recoverable vehicle, eliminating the need for high-precision autonomous position correction by the recoverable vehicle. This avoids alignment collisions between the recoverable vehicle and the robotic arm or gripper caused by lateral displacement, improving the recovery device's tolerance for vehicle movement and reducing the difficulty of recovering the vehicle.

[0017] 2. This invention uses a sensing unit to collect real-time data on the vertical heave displacement, velocity, and acceleration of the mother ship. A compensation algorithm accurately predicts the heave trend over a short period of time, driving the telescopic mechanism of the robotic arm to perform synchronous reverse telescopic movements. Specifically, when the mother ship heaves upward, the telescopic rod in the robotic arm retracts synchronously; when the mother ship heaves downward, the telescopic rod extends synchronously, ensuring that the vertical relative position of the robotic gripper and the recoverable vessel remains stable at all times, preventing rigid vertical collisions between the two due to the heave of the mother ship.

[0018] 3. This invention addresses the roll and pitch motions of the mother ship by having the control unit drive the angle compensation mechanism on the robotic arm to autonomously and collaboratively adjust. This allows the extension and retraction of the compensation rod to change the support angle of the robotic arm, thereby offsetting the roll and pitch angles of the mother ship. This ensures that the robotic arm maintains a stable horizontal operating posture. This compensation method effectively prevents the robotic arm from scraping or colliding with the edge of the loading compartment opening, the railcar, or other structural devices due to the ship's tilt or pitch. At the same time, it ensures that the robotic gripper is always positioned correctly to grasp the recoverable vehicle, preventing squeezing or collisions caused by misaligned grasping.

[0019] 4. This invention addresses the issues of squeezing and collision between the gripper and the vessel during the critical stages of grabbing and entering the cabin by employing flexible gripping control and precise path planning. This solves the problems of squeezing and collision between the gripper and the vessel during entry into the cabin. The flexible gripping prevents squeezing and collision: During the closing process of the mechanical gripper, pressure sensors monitor the gripping pressure in real time. When the pressure reaches a preset safety threshold (a protection threshold adapted to the material of the vessel's outer shell), the control system immediately instructs the gripper to stop closing. At the same time, the contact area between the gripper and the vessel is made of highly elastic and wear-resistant material, which not only ensures the stability of the grip but also buffers the minor impacts during the closing process, completely avoiding squeezing, collision, and damage to the outer shell of the vessel to be recovered. Attached Figure Description

[0020] Figure 1 This is a side view of a large ship-underwater unmanned vehicle recovery device constructed according to a preferred embodiment of the present invention.

[0021] Figure 2 This is a front view of a large ship-underwater unmanned vehicle recovery device constructed according to a preferred embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of the structure of a robotic arm constructed according to a preferred embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of the sliding unit constructed according to a preferred embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the structure of the recoverable vessel constructed according to a preferred embodiment of the present invention when the axis of the mother ship is at an angle to the axis of the mother ship.

[0025] Figure 6 This is a schematic diagram of the structure of the recoverable vehicle after it has been clamped, constructed according to a preferred embodiment of the present invention.

[0026] Figure 7 This is a flowchart illustrating the recovery of a spacecraft constructed according to a preferred embodiment of the present invention.

[0027] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1-Carrying compartment, 2-Mechanical arm, 3-Sliding unit, 4-Railway, 5-Gripper unit, 6-Recoverable vehicle, 7-Gripper, 8-Vision unit, 9-Light guidance unit, 10-Angle compensation mechanism, 11-Compensation rod, 12-Telescopic rod. 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.

[0029] like Figure 1 and 2 As shown, a large ship-underwater unmanned vehicle (UUV) recovery device is used for large ships (mother ships) to carry large UUVs, enabling the mother ship to reliably carry and store the UUV to be recovered, as well as to safely and efficiently deploy and recover it. The device mainly consists of two sets of multi-stage telescopic robotic arms 2, a sliding unit 3, a light guidance unit 9, a vision unit 8, a sensing unit, a control unit, and other transfer systems. The loading compartment 1, used to store the recoverable vehicle 6, is located at the bottom of the mother ship and can also accommodate the entire recovery device for the vehicle 6. The multi-stage telescopic robotic arm 2 adopts a design similar to that of a truck crane telescopic robotic arm, with a gripper unit 5 at its end. A sliding unit 3 is provided at the upper end of the robotic arm 2, which cooperates with a transverse track 4 on the mother ship, allowing the robotic arm 2 to move along the track 4. A light guidance unit 9 is located above the gripper unit 5 and is used to provide short-range light guidance for the vehicle 6 during the recovery process. A vision unit 8 and a sensing unit are used to perform short-range real-time measurement of the attitude of the vehicle 6 and feed back the measured relative attitude data to the control unit. The control unit coordinates and adjusts the positions of the two robotic arms and uses these parameters to perform closed-loop control of the entire recovery device.

[0030] like Figure 3 and 4 As shown, two sets of multi-stage telescopic robotic arms are installed inside the loading bay. A gripper unit 5 is installed at the end of robotic arm 2, and the gripper 7 in gripper unit 5 has a maximum opening of 8m. The robotic arms are designed similar to those of truck cranes, ensuring their rigidity and strength. An angle compensation mechanism 10 is installed on the arm body, located at the connection between the telescopic rod 12 and the gripper unit 5, and at the connection between the telescopic rod 12 and the sliding unit 3. The angle compensation mechanism 10 includes a hydraulic drive mechanism and a compensation rod 11. The hydraulic drive is used to adjust the length of the compensation rod 11. One end of the compensation rod 11 is fixed to the telescopic rod 12, and the other end is fixed to the gripper unit or the sliding unit 3. By precisely coordinating the telescopic range and adjustment angle of the dual hydraulic cylinders, the robotic arm can achieve adaptive attitude control in the roll and pitch directions. This accurately counteracts the roll and pitch angle deviations caused by wave fluctuations on the mother ship, maintaining the horizontal stability of the robotic arm's operating posture and effectively compensating for the roll and pitch movements of the mother ship at the attitude level.

[0031] The robotic arm 2 uses a multi-stage telescopic rod 12, which can rely on its own telescopic drive system to autonomously adjust the telescopic length in real time according to the vertical heave displacement generated by the heave motion of the mother ship. This accurately matches the vertical position of the vehicle to be recovered 6, and realizes displacement compensation in the heave direction of the mother ship to provide a larger operational fault tolerance range for the recovery of the vehicle to be recovered 6. This effectively ensures the stability of deployment and recovery operations under complex sea conditions, and at the same time demonstrates the operation path of the vehicle to be recovered 6 from outside the cabin to inside the cabin.

[0032] like Figure 5 As shown, when the axis of the recoverable vehicle 6 deviates from the axis of the mother ship at a certain angle, the lateral position of the two robotic arms can be adaptively adjusted to make the robotic arms parallel to the axis of the recoverable vehicle 6, thereby enabling the gripper of the recoverable vehicle 6. Figure 5 The Chinese standard clearly indicates the left and right limits of the lateral movement of the robotic arm, and clarifies the fault tolerance range of the device with effective operational adaptability under the positional deviation of the centerline between the recoverable vehicle and the mother ship. It intuitively reflects the design feature of the device that significantly reduces the guidance and positioning accuracy requirements of the recoverable vehicle, and demonstrates the high operational fault tolerance of the device under complex sea conditions.

[0033] like Figure 6 As shown, the optical guidance unit is mounted on the gripper unit 5 and emits an underwater stable guidance beam. The recoverable vehicle 6 receives the optical guidance signal through its own onboard visual measurement equipment.

[0034] A light array is installed on the recoverable vehicle 6. The position and attitude of the recoverable vehicle 6 are measured by the vision unit 8 at the end of the robotic arm 2. The position and attitude measurement data is fed back to the control unit and used to adjust the vertical and lateral positions of the two sets of telescopic robotic arms 2 in real time, thereby enabling the device to adapt to the position and attitude of the recoverable vehicle within a certain range.

[0035] The control unit is used to control the motion of the device, including: extension and retraction control of the robotic arm, lateral position control of the robotic arm, and opening and closing control of the robotic arm gripper. In addition, the control unit also provides manual assistance functions and serves as a last resort for ensuring operation.

[0036] When the recoverable vehicle 6 is far from the mother ship, it is first guided by the acoustic guidance unit until it cruises at a relatively stable attitude about 7-8 meters below the bottom surface of the mother ship's carrying compartment. Maintaining a low speed similar to the mother ship's speed, the two robotic arms 2 extend from the bottom hatch of the mother ship's carrying compartment 1, open their grippers, and activate their own optical guidance units, awaiting the recovery of the vehicle. The recoverable vehicle 6, guided by the optical guidance of the robotic arms 2 and using its own vision unit, gradually adjusts its position and attitude, moving into the capture range of the two robotic arms 2. The two robotic arms 2 observe the position and attitude of the recoverable vehicle 6 using their own vision units, adjusting their extension length accordingly. Based on the measured deviation between the axis of the recoverable vehicle 6 and the axis of the mother ship, they adjust the lateral position of the robotic arms 2 to ensure that the gripping range of both the front and rear robotic arms 2 can encompass the attitude of the recoverable vehicle. Once it is confirmed that the recoverable vehicle is within the gripping range of the robotic arms 2, the grippers gradually close. Before the grippers fully close, robotic arm 2 adjusts its lateral position to ensure that the axis of the recoverable vehicle is ultimately aligned with the centerline of the mother ship. The vehicle then slightly adjusts its axial position using its own propulsion power, ensuring that its axial position is entirely within the opening at the bottom of the carrying compartment 1. This axial position can be guaranteed by setting position switches at appropriate locations on the grippers. After confirming that the vehicle's orientation meets the requirements for entering the compartment, the front and rear grippers close, with elastic contact between the grippers and the surface of the vehicle. The front and rear robotic arms 2 retract synchronously, allowing the vehicle to enter the compartment. Once inside the compartment, the two robotic arms 2, under the control of the control unit, can move laterally to place the vehicle in a suitable storage location and lock it via the in-compartment storage device. It can then be transferred to a suitable maintenance or storage position via the in-compartment transfer device.

[0037] like Figure 7 As shown, the specific mounting process of a large ship-underwater unmanned vehicle recovery device is as follows: (1) Close-to-ship guidance of the UUV to be recovered: The operator issues a recovery command, and the UUV to be recovered swims back to the bottom of the mother ship under the guidance of the acoustic guidance system. No high-precision positioning is required. It is only necessary to adjust the sailing speed to be close to that of the mother ship and maintain a low-speed stable sailing. At the same time, the control unit activates the optical guidance unit 9 on the upper part of the mechanical gripper 7 to emit an underwater stable guidance beam. The UUV to be recovered receives the optical guidance signal through its own visual measurement equipment and autonomously approaches the working area below the mother ship. During the process, the UUV to be recovered is allowed to have a certain position deviation and attitude fluctuation.

[0038] (2) Real-time position and posture monitoring and deviation adaptation: The vision unit 8 of the robotic arm 2 captures the optical guidance array of the UUV back gripping position in real time, accurately measures the lateral offset distance and vertical height difference of the UUV to be recovered relative to the robotic arm 2, and feeds the data back to the control unit in milliseconds.

[0039] (3) After receiving the deviation data, the control unit starts the dual-dimensional coordinated adjustment: the lateral adjustment is driven by the control system to drive the sliding unit 3 to move precisely and uniformly along the track 4 according to the lateral offset of the vehicle to be recovered 6, so as to achieve millimeter-level position adjustment, drive the robotic arm 2 to move laterally in sync, quickly offset the lateral deviation between the vehicle to be recovered 6 and the centerline of the mother ship, so that the lateral gripping range of the gripper 7 accurately covers the gripping position of the vehicle to be recovered 6; the vertical adjustment is driven by the control unit to drive the multi-stage telescopic mechanism of the robotic arm 2 to adaptively extend and retract according to the height difference between the vehicle to be recovered 6 and the gripper 7, so as to adjust the extension length and make the vertical height of the gripper 7 completely match the gripping position of the vehicle to be recovered 6.

[0040] Throughout the entire deviation adaptation process, the recoverable vehicle 6 does not need to perform any high-precision autonomous position correction; it only needs to maintain low-speed navigation, and the attitude adaptation is entirely completed actively by the device.

[0041] (4) Multi-dimensional sea state dynamic compensation of the mother ship, the sensing unit synchronously and in real time collects the composite motion parameters of heave, roll and pitch caused by the wave fluctuation of the mother ship: heave motion collects vertical heave displacement, heave speed and motion acceleration; roll / pitch motion collects angle, angle change rate and motion trend data, and all parameters are transmitted to the control unit in real time and dynamically updated.

[0042] (5) The control unit inputs the collected motion parameters into the Kalman filter multi-dimensional compensation algorithm. The algorithm accurately predicts the motion trend of the mother ship in a short time based on real-time data and generates a collaborative compensation command for the robotic arm 2 and the compensation rod 11.

[0043] Heave compensation: Based on the heave trend predicted by the algorithm, the control unit drives the multi-stage telescopic mechanism of the robotic arm 2 to adjust the telescopic length in real time. Relying on high-precision transmission components, it responds quickly and accurately counteracts the vertical heave displacement of the mother ship, ensuring the vertical relative position stability of the gripper 7 and the recoverable vehicle 6. Roll / pitch compensation: The control unit drives the angle compensation mechanism 10 on the robotic arm 2 to perform autonomous and coordinated angle and telescopic adjustment. By extending and retracting the compensation rod 11, the support angle of the robotic arm is changed, which counteracts the roll and pitch angles of the mother ship, respectively, and achieves horizontal stability of the robotic arm's working posture.

[0044] The extension and retraction adjustment of the robotic arm 2 and the adjustment of the angle compensation mechanism 10 are carried out synchronously and precisely, forming a full-dimensional dynamic compensation for the complex motion of the mother ship, completely offsetting the influence of the ship's swaying on the relative position of the robotic arm and the recoverable vehicle 6.

[0045] (6) Gripper gripping confirmation: The control unit confirms the gripping position of the vehicle to be recovered 6 through dual data confirmation of the vision unit and the sensor unit. After both the front and rear gripping positions are within the gripping range of the mechanical gripper 7, the control unit commands the gripper 7 to close slowly. The entire process does not require high-precision guidance and positioning of the vehicle to be recovered 6. The remaining minor deviations are actively corrected by the device.

[0046] (7) UUV entry and recovery: After the control system confirms that the position of the UUV to be recovered 6 meets the requirements for entry, the grippers 7 of the two robotic arms close completely at the same time. The elastic contact surface is in close contact with the outer surface of the UUV to be recovered 6. The pressure sensor monitors the gripping pressure in real time to ensure that the grip is stable and does not damage the UUV to be recovered 6. Then, the two robotic arms 2 retract synchronously under the command of the control system to smoothly pull the UUV to be recovered 6 into the carrying compartment 1. If the retraction process encounters wave fluctuations, the sensor system collects sea state parameters in real time, and the robotic arms and hydraulic cylinders continuously perform autonomous dynamic compensation to ensure that the recovery process is stable and without shaking.

[0047] (8) In-cabin positioning and placement: After the UUV to be recovered 6 is pulled into the carrying compartment 1, the sliding unit 3 drives the robotic arm 2 to move laterally along the track 4, and transfers the UUV to be recovered 6 to the designated storage location in the compartment. The multi-point positioning and locking structure in the compartment is activated, and the locking position is adjusted according to the shape and size of the UUV to complete the fixed locking of the UUV to be recovered. If the UUV to be recovered 6 needs immediate repair and maintenance, it can be directly transferred from the grab position to the maintenance station in the compartment by the transfer platform.

[0048] This invention effectively solves the problems of poor motion tolerance, complex structure, difficult installation and debugging, significant impact on ship structure, and low degree of automation in the prior art by optimizing the device structure design. It provides an efficient, safe and reliable solution for large ships to carry large UUVs, and has broad application prospects and promotion value.

[0049] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mother ship equipped with a dual-robotic arm recovery device for recovering underwater vehicles, characterized in that, The device includes two robotic arms mounted on the mother ship. Each robotic arm includes a telescopic rod (12), a sliding unit (3) located at the upper end of the telescopic rod (12), and a gripper unit (5) located at the end of the telescopic rod (12), wherein: When the mother ship experiences vertical heave, the telescopic boom (12) compensates for the vertical displacement by adaptively adjusting its length. The sliding unit (3) cooperates with the horizontally set track on the mother ship. The sliding unit moves along the track so that the robotic arm has the freedom to move laterally. The two robotic arms are adjusted to different positions laterally to achieve the gripping of the vehicle to be recovered (6) when it is at an angle to the axis of the mother ship. An angle compensation mechanism (10) is provided at the connection between the telescopic rod (12) and the gripper unit (5), and at the connection between the telescopic rod (12) and the sliding unit (3). The angle compensation mechanism (10) at the upper and lower ends of the telescopic rod (12) ensures that the telescopic rod (12) always remains vertical.

2. The mother ship equipped with a dual-robotic arm recovery device for underwater vehicle recovery as described in claim 1, characterized in that, The angle compensation mechanism (10) includes a hydraulic drive mechanism and a compensation rod (11). The hydraulic drive is used to drive the compensation rod (11) to adjust its length. One end of the compensation rod is fixed to the telescopic rod (12), and the other end is fixed to the gripper mechanism or the sliding unit (3).

3. A mother ship equipped with a dual-robotic arm recovery device for underwater vehicle recovery as described in claim 1 or 2, characterized in that, The device also includes a vision unit (8) for measuring the lateral offset distance and vertical height difference of the recoverable vehicle (6) relative to the robotic arm.

4. The mother ship equipped with a dual-mechanical-arm recovery device for underwater vehicle recovery as described in claim 3, characterized in that, The device also includes an acoustic guidance unit, which is used to guide the gripper vehicle to move toward the mother ship.

5. A mother ship equipped with a dual-mechanical-arm recovery device for underwater vehicle recovery as described in claim 4, characterized in that, The device also includes a light guiding unit (9) for guiding the recoverable vehicle (6) toward the bottom of the mother ship.

6. A mother ship equipped with a dual-mechanical-arm recovery device for underwater vehicle recovery as described in claim 5, characterized in that, The gripper is equipped with a pressure sensor for real-time measurement of gripping pressure.

7. A mother ship equipped with a dual-robotic arm recovery device for underwater vehicle recovery as described in claim 6, characterized in that, The contact area between the gripper and the vehicle to be launched is made of a highly elastic and wear-resistant material.

8. A mother ship equipped with a dual-robotic arm recovery device for underwater vehicle recovery as described in claim 1 or 7, characterized in that, The adaptive change in the length of the telescopic rod (12) is achieved through hydraulic drive.

9. A recovery method for an underwater vehicle recovery system using a mother ship equipped with a dual-mechanical-arm recovery device, as described in any one of claims 1-8, characterized in that... The method includes the following steps: Guide the recoverable vehicle to swim towards the mother ship; guide the recoverable vehicle to swim towards the bottom of the mother ship; The heave, roll, and pitch data of the mother ship are measured in real time and fed back to the control unit. The control unit controls the extension rod of the robotic arm, the angle compensation mechanism, and the sliding unit to perform compensation respectively. The position of the vehicle to be recovered is measured in real time, and the grippers grip the vehicle based on that position.

10. The recovery method as described in claim 9, wherein the control unit uses a Kalman filter multi-dimensional compensation algorithm to control the telescopic rod, angle compensation unit, and sliding unit to compensate for the heave, roll, and pitch of the mother ship.

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