General auv water surface launching and recovering guide device mounted on crane

Abstract

The application relates to a general AUV water surface laying-recovering guide connecting device mounted on a crane and relates to the field of marine equipment. The device comprises a connecting plate, a damping oil cylinder, a rotating assembly, a docking assembly, a visual assembly and a lifting winch. The docking assembly comprises a vertical shaft, a spring and a recovering cage. When the AUV is docked, the spring is compressed to trigger an inductive switch, and the winch constant tension function is activated to realize wave compensation. The visual assembly obtains the position and posture of the AUV and drives the rotating assembly and the crane arm head to be dynamically aligned. The application solves the problems of low docking success rate and easy shaking of the traditional crane recovering AUV, improves the deck space utilization rate and realizes stable laying and recovering of multiple types of AUVs.

Description

Technical Field

[0001] This invention relates to the field of marine equipment technology, and in particular to a universal AUV surface deployment and recovery guide device mounted on a crane. Background Technology

[0002] Most current AUV deployment and recovery systems with compensation capabilities use specialized lifting equipment and can only perform deployment and recovery operations for AUVs (Autonomous Underwater Vehicles), resulting in limited functionality. When using a crane to lift an AUV, the six-degree-of-freedom motion of the mother ship leads to a first-time docking success rate of less than 60%. The docking process is entirely dependent on the operator's skill level, is time-consuming, and introduces docking risks to the AUV. Summary of the Invention

[0003] To address the aforementioned issues, a universal AUV surface deployment and retrieval guide device mounted on a crane is proposed. This device can be mounted on the head of most cranes and has wave compensation and visual recognition functions. It can work in conjunction with the original functions of the crane to achieve stable deployment and retrieval operations for AUVs.

[0004] The technical solution of the present invention is: a universal AUV surface deployment and recovery guide device mounted on a crane, comprising: a connecting plate, a slewing assembly, a docking assembly, a machine vision assembly, and a hoisting winch; The connecting plate is used for detachable connection with the crane boom head; the slewing assembly is installed below the connecting plate; the docking assembly is installed at the drive end of the slewing assembly; the hoisting winch is used for raising and lowering the slings to lift the AUV and send it into the docking assembly; The docking assembly includes a flange, a vertical shaft, a spring, a spring connecting plate, and a recovery cage structure; the upper end of the vertical shaft is connected to the flange, and the lower end is connected to the spring connecting plate; the spring is sleeved on the vertical shaft and located between the flange and the spring connecting plate; the recovery cage structure is located below the spring connecting plate and is used to capture and clamp the AUV. The docking assembly is equipped with a first inductive switch for detecting the compression displacement of the spring connecting disc along the vertical axis. When the AUV presses the recovery cage structure upward to compress the spring, and the compression displacement reaches a preset threshold to trigger the first inductive switch, the control system activates the constant tension function of the hoisting winch. The hoisting cable is wound and released with constant tension to maintain the tightness between the docking assembly and the AUV, thereby achieving wave compensation.

[0005] Preferably, the docking assembly further includes a docking flare, which is fixed to the side of the spring connecting disc away from the spring, and the recovery cage structure is detachably installed at the end of the docking flare to accommodate AUVs of different sizes.

[0006] Preferably, the docking assembly is further provided with a second inductive switch, which is a limit switch and is installed on the upper end of the vertical shaft or above the flange; when the compression displacement of the spring exceeds the safety threshold and triggers the second inductive switch, the control system cuts off the hoisting power of the hoisting winch.

[0007] Preferably, the rotary assembly includes a rotary drive motor and a reduction mechanism; the reduction mechanism includes a large gear disk meshing with the output end of the rotary drive motor, the top surface of the large gear disk being fixedly connected to the bottom of the connecting plate, and the bottom surface being fixedly connected to the flange of the docking assembly.

[0008] Preferably, the universal AUV surface deployment and recovery guide device mounted on the crane further includes an anti-sway cylinder and an accumulator; the anti-sway cylinder is bolted to the front side of the connecting plate to reduce the swaying of the AUV during deployment; the accumulator is installed on the side of the connecting plate and connected to the hydraulic circuit of the anti-sway cylinder, serving as an emergency power source for the hydraulic system, providing emergency oil replenishment to maintain the pressure holding state of the anti-sway cylinder when the system pressure is insufficient.

[0009] Preferably, the machine vision component includes an image acquisition unit, an image auxiliary acquisition unit, and a processing unit; the image acquisition unit is used to identify the calibration module on the top of the AUV housing to obtain the real-time pose information of the AUV; the processing unit is communicatively connected to the image acquisition unit and the crane controller, and is used to control the rotation alignment of the slewing component according to the real-time pose information, and to control the telescopic boom and luffing mechanism of the crane to adjust the spatial pose of the boom head until the docking component is fully engaged with the AUV.

[0010] Preferably, the image-assisted acquisition unit includes a high-brightness LED, a polarizer, and an infrared camera module; the calibration module includes ArUco codes and pattern markers; the machine vision component further includes auxiliary sensors, including an inertial measurement unit and radar, for providing compensatory detection in the event of vision failure.

[0011] Preferably, the constant tension function of the hoisting winch is achieved through a hydraulic closed-loop control system, which includes a tension sensor, a PLC controller, an electromagnetic directional valve, a proportional relief valve, a proportional speed control valve, and a winch motor. The tension sensor is used to collect the cable tension in real time and feed it back to the PLC controller. The PLC controller uses a PID algorithm to calculate the tension deviation and outputs control signals to the electromagnetic directional valve, the proportional relief valve, and the proportional speed control valve to adjust the rope winding and unwinding speed of the winch motor and the system pressure. The accumulator is connected in parallel in the hydraulic circuit to buffer pressure fluctuations.

[0012] A method for controlling the deployment and recovery of AUVs on the water surface based on the aforementioned guiding device includes the following steps: S1. Visual tracking and alignment: The machine vision component acquires the pose information of the AUV on the water surface in real time, controls the rotation of the slewing component to match the docking angle, and simultaneously links the crane to adjust the boom position so that the axis of the docking component is aligned with the top of the AUV. S2. Compliant docking and attachment: Lower the sling and attach it to the AUV's lifting point. Continue to tighten the sling to make the AUV move upward into the recovery cage structure of the docking assembly. The AUV pushes the spring connecting plate upward, causing the spring to compress and generate compliant buffering. S3, Constant Tension Wave Compensation: When the compression of the spring triggers the first induction switch, it is determined that the docking assembly and the AUV are pressed together. The system automatically activates the constant tension function of the hoisting winch, and maintains the tension of the sling within the set range through closed-loop control to counteract the heave motion of the mother ship and achieve wave compensation and sway control.

[0013] Furthermore, in step S3, the specific control process of the constant tension function is as follows: real-time acquisition of sling tension; if the tension is lower than the lower limit, control the hoisting winch to take in the rope and increase the system pressure; if the tension is higher than the upper limit, control the hoisting winch to release the rope and reduce the system pressure; during the rope taking in and releasing process, real-time monitoring of the spring compression displacement; if the compression displacement triggers the second induction switch, the hoisting power of the hoisting winch is immediately cut off to prevent the spring from being crushed or the equipment from being overloaded.

[0014] The beneficial effects of this invention are as follows: The universal AUV surface deployment and recovery guide device mounted on a crane, by expanding the existing deck crane with an AUV lifting function module, enables the existing crane to have AUV lifting capabilities, improving deck space utilization efficiency and reducing user costs; by equipping the AUV surface deployment and recovery guide device with a machine vision system, the position and attitude information of the AUV is sent to the controller in real time. The controller matches the rotation angle of the guide device based on the above information and adjusts the position of the crane's telescopic boom to release the sling based on the positioning information, improving the success rate of docking between the guide device and the AUV lifting point; the docking device is designed with anti-sway and rotation functions, through… The anti-sway mechanism reduces the risk of crane overturning and ensures the stability of the AUV's attitude during deployment and recovery operations. The slewing mechanism ensures the centering of the AUV during lifting and its position on the deck during recovery. An accumulator is designed as an emergency power source for the hydraulic system, which can still provide pressurized oil to the anti-sway cylinder to maintain a short-term anti-sway pressure in the event of hydraulic pump failure. After the AUV deployment and recovery guide device is pressed against the AUV on the water surface, the constant tension function is activated to ensure the anti-sway cylinder is pressed against the AUV, which is used to prevent swaying throughout the lifting process. The docking component structure is designed as a common structure for all AUVs, and the deployment and recovery operations of multiple types of AUVs can be completed through the design of the recovery cage's outer contour. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the wave-compensated AUV surface deployment and recovery guide device of the present invention installed on a telescopic crane. Figure 2 This is a schematic diagram of the connecting plate in the device of the present invention; Figure 3 This is a schematic diagram of the wave-compensated AUV surface deployment and recovery guide device of the present invention. Figure 4 This is a schematic diagram of the rotary component in the device of the present invention; Figure 5 This is a schematic diagram of the docking components in the device of the present invention; Figure 6 This is a block diagram illustrating the machine vision compensation principle of the device of the present invention. Figure 7 This is a block diagram illustrating the constant tension control principle of the device of the present invention. Detailed Implementation

[0016] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0017] This invention relates to a universal AUV surface deployment and recovery guiding device mounted on a crane. The device integrates a machine vision system and a rotating mechanism. The machine vision system senses the specific heave and attitude of the AUV, the rotating mechanism automatically tracks the AUV's direction, and the crane's winch dynamically adjusts the sling length, thus solving the docking failure problem caused by the mother ship's swaying. Figure 1 The diagram shown illustrates the overall installation of the AUV deployment and recovery guiding device of the present invention on a telescopic crane. The AUV deployment and recovery guiding device comprises a connecting plate 1, an anti-sway cylinder 2, an accumulator 3, a slewing assembly 4, a docking assembly 5, a machine vision assembly 6, and a hoisting winch 7. Figure 2As shown, the connecting plate 1 is the main body connecting the crane AUV guide joint and the crane. It is welded from ship plates and hinged to the original crane pulley pin. After replacement, the mechanical structure can be switched between the crane function and the AUV deployment and retrieval device function. The cable on the hoisting winch 7 of the retrieval crane is wound on the wheel in the connecting plate 1. The anti-sway cylinder 2 is fixed to the pre-reserved installation hole on the front side of the connecting plate by high-strength bolts. A rubber buffer pad is added to the end of the piston rod. During deployment and retrieval operations, the piston rod extends and flexibly abuts against the side of the AUV to restrain the AUV. Lateral offset significantly reduces the swaying amplitude during hoisting, lowering the risk of crane overturning. The hydraulic system of the crane AUV guide joint uses a branch pipe from the original crane hydraulic system at the folding arm as the power source for the guide joint hydraulic system. Accumulator 3 is installed on the side of the connecting plate and above the hydraulic valve group via a fixing ring. The hydraulic system of the crane AUV guide joint uses a branch pipe from the original crane hydraulic system at the folding arm as the power source for the guide joint hydraulic system, providing hydraulic oil and pressure. The guide joint status signal and control signal are connected to the original crane electrical control system via a cable through a control box installed on the lower side of the crane platform to achieve control of the guide joint. The slewing assembly 4 is used to rotate the saddle-shaped recovery cage of the docking assembly 5 to a suitable clamping direction for the AUV and recover it to the mother ship when recovering the AUV. Figure 3 As shown in the diagram, the docking assembly 5 mainly consists of a vertical shaft, a spring, and a recovery cage. After being aligned with the position by the rotating assembly 4, it is used to dock and press against the AUV body when the AUV is being deployed or retracted.

[0018] like Figure 4 The rotary assembly 4 shown consists of a rotary drive motor 4.1 and a reduction mechanism 4.2. The reduction mechanism 4.2 is formed by the meshing of the output gear of the rotary drive motor 4.1 and the large gear disk. The large gear disk of the rotary assembly 4 is fixedly connected to the bottom bolt of the connecting plate 1 on the top and to the docking assembly 5 on the bottom with bolts. The rotary drive motor 4.1 can drive the large gear disk to rotate and dock the docking assembly 5 to dock with the AUV body.

[0019] like Figure 5The docking assembly 5 shown includes a flange, vertical shafts 5.1, springs 5.2, a spring connecting plate, an AUV recovery cage structure 5.3, and an AUV docking flare 5.4. Several vertical shafts 5.1 are fixedly connected to the spring connecting plate at their bottom ends, and their upper ends extend through the flange and are bolted to the bottom of the large gear disc in the rotating assembly 4. Each vertical shaft 5.1 has a spring 5.2 fitted between the flange and the spring connecting plate. The buffer structure composed of the vertical shafts and springs can press the AUV tightly onto the guide assembly during AUV recovery, achieving anti-sway function through the pressure friction. A docking flare 5.4 is fixed to the other side of the spring connecting plate away from the springs 5.2. The docking flare 5.4 is used to capture the slender AUV, allowing it to quickly enter the AUV docking assembly range. The AUV recovery cage structure 5.3 is installed at both ends of the docking flare 5.4 for gripping the AUV during docking and recovery.

[0020] The machine vision component 6 consists of an image acquisition unit 6.1, an image auxiliary acquisition unit 6.2, a communication module 6.3, a processing unit 6.4, a calibration module 6.5, and an auxiliary sensor 6.6, with the calibration module 6.5 fixed to the top of the AUV housing. The image acquisition unit 6.1 primarily identifies the pattern markings and ArUco codes in the calibration module to confirm the AUV's pose. Simultaneously, with the assistance of the image auxiliary acquisition unit 6.2, it can identify and acquire image information from the calibration module under conditions of nighttime, low light, backlight, and strong reflections from water surfaces. The image acquisition unit 6.1 sends the acquired image information to the processing unit 6.4. The processing unit 6.4 uses adaptive denoising and illumination processing algorithms to denoise and standardize the brightness of the image. Then, it performs high-frame-rate rapid recognition of the calibration module's image and ArUco codes and uses an ORB feature matching model for target position matching, significantly improving the recognition efficiency. The communication module 6.3 sends the real-time pose information of the AUV calibration module, after being adjusted by the processing unit 6.4, to the controller of the telescopic crane. The controller tracks the coordinate information and attitude of the AUV in real time and automatically controls the slewing drive 4 of the AUV water surface deployment and recovery guide device to rotate to a suitable docking angle with the AUV. According to the real-time pose information, the control system automatically controls the rotation of the slewing component of the guide device to match the docking angle, and at the same time controls the boom, slewing and telescopic movements of the crane to adjust the spatial pose of the crane boom head (i.e., the guide device) until it is fully engaged with the AUV, and the guide device is fully engaged with the AUV to complete the guiding process.

[0021] After the lowering sling is attached to the self-supporting lifting point on the top of the AUV, the hoisting winch tightens the sling to lift the AUV upward, so that the AUV body enters the recovery cage structure 5.3 of the docking assembly 5. The AUV is then pressed into the docking assembly by a spring buffer structure. The upper part of the AUV docking assembly 5 is connected to the slewing bolt. The recovery cage structure 5.3 is connected to the upper part of the AUV docking assembly 5 by bolts. Different shapes of the recovery cage structure 5.3 can be designed for different sizes of AUVs to adapt to the deployment and recovery operations of different AUVs. The recovery cage structure 5.3 can be disassembled and replaced during use.

[0022] The image acquisition unit 6.1 consists of two cameras, a main camera and a secondary camera, which are characterized by high sensitivity and high resolution. The main camera uses a wide-angle field of view for long-distance AUV identification, while the secondary camera uses a close-up shot for close-range pose measurement. This allows the system to accurately capture image information of the AUV under different lighting conditions. By processing this image information, the system can determine the specific position, attitude, and trajectory of the AUV.

[0023] The image-assisted acquisition unit 6.2 consists of a high-brightness LED, a polarizer, and an infrared camera. It primarily addresses scenarios involving nighttime, low light, backlighting, and strong light or reflections from water surfaces. The high-brightness LED provides a stable light source and supplements the high-brightness light; the polarizer helps reduce water surface reflections; and the infrared camera enables stable imaging in scenarios where visible light is insufficient, such as at night, in backlight, or on cloudy days. The image-assisted acquisition unit 6.2 ensures that the image acquisition unit can clearly capture images from the AUV and its calibration module. This system can automatically adjust the illumination intensity according to the ambient light to guarantee the quality of image acquisition.

[0024] The processing unit 6.4 is mainly composed of a high-performance processor, which is primarily responsible for target detection during image acquisition, sharpening the acquired images, and AUV pose estimation, and then transmitting the pose information to the control system. This unit has high computing power, meeting the requirements of high frame rate acquisition and high-precision pose adjustment.

[0025] Specifically, to further improve the recognition accuracy of the machine vision system, this invention includes a calibration module 6.5 on the top of the AUV housing. The calibration module consists of directional pattern markers and ArUco codes. The ArUco codes assist in displaying pose and orientation information and recording the AUV model, featuring high contrast and easy recognition, ensuring the machine vision system can accurately capture the AUV's position information in complex marine environments. The target uses a striking geometric shape and color scheme to distinguish it from the surrounding marine environment. This design helps the machine vision system quickly and accurately locate the AUV.

[0026] This invention includes an auxiliary sensor 6.6, which serves as an auxiliary detection device in case of image acquisition system failure. It consists of an inertial measurement unit (IMU) and a radar. The IMU compensates for camera shake caused by waves, and the radar provides the approximate location of the long-range AUV in case of visual failure.

[0027] The docking assembly 5 is equipped with two sets of inductive switches to sense the degree of compression between the AUV and the docking assembly 5. The first set of inductive switches is a limit switch / displacement sensor, installed between the flange and the spring connecting plate, used to detect the amount of spring compression displacement. When the AUV presses upward against the spring connecting plate, causing the spring compression to reach a preset threshold, the first set of inductive switches is triggered, indicating that compression has been achieved and activating constant tension. The second set of inductive switches is a limit switch, installed at the upper end of the vertical shaft 5.1, used to detect the maximum compression stroke of the spring. When the spring is fully compressed (or the compression exceeds a safety threshold), it is triggered, cutting off the winch's lifting power to prevent the spring from seizing and to protect the AUV and the guide device from damage. The constant tension function of the hoisting winch 7 is to maintain the tension on the sling within a certain range, such as... Figure 7 As shown, the constant tension function works as follows: When the connecting device is connected to the AUV and the first set of inductive switches is triggered, the constant tension function is activated. The tension sensor collects the tension on the sling in real time and converts it into an electrical signal, which is transmitted to the PLC controller. The controller compares it with the preset tension threshold. If the tension is lower than the lower limit, it sends a "retract rope" command to the solenoid directional valve, causing hydraulic oil to flow into the forward rotation port of the motor, driving the winch to tighten the sling. At the same time, the proportional relief valve reduces its opening to increase the system pressure, and the proportional speed control valve adjusts the flow rate according to the deviation, so that the winch retracts the rope at a suitable speed. The accumulator buffers the pressure fluctuation. If the tension is higher than the upper limit, the controller sends a "release rope" command. The directional valve switches the oil circuit to allow hydraulic oil to flow into the reverse rotation port of the motor. The sling is released under the gravity of the AUV. The proportional relief valve increases its opening to reduce the system pressure, and the speed control valve adjusts the flow rate to control the release speed. During this process, the PLC uses a PID control algorithm to accurately calculate the winch's winding speed and acceleration based on the magnitude and rate of change of the tension deviation. The limit sensor switch above the docking assembly is triggered when the tension exceeds the safety threshold, causing the system to cut off the winch's lifting power to prevent equipment overload damage. Thus, through a closed-loop process of real-time monitoring, feedback control, and power adjustment, the tension of the sling is maintained within the set range, ensuring that the docking assembly and AUV are always pressed together, achieving wave compensation function with constant tension compensation as the core.

[0028] The working principle is as follows: The hydraulic pump draws oil from the tank and outputs high-pressure oil. The reversing valve group in the control circuit determines the oil flow direction, realizing the winch's "recruiting / releasing / stopping". The relief valve limits the system's maximum pressure, the proportional relief valve receives signals to adjust the pressure in real time, and the proportional speed control valve controls the flow rate. The two work together to meet the constant tension requirements. The winch motor receives oil and rotates, converting the torque of the sling into tension. The tension sensor feeds back data to form a closed loop. During the winch's recruitment and release, the accumulator stores high-pressure oil to buffer the pressure when the hydraulic system pressure is too high, and provides emergency oil replenishment when the system pressure is insufficient to maintain the system pressure at the required working state. The filter filters impurities, and the oil tank stores oil, cools, and separates air. The entire system maintains stable tension through a closed-loop process of "detection-calculation-adjustment-feedback". Under typical working conditions, the winch's recruitment and release rope and valve group status are precisely controlled based on the mother ship's heave and sinking feedback. Here, the constant tension function ensures that the sling remains taut during the telescopic crane's retraction and extension, ensuring that the docking assembly 5 and the AUV remain pressed together, achieving a good anti-sway function.

[0029] A universal AUV surface deployment and recovery guide device that can be quickly disassembled and adapted to the boom of a ship's deck crane integrates machine vision positioning, automatic rotation centering, spring compliant buffering, dual-stage displacement sensing protection, hydraulic anti-sway energy storage emergency pressure maintenance and winch constant tension wave compensation modules, and is equipped with a corresponding fully automatic deployment and recovery control process. Relying on the original actuator of the mother ship's crane to work in coordination, it can achieve high success rate and high safety of automated docking and recovery of multiple AUV models under complex sea conditions.

[0030] The embodiments described above merely illustrate specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A universal AUV surface deployment and recovery guiding device mounted on a crane, characterized in that, include: The system comprises a connecting plate (1), a slewing assembly (4), a docking assembly (5), a machine vision assembly (6), and a hoisting winch (7); the connecting plate (1) is detachably connected to the boom head of a crane; the slewing assembly (4) is mounted below the connecting plate (1); the docking assembly (5) is mounted on the drive end of the slewing assembly (4); the hoisting winch (7) is used to raise and lower the slings to lift the AUV and send it into the docking assembly (5); the docking assembly (5) includes a flange, a vertical shaft (5.1), and a spring (5.2). The vertical shaft (5.1) is connected to the flange at its upper end and to the spring connecting plate at its lower end. The spring (5.2) is sleeved on the vertical shaft (5.1) and located between the flange and the spring connecting plate. The recovery cage structure (5.3) is located below the spring connecting plate and is used to capture and clamp the AUV. The docking assembly (5) is provided with a first inductive switch for detecting the amount of compression displacement of the spring connecting plate along the vertical shaft (5.1). When the AUV presses the recovery cage structure (5.3) upward to compress the spring (5.2), and the compression displacement reaches a preset threshold to trigger the first inductive switch, the control system activates the constant tension function of the hoisting winch (7), and maintains the clamping state between the docking assembly (5) and the AUV by constantly tensioning the sling, thereby achieving wave compensation.

2. The universal AUV surface deployment and recovery guide device mounted on a crane according to claim 1, characterized in that, The docking assembly (5) further includes a docking horn (5.4), which is fixed to the side of the spring connecting plate away from the spring (5.2). The recycling cage structure (5.3) is detachably installed at the end of the docking horn (5.4) to accommodate AUVs of different sizes.

3. The universal AUV surface deployment and recovery guide device mounted on a crane according to claim 1, characterized in that, The docking assembly (5) is also provided with a second inductive switch, which is a limit switch and is installed on the upper end of the vertical shaft (5.1) or above the flange. When the compression displacement of the spring (5.2) exceeds the safety threshold and triggers the second inductive switch, the control system cuts off the lifting power of the hoisting winch (7).

4. The universal AUV surface deployment and recovery guide device mounted on a crane according to claim 1, characterized in that, The rotary assembly (4) includes a rotary drive motor (4.1) and a reduction mechanism (4.2); the reduction mechanism (4.2) includes a large gear disk meshing with the output end of the rotary drive motor (4.1), the top surface of the large gear disk is fixedly connected to the bottom of the connecting plate (1), and the bottom surface is fixedly connected to the flange of the docking assembly (5).

5. The universal AUV surface deployment and recovery guide device mounted on a crane according to claim 1, characterized in that, It also includes a sway-stopping cylinder (2) and an accumulator (3); the sway-stopping cylinder (2) is bolted to the front side of the connecting plate (1) to reduce the swaying of the AUV during hoisting operations; the accumulator (3) is installed on the side of the connecting plate (1) and connected to the hydraulic circuit of the sway-stopping cylinder (2) as an emergency power source for the hydraulic system, used to provide emergency oil replenishment to maintain the pressure holding state of the sway-stopping cylinder (2) when the system pressure is insufficient.

6. The universal AUV surface deployment and recovery guide device mounted on a crane according to claim 1, characterized in that, The machine vision component (6) includes an image acquisition unit (6.1), an image auxiliary acquisition unit (6.2), and a processing unit (6.4). The image acquisition unit (6.1) is used to identify the calibration module (6.5) on the top of the AUV housing to obtain the real-time pose information of the AUV. The processing unit (6.4) is communicatively connected to the image acquisition unit (6.1) and the crane controller, and is used to control the rotation of the slewing component (4) according to the real-time pose information, and to control the telescopic boom and luffing mechanism of the crane to adjust the spatial pose of the boom head until the docking component (5) is fully engaged with the AUV.

7. The universal AUV surface deployment and recovery guide device mounted on a crane according to claim 6, characterized in that, The image-assisted acquisition unit (6.2) includes a high-brightness LED, a polarizer, and an infrared camera module; the calibration module (6.5) includes ArUco codes and pattern markers; the machine vision component (6) also includes an auxiliary sensor (6.6), which includes an inertial measurement unit and a radar, for providing compensatory detection in the event of visual failure.

8. The universal AUV surface deployment and recovery guide device mounted on a crane according to claim 1, characterized in that, The constant tension function of the hoisting winch (7) is realized through a hydraulic closed-loop control system, which includes a tension sensor, a PLC controller, an electromagnetic reversing valve, a proportional relief valve, a proportional speed control valve, and a winch motor. The tension sensor is used to collect the cable tension in real time and feed it back to the PLC controller. The PLC controller uses a PID algorithm to calculate the tension deviation and outputs control signals to the electromagnetic reversing valve, the proportional relief valve, and the proportional speed control valve to adjust the rope winding and unwinding speed of the winch motor and the system pressure. The accumulator (3) is connected in parallel in the hydraulic circuit to buffer pressure fluctuations.

9. A method for controlling the deployment and recovery of an AUV on a surface, based on the universal AUV deployment and recovery guide device mounted on a crane as described in any one of claims 1-8, characterized in that, Includes the following steps: S1. Visual tracking and alignment: The machine vision component (6) acquires the position and pose information of the AUV on the water surface in real time, controls the rotation of the slewing component (4) to match the docking angle, and simultaneously links the crane to adjust the boom position so that the axis of the docking component (5) is aligned with the top of the AUV; S2. Smooth docking and attachment: The sling is lowered and attached to the AUV's lifting point, and the sling is tightened to allow the AUV to enter the recovery cage structure (5.3) of the docking component (5) upward. The AUV squeezes the spring connecting plate upward, causing the spring (5.2) to compress and generate smooth buffer; S3. Constant tension wave compensation: When the compression of the spring (5.2) triggers the first induction switch, it is determined that the docking component (5) and the AUV are pressed together. The system automatically activates the constant tension function of the hoisting winch (7), and maintains the sling tension within the set range through closed-loop control to counteract the heave motion of the mother ship and achieve wave compensation and sway control.

10. The AUV deployment and recovery control method according to claim 9, characterized in that, In step S3, the specific control process of the constant tension function is as follows: real-time acquisition of sling tension; if the tension is lower than the lower limit, control the hoisting winch (7) to take in the rope and increase the system pressure; if the tension is higher than the upper limit, control the hoisting winch (7) to release the rope and reduce the system pressure; during the rope taking in and releasing process, real-time monitoring of the compression displacement of the spring (5.2); if the compression displacement triggers the second induction switch, the hoisting power of the hoisting winch (7) is immediately cut off to prevent the spring from being crushed or the equipment from being overloaded.

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