Underwater salvage device, method, electronic device and storage medium for flexible targets

Abstract

The application provides an underwater salvage device, method, electronic device and storage medium for a flexible target object. The underwater salvage device comprises an underwater robot body and a flexible salvage assembly. The flexible salvage assembly comprises a reversing base, a net support, a lateral expansion arm assembly, a telescopic arm assembly, a flexible net, a net unfolding mechanism and a winding and unwinding rope mechanism. The application can control the net support to switch between a first orientation and a second orientation through the reversing base, unfold the flexible net through the cooperation of the lateral expansion arm assembly, the telescopic arm assembly and the net unfolding mechanism, control the tensioning rope under the action of gravity or buoyancy, and adaptively wrap the flexible target object, so as to achieve adaptive, flexible and safe salvage of flexible target objects in different postures in the state of sinking and suspension, effectively reduce the risk of secondary damage, and improve the operation adaptability and salvage success rate in the water area with high turbidity.

Description

Technical Field

[0001] This application relates to the technical field of underwater salvage, and more specifically, to an underwater salvage device, method, electronic device, and storage medium for flexible targets. Background Technology

[0002] Underwater robots are essential equipment for performing tasks such as underwater rescue, shipwreck exploration, target search, salvage operations, and marine environmental surveys. Compared to manual diving, underwater robots can operate remotely in waters with low temperatures, high pressure, turbidity, complex currents, or safety risks, thus finding increasingly widespread application in emergency rescue and underwater target handling. Especially in rescue scenarios involving water-related accidents, floods, vehicle accidents, and shipwrecks, underwater robots can be used for underwater search, target identification, towing assistance, and salvage operations.

[0003] In the specialized application of retrieving flexible targets (such as underwater remains), the objects typically possess characteristics such as soft surfaces, irregular shapes, uncertain postures, significant susceptibility to water currents, and vulnerability to external forces. Furthermore, the presence of turbid water, low visibility, complex obstacles, and strong current disturbances in the water further complicates the underwater identification, positioning, grasping, and lifting processes. Therefore, retrieving flexible targets requires not only reliable grasping or supporting capabilities from the underwater salvage equipment, but also minimizing the risk of secondary damage to the flexible target during contact, envelopment, lifting, and transport.

[0004] However, the inventors of this application have discovered that existing underwater salvage devices still have at least the following shortcomings in salvage scenarios involving flexible targets: 1. The lack of flexible protection and support mechanisms suitable for soft and irregular targets can easily cause secondary damage to the salvaged targets.

[0005] 2. Identification, positioning, and alignment are difficult in low visibility or extremely turbid water.

[0006] 3. It lacks the ability to actively control the attitude of flexible targets, making it difficult to reduce rollover, collisions, and localized stress during the lifting process.

[0007] 4. The net or supporting structure lacks sufficient ability to deploy, retract, release, and coordinate with the robot body, and lacks a fast and reliable separation mechanism between the net and the underwater robot.

[0008] 5. It is difficult to adopt different salvage strategies for suspended and sunken states.

[0009] The content in the background section is merely technology known to the public and does not necessarily represent existing technology in this field. Summary of the Invention

[0010] This application provides an underwater salvage device, method, electronic device, and storage medium for flexible targets, aiming to solve at least one of the technical problems mentioned in the background art.

[0011] According to one aspect of this application, an underwater salvage device for flexible targets is provided. The underwater salvage device includes an underwater robot body and a flexible salvage component. The underwater robot body includes a control module. The flexible salvage component is disposed on the underwater robot body and includes a reversing base, a net support, a horizontal extension arm assembly, a telescopic arm assembly, a flexible net, a net deployment mechanism, and a rope deployment and retraction mechanism. The reversing base is fixedly disposed on the bottom side of the underwater robot body. The net support is rotatably connected to the reversing base. The control module controls the reversing base to rotate the net support according to the salvage mode of the flexible target, so that the net support has a first orientation and a second orientation. The horizontal extension arm assembly is rotatably connected to both sides of the net support, and under the control of the control module, the horizontal extension arm assembly can fold or unfold symmetrically with the net support as the center. The telescopic arm assembly is disposed in the internal cavity of the horizontal extension arm assembly, and under the control of the control module, the telescopic arm assembly can extend and retract in a direction intersecting the horizontal extension arm assembly. The flexible net is folded and housed within an internal cavity. A threading mechanism for the tension rope is located around the perimeter of the flexible net. Multiple net fixing points are detachably mounted at both ends of the telescopic arm assembly. The flexible net is connected to these fixing points via a net deployment rope, which secures or releases the flexible net. A net deployment mechanism is detachably mounted on one side of the underwater robot body. The net deployment rope is connected to this mechanism, and under the control of the control module, the mechanism retracts the deployment rope to unfold the flexible net. The mechanism is used to tighten or release the deployment rope. A rope retraction mechanism is detachably mounted on the other side of the underwater robot body and is connected to the tension rope. The control module moves the underwater robot body to the target location according to the salvage mode. With the flexible net and deployment rope released, the module controls the rope retraction mechanism according to the salvage mode, causing the tension rope to wrap around the flexible target object under gravity or buoyancy. After tightening the flexible net with the tension rope, the rope retraction mechanism is released to complete the salvage of the flexible target object.

[0012] According to another aspect of this application, an underwater salvage method for flexible targets is provided, comprising: determining the flexible target and its state based on sensor data collected by an underwater robot body; determining a salvage mode based on the state of the flexible target; moving a flexible net to a target operating position according to the salvage mode, and adjusting the orientation of the net support according to the salvage mode; controlling the horizontal extension arm assembly to symmetrically extend around the net support, and controlling the telescopic arm assembly to extend and retract in the direction intersecting with the horizontal extension arm assembly; controlling the net deployment mechanism to retract the net deployment rope to drive the flexible net to unfold; releasing the net fixing part and the net deployment mechanism to release the flexible net and the net deployment rope; controlling the rope retraction mechanism according to the salvage mode so that the tension rope wraps around the flexible target under the action of gravity or buoyancy; and releasing the rope retraction mechanism to complete the salvage of the flexible target.

[0013] According to another aspect of this application, an electronic device is also provided. The electronic device includes: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, enable the one or more processors to perform the methods described above.

[0014] According to another aspect of this application, a non-volatile computer-readable storage medium is also provided. This storage medium stores a computer program that, when executed by a processor, can perform the methods described above.

[0015] According to another aspect of this application, this application also provides a computer program product. The computer program product includes: a computer program stored on a computer-readable storage medium; the computer program includes program instructions that, when executed by a computer, cause the computer to perform the methods described above.

[0016] Beneficial effects This application provides an underwater salvage device for flexible targets, including an underwater robot body and a flexible salvage assembly. The flexible salvage assembly includes a reversing base, a net support, a horizontal extension arm assembly, a telescopic arm assembly, a flexible net, a net fixing part, a net deployment mechanism, and a rope deployment and retraction mechanism.

[0017] This application can control the net support to switch between a first orientation and a second orientation via a reversing base. The flexible net is deployed through the coordinated action of the horizontal extension arm assembly, the telescopic arm assembly, and the net deployment mechanism. The tension rope can be controlled to adaptively wrap flexible targets under the action of gravity or buoyancy, so as to achieve adaptive, flexible, and safe salvage of flexible targets of different shapes in both sinking and suspended states. It can effectively reduce the risk of secondary damage and improve the operational adaptability and salvage success rate in ultra-turbid waters. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This invention provides a schematic diagram of the structure of an underwater salvage device according to an example embodiment of this application. Figure 2 A schematic diagram showing the first orientation of the underwater salvage device according to an example embodiment of this application; Figure 3 A schematic diagram showing the second orientation of the underwater salvage device according to an example embodiment of this application; Figure 4 A schematic diagram showing the first orientation of the underwater salvage device according to an example embodiment of this application; Figure 5 A schematic diagram showing the second orientation of the underwater salvage device according to an example embodiment of this application; Figure 6 This is another unfolded schematic diagram showing a first orientation of the underwater salvage device according to an example embodiment of this application; Figure 7 This is another unfolded schematic diagram showing the second orientation of the underwater salvage device according to an example embodiment of this application; Figure 8 A partial schematic diagram of a flexible net bag according to an embodiment of this application is shown; Figure 9 This diagram shows a structural schematic of the net bag fixing part according to an embodiment of this application; Figure 10 A schematic diagram showing the first orientation of the net's unfolding rope in an embodiment of this application; Figure 11 A schematic diagram showing the second orientation of the net's unfolding rope in an embodiment of this application; Figure 12 A schematic diagram showing the first orientation of the net of the underwater salvage device according to an embodiment of this application is displayed. Figure 13 A schematic diagram showing the second orientation of the net of the underwater salvage device according to an embodiment of this application is provided. Figure 14 This invention provides a schematic diagram of the structure of the lateral extension arm assembly and the telescopic arm assembly according to an embodiment of this application. Figure 15 This illustration shows another structural schematic diagram of the lateral extension arm assembly and the telescopic arm assembly according to an embodiment of this application; Figure 16This diagram illustrates the structure of the tension rope according to an embodiment of this application. Figure 17 This diagram shows a schematic representation of the bottom-sinking rope release mechanism according to an embodiment of this application. Figure 18 This diagram illustrates yet another structural schematic of the bottom-sinking rope release mechanism according to an embodiment of this application; Figure 19 This is a schematic flowchart illustrating an embodiment of the underwater salvage method of this application.

[0020] Explanation of reference numerals in the attached figures: 10 underwater robot body; 20 flexible salvage components; Reversing base 21; Net bag bracket 22; Horizontal extension arm assembly 23; Telescopic arm assembly 24; Flexible net bag 25; Net bag unfolding mechanism 26; Rope retraction and unfolding mechanism 27; First lateral extension arm 231; First lateral extension arm driver 232; Second lateral extension arm 233; Second lateral extension arm driver 234; Net bag fixing part 241; net bag unfolding rope 242; first telescopic arm 243; first telescopic arm driver 244; second telescopic arm 245; second telescopic arm driver 246; 251 tension rope; 252 threading mechanism; Gravity section A; Natural section B; Buoyancy section C; Gravity component A0; Buoyancy component C0; Bottom-sinking rope release mechanism 271; Buoyancy rope release mechanism 272; 2711 Sinking fastener; 2712 Sinking cable tightening device; 27121 Sinking cable tightening driver; 27122 Sinking cable storage cavity; 27123 Sinking cable threading hole; 27124 First adsorption device. Detailed Implementation

[0021] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0022] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, devices, etc. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

[0023] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0024] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order.

[0025] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] In existing technologies, underwater salvage devices often utilize rigid mechanical claws, manipulators, or hooks to grasp flexible targets. These devices typically employ multi-degree-of-freedom joints and gripping mechanisms to clamp or drag targets, making them suitable for rigid targets such as regular structural components, pipelines, containers, and wreckage. However, in salvage scenarios involving flexible targets (such as remains), rigid mechanical claws have significant shortcomings: First, the gripping force of the claw is difficult to precisely and adaptively adjust according to the local state of the target, and excessive gripping force can easily damage the flexible target. Second, the mechanical claw itself is a rigid structure, lacking effective cushioning during contact; adjustments to the underwater salvage device's attitude, thruster disturbances, or changes in water flow can all cause scraping, squeezing, or collisions. Third, grasping with a mechanical claw usually requires the operator to accurately judge the relative position between the claw and the target. In turbid water or low-visibility environments, operators find it difficult to complete alignment and gripping in a timely and accurate manner, leading to greater operational difficulty and a higher risk of misoperation.

[0027] Existing technologies also employ trawls, seines, or sweep nets to retrieve flexible targets. While these methods can reduce the direct impact of rigid clamping on flexible targets to some extent, traditional nets typically require specialized deployment, traction, and retrieval mechanisms, resulting in complex structures, large overall size and weight, making compact integration with small to medium-sized underwater salvage devices difficult. Furthermore, the deployment state of traditional nets is significantly affected by water flow, obstacles, and robot posture, making them prone to entanglement, folding, or deformation, hindering stable and accurate target coverage. Additionally, traditional net salvage often requires multiple devices working together or multiple attempts, leading to low efficiency. The traditional net salvage process typically lacks active adjustment and protection of the flexible target's posture; during entry, retrieval, and lifting, the flexible target may flip, collide, or experience localized stress concentration, failing to meet the requirements for flexible support and stable transport. Finally, coordination between traditional nets and the underwater robot is difficult, often requiring a large number of personnel for command and deployment.

[0028] Some existing technologies employ flexible adsorption devices, negative pressure suction devices, or vacuum adsorption devices to adsorb and lift flexible targets. These devices typically rely on a suction cup to form a seal with the target surface and generate adsorption force through negative pressure. They are suitable for objects with relatively flat surfaces, high hardness, and the ability to form a reliable seal. However, because flexible targets generally have soft and irregular surfaces, adsorption devices struggle to form a stable seal, easily leading to insufficient adsorption force or adsorption failure. Furthermore, negative pressure adsorption usually requires continuous power to maintain the adsorption state; if the power supply is interrupted, the seal is broken, or underwater disturbance is excessive, the target may detach, resulting in poor reliability. In addition, the concentrated adsorption force acting on a localized area may cause localized pressure or secondary damage.

[0029] On the other hand, existing underwater salvage devices suffer from insufficient environmental adaptability in complex accident-affected waters. For example, in ultra-turbid environments caused by silt, pollutants, or flood residue, traditional visual recognition methods are prone to failure, making it difficult for operators to accurately determine the location, posture, and surrounding obstacle status of the remains. When the remains are suspended or submerged, the target's stress characteristics, contact methods, and salvage paths differ, and existing devices typically employ a single grasping or netting strategy, making it difficult to adapt to the target's condition. After covering or supporting the target, the rapid release and safe separation capabilities between the net, support structure, or connecting mechanism and the underwater robot are insufficient, potentially affecting subsequent lifting, transfer, or robot evacuation.

[0030] According to one aspect of this application, an underwater salvage device for flexible targets is provided.

[0031] According to the example embodiment, such as Figure 1As shown, the underwater salvage device includes an underwater robot body 10 and a flexible salvage component 20. The underwater robot body 10 includes a control module (not shown in the figure). The flexible salvage component 20 is mounted on the underwater robot body 10.

[0032] The underwater robot body 10 includes, but is not limited to, remotely operated underwater vehicles (ROVs) or autonomous underwater vehicles (AUVs) with autonomous maneuverability. The underwater robot body 10 can move freely underwater and reach the target operating position. The attitude stabilization system equipped on the underwater robot body 10 can maintain its position and attitude stability in complex water flow environments, providing a reliable platform for underwater salvage operations.

[0033] The underwater robot body 10 may include a sonar detection module, an image acquisition module, and a control module.

[0034] Sonar detection modules can include multibeam forward-looking sonar and imaging sonar for underwater target detection. For example, multibeam forward-looking sonar can be used for long-range (e.g., 10m-50m) target detection and approximate location, detecting information such as the target's position, outline, and height. Imaging sonar can be used for short-range (e.g., 5m-10m) target detection and precise location, detecting the target's shape characteristics to distinguish flexible targets from other debris.

[0035] The image acquisition module can be a camera system that can acquire image information of the target object in clear water or low turbidity environment, so as to identify the flexible target object through visual confirmation.

[0036] Optionally, the underwater robot body 10 may also include other sensing modules, such as water turbidity sensors, depth sensors, and flow velocity sensors, so as to make auxiliary decisions based on diversified sensor data.

[0037] The control module can be a controller based on a microcontroller, processor, or robot main control computer, integrated into the cabin of the underwater robot body 10. The input interface of the control module can accept sonar data, image data, and other sensor data. The output interface of the control module can electrically connect to various components of the flexible salvage assembly 20 to achieve a complete closed loop of sensor information acquisition and execution terminal drive.

[0038] The control module can automatically determine the flexible target and its state based on sensor data. The state of the flexible target can include sinking and floating.

[0039] For example, the control module can combine sensor data such as sonar data and image data to determine the state of flexible targets with a height of less than a first preset threshold (such as 0.1m) as sinking, and the state of flexible targets with a height of more than a second preset threshold (such as 0.1m) as floating.

[0040] The control module can also determine the corresponding salvage mode based on the state of the flexible target object. The salvage modes can include bottom salvage mode and floating salvage mode.

[0041] For example, the control module can plan a motion strategy based on the salvage mode and control the underwater robot body 10 to move to the target operating position.

[0042] In the case of a bottom-dwelling state, the control module can control the underwater robot body 10 to move to a position 0.5m-1m directly above the flexible target. The control module can set the retrieval mode of the flexible retrieval component 20 to the bottom-dwelling retrieval mode, that is, the flexible retrieval component 20 unfolds from top to bottom to wrap around the flexible target in a top-down direction.

[0043] In a suspended state, the control module can control the underwater robot body 10 to move to a position 0.5m-1m directly below the flexible target. The control module can set the retrieval mode of the flexible retrieval component 20 to a suspended retrieval mode, that is, the flexible retrieval component 20 unfolds from bottom to top to wrap around the flexible target in an upward unfolding direction.

[0044] During the process of the flexible salvage component 20 enveloping the flexible target object, the control module can control the underwater robot body 10 to move slowly and execute corresponding controls on each component in the flexible salvage component 20, so that the flexible salvage component 20 can completely envelop the flexible target object. With the assistance of the image acquisition module, the control module can confirm whether the flexible target object has completely entered the flexible salvage component 20, thereby completing the underwater salvage of the flexible target object.

[0045] The control module can also respond to user commands and perform human-machine interaction. It can display real-time status information to the user, such as target identification results, the currently selected salvage mode, and execution progress. The control module also supports user-issued control commands for manual mode switching and emergency operations, enabling flexible coordination between automated operations and manual intervention.

[0046] According to the example embodiment, such as Figure 1 As shown, the flexible salvage assembly 20 includes a reversing base 21, a net support 22, a horizontal extension arm assembly 23, a telescopic arm assembly 24, a flexible net 25, a net deployment mechanism 26, and a rope retraction mechanism 27.

[0047] According to the example embodiment, such as Figure 1As shown, the reversing base 21 is fixedly mounted on the bottom side of the underwater robot body 10. The net support 22 is rotatably connected to the reversing base 21. The control module controls the reversing base 21 to rotate the net support 22 according to the retrieval mode of the flexible target, so that the net support 22 has a first orientation and a second orientation.

[0048] For example, the control module is electrically connected to the reversing base 21 (e.g., via a cable). When the control module determines that the flexible target is in a submerged state, it selects a "top-down" deployment mode. Under the control of the control module, the reversing base 21 controls the net support 22 to rotate to a first orientation, which can be the orientation of the net support 22 with its opening facing downwards (e.g., ...). Figure 2 (as shown), so that the flexible net 25 can cover the submerged flexible target from top to bottom.

[0049] When the control module determines that the flexible target object is in a suspended state, it selects a "bottom-up" deployment mode. Under the control of the control module, the reversing base 21 controls the net support 22 to rotate to a second orientation (i.e., rotate 180 degrees relative to the first orientation). This second orientation can be the orientation of the net support 22 with its opening facing upwards (e.g., ...). Figure 3 (as shown), so that the flexible net 25 can support the suspended flexible target object from bottom to top.

[0050] Optionally, the reversing base 21 may include a fixing part, a rotating part, and a locking part.

[0051] For example, the fixing part is fixedly installed on the bottom side of the underwater robot body 10 to provide the mounting base for the entire reversing base 21. The rotating part is fixedly connected to the net bracket 22 and can be a motor-driven rotary joint or a hydraulic rotary cylinder. Under the control of the control module, it can drive the net bracket 22 to rotate relative to the underwater robot body 10. The rotation angle range can be 180°, thereby realizing the up and down flipping of the net bracket 22.

[0052] The locking mechanism can lock the rotating part to the fixed part via a mechanical locking pin or electromagnetic lock after the rotating part has rotated into position. This ensures that the net support 22 remains stable and reliably load-bearing during subsequent operations, preventing unexpected rotation due to water flow disturbances or minor adjustments to the robot's posture. Furthermore, the rotating part can employ a magnetic coupling seal or a hydraulically compensated seal structure, satisfying the 180° rotation freedom requirement while effectively preventing seawater from intruding into the reversing base 21 through the rotation gap. This ensures the long-term reliable operation of the reversing base 21 in high-pressure underwater environments.

[0053] According to the example embodiment, such as Figures 1-3As shown, the horizontal arm assembly 23 is rotatably connected to both sides of the net support 22, and under the control of the control module, the horizontal arm assembly 23 can be symmetrically folded or symmetrically unfolded with the net support 22 as the center.

[0054] For example, the control module is electrically connected to the lateral arm assembly 23 (e.g., via a cable).

[0055] like Figure 1 As shown, when the underwater robot body 10 carrying the flexible salvage component 20 navigates to the target operating position, the control module outputs a retraction command to control the horizontal arm component 23 to be in a symmetrical folded state. The two arms of the horizontal arm component 23 are respectively attached to the two sides of the net support 22, so that the flexible salvage component 20 can present a compact streamlined profile, thereby reducing navigation resistance and avoiding snagging on underwater obstacles.

[0056] like Figure 2 or Figure 3 As shown, when the underwater robot body 10 arrives at the target operating position and the reversing base 21 completes the orientation adjustment of the net bracket 22, the control module outputs an unfolding command to control the two arms of the horizontal arm assembly 23 to unfold outward symmetrically with the net bracket 22 as the center until the preset unfolding angle and width are reached (such as the unfolding angle is 180°).

[0057] According to the example embodiment, such as Figures 1-3 As shown, the telescopic arm assembly 24 is disposed in the internal cavity of the horizontal extension arm assembly 23, and under the control of the control module, the telescopic arm assembly 24 can extend and retract in the direction intersecting with the horizontal extension arm assembly 23.

[0058] For example, the control module is electrically connected to the telescopic boom assembly 24 (e.g., via a cable).

[0059] like Figure 2 or Figure 3 As shown, each side arm of the horizontal extension arm assembly 23 has a hollow tubular structure, and the corresponding side arm of the telescopic arm assembly 24 is respectively set in the internal cavity of the horizontal extension arm assembly 23, and can extend or retract along the extension direction of the horizontal extension arm assembly 23 in a direction perpendicular or approximately perpendicular to the extension direction of the horizontal extension arm assembly 23 under the action of the drive signal output by the control module.

[0060] like Figure 4 or Figure 5 As shown, when the horizontal arm assembly 23 is symmetrically extended to the preset width, the control module controls the telescopic arm assembly 24 to extend outward from the internal cavity of the horizontal arm assembly 23, so as to drive the flexible net bag 25 to extend.

[0061] like Figure 6 or Figure 7As shown, the control module can control the size of the telescopic arm assembly 24 extending outward from the internal cavity of the horizontal arm assembly 23 according to the size and posture information of the flexible target object, so as to adaptively adjust the accommodating space of the flexible net bag 25, so that the flexible net bag 25 can fully cover and support flexible target objects of different sizes.

[0062] For example, for targets that are small or have a relatively flat posture, the control module controls the telescopic arm assembly 24 to retract appropriately, preventing the flexible net 25 from extending too far, which could lead to material redundancy or operational inconvenience. The extension stroke of the telescopic arm assembly 24 can be calculated and determined in real time by the control module based on the size information of the flexible target object, and can be precisely adjusted in conjunction with preset multi-level settings. This application, through an adaptive telescopic adjustment mechanism, can adaptively adjust the accommodating space of the flexible net 25 according to the actual size and posture of the flexible target object. This ensures both the reliability and adaptability of the salvage operation, and avoids problems such as net redundancy or structural interference.

[0063] According to the example embodiment, such as Figure 1 As shown, the flexible mesh bag is folded 25 degrees and positioned within the internal cavity. Figure 8 As shown, the flexible net bag 25 has a threading mechanism 252 around its edge for threading the tension rope 251 (not shown in the figure).

[0064] For example, the flexible net 25 is folded and disposed within the internal cavity, meaning that the flexible net 25 is folded and stored within the internal cavity of the horizontal arm assembly 23 when not in operation. This arrangement saves external space for the underwater robot body 10, reduces navigation resistance, and also prevents the flexible net 25 from snagging or becoming entangled with underwater obstacles during navigation.

[0065] like Figure 8 As shown, a threading mechanism 252 is provided around the edge of the flexible net bag 25 for the tension rope 251 to pass through. This threading mechanism 252 can be multiple threading loops, threading tubes, or threading holes arranged around the edge of the flexible net bag 25. After the tension rope 251 passes through each threading mechanism 252 in sequence, its two ends are connected to the rope retraction mechanism 27.

[0066] The flexible net 25 serves as a salvage mechanism, used to flexibly contain and protect flexible targets. When deployed, the flexible net 25 is hemispherical or bell-shaped, with an open opening at one end and a closed bottom at the other. For example, the diameter of the opening can be 800-1200 mm, and the depth from the bottom to the opening can be 600-1000 mm; the specific dimensions can be customized according to the size and shape of the flexible target.

[0067] When the flexible net 25 is retracted, it folds and compresses into a flat or rolled shape, and is stored in the internal cavity of the horizontal arm assembly 23. The thickness of the retracted state can be controlled within 100mm, which can reduce the navigation resistance and overall volume of the underwater robot body 10. The edge of the net opening is provided with continuous rope holes or rope grooves (i.e., rope threading mechanism 252) for the tension rope 251 to pass through. The spacing of the rope holes can be 50-100mm to ensure that the net opening can close evenly after the tension rope 251 is tightened, avoiding insufficient closure or excessive compression in some areas.

[0068] The flexible net 25 has a connecting ring at the center of the bottom or at the edge of the bottom. This ring is used to connect an external salvage rope or lifting cable after the flexible net 25 is separated from the underwater robot body 10. The connecting ring can be made of stainless steel or titanium alloy and has a load-bearing capacity of more than 500 kg to ensure the safety and reliability of the flexible target object during lifting and transportation.

[0069] This application, by setting up a flexible net bag 25, can achieve compact storage in the non-working state, and can quickly unfold to form a reliable holding space during the salvage operation. At the same time, the uniform closing of the bag opening and the high-strength load-bearing design of the connecting ring can ensure that the flexible target object is evenly supported and protected throughout the salvage process, which can effectively reduce the risk of secondary damage.

[0070] According to the example embodiment, such as Figure 9 As shown, multiple net bag fixing parts 241 are detachably provided at both ends of the telescopic arm assembly 24. Figure 10 or Figure 11 As shown, the flexible net bag 25 is connected to the plurality of net bag fixing parts 241 via the net bag unfolding rope 242. The net bag fixing parts 241 are used to fix or release the flexible net bag 25.

[0071] For example, the net fixing part 241 and the telescopic arm assembly 24 are detachably connected. Under the control of the control module, the net fixing part 241 and the telescopic arm assembly 24 can be fixedly connected or disconnected.

[0072] like Figure 10 or Figure 11 As shown, the net deployment mechanism 26 is detachably mounted on one side of the underwater robot body 10. The net deployment rope 242 is connected to the net deployment mechanism 26, and under the control of the control module, the net deployment mechanism 26 retracts the net deployment rope 242 to drive the flexible net 25 to unfold. The net deployment mechanism 26 is used to tighten or release the net deployment rope 242.

[0073] For example, the net deployment mechanism 26 is detachably connected to the underwater robot body 10. Under the control of the control module, the net deployment mechanism 26 and the underwater robot body 10 can be fixedly connected or disconnected.

[0074] like Figure 9 As shown, the net bag fixing part 241 is located at both ends of the telescopic arm assembly 24 and can move with the telescopic arm assembly 24 as it extends and retracts. It is connected to the edge of the flexible net bag 25 or the connection point of the net body by the net bag unfolding rope 242. In the non-working state, the net bag fixing part 241 fixes the edge of the flexible net bag 25 to the end of the telescopic arm assembly 24, keeping the net bag in a folded and stored state.

[0075] like Figure 10 or Figure 11 As shown, the net deployment mechanism 26 is installed on the side of the underwater robot body 10, and it is linked to the net fixing part 241 through the net deployment rope 242. When the underwater robot body 10 reaches the target operating position and the horizontal arm assembly 23 and the telescopic arm assembly 24 are deployed, the control module controls the net deployment mechanism 26 to move, winding and retracting the net deployment rope 242. After the length of the net deployment rope 242 is shortened, it pulls the edge of the flexible net 25, causing the flexible net 25 to gradually unfold outward from the folded storage state until it is fully opened to form the preset pocket-shaped working form (e.g., Figure 12 or Figure 13 (As shown).

[0076] Once the flexible net 25 is fully deployed, under the control of the control module, the net fixing part 241 is disconnected from the telescopic arm assembly 24, allowing the net fixing part 241 to detach from the telescopic arm assembly 24 and thus release the flexible net 25. Also under the control of the control module, the net deployment mechanism 26 is disconnected from the underwater robot body 10, allowing the net deployment mechanism 26 to detach from the underwater robot body 10 and thus release the net deployment rope 242, thereby enabling the flexible net 25 to separate from the telescopic arm assembly 24 and the underwater robot body 10.

[0077] Optionally, such as Figure 9 As shown, the net fixing part 241 can be a magnetic hook. Corresponding electromagnetic devices are installed inside both ends of the telescopic arm assembly 24, and the net fixing part 241 can be magnetically connected to the corresponding electromagnetic devices. Under the control of the control module, the net fixing part 241 is fixedly connected to or disconnected from the telescopic arm assembly 24.

[0078] For example, the tension rope 251 and the net deployment rope 242 can be high-strength nylon rope, fiber rope or stainless steel wire rope, etc., with a diameter of 3-5mm and a breaking strength greater than 1000kg, thereby ensuring sufficient tensile strength and reliability during the salvage operation and avoiding rope breakage failure due to the weight of the flexible target or the impact of water flow.

[0079] According to the example embodiment, the rope retraction mechanism 27 is detachably mounted on the other side of the underwater robot body 10, and is connected to the tension rope 251. The control module moves the underwater robot body 10 to the target position according to the salvage mode. With the flexible net 25 and net deployment rope 242 released, the control module controls the rope retraction mechanism 27 according to the salvage mode, causing the tension rope 251 to wrap around the flexible target object under the action of gravity or buoyancy. After tightening the flexible net 25 by the tension rope 251, the rope retraction mechanism 27 is released to complete the salvage of the flexible target object.

[0080] For example, under the control of the control module, in the bottom-diving salvage mode, the tension rope 251 has a preset gravity, so that the flexible net 25 can wrap the flexible target object from top to bottom under the action of gravity. Then, under the control of the control module, the rope retraction mechanism 27 tightens the tension rope 251 to tighten the flexible net 25. Then, under the control of the control module, the rope retraction mechanism 27 is disconnected from the underwater robot body 10 to release the rope retraction mechanism 27, so that the flexible salvage component 20 is completely detached from the underwater robot body 10, thereby completing the salvage of the flexible target object.

[0081] For example, in the bottom retrieval mode, the tension rope 251 has a preset gravity (e.g., by setting weights at intervals on the tension rope 251 or using a material with a higher specific gravity). The control module controls the rope release mechanism 27 to release the tension rope 251 at a preset speed. Under its own weight and the traction of the tension rope 251, the flexible net 25 gradually unfolds from top to bottom and covers the bottom target. As the tension rope 251 continues to be released and the net continues to sink, the flexible net 25 tightly wraps the target under the action of gravity. After the flexible target is completely inside the flexible net 25, the control module controls the rope release mechanism 27 to tighten the tension rope 251. The tension rope 251 slides along the edge of the net opening under the guidance of the threading mechanism 252, so that the net opening is closed and locked, ensuring that the flexible target is reliably restrained in the net. Then, under the control of the control module, the rope release and retraction mechanism 27 completely detaches from the underwater robot body 10, and the flexible net 25 carrying the flexible target separates from the underwater robot body 10, completing the salvage of the sunken target.

[0082] Under the control of the control module, in the suspended salvage mode, the tension rope 251 has a preset buoyancy, allowing the flexible net 25 to wrap around the flexible target object from bottom to top under the action of buoyancy. Then, under the control of the control module, the rope retraction mechanism 27 tightens the tension rope 251 to tighten the flexible net 25. Subsequently, under the control of the control module, the rope retraction mechanism 27 is disconnected from the underwater robot body 10 to release the rope retraction mechanism 27, so that the flexible salvage component 20 is completely detached from the underwater robot body 10, thereby completing the salvage of the flexible target object.

[0083] For example, in the suspended salvage mode, the tension rope 251 has a preset buoyancy (e.g., by setting floats at intervals on the tension rope 251 or using a low-density buoyancy material). The control module controls the rope release mechanism 27 to release the tension rope 251 at a preset speed. Under the action of buoyancy, the flexible net 25 gradually unfolds from bottom to top and lifts the suspended target. As the tension rope 251 is released and the net continues to rise, the flexible net 25 tightly wraps around and supports the flexible target under the action of buoyancy. After the flexible target has completely entered the flexible net 25, the control module also controls the rope release mechanism 27 to tighten the tension rope 251, so that the net opening is closed and locked. Then, under the control of the control module, the rope release mechanism 27 is detached from the underwater robot body 10, realizing the flexible salvage of the suspended target.

[0084] Optionally, the bottom of the flexible net 25 is provided with a connecting ring for connecting the salvage rope. The salvage rope 28 can be made of high-strength floating rope or neutral buoyancy rope, with a diameter of 8-12mm, a breaking strength of more than 2000kg, and a length that can be configured according to the water depth, usually 1.5-2 times the water depth, to ensure that it can extend above the water surface under various water depth conditions.

[0085] One end of the salvage rope is fixedly connected to the connecting ring of the flexible net 25 via a shackle or connecting ring, and the other end can be fixed to a shore-based winch or a surface buoy. After the flexible net 25 has completed the encapsulation of the flexible target and separated from the underwater robot body 10, the shore-based winch uses the salvage rope to smoothly lift the flexible net 25 and the flexible target inside it to the water surface or a designated transfer platform.

[0086] Optionally, depth markers or color-coded segments can be installed on the salvage rope to facilitate onshore operators in accurately determining the lifting height and position of the flexible net 25.

[0087] Optionally, the salvage rope can be equipped with buoys at intervals as needed to prevent the rope from sinking in the water or getting tangled with underwater obstacles. In non-operating conditions, the salvage rope is normally stored in a rope basket or buoy located on the side of the underwater robot body 10 and can be launched into the water along with the underwater robot body 10. During salvage operations, the salvage rope naturally unfolds as the flexible net 25 is released. Its floating or neutral buoyancy characteristics ensure that the rope remains stretched in the water, without creating additional resistance or interference to the maneuverability of the underwater robot body 10, thus balancing navigational maneuverability and the reliability of the salvage operation.

[0088] This application utilizes the aforementioned gravity or buoyancy-assisted wrapping mechanism to enable the flexible net 25 to adaptively wrap the target using environmental physical characteristics without the need for complex mechanical operations. This simplifies the control process and improves the reliability and safety of retrieval.

[0089] This application provides an underwater salvage device for flexible targets, including an underwater robot body and a flexible salvage assembly. The flexible salvage assembly includes a reversing base, a net support, a horizontal extension arm assembly, a telescopic arm assembly, a flexible net, a net fixing part, a net deployment mechanism, and a rope deployment and retraction mechanism. This application can control the net support to switch between a first orientation and a second orientation via the reversing base. The flexible net is deployed through the coordinated action of the horizontal extension arm assembly, the telescopic arm assembly, and the net deployment mechanism. The tension rope can be controlled to adaptively wrap the flexible target under the action of gravity or buoyancy, thereby achieving adaptive, flexible, and safe salvage of flexible targets with different body shapes in both submerged and suspended states. This can effectively reduce the risk of secondary damage and improve the operational adaptability and salvage success rate in ultra-turbid waters.

[0090] This application, through the setting of a reversing base, allows the net bag support to adaptively switch its deployment direction according to the state of the flexible target object. This effectively solves the technical problems of existing nets lacking attitude control capabilities and being unable to adjust the salvage strategy based on whether the object is suspended or submerged. When the flexible target object is suspended, the flexible net bag can deploy from bottom to top and lift the object, preventing it from sinking and falling off. When the flexible target object is submerged, the flexible net bag deploys from top to bottom and covers it, avoiding scratching or forced dragging of the object's bottom. This bidirectional deployment capability ensures that the flexible net bag always approaches the target object in a suitable posture, completing the coverage without forcibly flipping or dragging the object. During the salvage process, the tension rope can be evenly tightened along the opening of the net bag, forming a "cocoon-like" protective structure that encases the target object inside. This ensures the target object remains stable throughout the lifting and transport process, avoiding secondary damage caused by concentrated local forces or flipping collisions, thus improving the safety, adaptability, and success rate of flexible target salvage.

[0091] This application, through the design of the net's fixing part, enables a detachment structure. After the flexible net completely covers and locks the target, the control module triggers a detachment action, allowing the flexible net to quickly separate from the underwater robot body. After separation, the flexible net is connected to a shore-based winch or surface buoy only via a salvage rope, allowing for direct retrieval by shore personnel. This rapid separation mechanism effectively overcomes the technical shortcomings of traditional salvage devices, such as difficulties in coordinating the net and the robot body and cumbersome separation processes. It enables decoupling operations between the underwater robot and the salvage payload, significantly improving the utilization efficiency of the underwater robot and the overall streamlined process of salvage operations. It is particularly suitable for continuous operation requirements in multi-target search and rescue scenarios.

[0092] This application uses a flexible net as the salvage mechanism. By unfolding and adjusting the net's support frame, the flexible net naturally envelops and contains the remains. The net's inherent flexibility provides support without requiring any rigid clamping force. This design fundamentally avoids the problems of compression, scratching, or tearing damage caused by rigid structures like mechanical claws to flexible objects, making it particularly suitable for the safe salvage of easily damaged flexible objects such as underwater remains. Compared to vacuum adsorption devices that rely on the flatness and sealing of the target surface, the flexible net is independent of the target's surface characteristics and is highly adaptable to soft, irregularly shaped flexible objects.

[0093] Meanwhile, the flexible net does not rely on a continuous power supply. Once the tension rope is tightened, a mechanical locking structure is formed, ensuring that even if the underwater robot's power supply is interrupted, the flexible net remains closed, preventing the target from falling off due to power failure, thus improving the reliability of the retrieval. Furthermore, during retrieval, the supporting force on the flexible target is evenly distributed throughout the net, avoiding the pressure or damage caused by concentrated gravity in a localized area, as is common with vacuum suction or rigid clamping methods, thus providing excellent safety.

[0094] This application achieves automation and standardization of the entire salvage process through strategy control of the control module. The control module integrates multi-source data from sonar and various sensors to automatically identify the suspended or sunken state of flexible targets and automatically decides on the bottom-up or top-down salvage strategy accordingly, eliminating the need for manual judgment. By coordinating the actions of various actuators, such as the reversal of the net support, the tightening of the rope, and the release of the flexible net, according to a preset sequence, the control module ensures the standardization and repeatability of the entire salvage process. This automated control architecture significantly reduces the requirements for operator experience and skill levels. Even in extremely turbid waters or under conditions of limited operator visibility, it can autonomously complete target identification, strategy decision-making, and execution control, effectively improving the salvage success rate and operational safety, while reducing the potential damage risk to flexible targets caused by human error.

[0095] Optionally, such as Figure 14 or Figure 15 As shown, the lateral arm assembly 23 includes a first lateral arm 231, a first lateral arm driver 232, a second lateral arm 233, and a second lateral arm driver 234.

[0096] The horizontal extension arm assembly 23 includes a first horizontal extension arm 231, a first horizontal extension arm driver 232, a second horizontal extension arm 233, and a second horizontal extension arm driver 234. The first horizontal extension arm 231 is disposed on one side of the net bag bracket 22, and the first horizontal extension arm driver 232 is disposed on the same side of the net bag bracket 22, and drives the first horizontal extension arm 231 to unfold or fold under the control of the control module. The second horizontal extension arm 233 is symmetrically disposed on the other side of the net bag bracket 22 with the first horizontal extension arm 231, and the second horizontal extension arm driver 234 is disposed on the other side of the net bag bracket 22, and drives the second horizontal extension arm 233 to unfold or fold under the control of the control module.

[0097] For example, when the underwater robot body 10 reaches the target operating position and the reversing base 21 completes the orientation adjustment of the net support 22, the control module synchronously drives the first horizontal arm driver 232 and the second horizontal arm driver 234 to move, so that the first horizontal arm 231 and the second horizontal arm 233 respectively unfold symmetrically outward with the net support 22 as the center, until the preset unfolding angle and width are reached (e.g., Figure 2 or Figure 3 (As shown).

[0098] When the salvage operation is completed or when it needs to be retracted and reset, the control module synchronously drives the first horizontal arm driver 232 and the second horizontal arm driver 234 to move in opposite directions, so that the first horizontal arm 231 and the second horizontal arm 233 are symmetrically folded inward and reset with the net bracket 22 as the center, and fit against both sides of the net bracket 22, so that the entire flexible salvage assembly 20 returns to a compact storage state.

[0099] For example, the first lateral arm driver 232 and the second lateral arm driver 234 may include drive motors.

[0100] This application, through the symmetrical unfolding and folding mechanism of the horizontal arm assembly, can ensure that the unfolding and retraction of the flexible net 25 is smooth and synchronous, avoiding the twisting or uneven force of the net due to inconsistent movements on both sides, thus ensuring the reliability of the salvage operation and the service life of the net.

[0101] Optionally, such as Figure 14 or Figure 15 As shown, the telescopic arm assembly 24 includes a first telescopic arm 243, a first telescopic arm driver 244, a second telescopic arm 245, and a second telescopic arm driver 246.

[0102] The first telescopic arm 243 is disposed in the first internal cavity of the first horizontal extension arm 231. The first telescopic arm driver 244 is disposed on the first horizontal extension arm 231 and, under the control of the control module, drives the first telescopic arm 243 to extend and unfold in the direction intersecting with the first horizontal extension arm 231, or drives the first telescopic arm 243 to fold in the first internal cavity.

[0103] The second telescopic arm 245 is disposed in the second internal cavity of the second horizontal extension arm 233. The second telescopic arm driver 246 is disposed on the second horizontal extension arm 233 and, under the control of the control module, drives the second telescopic arm 245 to extend and unfold in the direction intersecting with the second horizontal extension arm 233, or drives the second telescopic arm 245 to fold in the second internal cavity.

[0104] For example, each side of the first horizontal arm 231 and the second horizontal arm 233 has a hollow tubular structure. The first telescopic arm 243 and the second telescopic arm 245 are respectively slidably sleeved in the corresponding internal cavity. In the non-working state, the telescopic arm is completely retracted into the horizontal arm, so that the entire flexible salvage assembly 20 maintains a compact storage shape and reduces navigation resistance.

[0105] After the control module determines the retrieval mode based on the identification results and completes the orientation adjustment of the reversing base 21, it synchronously drives the first telescopic arm driver 244 and the second telescopic arm driver 246 to move according to the size and posture information of the flexible target object. This causes the first telescopic arm 243 and the second telescopic arm 245 to extend outward from their respective internal cavities and extend in a direction that intersects with the unfolding direction of the horizontal arm (such as perpendicular to the horizontal arm). This increases the longitudinal coverage depth and holding space of the flexible net 25, enabling the net to fully cover and support flexible target objects of different shapes.

[0106] For targets that are small or have a relatively flat shape, the control module controls the telescopic arm to retract appropriately, preventing the net from going too deep and causing material redundancy or operational inconvenience. The telescopic arm's extension stroke is calculated and determined in real time by the control module based on the target size information obtained from the imaging sonar, and can be precisely adjusted in conjunction with preset multi-level settings.

[0107] During the retraction and reset process after the salvage operation is completed, the first telescopic arm 243 and the second telescopic arm 245 retract into their respective internal cavities under the control of the control module. Then, the horizontal arm assembly 23 folds symmetrically, so that the entire flexible salvage assembly 20 returns to a compact storage state.

[0108] For example, the first telescopic arm driver 244 and the second telescopic arm driver 246 may include drive motors.

[0109] Through the aforementioned telescopic adjustment mechanism, this application enables the flexible net 25 to adaptively adjust the covering depth and holding volume according to the actual size and posture of the flexible target object. This ensures the reliability and adaptability of the salvage operation, avoids net redundancy or structural interference, and the compact socket structure effectively reduces the overall volume of the components, improving the navigation passability of the underwater salvage device.

[0110] Optionally, such as Figure 16As shown, the tensioning rope 251 comprises a gravity section A, a natural section B, and a buoyancy section C. Gravity section A is equipped with a gravity element A0 to provide gravity. Buoyancy section C is equipped with a buoyancy element C0 to provide buoyancy.

[0111] like Figure 1 As shown, the rope reeling mechanism 27 includes a bottom-mounted rope reeling mechanism 271 and a buoyancy-driven rope reeling mechanism 272.

[0112] The bottom-sinking rope mechanism 271 is connected to the gravity section A of the tension rope 251 and is used to retract or release gravity section A. The buoyancy rope mechanism 272 is connected to the buoyancy section C of the tension rope 251 and is used to retract or release buoyancy section C.

[0113] Under the control of the control module, when the bottom-sinking rope release mechanism 271 releases gravity section A and the buoyancy rope release mechanism 272 retracts buoyancy section C, the tension rope 251 has a preset gravity. Under the control of the control module, when the bottom-sinking rope release mechanism 271 retracts gravity section A and the buoyancy rope release mechanism 272 releases buoyancy section C, the tension rope 251 has a preset buoyancy.

[0114] For example, such as Figure 16 As shown, the tensioning rope 251 sequentially comprises a gravity section A, a natural section B, and a buoyancy section C. Gravity section A is equipped with gravity components A0 (e.g., metal counterweights or high-density material weight particles spaced apart along the rope length) to provide a predetermined gravity effect. Buoyancy section C is equipped with buoyancy components C0 (e.g., floats or low-density buoyancy blocks spaced apart along the rope length) to provide a predetermined buoyancy effect. Natural section B is a conventional rope section without gravity or buoyancy components, and its own weight and buoyancy are essentially balanced.

[0115] The bottom-sinking rope mechanism 271 is connected to the end of the gravity section A of the tension rope 251, and is used to retract or release gravity section A. The buoyancy rope mechanism 272 is connected to the end of the buoyancy section C of the tension rope 251, and is used to retract or release buoyancy section C. Under the control of the control module, when the bottom-sinking rope mechanism 271 releases gravity section A and the buoyancy rope mechanism 272 retracts buoyancy section C, gravity section A extends outward and buoyancy section C is wound up and stored. The part of the tension rope 251 located in the threading mechanism 252 of the flexible net 25 is mainly gravity section A. The entire tension rope 251 exhibits preset gravity characteristics in the water. The gravity component A0 on gravity section A pulls the edge of the net downward, so that the flexible net 25 can cover the flexible target object sinking to the bottom from top to bottom.

[0116] Under the control of the control module, when the bottom-sinking rope retraction mechanism 271 retracts the gravity section A and the buoyancy rope retraction mechanism 272 releases the buoyancy section C, the buoyancy section C extends outward and the gravity section A is wound up and stored. The part of the tension rope 251 located in the threading mechanism 252 is mainly the buoyancy section C. The entire tension rope 251 exhibits the preset buoyancy characteristics in the water. The buoyancy component C0 on the buoyancy section C pulls the edge of the net bag upward, so that the flexible net bag 25 can lift the suspended target object from bottom to top.

[0117] This application, through the segmented setting of the tension rope and the coordinated control with two rope retraction and extension mechanisms, enables the same tension rope 251 to flexibly switch between gravity characteristics and buoyancy characteristics according to the salvage mode. It can adapt to both bottom sinking and suspension salvage modes without changing the rope, which simplifies the system structure and improves the adaptability and reliability of salvage operations.

[0118] Optionally, such as Figure 17 As shown, the bottom-mounted cable reeling mechanism 271 includes a bottom-mounted fixing component 2711 and a bottom-mounted cable tightening component 2712.

[0119] The bottom-mounted fixing component 2711 is fixedly mounted on the underwater robot body 10. The bottom-mounted cable tightening component 2712 can be magnetically connected to the bottom-mounted fixing component 2711, and can be fixedly connected to or disconnected from the bottom-mounted fixing component 2711 under the control of the control module.

[0120] like Figure 18 As shown, the submerged cable tensioning component 2712 includes a submerged cable tensioning actuator 27121, a submerged cable storage cavity 27122, a submerged cable threading hole 27123, and a first suction member 27124. Under the control of the control module, the submerged cable tensioning actuator 27121 contracts or releases the tension rope 251. The submerged cable storage cavity 27122 is used to store the tension rope 251. The submerged cable threading hole 27123 is used for the passage of the tension rope 251. The submerged cable tensioning component 2712 is magnetically connected to the submerged fixing component 2711 via the first suction member 27124.

[0121] For example, the bottom-mounted fixing component 2711 is fixedly mounted on the underwater robot body 10, serving as the mounting base for the bottom-mounted cable reeling mechanism 271. The bottom-mounted cable tightening component 2712 can be magnetically connected to the bottom-mounted fixing component 2711, and under the control of the control module, it can be fixedly connected to or disconnected from the bottom-mounted fixing component 2711.

[0122] Under the control of the control module, the submerged cable tensioning actuator 27121 is used to contract or release the gravity section A of the tension rope 251 to adjust the counterweight characteristics of the tension rope 251 in water. The submerged cable storage cavity 27122 is used to accommodate and wind up the redundant portion of the tension rope 251 in the tightened state. The submerged cable threading hole 27123 is used for the tension rope 251 to pass through for cable routing guidance. The first adsorption member 27124 is disposed on the housing of the submerged cable tensioning member 2712 for a detachable adsorption connection with the submerged fixing member 2711.

[0123] For example, during the salvage operation, the bottom cable tightening component 2712 is attached to the bottom fixing component 2711 by the first suction component 27124, so that the bottom cable retraction mechanism 271 remains relatively fixed to the underwater robot body 10, ensuring that the bottom cable tightening driver 27121 can stably execute the contraction or release action of the tension rope 251. When the salvage operation is completed, the control module triggers a release command, and the first suction component 27124 releases its suction force under the control of the control module (e.g., by electromagnetic power-off or mechanical unhooking), so that the bottom cable tightening component 2712 is disconnected from the bottom fixing component 2711. The bottom cable tightening component 2712, together with the tension rope 251 stored inside it, detaches from the underwater robot body 10 along with the flexible net 25, thereby realizing the rapid separation of the flexible salvage component 20 from the underwater robot.

[0124] Through the above structural design, this application enables the bottom-diving rope retrieval mechanism 271 to provide reliable gravity-driven retrieval and storage functions for the tension rope 251 during the salvage process, and to achieve rapid and reliable mechanical separation at the handover stage, which can effectively ensure the smoothness of the salvage operation and the continuity of subsequent tasks.

[0125] Optionally, the levitation rope deployment and retrieval mechanism 272 includes a levitation fixing component and a levitation cable tensioning component. The levitation fixing component is fixedly mounted on the underwater robot body, serving as the mounting base for the levitation rope deployment and retrieval mechanism.

[0126] The suspended cable tightening component and the suspended fixing component can be magnetically connected, and under the control of the control module, they can be fixedly connected or disconnected. The suspended cable tightening component includes a suspended cable tightening driver, a suspended cable storage cavity, a suspended cable threading hole, and a second magnetic component.

[0127] Under the control of the control module, the suspended cable tensioning actuator is used to contract or release the buoyancy section of the tensioning cable to adjust its buoyancy characteristics in water. The suspended cable storage cavity is used to accommodate and wind up the redundant portion of the tensioning cable in the tightened state. The suspended cable threading hole allows the tensioning cable to pass through for cable routing guidance. A second suction element is disposed on the housing of the suspended cable tensioning component for a detachable suction connection with the suspended fixing component.

[0128] For example, during the salvage operation, the suspended cable tightening component is attached to the suspended fixing component by the second adsorption component, so that the suspended cable tightening mechanism is kept relatively fixed to the underwater robot body 10, ensuring that the suspended cable tightening driver can stably perform the tightening or releasing action of the cable.

[0129] When the salvage operation is completed, the control module triggers a release command. Under the control of the control module, the second adsorption component releases its adsorption force (e.g., by electromagnetic power-off or mechanical unhooking), causing the suspension cable tightening component to disconnect from the suspension fixing component. The suspension cable tightening component, together with the tensioning rope stored inside it, detaches from the underwater robot body 10 along with the flexible net 25, thereby enabling the rapid separation of the flexible salvage component from the underwater robot.

[0130] Through the above structural design, this application enables the suspended rope retraction mechanism 272 to provide reliable gravity-driven retraction and storage functions for the tension rope during the salvage process, and to achieve rapid and reliable mechanical separation at the handover stage, thereby effectively ensuring the smoothness of the salvage operation and the continuity of subsequent tasks.

[0131] It can be understood that the structure of the suspended rope release mechanism 272 is the same as that of the bottom-sinking rope release mechanism 271, and will not be described in detail here with reference to the diagram.

[0132] Optionally, the net deployment mechanism 26 includes a net fixing component and a net cable tightening component. The net fixing component is fixedly mounted on the underwater robot body, serving as the mounting base for the net deployment mechanism 26.

[0133] The cable tensioning component and the cable fixing component of the net bag can be magnetically connected, and under the control of the control module, they can be fixedly connected or disconnected. The cable tensioning component includes a cable tensioning driver, a cable storage cavity, a cable threading hole, and a third magnetic attachment.

[0134] Under the control of the control module, the net cable tightening actuator is used to retract or release the net unfolding rope 242. The net cable storage cavity is used to accommodate and wind up the redundant portion of the net unfolding rope 242 in the tightened state. The net cable threading hole is used for the net unfolding rope 242 to pass through for cable routing guidance. The third suction element is disposed on the housing of the net cable tightening component and is used to achieve a detachable suction connection with the net fixing component.

[0135] For example, during the salvage operation, the net cable tightening component is attached to the net fixing component by the third adsorption component, so that the net deployment mechanism 26 is kept relatively fixed to the underwater robot body 10, ensuring that the net cable tightening driver can stably perform the contraction or release action of the net deployment rope 242.

[0136] The control module triggers a release command, and the third adsorption component releases its adsorption force under the control of the control module (e.g., by electromagnetic power-off or mechanical disengagement), causing the net cable tightening component to disconnect from the net fixing component. The net cable tightening component, together with the net unfolding rope 242 stored inside it, detaches from the underwater robot body 10 along with the flexible net 25, thereby enabling the flexible salvage component 20 to be quickly separated from the underwater robot body 10.

[0137] Through the above structural design, this application enables the net deployment mechanism 26 to provide reliable gravity-driven deployment and storage functions for the net deployment rope 242 during the retrieval process, and to achieve rapid and reliable mechanical separation during the handover process, thereby effectively ensuring the smoothness of the retrieval operation and the continuity of subsequent tasks.

[0138] It is understood that the structure of the net unfolding mechanism 26 and the bottom-sinking rope retraction mechanism 271 is the same, and will not be described in detail here with reference to the illustration.

[0139] According to one aspect of this application, this application provides a method for underwater salvage of flexible targets.

[0140] According to the example embodiment, such as Figure 19 As shown, the underwater salvage method includes steps S100-S800. Exemplarily, this underwater salvage method can be executed by the underwater salvage device described above. Specifically, it can be executed by the control module described above.

[0141] In step S100, the control module determines the flexible target and its state based on the sensor data collected by the underwater robot body.

[0142] For example, the underwater robot responds to the operator's commands and conducts patrols and searches in the target area. After the underwater robot, equipped with a sonar detection module (such as multibeam forward-looking sonar and imaging sonar), enters the target area, the control module receives the detection data from the sonar detection module in real time. The sonar detection module performs a fan-shaped scan of the water area in front of the underwater robot to obtain the target's echo signal, position information, contour data, and height above the bottom.

[0143] Once the sonar detection module detects a suspected target echo within its detection range, the control module drives the underwater robot to approach the suspected target. Within a certain distance, it activates the imaging sonar for a detailed scan, acquiring the target's shape features and attitude information to distinguish flexible targets from other underwater debris. Furthermore, if visibility permits, the control module also receives underwater images from the image acquisition module, using image recognition algorithms to assist in confirming the target's attributes.

[0144] The control module fuses multi-source sensor data collected by the sonar detection module, image acquisition module, and other sensor modules. The target recognition module determines the presence of flexible targets within the detection area and further determines the spatial position and attitude of the targets. Furthermore, the control module calculates the target's height above the bottom based on the sonar data and, combined with the target's attitude stability characteristics, determines whether the flexible target is suspended or sunken, providing a basis for the automatic selection of subsequent salvage strategies.

[0145] In step S200, the control module determines the salvage mode based on the state of the flexible target object.

[0146] In step S300, the control module moves the flexible net to the target operating position according to the retrieval mode, and adjusts the orientation of the net support according to the retrieval mode.

[0147] For example, when the control module determines that the flexible target is in a bottoming state (i.e., the height above the bottom is less than a set threshold, and the flexible target is resting on the water surface), the control module automatically selects the bottoming retrieval mode. In this mode, the reversing base maintains the default orientation, and the opening of the net support faces downwards, so that the flexible net covers the flexible target from top to bottom.

[0148] When the control module determines that the flexible target is in a suspended state (i.e., the height above the bottom is greater than the set threshold, and the flexible target is freely suspended in the water or slowly drifting with the water flow), the control module automatically selects the suspension retrieval mode. In this mode, the control module drives the reversing base to rotate the net support 180°, with the opening of the net support facing upwards, so that the flexible net can wrap around the flexible target from bottom to top.

[0149] Based on the spatial position and state of the flexible target object, the control module plans the approach path of the underwater robot and determines the target operating position for the salvage operation. For a suspended state, the target operating position is set at a certain distance directly below the target, and the underwater robot approaches from the lower side. For a submerged state, the target operating position is set at a certain distance directly above the target, and the underwater robot approaches from the upper side, ensuring that the flexible net can approach and cover the flexible target object in the optimal posture during subsequent steps, avoiding pushing or disturbing the flexible target object.

[0150] In step S400, the control module controls the horizontal arm assembly to unfold symmetrically around the net support, and controls the telescopic arm assembly to extend and retract in the direction intersecting with the horizontal arm assembly.

[0151] In step S500, the control module controls the net deployment mechanism to retract the net deployment rope, thereby driving the flexible net to deploy.

[0152] For example, when the underwater robot body arrives at the target operating position and the reversing base completes the orientation adjustment of the net bracket, the control module synchronously sends deployment commands to the first and second lateral arm drivers, driving the first and second lateral arms to symmetrically unfold outward with the net bracket as the center, so that the lateral arm components reach the preset unfolding angle and width, thereby fully expanding the flexible net to the designed opening size in the lateral direction.

[0153] Subsequently, the control module synchronously sends extension and retraction commands to the first telescopic arm driver and the second telescopic arm driver, driving the first telescopic arm and the second telescopic arm to extend outward from the internal cavities of the first horizontal arm and the second horizontal arm respectively, so that the telescopic arm assembly extends to the preset stroke in the direction intersecting with the horizontal arm assembly, thereby further unfolding the flexible net bag in the longitudinal direction to the required covering depth.

[0154] After the horizontal extension arm assembly and the telescopic arm assembly are fully deployed, the control module sends an deployment command to the net deployment mechanism, driving it to start and wind up the retractable net deployment rope. One end of the net deployment rope is connected to the net deployment mechanism, and the other end passes through the guide structures and connects to the net fixing part. As the net deployment mechanism continues to wind, the net deployment rope gradually shortens, and the resulting traction force is transmitted through the rope to the edge of the flexible net, gradually pulling, releasing, and expanding the flexible net that was originally folded and stored in the internal cavity of the horizontal extension arm assembly and the telescopic arm assembly. Under the traction of the net deployment rope, the flexible net expands synchronously in the horizontal and vertical directions until it is fully expanded to the design shape and opening size defined by the horizontal extension arm assembly and the telescopic arm assembly, forming a pocket-shaped working form with a receiving cavity.

[0155] The control module monitors the contraction length and tension value of the net's unfolding rope in real time through built-in stroke and tension sensors. When the contraction length of the net's unfolding rope reaches the preset value and the tension is stable, it determines that the flexible net has been fully unfolded and stops driving the net unfolding mechanism, so that the flexible net remains in a stable unfolded state, preparing for the net to cover the target object in subsequent steps.

[0156] This application utilizes the coordinated action of the symmetrical unfolding of the horizontal arm assembly and the longitudinal extension of the telescopic arm assembly to fully expand the flexible net from its folded storage state to its designed working form, creating a pocket-shaped structure with an appropriate opening size and accommodating depth. This prepares the net for covering and supporting the target object in subsequent steps. The unfolding width of the horizontal arm and the extension stroke of the telescopic arm are both calculated and determined in real time by the control module based on the size and shape of the flexible target object. This ensures that the opening size and accommodating depth of the net are adapted to the current size and posture of the target object, avoiding both incomplete coverage due to an undersized net and operational redundancy or material accumulation due to an oversized net.

[0157] In step S600, the control module releases the net fixing part and the net unfolding mechanism to release the flexible net and the net unfolding rope.

[0158] For example, the control module sends a release command to the net bag fixing part, which releases the mechanical lock on the edge of the flexible net bag, causing the flexible net bag to disengage from the end of the telescopic arm assembly. The control module then sends a release command to the net bag deployment mechanism, causing the net bag deployment rope to completely detach from the flexible net bag. The flexible net bag is no longer subject to any mechanical constraints from the horizontal arm assembly, the telescopic arm assembly, and the net bag deployment mechanism, and is only connected to the retraction rope mechanism via the tension rope.

[0159] In step S700, the control module controls the rope reeling mechanism according to the salvage mode, so that the tension rope wraps around the flexible target object under the action of gravity or buoyancy.

[0160] For example, in the bottom retrieval mode, the control module drives the bottom retrieval rope mechanism to release the gravity section and the buoyancy retrieval rope mechanism to retract the buoyancy section, so that the part of the tension rope in the net threading mechanism is mainly the gravity section and the natural section. The tension rope as a whole exhibits the preset gravity characteristics. The gravity component on the gravity section pulls the edge of the net downward, so that the flexible net gradually covers and wraps the bottom target from top to bottom under the action of gravity (such as the flexible net can descend vertically at a slow speed, and the movement speed can be less than 0.1m / s).

[0161] In the suspended salvage mode, the control module drives the bottom-sinking rope retraction mechanism to retract the gravity section and the buoyancy rope retraction mechanism to release the buoyancy section. This makes the part of the tension rope located in the net-sleeping mechanism mainly consist of the buoyancy section and the natural section. The tension rope as a whole exhibits the preset buoyancy characteristics. The buoyancy components on the buoyancy section pull the edge of the net upward, so that the flexible net gradually lifts and wraps the suspended target object from bottom to top under the action of buoyancy (e.g., the flexible net can rise vertically at a slow speed, and the movement speed can be less than 0.1m / s).

[0162] In both modes, the control module can monitor the tension change of the tension rope in real time through the tension sensor. When the tension value reaches the preset threshold (e.g., 20 N·m), it is determined that the flexible target has completely entered the net bag. Then, the control mechanism tightens the tension rope, so that the net opening is evenly gathered and locked along the threading mechanism, forming a "cocoon-like" wrapping protection for the target.

[0163] In step S800, the control module releases the rope retraction mechanism to complete the retrieval of the flexible target object.

[0164] For example, after the tension rope is tightened and locked, and it is confirmed that the flexible target is reliably constrained inside the flexible net, the control module triggers the release action of the rope deployment mechanism. Under the control of the control module, the first and second adsorption components of the bottom-mounted and buoyancy-mounted rope deployment mechanisms release their adsorption force (e.g., through electromagnetic de-energization or mechanical disengagement), causing the bottom-mounted cable tensioning component and the buoyancy cable tensioning component to disconnect from their corresponding fixing components. The entire rope deployment mechanism detaches from the underwater robot body along with the tension rope. The flexible net is completely separated from the underwater robot body. The net is only connected to the shore-based winch or surface buoy via a salvage rope. Onshore personnel use the salvage rope to smoothly lift the net and the target inside to the surface or a designated transfer platform, while the underwater robot body can immediately leave its current working position to continue performing subsequent search or exploration tasks.

[0165] The underwater salvage method provided in this application, through the fusion processing of multi-source sensor data by the control module, can automatically identify the state of flexible targets (suspended or sunken) and automatically decide on the salvage mode. By driving the reversing base to adaptively switch the orientation of the net support, and by coordinating the deployment of the horizontal and telescopic arms to match the target's shape, and then by selectively releasing the gravity or buoyancy section, the tension rope utilizes environmental physical properties to assist the flexible net in adaptively wrapping the target. The entire salvage process can be completed automatically without human intervention, from target detection, strategy selection, net deployment, attitude matching, wrapping and support to rapid separation.

[0166] This application overcomes the limitations of traditional rigid mechanical claws, which are prone to damage, and vacuum adsorption, which depends on the surface characteristics of the target. It also addresses the shortcomings of traditional nets, which struggle to flexibly adjust strategies based on the target's suspension or sinking status. This reduces reliance on operator experience and the need for good water visibility, effectively improving salvage success rate, operational efficiency, and safety. Furthermore, this application's rapid separation mechanism allows the underwater robot to be quickly deployed to subsequent tasks, making it particularly suitable for complex operational scenarios such as continuous multi-target search and rescue in extremely turbid waters.

[0167] Optionally, after the flexible net performs the covering action, the control module can determine whether the flexible target has successfully entered the flexible net using the image data acquired by the image acquisition module. If the first attempt to scoop up (suspended mode) or cover (sinking mode) fails, the control module may not immediately terminate the operation. Instead, it can automatically control the underwater robot to retreat to a safe distance, reposition and adjust the operating position, and then perform the net deployment and covering action again to attempt a second covering, in order to cope with the first failure caused by water flow disturbance, target drift, or positioning deviation.

[0168] After the rope tightening mechanism secures the net opening, the control module monitors the tension of the tightening rope in real time using a built-in torque sensor. If a sudden drop in tension (i.e., a sudden drop in torque) is detected after tightening, it indicates that the flexible target may slip out of the flexible net. The control module immediately sends an alarm signal to the surface control panel and can automatically initiate an emergency response. For example, it can first attempt to tighten the rope again to re-secure the net opening. If the tension still cannot be stabilized after the second tightening, it is determined that the current salvage conditions do not meet the requirements for continuing the operation. The control module then releases the partially wrapped flexible net, exits the current salvage task, and replans the salvage strategy, starting a new round of salvage operations from scratch.

[0169] If the first, second, or third adsorption component fails to disconnect properly due to mechanical jamming, electromagnetic failure, or interference from underwater foreign objects during the release action, the control module can attempt to repeatedly send the release command and adjust the release sequence. If the release still cannot be completed after multiple attempts, the backup release mechanism will be activated, and an alarm will be sent to the operator and fault information will be displayed, notifying the operator to perform manual intervention and emergency operations through the human-machine interaction module.

[0170] Through the aforementioned multi-layered fault-tolerance and retry design, this application can effectively cope with various abnormal working conditions such as target drift, encapsulation failure, slippage risk and separation failure in complex underwater environments. It can significantly improve the robustness and final success rate of salvage operations, while reducing the probability of losing the target due to a single operation failure. It is especially suitable for flexible target salvage scenarios where non-repeatable operations are not possible.

[0171] Optionally, this application can also achieve safety protection and abnormal handling throughout the entire salvage process by using net deployment compliance control (limiting deployment speed, automatically stopping and alarming upon encountering obstruction), tension rope force control (torque / force limiting protection, abnormal monitoring and handling), and safety interlock (release from the net requires both secure fastening and operator or system confirmation; emergency release can be triggered with one click in an emergency).

[0172] Optionally, this application can also utilize the human-machine collaboration and recording functions of the control module to display the current operation stages such as search, identification, approach, deployment, securing, detachment, and completion to the operator in real time, as well as key parameters such as target distance, identification confidence level, net status, and securing rope tension. It also supports the operator pausing the automatic process at any time to switch to manual control, achieving flexible collaboration between automated system operation and manual intervention. The control module can also synchronously record sonar images, polarized optical images, and camera videos with timestamps, fully recording key operation nodes and sensor data and encrypting and storing them to generate a traceable salvage report, providing data support for post-operation review and evaluation.

[0173] Optionally, for large underwater robot bodies, multiple flexible nets can be configured according to operational needs.

[0174] For example, a set of flexible retrieval components can be installed on each of the left and right sides of the robot body. By independently controlling the unfolding, covering, and releasing actions of each flexible net, efficient operations can be achieved to retrieve multiple flexible targets in a single dive. For larger or more complex flexible targets, the two flexible nets can be combined and deployed collaboratively to form a larger accommodating cavity, accommodating the retrieval needs of large targets. This application improves the efficiency of a single dive and enhances adaptability to various scenarios through independent control and coordinated operation of each channel.

[0175] Optionally, the top of the flexible net can also be equipped with a small buoy and a winch. Upon release, after the flexible net separates from the underwater robot, the buoy automatically rises to the surface, and the winch simultaneously activates and slowly winds up the retrieval rope, automatically lifting the flexible net and its contents to near the water's surface. This significantly reduces the pulling effort required by onshore operators, making it particularly suitable for solo operations or rescue scenarios where surface support is limited.

[0176] Optionally, this application may also configure LED lights on the net support, with the illumination direction directed towards the interior area of ​​the net. In deep water, at night, or low-light environments, this can assist the image acquisition module in obtaining clear images of the inside of the net, enabling the operator or control module to accurately confirm whether the flexible target has completely entered the net and its attitude within the net. Simultaneously, it can also provide additional target feature references for imaging sonar, further improving the reliability of target identification and operational status assessment in murky or low-light environments.

[0177] Optionally, the net support can adopt a rigid frame structure with its edges wrapped in flexible materials (such as rubber sleeves or foam), and elastic buffers (such as springs or rubber shock absorbers) are provided at the connection with the flexible net. This configuration ensures that the net support remains stable after deployment, is not easily deformed by water flow impact or the weight of the target object, and can reliably maintain the preset net opening shape and size. It is particularly suitable for salvage scenarios with rapid currents or complex target object postures, where maintaining the deployed shape is crucial. Operators can choose between the flexible folding scheme and the rigid frame scheme based on the actual water flow conditions and target object characteristics to balance the requirements of salvage stability and robot mobility.

[0178] Optionally, for large targets or complex environments, multiple small underwater robots can be used in a collaborative operation. Each robot carries a portion of the net structure (e.g., a sub-net or a partial frame of the net). The robots share their positions and synchronize their movements via underwater communication. Under the coordinated scheduling of the control module, each robot deploys its net portion and merges around the target to form a complete combined net, collectively covering, supporting, and lifting the large target. Individual robots are small and maneuverable, facilitating navigation and deployment in narrow or obstacle-filled waters. Multi-robot collaboration significantly expands salvage capabilities, adapting to the salvage needs of large or heavy targets. Furthermore, even if one robot fails, the remaining robots can maintain some functionality, providing a degree of fault tolerance and redundancy. Operators can flexibly configure and plan tasks based on target size, water conditions, and the number of available robots.

[0179] According to another aspect of this application, an electronic device is also provided. The electronic device includes: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, enable the one or more processors to perform the methods described above.

[0180] According to another aspect of this application, a non-volatile computer-readable storage medium is also provided. This storage medium stores a computer program that, when executed by a processor, can perform the methods described above.

[0181] According to another aspect of this application, this application also provides a computer program product. The computer program product includes: a computer program stored on a computer-readable storage medium; the computer program includes program instructions that, when executed by a computer, cause the computer to perform the methods described above.

[0182] Finally, it should be noted that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions of the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An underwater salvage device for flexible targets, characterized in that, The underwater salvage device includes an underwater robot body and a flexible salvage component. The underwater robot body includes a control module, and the flexible salvage component is mounted on the underwater robot body. The flexible salvage component includes: A reversing base is fixedly installed on the bottom side of the underwater robot body; The net support is rotatably connected to the reversing base. The control module controls the reversing base to rotate the net support according to the retrieval mode of the flexible target, so that the net support has a first orientation and a second orientation. The horizontal extension arm assembly is rotatably connected to both sides of the net bag bracket, and under the control of the control module, the horizontal extension arm assembly can be symmetrically folded or symmetrically unfolded with the net bag bracket as the center. A telescopic arm assembly is disposed in the internal cavity of the horizontal extension arm assembly, and under the control of the control module, the telescopic arm assembly can extend and retract in a direction intersecting with the horizontal extension arm assembly; A flexible net bag is folded and disposed in the internal cavity. The edge of the flexible net bag is provided with a threading mechanism for passing through a tension rope. Multiple net bag fixing parts are detachably provided at both ends of the telescopic arm assembly. The flexible net bag is connected to the net bag fixing parts through a net bag unfolding rope. The net bag fixing parts are used to fix or release the flexible net bag. A net deployment mechanism is detachably mounted on one side of the underwater robot body. The net deployment rope is connected to the net deployment mechanism. Under the control of the control module, the net deployment mechanism retracts the net deployment rope to drive the flexible net to unfold. The net deployment mechanism is used to tighten or release the net deployment rope. A rope retraction and deployment mechanism is detachably mounted on the other side of the underwater robot body, and the rope retraction and deployment mechanism is connected to the tensioning rope. The control module moves the underwater robot to the target location according to the salvage mode. When the flexible net and the net deployment rope are released, the control module controls the rope retraction mechanism according to the salvage mode so that the tension rope wraps around the flexible target under the action of gravity or buoyancy. After the flexible net is tightened by the tension rope, the rope retraction mechanism is released to complete the salvage of the flexible target.

2. The underwater salvage device according to claim 1, characterized in that, The lateral arm assembly includes: The first horizontal extension arm is located on one side of the net bag bracket; The first horizontal arm driver is located on one side of the net bracket and, under the control of the control module, drives the first horizontal arm to unfold or fold. The second horizontal arm is symmetrically arranged on the other side of the net bracket, as is the first horizontal arm. The second horizontal arm driver is located on the other side of the net bracket and, under the control of the control module, drives the second horizontal arm to unfold or fold, so that the first horizontal arm and the second horizontal arm can unfold or fold symmetrically with the net bracket as the center.

3. The underwater salvage device according to claim 2, characterized in that, The telescopic arm assembly includes: The first telescopic arm is disposed in the first internal cavity of the first horizontal extension arm; A first telescopic arm driver is disposed on the first horizontal extension arm, and under the control of the control module, drives the first telescopic arm to unfold in a direction intersecting with the first horizontal extension arm, or drives the first telescopic arm to fold into the first internal cavity. The second telescopic arm is disposed in the second internal cavity of the second horizontal extension arm; The second telescopic arm driver is disposed on the second horizontal extension arm, and under the control of the control module, drives the second telescopic arm to unfold in a direction intersecting with the second horizontal extension arm, or drives the second telescopic arm to fold into the second internal cavity.

4. The underwater salvage device according to claim 1, characterized in that, The tensioning rope comprises a gravity section, a natural section, and a buoyancy section in sequence; the gravity section is equipped with a gravity element so that the gravity section has a gravity effect; The buoyancy section is equipped with buoyancy components to enable the buoyancy section to have a buoyancy effect; The rope retraction and extension mechanism includes: A bottom-mounted rope retraction mechanism is connected to the gravity section of the tension rope and is used to retract or release the gravity section. A buoyancy rope retraction mechanism, connected to the buoyancy section of the tension rope, is used to retract or release the buoyancy section; Specifically, under the control of the control module, when the bottom-sinking rope release mechanism releases the gravity section and the buoyancy rope release mechanism retracts the buoyancy section, the tension rope has a preset gravity; when the bottom-sinking rope release mechanism retracts the gravity section and the buoyancy rope release mechanism releases the buoyancy section, the tension rope has a preset buoyancy.

5. The underwater salvage device according to claim 4, characterized in that, The bottom-sinking and rope-releasing mechanism includes: A bottom-mounted fixing component is fixedly installed on the underwater robot body; The submerged cable tightening component can be magnetically connected to the submerged fixing component, and under the control of the control module, it can be fixedly connected to or disconnected from the submerged fixing component. The submerged cable tightening component includes: The sinker cable tightening driver, under the control of the control module, tightens or releases the tension rope; A recessed cable storage cavity is used to store the tensioning rope; A bottom-mounted cable threading hole is provided for the passage of the tension rope; The first adsorption element is adsorbed and connected to the bottom fixing element.

6. The underwater salvage device according to claim 4, characterized in that, The suspended rope deployment and retraction mechanism includes: A suspension anchor is fixedly mounted on the underwater robot body; The suspended cable tightening component can be magnetically connected to the suspended fixing component, and under the control of the control module, it can be fixedly connected to or disconnected from the suspended fixing component. The suspended cable tightening component includes: The suspended cable tensioning driver, under the control of the control module, contracts or releases the tensioning rope; A suspended cable storage cavity is used to store the tensioning rope; A cable threading hole is provided for the passage of the tension rope; The second adsorption element is adsorbed and connected to the bottom fixing element.

7. The underwater salvage device according to claim 1, characterized in that, The net deployment mechanism includes: The net fastener is fixedly mounted on the underwater robot body; The cable tightening component for the net bag can be magnetically connected to the net bag fixing component, and under the control of the control module, it can be fixedly connected to or disconnected from the net bag fixing component. The cable tightening component for the mesh bag includes: The net cable tightening driver, under the control of the control module, retracts or releases the net unfolding rope; The cable storage cavity for the net bag is used to store the unfolded rope of the net bag; The net bag has a cable threading hole for the passage of the unfolded rope of the net bag; The third adsorption element is adsorbed and connected to the net bag fixing element.

8. A method for underwater salvage of flexible targets, characterized in that, The underwater salvage method is performed using the underwater salvage device according to any one of claims 1-7, and the underwater salvage method includes: The flexible target and its state are determined based on the sensor data collected by the underwater robot body. The salvage mode is determined based on the state of the flexible target object; The flexible net is moved to the target operating position according to the retrieval mode, and the orientation of the net support is adjusted according to the retrieval mode. Control the horizontal extension arm assembly to unfold symmetrically around the net bracket, and control the telescopic arm assembly to extend and retract in the direction intersecting with the horizontal extension arm assembly; The net unfolding mechanism is controlled to retract the net unfolding rope, thereby causing the flexible net to unfold. Release the net fixing part and the net unfolding mechanism to release the flexible net and the net unfolding rope; The rope retraction and deployment mechanism is controlled according to the salvage mode, so that the tension rope wraps around the flexible target object under the action of gravity or buoyancy. Release the rope retraction mechanism to complete the retrieval of the flexible target object.

9. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the underwater salvage method as described in claim 8.

10. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the underwater salvage method as described in claim 8.

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