An ice-melting and underwater mobile detection integrated detection system and mobile detection assembly laying and recovering method

Abstract

The application provides a detection system integrating ice melting and underwater mobile detection and a mobile detection assembly laying and recovery method. The system comprises: a separable assembly cable recovery operation assembly and a mobile detection assembly; the cable recovery operation assembly and the mobile detection assembly are connected through a non-containing locking docking structure, and after the two are docked and locked, the whole is a streamlined smooth cylindrical shape suitable for ice layer drilling; and the cable recovery operation assembly is integrated with a flexible guide structure and a sampling module, the flexible guide structure can be driven by an electric push mechanism to pop out outwardly to form an umbrella-shaped guide surface to assist the mobile detection assembly in initial positioning; and the sampling module can extend outwardly from the docking port to contact the water bottom to realize water bottom sediment sampling operation. Thus, the application realizes function integration and expansion of the detection system, reduces the dead weight ratio of the detection system, improves the drilling convenience and recovery controllability of the system, and improves the overall underwater detection operation capacity.

Description

Technical Field

[0001] This application relates to the field of underwater detection technology, and in particular to a detection system that integrates ice melting and underwater mobile detection, as well as a method for deploying and recovering the mobile detection component. Background Technology

[0002] Numerous subglacial lakes lie beneath the Antarctic ice sheet, containing a wealth of scientific information of vital value for research into global climate change, subglacial ecosystems, and the search for extraterrestrial life. To avoid contaminating these lakes during exploration, a thermal-melting, "drilling while freezing" method is typically employed to isolate them from the surface environment. Given this, if an AUV (Autonomous Underwater Vehicle) is to be used for mobile exploration of the subglacial waters, the conventional approach of drilling through the ice and then deploying the AUV through an ice hole is not feasible. Instead, an ice-penetrating probe must carry the AUV through the ice, and only after the probe has entered the subglacial waters can the AUV be released for mobile exploration.

[0003] For example, the invention patent with application number 201910272010.3 discloses an ice-penetrating detection system and its deployment and recovery method suitable for ice hole deployment and recovery. It includes an ROV (Remotely Operated Vehicle) that can be connected to an AUV. When the AUV is used underwater, it detaches from the ROV and can be connected to the ROV for charging, power supply and data communication. It can also be fixed in the connected ROV and move with the connected ROV. The invention patent with application number 202111666285.9 discloses an ice-penetrating detector that can carry an AUV. The AUV is inside the ice-penetrating detector. After the detector penetrates into the subglacial lake area, the pod is opened to deploy the AUV.

[0004] However, existing ROV and AUV system architectures suffer from low integration, inefficient space utilization, loose structure, and poor reliability. Their ice-penetrating detection systems typically require an AUV mounted inside the ice-penetrating detector for ice-melting and drilling. Once in the sub-ice water, the AUV is released through operations such as hatch opening for mobile detection. Recovery requires underwater reentry of the AUV back into the ice-penetrating detector. This usually employs a separate design of "ice-penetrating detector body + AUV storage compartment," with the AUV stored as an independent payload inside the compartment. The ice-penetrating detector body itself has a single recovery function, only handling ice-penetrating transport, becoming "dead weight" once under the ice, resulting in wasted space and payload. Furthermore, the release and recovery of the AUV rely on complex operations such as hatch opening and docking, making the ice-penetrating-detection-recovery process complex, unreliable in sub-ice environments, and posing high operational risks.

[0005] Therefore, it cannot meet the current needs for sub-ice environment exploration. Summary of the Invention

[0006] To overcome the problems existing in related technologies, this application provides a detection system that integrates ice melting and underwater mobile detection, as well as a method for deploying and recovering mobile detection components.

[0007] According to a first aspect of the embodiments of this specification, a detection system integrating ice melting and underwater mobile detection is provided, comprising: a detachable cable recovery operation component and a mobile detection component; the cable recovery operation component and the mobile detection component are connected by a non-receptive locking docking structure, and after docking and locking, the whole is in a streamlined smooth cylindrical shape adapted to drilling holes in ice. The cable recovery assembly is the rear unit of the system, including: a cable top cover, a central compartment, and a docking port; the cable top cover houses the cable connecting to the ice control platform and the retraceable heat-fusion head; the docking port is equipped with an electric propulsion mechanism, a flexible guide structure, a rigid locking structure, a wet-plug connector, and a sampling module. The flexible guide structure can be extended outward under the drive of the electric propulsion mechanism to form an umbrella-shaped guide surface, which assists in the initial positioning of the moving detection component during recovery; the sampling module can extend outward from the docking port to contact the seabed for bottom sediment sampling. The mobile detection component is the front-end unit of the system, including: a connecting tail end, an intermediate housing, and a thermal drill bit; the connecting tail end and the docking port achieve mechanical locking and wet plugging electrical interconnection.

[0008] Furthermore, the flexible guide structure includes: an annular base, a rigid frame, and a flexible skin; the annular base is connected to the electric propulsion mechanism; multiple rigid frames are provided and are circumferentially hinged to the annular base; the flexible skin is attached between adjacent rigid frames and expands and contracts synchronously with the rigid frames; an elastic reset mechanism is also provided between the rigid frame and the annular base. When the rigid frame pops out with the annular base, the elastic reset mechanism causes the rigid frame to expand outward with the flexible skin through elastic force, forming an umbrella-shaped guide surface. The umbrella-shaped guide surface forms a central guide channel with the annular base as the center.

[0009] Furthermore, the middle housing of the mobile detection component is equipped with a hot water storage chamber, a heating module, and a pump spray module; The hot water storage tank is located near the thermal fusion drill bit and is used to store hot water; the heating module is used to heat and keep the hot water storage tank warm; the pump spray module is located inside the hot water storage tank and is connected to the water body inside the hot water storage tank. It is used to spray water to clear obstacles during the drilling process when the system is docked, and to adjust the pitch and / or yaw attitude of the mobile detection component by spraying water reverse thrust after separation.

[0010] Furthermore, the hot water storage tank extends into the cavity of the hot water fusion drill bit; the pump-spray module is located near the front end of the hot water storage tank and is compactly integrated into the cavity head of the hot water fusion drill bit. The pump-spray module includes at least one main spray pump located on the central axis and multiple side spray pumps arranged circumferentially inclined adjacent to the main spray pump. The nozzles of the main spray pump and each side spray pump are connected to the external water body through the opening in the outer shell of the hot water fusion drill bit, and can independently and controllably spray water along the central axis and in multiple inclined directions.

[0011] Furthermore, the hot water storage tank is also equipped with a water inlet mechanism, which includes a water inlet located on the side wall of the mobile detection component housing, a water inlet channel connecting the water inlet and the hot water storage tank, and a water inlet drive module installed in the water inlet channel; a one-way valve and a filter screen are installed in the water inlet channel.

[0012] Furthermore, the mobile detection assembly also includes an attitude adjustment mechanism, which includes multiple media receiving chambers and a media transfer channel connecting each media receiving chamber; the multiple media receiving chambers include at least a head media receiving chamber that is close to or partially enters the molten drill bit and a middle media receiving chamber located within the intermediate shell; The heating module is also used to heat the medium-containing chamber, melting the metal medium inside into a liquid state. This allows the liquid metal medium to flow into the target medium-containing chamber when the pump-spray module assists in adjusting the attitude of the mobile detection component, thereby switching at least between the horizontal and vertical stable operating attitudes of the mobile detection component.

[0013] Furthermore, a central vision module is also provided on the middle shell, and a tail vision module is also provided at the tail end. The central vision module and the tail vision module are used to collect images of the surrounding environment to assist in attitude adjustment and docking and recovery operations as well as to complete underwater exploration operations.

[0014] Furthermore, the docking port of the cable recovery operation component is also equipped with a bottom vision module, which is used to collect environmental image data.

[0015] Furthermore, the central hull of the cable recovery assembly is equipped with multiple thrusters, including at least two radial thrusters arranged in two mutually orthogonal directions.

[0016] According to another aspect of this application, a method for deploying and recovering a mobile detection component is provided, applied to the above-mentioned integrated ice melting and underwater mobile detection system, comprising the following steps: Step S1: With the detection system docked and locked, drive the entire detection system to drill into the ice layer through thermal melting. Step S2: After the detection system breaks through the ice layer, the rigid locking structure between the cable recovery operation component and the mobile detection component is unlocked, so that the two components are separated. After separation, the cable recovery operation component switches to the remotely operated vehicle (ROV) mode to independently complete the underwater sampling operation, and the mobile detection component switches to the autonomous underwater vehicle (AUV) mode to independently carry out underwater autonomous navigation and detection. Step S3: When the two components have completed their operations and need to be retrieved, the flexible guide structure of the cable-driven retrieval component is extended to form an umbrella-shaped guide surface to assist in the initial positioning of the retrieval motion detection component. Step S4: After the initial positioning is completed, the cable recovery operation component is controlled to retract the flexible guide structure, and the circumferential positioning and axial mechanical locking are completed through the rigid locking structure, so as to realize the mechanical docking of the two components and achieve the recovery operation.

[0017] The technical solutions provided by the embodiments of this application may include the following beneficial effects: This application presents an integrated ice-melting and underwater mobile detection system, comprising two functional units: a detachable cable-stayed recovery module and a mobile detection module. The two modules are detachably assembled using a non-retaining locking docking structure. Unlike existing ice-penetrating detectors that rely on a dedicated AUV storage compartment for loading and releasing the AUV underwater, this system eliminates the need for a separate AUV storage compartment, resulting in higher integration, more efficient space utilization, and avoidance of complex AUV opening, release, and recovery operations, thus simplifying and improving reliability. Furthermore, the docked components of this application form a streamlined, smooth cylinder with no protrusions or protruding parts, perfectly conforming to the contours of the system. This better adapts to the narrow ice openings in polar regions, significantly reducing the risk of the hull scraping and jamming against the ice wall during ice penetration. Simultaneously, the cable-stayed recovery module incorporates a flexible guiding structure, which expands the docking and capture area by forming an underwater umbrella-shaped guiding surface, improving recovery reliability.

[0018] In addition, the cable recovery operation component of the detection system of this application can also be used as an independent underwater operation unit. As a downstream unit of the system, it undertakes three core functions: ice surface power supply and communication relay, underwater remote control operation, and docking and recovery guidance. It also has the capability of underwater sampling operation, thereby realizing functional expansion, reducing the dead weight ratio of the detection system, and significantly improving the underwater detection operation capability. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0020] Figure 1This is a schematic diagram of a cable recovery operation component of an integrated ice-melting and underwater mobile detection system, as illustrated in an exemplary embodiment of this specification.

[0021] Figure 2 This is a schematic diagram of a mobile detection component of an integrated ice-melting and underwater mobile detection system, as illustrated in an exemplary embodiment of this specification.

[0022] Figure 3 yes Figure 1 The diagram shows an enlarged view of the docking port of the cable recovery operation component.

[0023] Figure 4 yes Figure 3 The diagram shows a bottom view of the docking port.

[0024] Figure 5 yes Figure 2 The diagram shows the attitude adjustment mechanism of the moving detection component.

[0025] Figure 6 This is a schematic diagram illustrating the deployment process of a mobile detection component in an integrated ice-melting and underwater mobile detection system, as shown in an exemplary embodiment of this specification.

[0026] Figure 7 This is a schematic diagram illustrating the retrieval process of a mobile detection component in an integrated ice-melting and underwater mobile detection system, as shown in an exemplary embodiment of this specification.

[0027] Figure 8 This is a schematic diagram illustrating an exemplary embodiment of a method for deploying and retrieving a mobile detection component.

[0028] In the picture: 100. Cable recovery assembly; 110. Cable top cover; 111. Cable; 112. Backtracking heat fusion head; 120. Central hull; 121. First radial thruster; 122. Second radial thruster; 130. Docking port; 131. Flexible skin; 132. Rigid frame; 133. Sampling push rod; 134. Sampling tube; 135. Wet plug / unplug female end; 136. Electric push rod; 137. Rigid locking hook; 138. Elastic reset mechanism; 139. Annular base; 200. Mobile detection component; 210. Tail connector; 211. Wet plug-in male terminal; 212. Tail vision module; 213. Rigid docking latch; 220. Intermediate housing; 221. Battery and control system; 222. Heating module; 223. Underwater mobile thruster; 224. Sealed motor; 225. Water inlet channel; 226. Attitude adjustment mechanism; 2261. Head media containment chamber; 2262. Middle media containment chamber; 2263. Media transfer channel; 227. Propeller blade; 228. Middle vision module; 229. Hot water storage chamber; 2211. Pump spray module; 230. Thermal fusion drill bit; 231. Drill bit body shell. Detailed Implementation

[0029] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0030] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0031] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0032] The embodiments described in this specification will now be described in detail.

[0033] Combination Figures 1 to 7As illustrated in the exemplary embodiment, this application discloses a detection system integrating ice melting and underwater mobile detection. The system includes a detachable cable recovery assembly 100 and a mobile detection assembly 200. The cable recovery assembly 100 and the mobile detection assembly 200 are connected via a non-retaining locking docking structure. After docking and locking, the assembly forms a streamlined, smooth cylindrical shape suitable for drilling holes in the ice layer, which is highly advantageous for exploring subglacial lakes in polar regions.

[0034] refer to Figure 1 As shown, the cable recovery assembly 100 is the rear unit of the system, including: a cable top cover 110, a central cabin 120, and a docking port 130. The cable top cover 110 is equipped with a cable 111 connecting to the ice-surface control platform and a retrograde hot-melt head 112. The cable 111 is used to transmit electrical energy and communication data such as operation commands, and also serves as a mechanical traction constraint. The retrograde hot-melt head 112 is used to reverse-drill the ice hole after the detection system has completed all under-ice operations, further simplifying the detection process. The docking port 130 is equipped with an electric propulsion mechanism, a flexible guide structure, a rigid locking structure, a wet-plug connector, and a sampling module, wherein, for example... Figure 3 , Figure 4 and Figure 7 As shown, the flexible guiding structure is a flexible temporary fixing structure that can be ejected outward under the drive of the electric propulsion mechanism to form an umbrella-shaped guiding surface. This assists in the initial positioning of the mobile detection component 200 during retrieval, improving the reliability and convenience of retrieval. The rigid locking structure is a mechanical component used to achieve a rigid, detachable mechanical lock between the cable retrieval operation component 100 and the mobile detection component 200. It can be driven by a power source such as a motor, pneumatic device, hydraulic device, or self-weight spring. Through controllable locking, the two components are detachably fixedly connected, maintaining a rigid and uniform relative position with no significant relative displacement or play, thus allowing them to move and drill as a whole. The wet-plug connector is a watertight electrical connection device that can be plugged in and disconnected in an underwater environment. It consists of two parts: a wet-plug male terminal 211 and a wet-plug female terminal 135, located on the mobile detection component 200 and the cable retrieval operation component 100, respectively. It is used to achieve electrical connection in an underwater environment, meeting the requirements of high-power power transmission and data transmission. The sampling module can extend outward from the docking port 130 to contact the bottom of the water to perform bottom sediment sampling.

[0035] refer to Figure 2 As shown, the mobile detection component 200 is the front-end unit of the system, including: a connecting tail end 210, an intermediate housing 220, and a thermal drill bit 230. The connecting tail end 210 and the docking port 130 achieve mechanical locking and wet plugging electrical interconnection.

[0036] As can be seen from the above, the integrated detection system of this application embodiment has a dual-condition collaborative working logic: (1) When penetrating ice, it is an integrated working condition: the two components are locked together to form a complete cylindrical drill bit. The propulsion mechanism built into the cable recovery operation component 100 can provide attitude stability and horizontal movement. The mobile detection component 200 relies on the thermo-melting drill bit 230 at the bow to achieve contact thermo-melting. The two work together to complete the ice penetration operation. (2) Underwater separation operation condition: after the ice is drilled through, the two components are unlocked and separated. The cable recovery operation component 100 switches to ROV remote control operation mode. As an unmanned cabled submersible, it can hover for a long time, sit on the bottom to carry out underwater sediment sampling and docking guidance operations, relying on the continuous power supply capability of the cable. The mobile detection component 200 switches to cableless AUV autonomous mode. It is driven by its own energy storage battery. After being freed from the cable restraint, it can autonomously navigate the entire area of ​​the subglacial lake to carry out water and bottom sediment detection, effectively expanding the coverage of the subglacial detection.

[0037] Furthermore, the docking port 130 in this embodiment is equipped with a flexible guiding structure and a rigid locking structure, forming a rigid-flexible composite capture mechanism. This is specifically adapted to recovery scenarios with complex water flow disturbances under ice and limited visibility. The flexible guiding structure is used to achieve flexible initial positioning, while the rigid locking structure is used to achieve rigid connection, thus compensating for the lack of flexible connection. When the mobile detection component 200 is recovered, the cable-driven recovery operation component 100 actively drives the flexible guiding structure to extend and unfold to form an umbrella-shaped guiding surface, which can increase the effective capture area by 3-5 times, thereby significantly improving the reliability of recovery.

[0038] Therefore, the detection system of this application has achieved integrated expansion of system functions, reduced the dead weight ratio of the detection system, improved the drilling convenience and recovery controllability of the system, and fully improved the overall under-ice detection operation capability.

[0039] In some embodiments of this application, such as Figure 3 and Figure 4 As shown in the enlarged view, the flexible guide structure includes: an annular base 139, a rigid frame 132, and a flexible skin 131. The annular base 139 is connected to the electric propulsion mechanism. Multiple rigid frames 132 are provided, circumferentially hinged to the annular base 139. The flexible skin 131 is attached between adjacent rigid frames 132 and expands and contracts synchronously with the rigid frames 132. An elastic reset mechanism 138 is also provided between the rigid frame 132 and the annular base 139. When the rigid frame 132 pops out with the annular base 139, the elastic reset mechanism 138 uses elastic force to cause the rigid frame 132 and the flexible skin 131 to expand outward, forming an umbrella-shaped guide surface. The umbrella-shaped guide surface forms a central guide channel with the annular base 139 as the center.

[0040] The root of the rigid frame 132 is hinged to the annular base 139 via a hinge shaft. An elastic reset mechanism 138 (such as a torsion spring) is sleeved on the hinge shaft, with its two ends acting on the rigid frame 132 and the annular base 139 respectively, causing the rigid frame 132 to tend to open outward. The fixed end of the electric propulsion mechanism (including multiple evenly distributed motors and electric push rods 136 connected to them) is fixedly connected to the load-bearing frame of the cable retrieval operation assembly 100, and the telescopic end drives the annular base 139 to reciprocate axially. When the flexible guide structure is in the retracted state, the rigid frame 132 and the flexible skin 131 are retracted within the cylindrical outer contour of the cable retrieval operation assembly 100; when the flexible guide structure extends beyond the constraint edge of the cylindrical outer contour of the cable retrieval operation assembly 100, the rigid frame 132 expands outward under the action of the torsion spring, and the flexible skin 131 forms a funnel-shaped umbrella-shaped flexible guide surface that gradually converges from the outside to the inside. In addition, the electric propulsion mechanism is equipped with conventional supporting structures such as power distribution protection modules and drivers.

[0041] During retrieval, the control system of the cable retrieval assembly 100 issues an extension command based on the relative position and attitude information of the motion detection assembly 200 obtained from the bottom vision module. This commands multiple electric push rods 136 to move synchronously, driving the annular base 139 to its limit position. The torsion spring then drives the rigid frame 132 to open. After flexible capture and axial alignment are completed, the control system of the cable retrieval assembly 100 controls the motor to reverse, causing the electric push rods 136 to retract the annular base 139. The rigid frame 132, under the radial constraint of the bottom shell, overcomes the torsion spring force and gradually closes. Figure 7 As shown in the figure. Mechanical limiters and limit switches are respectively installed at both ends of the travel of the flexible guide structure, and a lead screw and nut mechanism is used for linear drive guidance. Its self-locking capability allows the flexible guide structure to maintain its current position when power is cut off.

[0042] In this embodiment, the main body of the flexible guide structure is divided into two sections that are close to two semicircles to reduce the difficulty of overall deformation and to reserve a gap for the removal of impurities and other interferences in the water flow, so as to avoid the hard connection being obstructed by foreign objects.

[0043] In addition, in some embodiments of this application, LED beads and the like are distributed around the annular base 139 and on the housing of the cable retrieval assembly 100 to provide illumination in dark environments under ice, thereby facilitating the positioning and shooting of the vision system.

[0044] In some embodiments of this application, reference is made to Figure 3 and Figure 4As shown, the rigid locking structure includes a positioning groove and a rigid locking hook. The positioning groove is circumferentially arranged along the end face of the docking port 130, specifically located on the outer end face of the cable retrieval operation assembly 100, and correspondingly connected to the annular positioning strip of the motion detection assembly 200. The rigid locking hook 137 on the outer end face of the cable retrieval operation assembly 100 is located outside the positioning groove and can be controlled to move. The connecting tail end 210 of the motion detection assembly 200 is provided with a rigid docking latch 213 that matches the rigid locking hook 137. By controlling the locking of the rigid locking hook 137 and the rigid docking latch 213, the mechanical locking docking of the motion detection assembly 200 and the cable retrieval operation assembly 100 can be achieved.

[0045] After the flexible guide surface completes its initial positioning, the moving detection component 200 continues to approach along the central channel of the flared flexible guide surface to complete radial positioning. Then, the positioning groove of the rigid locking structure completes circumferential positioning, and finally, the rigid mating latch 213 completes axial mechanical locking, allowing the wet-plug male end 211 and the wet-plug female end 135 to be inserted. The rigid mating latch 213 can employ a spring-preloaded self-locking structure or a structure unlocked by a motor or electromagnetic actuator. Furthermore, the control system of the cable retrieval component 100 only controls the power distribution protection module to connect the high-power supply circuit after both the latch positioning signal and the wet-plug connector positioning signal are valid, to avoid plugging and unplugging under load and protect electrical safety.

[0046] In some embodiments of this application, the docking port 130 of the cable recovery operation assembly 100 is also provided with a bottom vision module and a sampling module. The bottom vision module is used to collect environmental image data, and the sampling module can extend outward from the docking port 130 to contact the bottom of the water to perform bottom sediment sampling operations.

[0047] refer to Figure 1 , Figure 3 and Figure 4 As shown, the sampling module is symmetrically arranged inside the docking port 130 and on both sides of the guide structure, including a retractable sampling tube 134 and a linearly driven sampling push rod 133. When performing sampling operations, the cable recovery operation component 100 switches to ROV mode and hovers at the target point on the lake bottom. The thruster maintains the equipment in a vertical sitting position on the bottom. The sampling push rod 133 drives the sampling tube 134 to extend outward from the bottom of the docking port 130 and insert it into the subglacial lake bottom sediment layer to complete the bottom sediment sample collection. After sampling, the sampling tube 134 retracts into the docking port 130 to avoid scratching and damage to underwater obstacles during navigation.

[0048] In some embodiments of this application, such as Figure 1As shown, a plurality of thrusters are distributed on the central hull 120 of the cable recovery assembly 100, including at least two radial thrusters arranged along two mutually orthogonal directions. As illustrated in this embodiment, the plurality of thrusters includes a first radial thruster 121 arranged along a first direction and a second radial thruster 122 arranged along a second direction, wherein the first and second directions are orthogonal. Thus, the thrust directions of the first radial thruster 121 and the second radial thruster 122 are perpendicular to each other in the longitudinal plane of the cable recovery assembly 100, and the thrust direction is perpendicular to the central axis. They can be activated individually or in combination to generate horizontal lateral thrust and rotational torque. In this embodiment, two first radial thrusters 121 and one second radial thruster 122 are provided, with the two first radial thrusters 121 positioned on either side of one second radial thruster 122 to facilitate easier control of thrust balance. Of course, the specific number of thrusters can be selected and set by those skilled in the art according to thrust requirements and thruster power, and is not limited here.

[0049] In some preferred embodiments of this application, reference is made to Figure 2 As shown, the intermediate housing 220 of the mobile detection component 200 houses a hot water storage tank 229, a heating module 222, and a pump-jet module 2211. These structures are located below the battery and control system 221. The hot water storage tank 229 is positioned near the thermal drill bit 230 and stores hot water for jetting to clear obstacles and providing thrust reverse. The heating module 222 heats and insulates the hot water storage tank 229, maintaining the water temperature and fluidity to ensure safe and smooth jetting. The pump-jet module 2211 is located within and connected to the water in the hot water storage tank 229, directly acting on the jetting water flow. This allows for water jetting to clear obstacles during drilling in the docked state, and for adjusting the pitch and / or yaw attitude of the mobile detection component 200 using the thrust reverse of the jetting water in the separated state.

[0050] In some preferred embodiments of this application, such as Figure 2As shown, the hot water storage tank 229 extends into the cavity of the thermal fusion drill bit 230. The pump-spray module 2211 is located near the front end of the hot water storage tank 229 and is compactly integrated into the head of the thermal fusion drill bit 230 cavity. The pump-spray module 2211 includes at least one main spray pump located on the central axis and multiple side spray pumps arranged circumferentially inclined adjacent to the main spray pump. The nozzles of the main spray pump and each side spray pump communicate with external water bodies through openings in the outer shell of the thermal fusion drill bit 230, allowing for independent and controllable water spraying along the central axis and in multiple inclined directions. Thus, the hot water storage tank 229 is entirely embedded within the internal cavity of the thermal fusion drill bit 230, and the pump-spray module 2211 is compactly integrated at the front end of the hot water storage tank 229, near the tip of the thermal fusion drill bit 230, shortening the high-temperature water transport path and reducing heat loss. The pump-spray module 2211 adopts a centrally and circumferentially inclined multi-pump combination layout, with its nozzles flush with or slightly lower than the drill bit body shell 231 to avoid damage from friction and impact.

[0051] For example, in the illustrated embodiment of this application, the pump-spray module 2211 includes a main spray pump along the longitudinal central axis, and multiple side spray pumps evenly arranged around the main spray pump with nozzles tilted outwards. All pump bodies adopt an integrated watertight motor structure and are completely submerged in the water of the hot water storage tank 229, requiring no additional sealing pipelines; the water intake is directly taken from the hot water inside the tank. In addition, the hot water storage tank 229 is also equipped with conventional detection elements such as temperature sensors, liquid level sensors, and pressure sensors. Those skilled in the art can set them according to their needs, and their functional structures will not be described in detail here.

[0052] Based on the above structure, during the integrated ice drilling process, if debris in the ice interlayer blocks the ice-melting channel, affecting the contact of the thermal fusion drill bit 230 with the ice for melting, the pump-jet module 2211 sprays high-temperature water flow. The impact force of the water flow deflects the debris to both sides of the ice hole, maintaining the effective thermal fusion contact area between the thermal fusion drill bit 230 and the ice layer. This prevents debris accumulation from causing drilling interruptions and improves the stability and reliability of drilling through thick polar ice layers. Furthermore, when the two components are separated, the pump-jet module 2211 switches to a propulsion attitude adjustment mode, relying on water jetting to generate reverse thrust, providing axial and tilt thrust for the mobile detection component 200. By differentially controlling the jetting power of each pump, a radial component is generated, completing the pitch and / or yaw attitude adjustment of the mobile detection component 200. In the illustrated embodiment of this application, after the mobile detection component 200 enters the sub-ice water area, the main jet pump generates axial thrust, and the jet reaction force generated by the four side jet pumps simultaneously has axial and radial components. If the four side spray pumps operate at equal power, their radial components approximately cancel each other out, while their axial components are superimposed. However, if the side spray pumps in the corresponding circumferential orientation are selected to operate, or if differential power adjustment is applied to different side spray pumps, an uncancelled radial resultant force is generated. This radial resultant force is used for lateral position correction when the moving detection component 200 is in a vertical attitude, and generates pitch or yaw adjustment torque relative to the overall center of gravity when the moving detection component 200 is in a horizontal attitude. Yaw adjustment is used to achieve left and right turning, and pitch adjustment is used to achieve up and down swinging.

[0053] In some embodiments of this application, such as Figure 2 As shown, the hot water storage tank 229 is also equipped with a water inlet mechanism, which is used to obtain subsurface water flow to replenish the stored hot water. Specifically, in some embodiments, the water inlet mechanism includes a water inlet located on the side wall of the housing of the mobile detection component 200, a water inlet channel 225 connecting the water inlet and the hot water storage tank 229, and a water inlet drive module disposed within the water inlet channel 225. The water inlet drive module includes a sealed motor 224 and a drive propeller blade 227, which generates negative pressure within the water inlet channel 225 to achieve water intake. In addition, a one-way valve and a filter screen are also provided within the water inlet channel 225 to achieve one-way flow, prevent water leakage, and filter impurities in the water. In the embodiments illustrated in this application, two sets of water inlet mechanisms are provided, and the water inlet drive modules of the two sets of water inlet mechanisms can be driven independently.

[0054] Therefore, in this embodiment of the application, the water inlet mechanism and the pump spray module 2211 constitute an independent water inlet power link and a water spray power link that work sequentially.

[0055] During the water storage phase, the control system first activates the sealed motor 224 of the water inlet drive module via a motor driver. The sealed motor 224 drives the corresponding propeller blade 227 to rotate, creating a pressure difference in the water inlet channel 225. This draws in external water through the inlet, flows along the corresponding water inlet channel 225, and passes through a check valve and filter screen before entering the hot water storage tank 229. The check valve prevents water in the hot water storage tank 229 from flowing out in the opposite direction along the corresponding water inlet channel 225, and the filter screen purifies the water. Once the level sensor or pressure detection element at the hot water storage tank 229 detects that the water level has reached the preset value, it sends feedback to the control system, which then stops the sealed motor 224 of the water inlet drive module, completing the water storage phase. During the heating phase, the control system activates the water heating section of the segmented heating module 222 corresponding to the hot water storage tank 229, heating the water in the hot water storage tank 229 to the set temperature. Heating stops once the temperature sensor reaches the set value. During the water spraying phase, the main spray pump and each side spray pump, which are submerged in the front water chamber of the hot water storage tank 229, are started. The watertight motor of each pump drives the pump impeller to rotate. The pump inlet directly draws water from the surrounding water body. After being pressurized by the pump impeller, the water body is discharged from the pump outlet and the corresponding nozzle in sequence to form a jet.

[0056] In the ice-clearing operation before the detection system reaches the subglacial lake area, the system activates the main jet pump and / or the corresponding circumferential side jet pump according to the location of the debris, spraying heated water towards the debris in front of the thermal melting drill bit 230 and in the main ice-melting channel, causing the debris to deviate from the main ice-melting channel, thereby clearing obstacles and overcoming the obstruction of the debris, so as to ensure that there is sufficient contact area between the thermal melting drill bit 230 and the ice body to achieve thermal melting and drilling.

[0057] During the free exploration phase after the mobile detection component 200 enters the sub-ice water, the pump-jet module 2211 switches to propulsion and attitude adjustment mode: the main jet pump located in the center of the pump-jet module 2211 generates axial propulsion along the longitudinal central axis; multiple tilting side jet pumps generate axial and radial components. When each side jet pump operates at equal power, its radial components approximately cancel each other out while the axial forces are superimposed, which together with the main jet pump provide axial reaction thrust. When the mobile detection component 200 is in a vertical attitude, the lateral position correction of the mobile detection component 200 can be achieved by individually starting, combining starting, or controlling the corresponding circumferential azimuth side spray pumps through power differential control, using the uncountered radial reaction force to form a horizontal lateral resultant force. When the mobile detection component 200 is in a horizontal attitude, pitch or yaw adjustment torques can be generated by controlling the start and stop of different circumferential azimuth side spray pumps or by power differential control. The yaw adjustment torque causes the bow of the component to yaw to the left or right to achieve left or right turning; the pitch adjustment torque causes the bow of the component to yaw up or down to achieve surfacing or submerging.

[0058] In some embodiments of this application, such as Figure 2 and Figure 5As shown, the mobile detection component 200 also includes an attitude adjustment mechanism 226, which comprises multiple media receiving chambers and a media transfer channel 2263 connecting each media receiving chamber. The multiple media receiving chambers include at least a head media receiving chamber 2261 near or partially entering the hot melt drill bit 230, and a middle media receiving chamber 2262 located within the intermediate housing 220. Through at least two axially distributed media receiving chambers, the center of gravity and buoyancy of the mobile detection component 200 can be adjusted to coincide, thereby enabling the switching of different steady-state operations of the mobile detection component 200. The multiple connected media receiving chambers are filled with partially loaded phase change metal media. Preferably, the phase change metal media is a high-density, low-melting-point phase change metal, for example, a gallium indium tin alloy.

[0059] The heating module 222 is also used to heat the medium containing chamber, so that the metal medium inside melts into a liquid state, so that the liquid metal medium can flow into the target medium containing chamber when the pump-spray module 2211 assists in adjusting the attitude of the mobile detection component 200, so as to switch at least the horizontal and vertical stable operating attitudes of the mobile detection component 200.

[0060] In some embodiments of this application, the heating module 222 is a segmented module, with each heating segment connected to the measurement and control system and independently switched on and off by the measurement and control system, so as to provide thermal energy for heating the fusion drill bit 230, the hot water storage chamber 229 and the medium containing chamber respectively.

[0061] When the mobile detection component 200 is deployed or when it needs to switch from a vertical docking steady state to a horizontal cruising steady state, the heating modules 222 at the head medium receiving chamber 2261 and the medium transfer channel 2263 of the mobile detection component 200 are activated in sections to liquefy the phase change metal medium that has solidified in the front receiving area (i.e., the head medium receiving chamber 2261). Subsequently, the mobile detection component 200 adjusts its attitude to the initial horizontal cruising steady state through the underwater moving thruster 223 and the pump-jet module 2211. At this time, the liquid phase change metal medium flows back to the initial horizontal cruising position (i.e., the middle medium receiving chamber 2262) under the action of gravity, thereby changing the center of gravity of the mobile detection component 200, so that its center of gravity gradually moves closer to its centroid to adapt to the component's attitude at this time. After the mobile detection component 200 adjusts to the desired attitude and maintains it for a preset time, the segmented heating of the heating modules 222 is stopped, allowing the phase change metal medium to cool and solidify by relying on the natural environment. At this point, due to the shift in the position of the metallic medium, the center of gravity of the mobile detection component 200 has changed and stabilized. Therefore, it can maintain a horizontal cruising steady state without the need for side thrusters and pump-jet modules, enabling underwater cruising detection or operations with extremely low power consumption. Thus, this embodiment improves the attitude adjustment mode of the mobile detection component 200, saving power consumption for maintaining a horizontal attitude over long periods, significantly expanding the single-time underwater exploration range of the mobile detection component 200, and greatly improving exploration efficiency. Conversely, when switching to a vertical docking steady state is required, the mobile detection component 200 causes the phase-change metallic medium to flow back into the head medium receiving tank 2261 and solidify, shifting the component's center of gravity towards the bow to maintain a vertically stable state with the stern pointing upwards. This process is the reverse of the aforementioned switching process and will not be described further here. This vertical stable state is used for docking with the vertically placed tethered recovery operation component 100, thereby comprehensively improving the deployment and recovery success rate of the underwater detection system through attitude adjustment and a rigid-flexible dual docking structure. To improve the reliability of the phase change metal medium after displacement, the medium transfer channel 2263 is set to an axially tapered shape to generate a Venturi tube effect to accelerate the flow of the medium, thereby ensuring that the metal medium quickly gathers into the target medium container and ensuring that the center of gravity changes rapidly and accurately.

[0062] In some embodiments of this application, a central vision module 228 is further provided on the intermediate shell 220, and a tail vision module 212 is also provided on the connecting tail end 210. The central vision module 228 and the tail vision module 212 are used to acquire images of the surrounding environment to assist in attitude adjustment and docking and recovery operations, as well as to complete underwater exploration operations. Specific vision acquisition and attitude adjustment strategies are well known to those skilled in the art and can be flexibly applied; this application does not impose any unique limitations.

[0063] In addition, such as Figure 2As shown, an underwater motion thruster 223 is also provided on the intermediate housing 220 of the mobile detection assembly 200. The underwater motion thruster 223 can be used to provide the main propulsion power. Understandably, the underwater motion thruster 223 can also be composed of multiple thrusters, thereby having multi-directional propulsion navigation capabilities in both radial and lateral directions. The pump-jet module 2211 can cooperate with the underwater motion thruster 223 to enable the mobile detection assembly 200 to have more diverse and precise attitudes and propulsion movements.

[0064] like Figure 8 As shown, this application also discloses a method for deploying and recovering a mobile detection component 200, applicable to the integrated ice melting and underwater mobile detection system as described in any of the above claims. The method includes the following steps: Step S1: With the detection system docked and locked, drive the entire detection system to drill into the ice layer for thermal melting.

[0065] In step S2, after the detection system breaks through the ice layer, the rigid locking structure between the cable recovery operation component 100 and the mobile detection component 200 is unlocked, allowing the two components to separate. After separation, the cable recovery operation component 100 switches to the Remotely Operated Vehicle (ROV) mode to independently complete underwater sampling operations, while the mobile detection component 200 switches to the Autonomous Underwater Vehicle (AUV) mode to independently conduct autonomous underwater navigation and detection.

[0066] Step S3: When the two components have completed their operations and need to be retrieved, the flexible guide structure of the cable retrieval component 100 is extended to form an umbrella-shaped guide surface to assist in the initial positioning of the retrieval motion detection component 200.

[0067] In step S4, after initial positioning, the cable retrieval component 100 retracts the flexible guide structure and completes circumferential positioning and axial mechanical locking through a rigid locking structure, achieving mechanical docking of the two components and completing the retrieval operation. At this point, the two components restore electrical interconnection through a wet-plug connector, enabling power and communication interaction, and completing the retrieval of the mobile detection component 200.

[0068] In some embodiments of this application, the method further includes: step S5, after the mobile detection component 200 is recovered, if it is determined that all under-ice detection operations have been completed, an overall recovery command is sent through the ice control platform to control the back-tracking heat melting head 112 to melt through the ice hole and recover the entire detection system.

[0069] In some preferred embodiments of this application, step S2 further includes: before the separation ends, controlling the heating module 222 of the mobile detection component 200 to work in advance to pre-melt the metal medium in the head medium receiving chamber 2261, so that the metal medium can be transferred to the middle medium receiving chamber 2262 in a timely manner after separation, and switching the mobile detection component 200 to a horizontal stable working posture; and before the recovery begins, remotely controlling the heating module 222 and the pump spray system of the mobile detection component 200 to work together via the cable recovery operation component 100 to melt the metal medium in the middle medium receiving chamber 2262, so that the metal medium flows into the head medium receiving chamber 2261 and re-solidifies, and switching the mobile detection component 200 to a vertical stable working posture.

[0070] Furthermore, the deployment and recovery method of the mobile detection component 200 in this application embodiment is compatible with the above-mentioned integrated detection system for ice melting and underwater mobile detection. The specific process can be referred to the working principle of the detection system above.

[0071] In summary, this application discloses an integrated ice-melting and underwater mobile detection system. The system includes a detachable front-end mobile detection component and a rear-end cable-stayed recovery component. The front end of the mobile detection component is equipped with a thermal melting drill bit for ice-melting drilling during deployment. After entering the sub-ice waters, it can detach from the rear-end cable-stayed recovery component and switch to AUV mode for underwater mobile detection. The cable-stayed recovery component can switch to ROV mode after detachment from the mobile detection component to perform bottom sampling, docking, recovery, and power supply / communication operations. Simultaneously, the top of the cable-stayed recovery component is equipped with a retrograde thermal melting head for ice-melting drilling during the return trip. The two components of this detection system are connected by a non-retaining, detachable, locking docking structure. The integrated system is a streamlined, smooth cylindrical shape with no protruding parts, making it suitable for ice-penetrating operations.

[0072] Through some embodiments of this application, the docking port of the cable recovery operation component integrates a flexible guiding structure and a rigid locking structure, forming a dual rigid-flexible recovery mechanism. The successful recovery rate can be improved through flexible guiding docking, thereby enhancing the reliability of the detection system.

[0073] In some embodiments of this application, the mobile detection component is also equipped with a hot water storage chamber, a heating module, and a pump-jet module. During the ice-breaking stage, when the ice layer contains gravel that affects the efficiency of thermal melting and ice-breaking, the heated water can be sprayed to assist in melting the ice, while simultaneously moving the gravel to the side of the main ice-melting channel to ensure the ice-melting contact area of ​​the thermal melting drill bit and improve the efficiency of thermal melting and ice-breaking. Furthermore, during separation, the mobile detection component's attitude can be adjusted by the reverse thrust of the sprayed water flow to improve the accuracy and controllability of attitude positioning, thereby improving detection quality and efficiency.

[0074] In some embodiments of this application, the motion detection component is internally equipped with an attitude adjustment mechanism that can adjust its attitude through temperature changes. The attitude adjustment mechanism utilizes a medium-containing cavity and the phase-change metal medium within it to achieve a shift in the center of gravity of the motion detection component, thereby enabling it to change its attitude and switch between multiple stable states. This allows it to adapt to different motion detection stages, improving motion detection efficiency and overcoming the problems of existing systems lacking a center of gravity adjustment structure or having a complex structure that requires continuous energy consumption. This enhances the attitude controllability and stability of the motion detection component.

[0075] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0076] Other embodiments of this specification will readily occur to those skilled in the art upon consideration of the specification and practice of the solutions applied herein. This specification is intended to cover any variations, uses, or adaptations that follow the general principles of this specification and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this specification are indicated by the following claims.

[0077] It should be understood that this specification is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this specification is limited only by the appended claims.

[0078] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A detection system integrating ice melting and underwater mobile detection, characterized in that, include: Separable assembly of cable recovery operation component (100) and mobile detection component (200); the cable recovery operation component (100) and the mobile detection component (200) are connected by a non-accommodating locking docking structure, and after docking and locking, the whole is in a streamlined smooth cylindrical shape adapted to drilling in ice layer; The cable recovery assembly (100) is a rear-end unit of the system, including: a cable top cover (110), a central cabin (120), and a docking port (130); the cable top cover (110) is provided with a cable (111) connecting to the ice control platform and a backtracking heat-melting head (112); the docking port (130) is provided with an electric propulsion mechanism, a flexible guide structure, a rigid locking structure, a wet-plug connector, and a sampling module; the flexible guide structure can be ejected outward under the drive of the electric propulsion mechanism to form an umbrella-shaped guide surface, which assists the mobile detection assembly (200) in initial positioning during recovery; the sampling module can extend outward from the docking port (130) to contact the bottom of the water to perform bottom sediment sampling operations; The mobile detection component (200) is a front-end unit of the system, including: a connecting tail end (210), an intermediate housing (220) and a thermal drill bit (230); the connecting tail end (210) and the docking port (130) achieve mechanical locking and wet plugging electrical interconnection.

2. The integrated ice-melting and underwater mobile detection system according to claim 1, characterized in that, The flexible guide structure includes: an annular base (139), a rigid frame (132), and a flexible skin (131); the annular base (139) is connected to the electric propulsion mechanism; multiple rigid frames (132) are provided and are circumferentially hinged to the annular base (139); the flexible skin (131) is attached between adjacent rigid frames (132) and expands and contracts synchronously with the rigid frames (132); an elastic reset mechanism (138) is also provided between the rigid frame (132) and the annular base (139). When the rigid frame (132) pops out with the annular base (139), the elastic reset mechanism (138) causes the rigid frame (132) to expand outward with the flexible skin (131) through elastic force to form the umbrella-shaped guide surface. The umbrella-shaped guide surface forms a central guide channel with the annular base (139) as the center.

3. The integrated detection system for ice melting and underwater mobile detection according to claim 1, characterized in that, The intermediate housing (220) of the mobile detection component (200) is provided with a hot water storage chamber (229), a heating module (222) and a pump spray module (2211); The hot water storage tank (229) is located near the thermal fusion drill bit (230) and is used to store hot water; the heating module (222) is used to heat and keep the hot water storage tank (229) warm; the pump spray module (2211) is located in the hot water storage tank (229) and connected to the water in the hot water storage tank (229), and is used to spray water to clear obstacles during the drilling process when the system is docked, and to adjust the pitch and / or yaw attitude of the mobile detection component (200) by spraying water reverse thrust after separation.

4. The integrated detection system for ice melting and underwater mobile detection according to claim 3, characterized in that, The hot water storage tank (229) extends into the cavity of the hot melt drill bit (230); the pump-spray module (2211) is located near the front end of the hot water storage tank (229) and is compactly integrated into the cavity head of the hot melt drill bit (230). The pump-spray module (2211) includes at least one main spray pump located on the central axis and multiple side spray pumps arranged circumferentially inclined adjacent to the main spray pump. The nozzles of the main spray pump and each side spray pump are connected to the external water body through the opening of the outer shell of the hot melt drill bit (230) and can independently and controllably spray water along the central axis and multiple inclined directions.

5. The integrated detection system for ice melting and underwater mobile detection according to claim 3, characterized in that, The hot water storage tank (229) is also equipped with a water inlet mechanism, which includes a water inlet located on the side wall of the outer shell of the mobile detection component (200), a water inlet channel (225) connecting the water inlet and the hot water storage tank (229), and a water inlet drive module located in the water inlet channel (225); a one-way valve and a filter screen are provided in the water inlet channel (225).

6. The integrated detection system for ice melting and underwater mobile detection according to claim 3, characterized in that, The mobile detection assembly (200) further includes an attitude adjustment mechanism (226), which includes multiple media receiving chambers and a media transfer channel (2263) connecting each media receiving chamber; the multiple media receiving chambers include at least a head media receiving chamber (2261) that is close to or partially enters the thermal fusion drill bit (230) and a middle media receiving chamber (2262) located in the intermediate shell (220); The heating module (222) is also used to heat the medium containing chamber, so that the metal medium inside melts into a liquid state, so that the liquid metal medium can flow into the target medium containing chamber when the pump-spray module (2211) assists in adjusting the attitude of the mobile detection component (200), so as to at least switch the horizontal and vertical stable operating attitudes of the mobile detection component (200).

7. The integrated detection system for ice melting and underwater mobile detection according to claim 1, characterized in that, The intermediate shell (220) is also provided with a central vision module (228), and the connecting tail end (210) also includes a tail vision module (212). The central vision module (228) and the tail vision module (212) are used to collect images of the surrounding environment to assist in attitude adjustment and docking and recovery operations as well as to complete underwater exploration operations.

8. The integrated detection system for ice melting and underwater mobile detection according to claim 1, characterized in that, The docking port (130) of the cable recovery operation assembly (100) is also provided with a bottom vision module, which is used to collect environmental image data.

9. The integrated detection system for ice melting and underwater mobile detection according to claim 1, characterized in that, The central hull (120) of the cable recovery assembly (100) is provided with a plurality of thrusters, including at least two radial thrusters arranged in two mutually orthogonal directions.

10. A method for deploying and recovering a mobile detection component, applied to the integrated ice-melting and underwater mobile detection system as described in any one of claims 1 to 9, characterized in that, Includes the following steps: Step S1: With the detection system docked and locked, drive the entire detection system to drill into the ice layer through thermal melting. Step S2: After the detection system breaks through the ice layer, the rigid locking structure between the cable recovery operation component (100) and the mobile detection component (200) is unlocked, allowing the two components to separate. After separation, the cable recovery operation component (100) switches to the remotely operated vehicle (ROV) mode to independently complete underwater sampling operations, and the mobile detection component (200) switches to the autonomous underwater vehicle (AUV) mode to independently conduct underwater autonomous navigation and detection. Step S3: When the two components have finished their operations and need to be retrieved, the flexible guide structure of the cable retrieval operation component (100) is extended to form an umbrella-shaped guide surface to assist the initial positioning of the retrieval motion detection component (200). Step S4: After the initial positioning is completed, the cable recovery operation component (100) is controlled to retract the flexible guide structure and complete the circumferential positioning and axial mechanical locking through the rigid locking structure, so as to realize the mechanical docking of the two components and achieve the recovery operation.

Images