An AUV recovery and deployment device, system and method

Abstract

This invention relates to the field of environmental detection technology, specifically to an AUV deployment and recovery device, system, and method. The device includes: an AUV locking switch for detachable connection to an AUV locking tongue at the end of the AUV; a self-locking switch mechanically coupled to the AUV locking switch, the self-locking switch responding to the propulsion action of the AUV at different operational stages, respectively unlocking or locking with the AUV locking switch; and a deployable flare located at the end of the AUV deployment and recovery device furthest from the self-locking switch. The deployable flare is linked to the self-locking switch via a drive rope, opening or closing depending on the coupling state of the self-locking switch and the AUV locking switch. This invention utilizes the propulsion force of the AUV to achieve AUV deployment and recovery, saving space and being highly efficient and reliable.

Description

Technical Field

[0001] This invention relates to the field of environmental detection technology, specifically to an AUV recovery and deployment device, system, and method. Background Technology

[0002] The Earth's poles contain floating ice zones and ice shelves connecting the oceans and polar ice caps. Exploring and sampling the subglacial environment, such as observing subglacial ocean temperature, salinity, and circulation, monitoring the subglacial marine ecosystem, and sampling seawater and sediments, is crucial for studying subglacial ocean temperature, salinity, and circulation, as well as the interaction between ice shelves and the ocean, and has significant scientific value. Currently, there are two main methods for subglacial environment exploration: one is drilling holes in the ice surface and placing cable-stayed instruments, but this has a limited detection range; the other is using autonomous underwater vehicles (AUVs). However, AUVs have limited endurance, and in thick ice conditions, drilling is typically done using polar hot water drilling rigs, resulting in limited hole diameters (35cm-80cm), making it impossible to directly deploy and retrieve AUVs within deep and narrow ice holes.

[0003] In scenarios where AUVs can be deployed, existing deployment, docking, and recovery systems typically rely on active drives and complex active control systems to capture, lock, and dock the AUVs. Existing containment solutions house the Launch and Recovery System (LRS) as a complete, independent unit within the ice-penetrating probe, forming a nested structure. Current deployment and recovery devices are mostly self-contained, complete cylindrical structures, often standard circular docking stations designed for universality. For example, Chinese invention patent application CN 114296127A discloses an under-ice exploration robot that melts the ice layer using a thermally melting drill bit on the ice-penetrating probe, carries the AUV inside the probe, and deploys and recovers it after the probe completely penetrates the ice and meets the AUV deployment conditions, thus achieving under-ice exploration. Chinese invention patent application CN116908917A discloses an under-ice probe robot that drills holes in the ice using an ice-penetrating probe and uses a containment, tapered-entry deployment and recovery device to deploy and recover the AUV, thereby achieving deep-ice water exploration.

[0004] However, the existing technology still has the following problems: (1) Reliance on active drive and complex system. In scenarios where AUVs can be deployed, the existing AUV deployment and recovery devices rely on active drive and complex active control systems to capture, lock and dock the AUVs during deployment, docking and recovery. In extreme environments such as deep water, high pressure and low temperature, the reliability, stability and maintainability of the device face severe challenges. A problem with one active device may lead to the failure of the detection mission or even affect the operation of the main system. (2) Space utilization problem. The existing containment scheme places the deployment and recovery device inside the ice-penetrating detector, occupying the already tight core cabin space, which leads to strict limitation on the size of the AUV and wastes the effective payload space of the ice-penetrating detector. (3) Structural form problem. Most of the current deployment and recovery systems are self-contained complete cylindrical structures, which can usually only be built-in or externally mounted, and do not make full use of the internal or external space of the ice-penetrating detector. Moreover, most of them are standard circular docking stations that pursue universality. The structural form is disconnected from the main body of the ice-penetrating detector, and it is impossible to achieve deep conformal integration with the ice-penetrating detector while realizing efficient docking function. Summary of the Invention

[0005] The purpose of this invention is to provide an AUV deployment and recovery device, system, and method to solve at least one of the above-mentioned technical problems. This invention can overcome the geometric limitations of ice holes with limited apertures, safely deploy and recover AUVs following underwater detectors, and does not require changes to the underwater detector system itself. It can directly utilize the space and load-bearing capacity of the detector body structure, greatly improving the adaptability, reliability, and stability to complex and harsh environments under ice.

[0006] The present invention achieves the above objectives through the following technical solutions: An AUV recovery and deployment device includes: AUV locking switch for detachable connection to the AUV latch at the end of the AUV; A self-locking switch is mechanically coupled to the AUV locking switch. The self-locking switch responds to the propulsion action of the AUV at different operating stages, thereby unlocking or locking with the AUV locking switch. An expandable horn-shaped opening is located at the end of the AUV recovery and deployment device furthest from the self-locking switch. The expandable horn-shaped opening is linked to the self-locking switch via a drive rope, and opens or closes depending on the coupling state of the self-locking switch and the AUV locking switch.

[0007] Furthermore, the self-locking switch includes: a base, a sliding block slidably connected to the base, and a cam groove provided at the end of the sliding block adjacent to the AUV; The AUV locking switch includes an AUV locking block that matches the AUV locking tongue. A cylindrical push rod is provided in the center of the AUV locking block. A reset component is provided at the center of one end of the push rod away from the AUV locking block. Two pins are symmetrically arranged on the outer periphery of the push rod. The pins can move along the cam groove.

[0008] Furthermore, the cam channel is composed of a first cam and a second cam arranged in opposite directions, forming an overall eccentric structure.

[0009] Furthermore, the self-locking switch also includes: a moving rod; The base has a base slide rail on its side, and the sliding block is slidably connected to the base slide rail; One end of the moving rod is rotatably connected to the base, and the other end is disposed in a sliding groove opened inside the sliding block.

[0010] Furthermore, the deployable flare includes: a frame, a hinge, an elastic component, and a rope-driven tile; The rope-driven tile is connected to the frame via the hinge and the elastic component. The elastic component can drive the rope-driven tile to extend outward or retract inward.

[0011] Furthermore, the end of the self-locking switch adjacent to the AUV is also provided with a pull rope reel. The pull rope reel is connected to the expandable horn mouth through a drive rope. The pull rope reel can drive the drive rope to pull the rope-driven tile to extend outward or retract inward. In the absence of external force, the elastic component drives the rope-driven tile to extend outward from the frame; when the sliding block slides away from the AUV, the pull rope disc drives the drive rope to pull the rope-driven tile inward to retract.

[0012] An AUV recovery and deployment system, employing any of the AUV recovery and deployment devices described above, the system comprising: Connects to the drill bit base for docking with an underwater detector and carrying an AUV; The AUV recovery and deployment device has one end rotatably hinged to the connecting drill bit base, and the other end connected to the connecting drill bit base through a side door lifting device.

[0013] Furthermore, the side door lifting device includes: a reel fixed to the top of the connecting drill bit base and a control motor. The first end of the hoisting rope is securely connected to the reel, and the second end is connected to the outlet end of the AUV recovery and deployment device. The control motor drives the reel to release or retrieve the hoisting rope according to the command signal from the underwater detector.

[0014] An AUV recovery and deployment method, employing any of the AUV recovery and deployment devices described above, the method comprising: The AUV recovery and deployment device is adjusted from a vertical position to a horizontal position according to the command signal from the underwater detector; The AUV applies a thrust in a first direction to the self-locking switch, the self-locking switch unlocks from the AUV locking switch, and the self-locking switch opens the deployable horn mouth via a drive rope. The AUV applies a propulsive force in a second direction opposite to the first direction, and detaches from the AUV recovery and deployment device to perform its mission; The AUV returns and enters the deployable horn, applies a thrust in a first direction to the self-locking switch, the self-locking switch locks with the AUV locking switch, and the deployable horn closes.

[0015] Furthermore, the self-locking switch, through the periodic structure of its cam channel, converts the linear propulsion motion of the AUV into unlocking / locking actions and the opening and closing actions of the deployable horn, which are executed in a preset sequence.

[0016] Furthermore, during the locking process between the AUV and the AUV lock-up switch: When the AUV speed drops to zero and stops outputting thrust in the first direction, the reset component in the AUV locking switch pushes out the push rod, the AUV locking block, and the AUV together to lock the AUV.

[0017] The beneficial effects of this invention are as follows: Passive drive enhances stability: The AUV deployment and recovery device of this invention uses the propulsion force of the AUV itself as the sole and direct energy source to complete a series of actions, including locking, releasing, and guiding. Throughout the process, no additional power devices such as motors, batteries, or hydraulic systems are required, achieving deep coupling between the power of the AUV and the power of the control system. This passive triggering design effectively avoids instability caused by external power source failures or interference, significantly improving the system stability during subglacial lake exploration.

[0018] Mechanical linkage enhances reliability: This invention does not rely on electronic means such as software or circuits, but rather on a pre-designed mechanical geometry (such as a cam channel) executed in a specific sequence and position. Using only the forward and backward movement of the AUV as input commands, it can complete a series of complex actions, including AUV release, the opening and closing of the deployment and recovery system's horn, and AUV docking and locking. This physical logic-based control method avoids potential electronic interference or communication delays caused by the subglacial lake environment, thus significantly improving system reliability.

[0019] Integrated design for optimized space utilization: Unlike existing enclosed deployment and recovery systems, this invention integrates the AUV deployment and recovery system as part of the outer casing, directly utilizing the space and load-bearing capacity of the underwater probe's main structure. The AUV is carried on the underwater probe's extended compartment, eliminating the need for additional space occupation or compression of working space, thus achieving efficient utilization of the limited internal space of the underwater probe platform. Furthermore, the AUV deployment and recovery system fully utilizes the remaining space and surface area outside the main underwater probe structure, and its vertical-to-horizontal transformation is achieved through a side door opening device. Its partially enclosed circular structure also makes it an integral part of the underwater probe, achieving deep integration. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of an AUV recovery and deployment device according to one embodiment of the present invention; Figure 2 This is a schematic diagram showing the unlocking changes of an AUV recovery and deployment device according to one embodiment of the present invention; Figure 3 This is a schematic diagram of the connection of an AUV recovery and deployment device according to one embodiment of the present invention; Figure 4 for Figure 3 A magnified view of a portion of point A in the middle; Figure 5 for Figure 3 A magnified view of a portion of point B in the middle; Figure 6 This is a schematic diagram of a self-locking switch connection according to one embodiment of the present invention. Figure 1 ; Figure 7 This is a schematic diagram of a self-locking switch connection according to one embodiment of the present invention. Figure 2 ; Figure 8 This is a schematic diagram of a sliding channel according to one embodiment of the present invention; Figure 9 This is a schematic diagram illustrating the operation of an expandable flared mouth according to one embodiment of the present invention. Figure 10 for Figure 9 A magnified view of part C in the diagram; Figure 11 for Figure 9 A magnified view of part D in the diagram; Figure 12 This is a schematic diagram of the bottom connection of the rope-driven tile; Figure 13 This is a schematic diagram of a cylindrical hinge structure according to one embodiment of the present invention; Figure 14 This is a schematic diagram of an AUV recovery and deployment system according to one embodiment of the present invention; Figure 15 This is a schematic diagram of the side door lifting device according to one embodiment of the present invention; Figure 16 This is a schematic diagram of the AUV recovery and deployment method according to one embodiment of the present invention; Figure 17 This is a schematic diagram illustrating the operational principle of an AUV recovery and deployment method according to one embodiment of the present invention. Figure 18 This is an operational status diagram of an AUV recovery and deployment method according to one embodiment of the present invention.

[0021] Among them, 10, connecting drill bit base; 20, AUV recovery and deployment device; 21, self-locking switch; 211, base; 212, base slide; 213, moving rod; 214, cam channel; 2141, first cam; 2142, second cam; 215, sliding channel; 216, positioning spring; 217, rope reel; 218, sliding block; 22, AUV locking switch; 221, AUV locking block; 222, push rod; 223, reset component; 224, pin; 23, drive rope; 24, deployable flared mouth; 241, elastic component; 242, frame; 243, cylindrical hinge; 244, rope drive tile; 30, side door lifting device; 31, reel; 32, lifting rope; 33, control motor; 40, AUV; 41, AUV locking tongue. Detailed Implementation

[0022] The invention will now be discussed with reference to exemplary embodiments. It should be understood that the described embodiments are merely intended to enable those skilled in the art to better understand and thus implement the invention, and are not intended to imply any limitation on the scope of the invention.

[0023] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". Example

[0024] Figure 1 This is a schematic diagram of the overall structure of an AUV recovery and deployment device according to one embodiment of the present invention; Figure 2 This is a schematic diagram showing the unlocking changes of an AUV recovery and deployment device according to one embodiment of the present invention; Figure 3 This is a schematic diagram of the connection of an AUV recovery and deployment device according to one embodiment of the present invention; Figure 4 for Figure 3 A magnified view of a portion of point A in the diagram. Figure 5 for Figure 3 A magnified view of a portion at point B. (See diagram below.) Figure 1-5As shown, according to one embodiment of the present invention, an AUV recovery and deployment device includes: AUV locking switch 22 is used for detachable connection with AUV locking tongue 41 at the end of AUV 40; The self-locking switch 21 is mechanically coupled to the AUV locking switch 22. The self-locking switch 21 responds to the advancing action of the AUV 40 at different operating stages, and unlocks or locks with the AUV locking switch 22 respectively. An expandable horn-shaped opening 24 is located at the end of the AUV retrieval and deployment device 20 furthest from the self-locking switch 21. The expandable horn-shaped opening 24 is linked to the self-locking switch 21 via a drive rope 23, and opens or closes depending on the coupling state of the self-locking switch 21 and the AUV locking switch 22. In this embodiment, an AUV retrieval and deployment device 20 is proposed to adopt a passive drive structure, including a self-locking switch 21, an AUV locking switch 22, a drive rope 23, and an expandable horn-shaped opening 24. The self-locking switch 21 is mechanically coupled to the AUV locking switch 22. The self-locking switch 21 responds to the advancement action of the AUV 40 at different operating stages, respectively unlocking or locking with the AUV locking switch 22. The expandable horn-shaped opening 24 is linked to the self-locking switch 21 via the drive rope 23, and opens or closes depending on the coupling state of the self-locking switch 21 and the AUV locking switch 22.

[0025] During deployment, the AUV 40 advances forward, the self-locking switch 21 and the AUV locking switch 22 unlock, the drive rope 23 loosens, and the deployable horn 24 opens naturally. The AUV 40 can then reverse its direction to detach from the device and perform its mission. During retrieval, the AUV 40 enters the deployable horn 24 and advances forward. The self-locking switch 21 and the AUV locking switch 22 lock and couple, tightening the drive rope 23 and pulling the deployable horn 24 to close. Simultaneously, when the AUV 40's speed drops to zero and it stops advancing, the AUV 40 is locked. The entire driving energy for the locking, unlocking, and horn opening / closing actions of this AUV deployment and retrieval device 20 comes solely from the AUV 40's own propulsion force, eliminating the need for active functional units such as motors, batteries, or hydraulic pumps. This converts the linear propulsion motion of the AUV 40 into multiple mechanical actions executed in a preset sequence, achieving purely mechanical program control.

[0026] This invention utilizes the AUV's own propulsion to achieve actions such as deployment, retrieval, locking, unlocking, and horn opening and closing, without requiring additional active functional units, saving space and being highly efficient and reliable.

[0027] Figure 6 This is a schematic diagram of a self-locking switch connection according to one embodiment of the present invention. Figure 1 , Figure 7 This is a schematic diagram of a self-locking switch connection according to one embodiment of the present invention. Figure 2 , Figure 8This is a schematic diagram of a sliding channel according to one embodiment of the present invention. Figure 4 , 6 As shown in Figure 8, according to one embodiment of the present invention, the self-locking switch 21 includes: a base 211, a sliding block 218 slidably connected to the base 211, and a cam groove 214 and a pull rope disc 217 fixedly connected to one end of the sliding block 218 adjacent to the AUV 40. AUV locking switch 22 includes an AUV locking block 221 that matches the AUV locking tongue 41. A cylindrical push rod 222 is provided in the center of the AUV locking block 221. A reset component 223 (such as a reset spring) is provided at the center of one end of the push rod 222 away from the AUV locking block 221. Two pins 224 are symmetrically arranged on the outer periphery of the push rod 222. The pins 224 can move along the cam groove 214. Driven by the propulsion of the AUV 40, the pin 224 moves along the cam groove 214, pushing the sliding block 218 to slide on the base 211, thereby changing the relative position of the pull rope disc 217 and the deployable horn 24, thus opening or closing the deployable horn 24.

[0028] The cam channel 214 is composed of a first cam 2141 and a second cam 2142 arranged in opposite directions, forming an overall eccentric structure.

[0029] The self-locking switch 21 also includes: a lever 213; A base slide 212 is provided on the side of the base 211, and a sliding block 218 is slidably connected to the base slide 212; One end of the moving rod 213 is rotatably connected to the base 211, and the other end is set in the sliding groove 215 opened inside the sliding block 218.

[0030] In this embodiment, the self-locking switch 21 and the AUV locking switch 22 form a mechanically coupled linkage mechanism, achieving pure mechanical program control based on the periodic eccentric structure of the cam channel 214. When the AUV 40 applies propulsion force at different operating stages, the push rod 222 moves along the axial direction, and its outer pin 224 slides back and forth along the eccentric trajectory under the constraint of the cam channel 214. The two pins 224 are along the axial direction of the reset component 223. Since the cam channel 214 is composed of a first cam 2141 and a second cam 2142 arranged in opposite directions, the pins 224, which are limited to the movement space between the first cam 2141 and the second cam 2142, can pass through different sections of the cam channel 214 in the same propulsion direction, corresponding to the unlocked position and the locked position respectively, thereby realizing the periodic switching of the state under a single propulsion direction. There is a certain distance between the highest and lowest points of the two cams. When the AUV locking block 221 is not pressed, the pin 224 is located at the highest slot of the first cam 2141. When the AUV locking block 221 is pressed, the pin 224 is pushed by the second cam 2142. The pin 224 reaches the lowest point of the second cam 2142 along the path of the second cam 2142, and the position of the pin 224 is restricted. When the reset component 223 is released, the pin 224 enters the next level of the first cam 2141.

[0031] The movement of the push rod 222 directly drives the AUV locking block 221, enabling the AUV locking tongue 41 and the AUV locking block 221 to achieve a stable connection in the locked state and to separate in the unlocked state. A base slide 212 is provided on the side of the base 211, and a sliding block 218 slides along the base slide 212. A cam groove 214 is provided on the sliding block 218, and a pull rope disc 217 is located at the front end of the sliding block 218, without interfering with the base 211.

[0032] The movement of pin 224 along cam groove 214 pushes sliding block 218 to slide within base slide 212. The sliding of sliding block 218 causes the pull rope disc 217 fixed thereon to move synchronously, thereby changing the relative position of pull rope disc 217 and deployable flare 24: when sliding block 218 slides towards AUV 40, pull rope disc 217 moves closer to AUV 40, driving rope 23 to loosen, and deployable flare 24 to open; when sliding block 218 slides away from AUV 40, pull rope disc 217 moves away from AUV 40, driving rope 23 to tighten, and pulling deployable flare 24 to close. The heart-shaped sliding groove 215 at the top of the sliding block 218 moves synchronously with the sliding block 218, causing one end of the moving rod 213 to rotate around the base 211 and the other end to slide along the heart-shaped sliding groove 215, forming an auxiliary constraint on the movement trajectory of the sliding block 218, and the range of motion of the moving rod 213 does not leave the sliding groove 215.

[0033] A positioning spring 216 connects the sliding block 218 and the base 211, providing a restoring force when the AUV 40 stops advancing, allowing the sliding block 218 to remain in or return to its initial position without external force. A reset component 223 is located at one end of the push rod 222. When the AUV 40's speed drops to zero and it stops outputting thrust, it pushes out the push rod 222, the AUV locking block 221, and the AUV 40 together, completing the final locking action. The entire mechanism converts the linear propulsion motion of the AUV 40 into unlocking / locking actions and horn-opening / closing actions executed according to a preset sequence. All driving energy comes solely from the AUV 40's own propulsion force, eliminating the need for active functional units such as motors, batteries, or hydraulic pumps.

[0034] The self-locking switch and the AUV locking switch of the present invention form a linkage mechanism, which can convert the linear propulsion motion of the AUV into unlocking / locking and horn opening and closing actions with preset timing. It is purely mechanically controlled and driven only by the propulsion force of the AUV itself, without the need for active functional units.

[0035] Figure 9 This is a schematic diagram illustrating the operation of the expandable flared mouth according to one embodiment of the present invention. Figure 10 for Figure 9 A magnified view of part C in the diagram. Figure 11 for Figure 9 A magnified view of part D in the diagram. Figure 12 This is a schematic diagram of the bottom connection of the rope-driven tile. Figure 13 This is a schematic diagram of a cylindrical hinge structure according to one embodiment of the present invention. Figure 9-13 As shown, according to one embodiment of the present invention, the expandable horn opening 24 includes: a frame 242; The end of the frame 242 away from the self-locking switch 21 is connected to multiple rope-driven tiles 244 via a cylindrical hinge 243, an elastic component 241, and a drive rope 23. In the absence of external force, the elastic component 241 drives the rope-driven tile 244 to extend outward from the frame 242; when the sliding block 218 slides away from the AUV 40, the rope puller 217 drives the drive rope 23 to pull the rope-driven tile 244 to retract inward.

[0036] In this embodiment, the AUV recovery and deployment device 20 uses a self-locking switch 21 to actuate the drive rope 23. The deployable horn-shaped opening 24 incorporates an outwardly opening elastic component 241 (such as a spring plate). The opening and closing of the horn-shaped opening are controlled by the self-locking switch 21 actuating the drive rope 23. The deployable horn-shaped opening 24 uses an arc-shaped frame 242 (such as a semi-circle) as a supporting skeleton, which is compatible with the non-enclosed circular structure of the AUV recovery and deployment device 20, making full use of the remaining space outside the main structure of the underwater detector. Multiple rope-driven tiles 244 are hinged to the end of the frame 242 via cylindrical hinges 243, forming a radially expandable horn-shaped entrance structure. The spring plate 241 connects the frame 242 and the rope-driven tiles 244, providing a radially outward elastic force in the absence of external force, causing the rope-driven tiles 244 to naturally open outward, forming an enlarged entrance diameter, which facilitates the AUV 40 to compensate for docking errors and smoothly enter during the recovery phase. One end of the drive rope 23 is connected to the rope-driven tile 244, and the other end is connected to the pull rope disc 217 of the self-locking switch 21, forming a rope-driven linkage mechanism. When the AUV 40 is advanced and triggers the locking state, the sliding block 218 slides away from the AUV 40, causing the pull rope disc 217 to move away synchronously. The drive rope 23 is tightened and generates traction force, which overcomes the elastic force of the elastic component 241 and pulls the rope-driven tile 244 inward to retract, so that the unfoldable flared mouth 24 closes, realizing the wrapping and fixing of the AUV 40. When the AUV 40 is advanced and triggers the unlocking state, the sliding block 218 slides towards the AUV 40, and the pull rope disc 217 moves closer. The drive rope 23 relaxes, and the rope-driven tile 244 extends outward under the elastic force of the elastic component 241, opening the unfoldable flared mouth 24 and releasing the AUV 40.

[0037] The rope-driven linkage mechanism of the present invention converts the linear motion of the self-locking switch into the radial extension and retraction motion of the rope-driven tile. All driving force comes from the propulsion force of the AUV, without the need for an additional motor or hydraulic drive, thus realizing passive trigger-type horn opening and closing control. Example

[0038] Figure 14 This is a schematic diagram of an AUV recovery and deployment system according to one embodiment of the present invention. Figure 14 As shown, according to one embodiment of the present invention, an AUV deployment and recovery system is used to realize the deployment, recovery, and carrying operations of an autonomous underwater vehicle (AUV 40). The system mainly consists of three parts: a connecting drill base 10, an AUV deployment and recovery device 20, and a side door opening device 30. The components work together to complete the entire process of the AUV 40 operation.

[0039] The connecting drill base 10 can be adapted and connected to an underwater detector, allowing for direct integration and installation onto the underwater detector platform. Utilizing the underwater detector's ice-melting capability, the entire AUV recovery and deployment system can be precisely deployed into the underwater environment. As the core mounting frame of the system, the connecting drill base 10 serves to fix and support the side door lifting device 30 and the AUV recovery and deployment device 20. Its internal space is reserved for accommodating a cylindrical AUV 40.

[0040] Figure 15 This is a schematic diagram of a side door lifting device according to one embodiment of the present invention. Figure 15 As shown, the side door lifting device 30 mainly consists of a reel 31, a lifting rope 32, and a control motor 33. Both the reel 31 and the control motor 33 are fixedly installed on the top area of ​​the drill bit base 10. The first end of the lifting rope 32 is firmly connected to the reel 31, and the second end is connected to the outlet end of the AUV recovery and deployment device 20. The first end of the AUV recovery and deployment device 20 is assembled to the drill bit base 10 via a rotating hinge, and the second end is linked to the lifting rope 32. The control motor 33 is electrically connected to the underwater detector, receiving command signals from the underwater detector and executing action control. By controlling the forward or reverse rotation of the control motor 33, the reel 31 is driven to complete the release or retrieval operation of the lifting rope 32, thereby precisely adjusting the tilt angle of the AUV recovery and deployment device 20 relative to the drill bit base 10, achieving controllable adjustment of the device's attitude. The AUV recovery and deployment device 20 and the AUV 40 can be connected accordingly. When the AUV recovery and deployment device 20 is adjusted to a horizontal position, the AUV 40 can be locked and fixed (recovery operation) or locked and released (smooth deployment) by relying on its own power output.

[0041] The AUV deployment and recovery device 20 is a passive drive structure. Its trigger switch is activated by the propulsion force of the AUV 40. Internally, it includes a self-locking switch 21, an AUV locking switch 22, a drive rope 23, and a deployable horn 24. The AUV 40 is equipped with an AUV locking tongue 41 at its end, which can be detachably connected to the AUV locking switch 22. The AUV locking switch 22 is fixedly connected to the AUV 40 through the AUV locking tongue 41, and the AUV locking switch 22 is coupled to the self-locking switch 21. The pull rope disc 217 on the self-locking switch 21 is connected to the deployable horn 24 through the drive rope 23 to achieve power transmission. When the system deploys the AUV recovery and deployment device 20 to the subglacial lake and adjusts it to a horizontal position, the AUV 40 lies flat and is locked onto the AUV recovery and deployment device 20. At this time, the AUV 40 starts its thrusters to move forward, which can simultaneously trigger the self-locking switch 21 and the AUV locking switch 22 to unlock, and trigger the unfoldable horn 24 to open.

[0042] The self-locking switch 21 specifically includes a base 211, a base slide 212, a moving rod 213, a cam channel 214, a sliding channel 215, a positioning spring 216, a pull rope disc 217, and a sliding block 218. The base 211 has a base slide 212 on its side, and the sliding block 218 is slidably connected within the base slide 212. The top of the sliding block 218 has a sliding channel 215. The first end of the moving rod 213 is rotatably connected to the base 211, and the second end is slidably connected within the sliding channel 215. The first end of the sliding block 218 is connected to the end of the base 211 via the positioning spring 216, and the second end is connected to both the pull rope disc 217 and the cam channel 214. The cam channel 214 is composed of two cylindrical cams, a first cam 2141 and a second cam 2142, arranged in opposite directions, with an overall leftward eccentricity. When the AUV 40 is pushed forward by the thruster and presses the moving rod 213, the second end of the moving rod 213 changes position in the sliding channel 215. Under the combined action of the thrust of the AUV 40 and the elastic force of the positioning spring 216, the position of the sliding block 218 in the base slide 212 is adjusted synchronously.

[0043] The AUV locking switch 22 consists of an AUV locking block 221 and a push rod 222. The AUV locking block 221 matches the AUV locking tongue 41 and the two are detachably connected. The push rod 222 is fixed in the center of the AUV locking block 221. A reset component 223 is provided at the center of the end of the push rod 222 away from the AUV locking block 221. Two pins 224 are symmetrically arranged on the outer periphery of the cylindrical push rod 222. The two pins 224 are on the same plane and are 180° apart. The size of the push rod 222 is adapted to the cam channel 214. When the AUV locking block 221 pushes the push rod 222, the pin 224 on the push rod 222 moves along the cam channel 214. When the pin 224 is restricted to the lowest point in the cam channel 214, the speed of the AUV 40 drops to zero and stops outputting thrust. At this time, the reset component 223 inside the push rod 222 pushes the push rod 222, the AUV locking block 221 and the AUV 40 out together. The pin 224 on the push rod 222 is bounced to the outside of the cam by the reset component 223 and slides along the outside of the cam to the outermost position, completing the locking process of the AUV 40.

[0044] The deployable bell mouth 24 includes an elastic component 241, a frame 242, a cylindrical hinge 243, and a cable-driven tile 244. The cable-driven tile 244 is mounted on the end of the frame 242 opposite to the end connected to the drill bit base 10. The bottom of the cable-driven tile 244 is connected to the frame 242 via the cylindrical hinge 243, and the elastic component 241 connects the two. In its natural state, the cable-driven tile 244 naturally opens outward under the force of the elastic component 241. The bottom of the cable-driven tile 244 is also connected to the drive rope 23. When the drive rope 23 applies tension to the cable-driven tile 244, the cable-driven tile 244 contracts inward, causing the deployable bell mouth 24 to close. When the self-locking switch 21 and the AUV locking switch 22 are locked, the pull rope reel 217 pulls the drive rope 23 towards the drill bit base 10, and the deployable bell mouth 24 remains closed under the driving force.

[0045] The system's motion is mainly divided into four stages: near rest, lift, far rest, and return. Each stage is achieved through the cooperation of the moving rod 213 and the cam channel 214. The initial state is near rest. When the AUV 40 triggers the switch, the moving rod 213 enters the lift state and reaches the far rest. At this time, the drive rope 23, controlled by the pull rope reel 217, completes the working stroke of opening the deployable horn 24, allowing the AUV 40 to detach from the AUV retrieval and deployment device 20 to perform its detection task. When the AUV 40 completes its task and returns, it enters the AUV retrieval and deployment device 20 under safety guidance. Its thruster advances forward, triggering the self-locking switch 21, entering the return state and returning to the near rest position. At this time, the pull rope reel 217 pulls the drive rope 23, resetting the deployable horn 24 to the closed state, completing one full workflow cycle.

[0046] The AUV 40, used for under-ice exploration missions, can be carried inside the AUV recovery and deployment device 20. The AUV locking switch 22 secures the AUV 40 to the AUV recovery and deployment device 20, effectively preventing the AUV 40 from detaching from the device due to ocean currents or drill string vibrations. When the AUV 40 needs to perform a mission, its thruster advances forward and presses the self-locking switch 21 and the AUV locking switch 22. After being pressed in place, the AUV 40 stops advancing, the AUV locking switch 22 is triggered to unlock, and simultaneously the self-locking switch 21 drives the deployable horn 24 to open via the drive rope 23. The AUV 40 then starts its thruster to advance in the opposite direction, detaching from the AUV recovery and deployment device 20 to perform the mission. When the AUV 40 completes its mission and returns, it enters the AUV recovery and deployment device 20 through the deployable horn 24 under safety guidance. Its thruster advances forward and presses the self-locking switch 21 and the AUV locking switch 22, causing the deployable horn 24 to retract and the AUV 40 to be relocked. Subsequently, the side door lifting device 30 pulls the AUV recovery and deployment device 20 back to its initial position via the lifting rope 32, completing the entire recovery process.

[0047] In this embodiment, an AUV deployment and retrieval system is proposed. Based on the mechanical program control principle of the cam channel 214 and the rope drive linkage mechanism, the linear propulsion motion of the AUV 40 is converted into multiple mechanical actions executed according to a preset sequence. The system motion states mainly include four stages: near rest, lift, far rest, and return. All are achieved by the cooperation of the moving rod 213 and the cam channel 214. The initial state is near rest. When the AUV 40 triggers the self-locking switch 21, the moving rod 213 enters the lift state and reaches the far rest. The drive rope 23 controlled by the rope reel 217 completes the working stroke of opening the deployable horn 24, and the AUV 40 disengages from the device to perform its task. After the AUV 40 returns, it propels forward and triggers the self-locking switch 21 to enter the return state and return to the near rest. The rope reel 217 resets the deployable horn 24 to the closed state, completing the entire workflow.

[0048] This invention employs a passive drive and energy flow design. All driving energy for deployment and retrieval comes solely from the propulsion force of the AUV itself. This power triggers a series of continuous actions, such as locking, releasing, and horn opening and closing, through the periodic structure of the cam channel. The AUV deployment and retrieval device contains no active functional units such as motors, batteries, or hydraulic pumps, achieving deep coupling between the power of the AUV and the power of the control system.

[0049] This invention employs purely mechanical program control logic. The control logic of the AUV retrieval and deployment device is realized by a preset mechanical geometry structure—a cam channel and a rope-driven linkage mechanism. The input commands are only the forward and backward directions of the AUV, converting the linear motion of the AUV into sequentially executed unlocking / locking and horn opening / closing actions, forming a highly reliable physical logic control that avoids the interference of the under-ice environment on the electronic system and the impact of communication delays.

[0050] This invention adopts a lateral conformal integrated design. The AUV recovery and deployment system, as part of the underwater probe's outer hull, achieves vertical and horizontal switching through a side door hoisting device. It does not additionally encroach on the core hull space inside the probe, but instead utilizes the remaining space outside the probe's main structure to form a non-enclosed circular AUV carrying hull, achieving highly efficient space utilization from internal loading to external integration. Example

[0051] Figure 16 This is a schematic diagram of an AUV deployment and recovery method according to one embodiment of the present invention. Figure 17 This is a schematic diagram illustrating the operational principle of an AUV deployment and recovery method according to one embodiment of the present invention. Figure 18 This is an operational status diagram of an AUV recovery and deployment method according to one embodiment of the present invention. Figure 16-18As shown, according to one embodiment of the present invention, an AUV recovery and deployment method, using any AUV recovery and deployment device 20 of the present invention, includes the following steps: Step S102: Adjust the AUV recovery and deployment device 20 from a vertical state to a horizontal state according to the command signal of the underwater detector; In step S104, the AUV 40 applies a pushing force in the first direction to the self-locking switch 21, the self-locking switch 21 and the AUV locking switch 22 are unlocked, the driving rope 23 is relaxed, and the unfoldable horn mouth 24 is opened. In step S106, the AUV40 applies a propulsive force in a second direction opposite to the first direction, and disengages from the AUV recovery and deployment device 20 to perform its mission. In step S108, the AUV40 returns and enters the deployable horn 24, applies a first-direction thrust to the self-locking switch 21, locks the self-locking switch 21 with the AUV locking switch 22, and drives the drive rope 23 to tighten, causing the deployable horn 24 to close.

[0052] Preferably, the method further includes: Step S110: According to the command signal from the underwater detector, the AUV recovery and deployment device 20 is pulled back from the horizontal state to the vertical state, completing the recovery of the AUV 40.

[0053] In this embodiment, an AUV recovery and deployment method is proposed, employing any of the AUV recovery and deployment devices of this invention. The method includes the following steps: an underwater probe melts through the ice layer, completely submerging the AUV recovery and deployment device 20 and the carried AUV 40 into the sub-ice lake; the side door lifting device 30, according to the command signal from the underwater probe, drives the reel 31 to release the lifting rope 32, adjusting the AUV recovery and deployment device 20 from a vertical state to a horizontal state; the AUV 40 detects that its attitude has become horizontal, the thruster begins to advance forward, the pin 224 of the push rod 222 moves along the cam groove 214, pushing the sliding block 218 to slide closer to the AUV 40, the rope reel 217 moves closer, the driving rope 23 is released, the deployable flare 24 opens under the action of the elastic component 241, and at the same time the AUV locking switch 22 and the AUV locking tongue 41 are unlocked; the AUV 40 stops outputting thrust; the AUV The AUV 40 thruster reverses direction, detaching from the AUV recovery and deployment device 20 to perform subglacial lake exploration. After completing its exploration mission, the AUV 40 locates the AUV recovery and deployment device 20 using light guidance. Guided by the deployable horn 24, the AUV 40 compensates for docking errors and enters the AUV recovery and deployment device 20, continuing to advance. The pin 224 moves along another section of the cam channel 214, pushing the sliding block 218 away from the AUV 40, locking the AUV locking switch 22 and the AUV locking tongue 41. The AUV 40 continues to advance, and the pin 224 returns to its initial position along the cam channel 214. The sliding block 218 drives the pull rope disc 217 away from the AUV 40, tightening the rope 23 and closing the deployable horn 24. At this point, the AUV... The speed of the AUV 40 drops to zero, and it stops working after detecting that its own speed is zero. The gantry crane 30 drives the reel 31 to retrieve the hoisting rope 32 according to the command signal of the underwater detector, and pulls the AUV 40 from the horizontal state back to the vertical state, thus completing the deployment and retrieval of the AUV 40.

[0054] This invention uses a purely mechanical program control logic to take the AUV's own propulsion as the sole energy source, and sequentially triggers the linkage action of unlocking / locking and horn opening and closing, thereby realizing passive drive and highly reliable under-ice AUV recovery and deployment.

[0055] According to one embodiment of the present invention, the self-locking switch 21 converts the linear propulsion motion of the AUV 40 into unlocking / locking actions and the opening and closing actions of the expandable horn 24 executed in a preset sequence through the periodic structure of its cam channel 214.

[0056] During the locking process of AUV 40 and AUV lock-up switch 22: When the speed of AUV 40 drops to zero and stops outputting thrust, the reset component 223 pushes out the push rod 222, AUV locking block 221 and AUV 40 together to lock AUV 40.

[0057] In this embodiment, the self-locking switch 21, through the periodic structure of its cam channel 214, converts the linear propulsion motion of the AUV 40 into unlocking / locking actions and the opening and closing actions of the expandable horn 24 executed according to a preset timing sequence. The cam channel 214 is composed of a first cam 2141 and a second cam 2142 arranged alternately in opposite directions, forming an eccentric structure and a heart-shaped channel. Different sections of the channel correspond to the unlocking position, the locking position, and the transition stroke, respectively, so that the AUV 40 triggers different states sequentially in the same propulsion direction. During the locking process of AUV 40 and AUV locking switch 22: After AUV 40 enters the deployable bell mouth 24, it continues to apply thrust. The pin 224 of push rod 222 moves along cam channel 214, pushing sliding block 218 to slide away from AUV 40. AUV locking block 221 and AUV locking tongue 41 are initially locked. AUV 40 continues to advance. Pin 224 returns to the initial position along cam channel 214. Sliding block 218 drives pull rope disc 217 away from AUV 40, driving rope 23 to tighten, and deployable bell mouth 24 closes. When the speed of AUV 40 drops to zero and stops outputting thrust, reset component 223 releases stored energy, pushing push rod 222, AUV locking block 221 and AUV 40 together to the locked position, so that AUV locking tongue 41 and AUV locking block 221 reach a stable locked state, completing the final locking of AUV 40. This zero-speed triggering mechanism ensures that the locking action is completed when the AUV 40 is stationary, avoiding locking failure due to dynamic impacts and improving system reliability.

[0058] The self-locking switch of this invention converts the linear propulsion motion of the AUV into a specific timing action by means of a cam channel. The zero-speed triggering mechanism enables the AUV to be stably locked when stationary, avoiding dynamic impacts and improving system reliability.

[0059] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the method described above can be referred to the corresponding process in the aforementioned device and system embodiments, and will not be repeated here.

[0060] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.

[0061] It should be understood that the sequence number of each step in the invention and embodiments of the present invention does not absolutely imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

Claims

1. An AUV recovery and deployment device (20), characterized in that, include: AUV locking switch (22) for detachable connection with AUV latch (41) at the end of AUV (40); The self-locking switch (21) is mechanically coupled to the AUV locking switch (22). The self-locking switch (21) responds to the propulsion action of the AUV (40) in different operating stages and unlocks or locks with the AUV locking switch (22) respectively. An expandable horn (24) is located at the end of the AUV recovery and deployment device (20) away from the self-locking switch (21); the expandable horn (24) is linked to the self-locking switch (21) via a drive rope (23), and opens or closes depending on the coupling state of the self-locking switch (21) and the AUV locking switch (22); The self-locking switch (21) includes: a base (211), a sliding block (218) slidably connected to the base (211), and a cam groove (214) provided at one end of the sliding block (218) adjacent to the AUV (40). The AUV locking switch (22) includes an AUV locking block (221) that matches the AUV locking tongue (41). A cylindrical push rod (222) is provided in the center of the AUV locking block (221). A reset component (223) is provided at the center of one end of the push rod (222) away from the AUV locking block (221). Two pins (224) are symmetrically arranged on the outer periphery of the push rod (222). The pins (224) can move along the cam channel (214). The cam channel (214) is composed of a first cam (2141) and a second cam (2142) arranged in opposite directions, forming an eccentric structure. The deployable horn (24) includes: a frame (242), a hinge (243), an elastic component (241), and a rope-driven tile (244). The rope-driven tile (244) is connected to the frame (242) via the hinge (243) and the elastic component (241). The elastic component (241) can drive the rope-driven tile (244) to extend outward or retract inward to the frame (242). The self-locking switch (21) is also provided with a pull rope disc (217) at one end adjacent to the AUV (40). The pull rope disc (217) is connected to the expandable horn mouth (24) through the drive rope (23). The pull rope disc (217) can drive the drive rope (23) to pull the rope-driven tile (244) to extend outward or retract inward. In the absence of external force, the elastic component (241) drives the rope-driven tile (244) to extend outward from the frame (242); when the sliding block (218) slides away from the AUV (40), the pull rope disc (217) drives the drive rope (23) to pull the rope-driven tile (244) to retract inward.

2. The AUV recovery and deployment device (20) according to claim 1, characterized in that, The self-locking switch (21) also includes: a moving rod (213); The base (211) has a base slide (212) on its side, and the sliding block (218) is slidably connected to the base slide (212). One end of the moving rod (213) is rotatably connected to the base (211), and the other end is set in the sliding groove (215) opened inside the sliding block (218).

3. An AUV recovery and deployment system, employing the AUV recovery and deployment device (20) as described in any one of claims 1-2, characterized in that, The system includes: Connect the drill bit base (10) for docking with the underwater detector and carrying the AUV (40). The AUV recovery and deployment device (20) has one end rotatably hinged to the connecting drill base (10), and the other end is connected to the connecting drill base (10) through the side door lifting device (30).

4. The AUV recovery and deployment system according to claim 3, characterized in that, The side door lifting device (30) includes: a reel (31) fixed to the top of the connecting drill base (10) and a control motor (33). The first end of the hoisting rope (32) is securely connected to the reel (31), and the second end is connected to the outlet end of the AUV recovery and deployment device (20). The control motor (33) drives the reel (31) to release or retrieve the hoisting rope (32) according to the command signal of the underwater detector.

5. A method for AUV recovery and deployment, employing the AUV recovery and deployment device (20) as described in any one of claims 1-2, characterized in that, The method includes: The AUV recovery and deployment device (20) is adjusted from a vertical state to a horizontal state according to the command signal of the underwater detector; The AUV (40) applies a first-direction thrust to the self-locking switch (21), the self-locking switch (21) unlocks from the AUV locking switch (22), and the self-locking switch (21) drives the deployable horn (24) to open via the drive rope (23); The AUV (40) applies a propulsive force in a second direction opposite to the first direction, and disengages from the AUV recovery and deployment device (20) to perform its mission; The AUV (40) returns and enters the deployable horn (24), applies a first-direction thrust to the self-locking switch (21), the self-locking switch (21) locks with the AUV locking switch (22), and the deployable horn (24) closes.

6. The AUV recovery and deployment method according to claim 5, characterized in that, The self-locking switch (21) converts the linear propulsion motion of the AUV (40) into unlocking / locking actions and the opening and closing actions of the expandable horn (24) by the periodic structure of its cam channel (214).

7. The AUV recovery and deployment method according to claim 5, characterized in that, During the locking process of the AUV (40) and the AUV locking switch (22): When the speed of the AUV (40) drops to zero and stops outputting thrust in the first direction, the reset component (223) in the AUV locking switch (22) pushes out the push rod (222), the AUV locking block (221) and the AUV (40) together to lock the AUV (40).

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