CN114248874B

CN114248874B - Underwater deployment and recovery device and method for underwater unmanned aircraft

Info

Publication number: CN114248874B
Application number: CN202111625194.0A
Authority: CN
Inventors: 管凤旭; 黄佳威; 张伟; 张宏瀚; 唐世文; 李志鹏; 杨子鹏
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2023-06-09
Anticipated expiration: 2041-12-28
Also published as: CN114248874A

Abstract

The invention provides an underwater deployment and recovery device and method of an underwater unmanned vehicle. The AUV cloth recycling device and method are provided for solving the problems of poor safety, low concealment and the like in the cloth recycling process of the existing AUV cloth recycling device and method, and comprise an AUV control console, a double-layer slideway, an AUV cloth recycling cabin, an optical guiding device, an acoustic guiding device, a water injection and drainage device and the like. The underwater cloth recycling device and method provided by the invention have the following advantages: 1. under the condition of high sea, the deployment and recovery cabin can stably move along the preset slideway direction, so that the AUV can be prevented from colliding with other navigation equipment in the deployment and recovery process, and the navigation safety is effectively ensured; 2. the cloth recovery device is arranged in the AUV dock cabin, so that the cloth recovery process of the AUV is more concealed; 3. the AUV distribution and recovery cabin has controllable laying depth, and effectively reduces the influence of high sea conditions on AUV distribution and recovery.

Description

Underwater deployment and recovery device and method for underwater unmanned aircraft

Technical Field

The invention relates to the field of underwater unmanned aircraft deployment and recovery, in particular to an AUV underwater deployment and recovery device and method.

Background

AUV (autonomous Underwater vehicle) is one of the main devices for underwater searching and detecting, and its appearance and application make people's knowledge and development of ocean reach new heights, and research and application of AUV in all countries of the world never stop. The distribution and recovery of the AUV are the most critical links in the whole operation process and the links most prone to safety accidents, and successful distribution and recovery are guarantees of the AUV working normally under water. Under the condition of high sea conditions, the stormy waves on the sea surface are large, and when the AUV is subjected to deployment and recovery operation, the AUV and a mother ship are easy to collide, so that the AUV is damaged to a certain extent, and cannot work or even is lost. The deeper the water layer is affected by the wind and wave less relatively, so the underwater deployment and recovery of the AUV has higher safety.

The distribution recovery of AUV can be generally divided into water distribution recovery and underwater distribution recovery, and the existing distribution recovery device and method mainly comprise the following steps:

1. hanging type cloth recycling device. The device can be divided into a sling type device and a hook type device, and an AUV is distributed and recovered by utilizing a crane on a mother ship, wherein the sling type distribution and recovery requires a supporting hanging bracket, and a plurality of persons are required to cooperate when the operation is carried out; the hooking type generally requires personnel to go down to perform hooking and unhooking operations. Meanwhile, the lifting type deployment recovery device has the problem of high gravity center in the lifting process, so that the deployment recovery device is only suitable for the conditions that a mother ship is relatively static and the sea condition is good. The AUV is distributed and recycled under the condition of high sea conditions, so that a certain operation risk exists, and the AUV is easily touched with a mother ship under the influence of wind waves, thereby endangering the safety of personnel and equipment;

2. an A-shaped frame type cloth recycling system. The system is a commonly adopted deployment and recovery system when deployment and recovery of ocean equipment are carried out in the field of ocean engineering. In the article "shallow-talking large AUV cloth-placing recovery", an AUV cloth-placing recovery system is referred to, and the system adopts an A-type frame to carry out cloth-placing recovery on the AUV, and the A-type frame has the advantages of good universality, high strength, impact resistance, simple operation, safety, reliability and the like. But the automation degree of this system is lower, in the cloth putting in-process, needs operating personnel to unhook the unhook ware through the rope accuse, has also reduced AUV cloth efficiency when having increased the manpower. In addition, when the sea surface stormy waves are large, the mother ship can have serious shaking, and the AUV is difficult to keep stable after floating out of the water surface, so that the difficulty in distributing and recycling the AUV is increased;

3. a slideway type cloth and recycling system. The slideway type cloth recycling system is mainly applied to cloth recycling operation requiring continuous release of a plurality of AUVs. The system mainly comprises an integrated platform, an umbilical cable winch, a linear array turntable, a hydraulic system, an operation platform, a movable slideway, a control system and the like. The system is complex, the starboard of the mother ship is required to be lower, and the mother ship is difficult to use under the condition of high sea conditions;

4. a piggy-back type cloth-put recovery system. Patent CN111392009a relates to an AUV loading and deploying and recovering device, which is used for loading an AUV in a submarine ballistic missile cabin and completing the work of deploying and recovering. The carrying AUV can expand the functions of the submarine and improve the investigation striking capacity of the submarine, but the device can increase the load of the submarine to a certain extent, change the appearance of the submarine, and the arrangement recovery system has strict requirements on the volume and the quality of the AUV, so that the device is only suitable for small and medium-sized underwater unmanned vehicles.

Under the condition of high sea conditions, the four cloth recycling devices or systems do not meet the operation requirements of safely recycling the AUV. When carrying out cloth and put recovery operation to AUV, need a certain amount of staff to carry out the cooperation operation, degree of automation is not high, carries out cloth and put recovery operation to AUV under the condition of high sea condition hardly, greatly reduced AUV cloth and put recovery efficiency. The AUV underwater deployment and recovery device and the AUV underwater deployment and recovery method designed by the invention are arranged in an AUV dock cabin and have certain concealment. Meanwhile, the system has higher automation degree and does not need a large number of staff. And the depth of AUV deployment recovery can be adjusted according to the current sea condition, so that the influence of wind waves on AUV deployment recovery work is effectively reduced, and the efficiency and safety of AUV deployment recovery work are improved.

Disclosure of Invention

The invention aims to provide an underwater deployment and recovery device and method for an underwater unmanned vehicle, aiming at the problems of poor safety, low concealment and the like in the deployment and recovery process of the conventional AUV deployment and recovery device and method.

The invention relates to an underwater deployment and recovery device of an underwater unmanned aircraft, which comprises an AUV control console, an AUV dock cabin, a double-layer slideway, an AUV deployment and recovery cabin, an optical guiding device, an acoustic guiding device and a water injection and drainage device; the double-deck slide includes: the device comprises a first motor, a first slideway, a second slideway, a first sliding frame, a second motor, a first driving piece, a roller, a first chute, a hydraulic device, a steel cable, a second chute, a pulley and a movable shaft; AUV cloth recovery cabin includes: the holding claw, the ballast water bin and the AUV are distributed and placed on the recovery cabin door and the hydraulic device; the optical guiding device includes: guiding the light source; the acoustic guiding device includes: an acoustic beacon; the water filling and draining device comprises: and (3) a water pump.

The AUV control console is placed near the cabin door of the AUV dock, so that an operator can conveniently and synchronously observe the conditions inside and outside the AUV dock. The AUV control console is used for controlling a motor, a hydraulic device, an acoustic beacon, a guiding light source, an AUV cloth recovery cabin door and a water pump.

The double-layer slideway is arranged in the AUV mother ship docking cabin and is used for the AUV to be distributed and placed in the docking cabin of the recovery cabin. The slideway uses channel steel, and the concave surface of the channel steel points to the inner side of the track. The first sliding rail is fixed on the deck of the docking compartment, a first sliding frame is arranged on the first sliding rail, a pulley of the first sliding frame is arranged in the first sliding groove, the first driving piece is driven to rotate by controlling the forward and reverse rotation of the first motor, the first driving piece is provided with threads and is connected with the first sliding frame, and the forward and reverse rotation of the first driving piece can control the first sliding frame to move in the length direction of the first sliding rail. The lower side of the groove of the second slideway is downwards bent, the tail end of the groove is provided with a roller, and when the AUV is placed in the recovery cabin to enter water, the friction between the steel cable and the second slideway can be reduced. The second slide way is arranged on the first slide way, the head end of the first slide way is connected with the second slide way through a hydraulic device, the tail end of the first slide way is connected with the second slide way through a movable shaft, and the second slide way can rotate around the movable shaft under the action of the hydraulic device. When the first sliding frame moves to the tail end of the first sliding way, the head end of the second sliding way is lifted by utilizing the hydraulic device, so that the tail end of the second sliding way is submerged below the water surface, and under the action of gravity, the AUV cloth and recovery cabin is enabled to move along the length direction of the second sliding way by controlling the second motor to retract the steel cable.

The AUV distribution and recovery cabin is used for distribution, recovery and storage of the AUV, the AUV distribution and recovery cabin is flat in shape, the AUV distribution and recovery cabin is arranged on the second slideway, and the pulley at the bottom is arranged in the second slideway. The tail part of the AUV cloth recovery cabin is provided with a pull ring which is connected with a second motor through a steel cable, and the descending depth of the AUV cloth recovery cabin is controlled by controlling the length of the release steel cable. The cabin door of the AUV distribution and recovery cabin is positioned at the top of the AUV distribution and recovery cabin, the inner side of the cabin door is made of anti-collision materials, and the cabin door can be unfolded to be in an inverted splayed shape towards two sides, so that the AUV can enter the cabin conveniently. The AUV cloth recovery cabin is internally provided with a holding claw which is controlled by a hydraulic device and used for fixing the AUV. Two ballast water tanks are arranged at the bottom of the AUV distribution recovery tank, and water is respectively injected into the two ballast water tanks by controlling two water pumps for the AUV distribution recovery tank to be adjusted to be in a horizontal state under water.

The acoustic guiding device comprises 1 acoustic beacon, is positioned at the tail part of the AUV deployment and recovery cabin and is used for guiding the AUV into the AUV deployment and recovery cabin at a medium and long distance.

The optical guiding device comprises 3 guiding light sources which are respectively positioned at the bottom of the AUV distribution recycling bin. Is used for guiding the AUV to enter the AUV distribution recovery cabin in a short distance.

And the water filling and draining device is used for filling and draining water into the ballast water bin of the AUV distribution recovery tank.

The specific AUV layout working process comprises the following steps:

step one: after the AUV is started to complete the standby navigation inspection, starting the AUV control console after confirming that the error is not found, and controlling the first motor to slide the first sliding frame outwards along the length direction of the first sliding rail;

step two: when the first sliding frame slides to the tail end of the first sliding rail, the head end of the second sliding rail is jacked up through the hydraulic device, so that the tail end of the second sliding rail is submerged below the water surface, at the moment, under the action of gravity, the second motor is controlled, and the steel rope is released, so that the AUV is distributed in the recovery cabin (the AUV in the cabin slides into the water along the length direction of the second sliding rail;

step three: continuously releasing the steel rope, simultaneously injecting water into the ballast water tanks to enable the AUV cloth recovery tanks to gradually sink to a specified depth, and then adjusting the two ballast water tanks to enable the AUV cloth recovery tanks to be in a horizontal state;

step four: when the AUV distribution and recovery cabin reaches a horizontal state, opening a cabin door of the AUV distribution and recovery cabin, releasing four holding claws, and then adjusting the buoyancy of the AUV to enable the AUV to leave the AUV distribution and recovery cabin;

step five: when the AUV leaves, the cabin door of the AUV distributing and recovering cabin is closed, the water pump is controlled to discharge the water in the ballast water cabin, the second motor is controlled to distribute and recover the AUV (no AUV in the cabin is pulled back to the second slideway, the second slideway is retracted to the first slideway, the AUV console is closed, and the distribution of the AUV is completed).

The specific AUV recovery working process comprises the following steps:

step one: starting an AUV control console, and controlling a first motor to slide out the first sliding frame along the length direction of the first sliding rail;

step two: when the first sliding frame slides to the tail end of the first sliding rail, the head end of the second sliding rail is jacked up through the hydraulic device, so that the tail end of the second sliding rail is submerged below the water surface, at the moment, under the action of gravity, the second motor is controlled, and the steel rope is released, so that the AUV is distributed in the recovery cabin (no AUV in the cabin slides into the water along the length direction of the second sliding rail);

step four: the hatch of the AUV deployment recovery compartment is opened and the acoustic and optical guides are opened. Firstly, an AUV is driven to an AUV cloth and storage cabin under the action of an acoustic guiding device, when the AUV is close to the AUV cloth and storage cabin, the AUV is guided to reach the upper part of the AUV cloth and storage cabin through the optical guiding device, the buoyancy of the AUV is controlled to enable the AUV to enter the AUV cloth and storage cabin, a hydraulic device is controlled to tighten a holding claw to fix the AUV, and the cabin door of the AUV cloth and storage cabin is closed.

Step five: and controlling the water pump to discharge the water in the ballast water bin, controlling the second motor to pull the AUV cloth recovery bin back to the second slideway, then recovering the second slideway to the first slideway, closing the AUV control console, and completing recovery of the AUV.

The invention has the beneficial effects that:

the invention designs an underwater deployment and recovery device and method for an underwater unmanned vehicle, which are used for underwater deployment and recovery of an AUV. In the arrangement recovery device and the arrangement recovery method, the AUV arrangement recovery cabin can stably move along the preset slideway direction, so that the AUV is prevented from colliding with an AUV mother ship in the arrangement recovery process, and the safety of the AUV arrangement recovery process is effectively improved; under the condition of high sea conditions, the sinking depth of the AUV cloth and recycling cabin can be adjusted, a stormy wave layer is avoided, a relatively stable water layer is selected for cloth and recycling, and the work efficiency and safety of the AUV cloth and recycling are improved.

Drawings

Fig. 1: the invention discloses a composition schematic diagram of an AUV dock cabin device;

fig. 2: the structure of the double-layer slideway is schematically shown in the invention;

fig. 3: in the invention, an AUV distribution recovery cabin is schematically formed;

fig. 4: the invention discloses a working flow chart of an AUV cloth recovery system.

Detailed Description

The specific embodiment of the invention is described with reference to fig. 1, 2, 3 and 4, and the invention relates to an underwater deployment and recovery device and method of an underwater unmanned vehicle, wherein the underwater deployment and recovery device comprises an AUV console 5, an AUV dock cabin 8, a double-layer slideway, an AUV deployment and recovery cabin 16, an optical guiding device, an acoustic guiding device and a water injection and drainage device; the double-deck slide includes: the first motor 1, the first slideway 2, the second slideway 3, the first carriage 4, the second motor 6, the first driving piece 7, the roller 9, the first chute 10, the hydraulic device 11, the steel cable 12, the second chute 13, the pulley 14 and the movable shaft 15; AUV cloth recovery cabin includes: the holding claw 18, the ballast water bin 20, the AUV distribution and recovery cabin door 22 and the hydraulic device 23; the optical guiding device includes: a guide light source 17; the acoustic guiding device includes: an acoustic beacon 19; the water filling and draining device comprises: and a water pump 21.

The AUV control console is placed near the cabin door of the AUV mother ship dock and is convenient for an operator to synchronously observe the conditions inside and outside the AUV mother ship dock, and the AUV control console is used for controlling the motors 1 and 6, the

hydraulic devices

11 and 23, the acoustic beacons 19, the guide light sources 17, the AUV distribution and recovery cabin door 22 and the water pump 21;

the double-layer slideway is arranged in an AUV female dock cabin 8 and is used for the dock entrance and exit of the AUV cloth recovery cabin, the slideway uses channel steel, the concave surface of the slideway points to the inner side of a track, the first slideway 2 is fixed on a deck of the dock cabin, a first sliding frame 4 is arranged on the first slideway, a pulley 14 of the first sliding frame is arranged in a first sliding groove 10, and a first driving piece 7 is driven to rotate by controlling the forward and reverse rotation of a first motor 1 and is provided with threads and connected with the first sliding frame, and the forward and reverse rotation of the first driving piece can control the first sliding frame to move in the length direction of the first slideway; the lower side of the groove of the second slideway 3 is downwards bent, the tail end of the groove is provided with a roller 9, when the AUV is placed in the recovery cabin and enters water, friction between a steel cable and the second slideway can be reduced, the second slideway is arranged on the first carriage, the head end of the first carriage is connected with the second slideway through a hydraulic device 11, the tail end of the first carriage is connected with the second slideway through a movable shaft 15, the second slideway can rotate around the movable shaft under the action of the hydraulic device, when the first carriage moves to the tail end of the first slideway, the head end of the second slideway is lifted by the hydraulic device, the tail end of the second slideway is immersed in the water, and under the action of gravity, the AUV is placed in the recovery cabin 16 to move along the length direction of the second slideway by controlling the second motor 6 to retract the steel cable 12;

with reference to fig. 1 and 2, the present invention performs centralized control by the AUV console 5. The forward and reverse rotation of the first motor 1 is controlled to drive the first driving piece 7 to rotate, so that the first sliding frame 4 moves in the length direction of the first sliding way 2. When the first carriage moves to the tail end of the first slideway, the control hydraulic device 11 can jack up the head end of the second slideway 3, so that the tail end of the second slideway is submerged under the water surface, and at the moment, under the action of gravity, the control of the second motor 6 can realize that the AUV cloth recovery cabin 16 moves in the length direction of the second slideway.

Referring to fig. 3, after the AUV deployment and recovery tank is separated from the second slideway, water is injected into the two ballast water tanks 20 by the two water pumps 21 respectively, so that the AUV deployment and recovery tank gradually sinks, and the sinking depth of the AUV deployment and recovery tank is controlled by the length of the steel cable 12 released by the second motor 6. After the AUV is sunk to a specified depth, the AUV cloth recovery tank is regulated to a horizontal state by regulating the ballast water tank. When the AUV distribution and recovery cabin reaches a horizontal state, the cabin door 22 of the AUV distribution and recovery cabin is opened, the clamping of the AUV by the clamping claw 18 is released by the control hydraulic device 23, and the AUV leaves the AUV distribution and recovery cabin by adjusting the buoyancy of the AUV. When the AUV is recovered, the acoustic guidance beacon 19 is used for guiding the AUV to the AUV distribution recovery cabin at a middle-long distance, and the optical guidance light source 17 is used for guiding the AUV to the AUV distribution recovery cabin at a short distance.

Referring to fig. 4, the AUV deployment and recovery process of the present invention includes the following steps:

the specific AUV layout working process comprises the following steps:

step two: when the first sliding frame slides to the tail end of the first sliding rail, the head end of the second sliding rail is jacked up through the hydraulic device, so that the tail end of the second sliding rail is submerged below the water surface, at the moment, under the action of gravity, the second motor is controlled, and the steel rope is released, so that the AUV in the AUV distribution and recovery cabin slides into the water along the length direction of the second sliding rail;

step five: when the AUV leaves, the cabin door of the AUV distributing and recovering cabin is closed, the water pump is controlled to discharge the water in the ballast water cabin, the second motor is controlled to distribute and recover the AUV in the cabin without the AUV to be pulled back to the second slideway, the second slideway is then retracted to the first slideway, the AUV console is closed, and the distribution of the AUV is completed.

The specific AUV recovery working process comprises the following steps:

step two: when the first sliding frame slides to the tail end of the first sliding rail, the head end of the second sliding rail is jacked up through the hydraulic device, so that the tail end of the second sliding rail is submerged below the water surface, at the moment, under the action of gravity, the second motor is controlled, and the steel rope is released, so that AUV is distributed in the recovery cabin, and no AUV slides into the water along the length direction of the second sliding rail;

The invention provides an underwater deployment and recovery device and method of an underwater unmanned vehicle. Aiming at the problems of poor safety, low concealment and the like in the cloth recovery process of the existing AUV cloth recovery device and method, the novel integrated AUV cloth recovery device and method are provided. The device comprises an AUV console, a double-layer slideway, an AUV distributing and recycling cabin, an optical guiding device, an acoustic guiding device, a water filling and draining device and the like. The underwater cloth recycling device and method provided by the invention have the following advantages: 1. under the condition of high sea, the deployment and recovery cabin can stably move along the preset slideway direction, so that the AUV can be prevented from colliding with other navigation equipment in the deployment and recovery process, and the navigation safety is effectively ensured; 2. the cloth recovery device is arranged in the AUV dock cabin, so that the cloth recovery process of the AUV is more concealed; 3. the AUV distribution and recovery cabin has controllable laying depth, and effectively reduces the influence of high sea conditions on AUV distribution and recovery.

Claims

1. The underwater deployment and recovery device of the underwater unmanned aircraft is characterized by comprising an AUV control console (5), an AUV mother ship docking cabin (8), a double-layer slideway, an AUV deployment and recovery cabin (16), an optical guiding device, an acoustic guiding device and a water injection and drainage device; the double-deck slide includes: the device comprises a first motor (1), a first slideway (2), a second slideway (3), a first sliding frame (4), a second motor (6), a first driving piece (7), a roller (9), a first sliding groove (10), a first hydraulic device (11), a steel cable (12), a second sliding groove (13), a pulley (14) and a movable shaft (15); AUV cloth recovery cabin includes: the holding claw (18), the ballast water bin (20), the AUV distribution and recovery cabin door (22) and the second hydraulic device (23); the optical guiding device includes: a guide light source (17); the acoustic guiding device includes: an acoustic beacon (19); the water filling and draining device comprises: a water pump (21);

the AUV control console (5) is placed near a cabin door of the AUV dock cabin (8), so that an operator can conveniently and synchronously observe the conditions inside and outside the AUV dock cabin (8), and the AUV control console (5) is used for controlling motors (1 and 6), hydraulic devices (11 and 23), acoustic beacons (19), a guide light source (17), an AUV distribution and recovery cabin door (22) and a water pump (21);

the double-layer slideway is arranged in an AUV (autonomous Underwater vehicle) mother ship docking compartment (8) and is used for the in-out docking compartment of an AUV distribution and recovery compartment (16), the slideway uses channel steel, the concave surface of the channel steel points to the inner side of a track, the first slideway (2) is fixed on a docking compartment deck, a first sliding frame (4) is arranged on the first slideway (2), a pulley (14) of the first sliding frame (4) is arranged in a first sliding groove (10), a first driving piece (7) is driven to rotate by controlling the forward and reverse rotation of a first motor (1), the first driving piece (7) is provided with threads and is connected with the first sliding frame (4), and the forward and reverse rotation of the channel steel can control the first sliding frame (4) to move in the length direction of the first slideway (2); the lower side of the groove of the second slideway (3) is downwards bent, the tail end of the groove is provided with a roller (9), when the AUV is placed in the recovery cabin (16) to enter water, friction between a steel cable (12) and the second slideway (3) can be reduced, the second slideway (3) is arranged on the first carriage (4), the head end of the first carriage (4) is connected with the second slideway (3) through a hydraulic device (11), the tail end of the first carriage is connected with the second slideway (3) through a movable shaft (15), the second slideway (3) can rotate around the movable shaft under the action of the first hydraulic device (11), when the first carriage (4) moves to the tail end of the first slideway (2), the head end of the second slideway (3) is lifted by the first hydraulic device (11), so that the tail end of the second slideway (3) is submerged under the action of gravity, and the recovery cabin (16) is placed in the recovery cabin to move along the length direction of the second slideway (3) through controlling the second motor (6);

the AUV distribution and recovery cabin (16) is used for distribution, recovery and storage of the AUV, the AUV is flat in shape, the AUV is arranged on the second slideway (3), a pulley (14) at the bottom is arranged in the second slideway (13), a pull ring is arranged at the tail of the AUV, the AUV is connected with the second motor (6) through a steel cable (12), and the AUV distribution and recovery cabin (16) is controlled in depth by controlling the length of the release steel cable (12); the AUV cloth and recycling cabin door (22) is positioned at the top of the AUV cloth and recycling cabin (16), the inner side of the cabin door is made of anti-collision materials, the cabin door can be unfolded to be in an inverted splayed shape to facilitate the AUV to enter the cabin, a holding claw (18) is arranged in the AUV cloth and recycling cabin (16), the AUV cloth and recycling cabin door is controlled by a second hydraulic device (23) and used for fixing the AUV, two ballast water bins (20) are arranged at the bottom of the AUV cloth and recycling cabin, water is respectively injected into the two ballast water bins (20) by controlling two water pumps (21), and the AUV cloth and recycling cabin (16) is adjusted to be in a horizontal state under water;

the acoustic guiding device is used for guiding the AUV to enter the AUV distribution recovery cabin (16) at a medium-long distance;

the optical guiding device is used for guiding the AUV to enter the AUV distribution and recovery cabin (16) in a short distance;

and the water filling and draining device is used for filling and draining water into the ballast water bin of the AUV distribution recovery tank (16).

2. A method for underwater deployment and recovery of an underwater unmanned vehicle, wherein the AUV console, using the apparatus of claim 1, performs the operation of the AUV deployment comprising the steps of:

step two: when the first sliding frame slides to the tail end of the first sliding rail, the head end of the second sliding rail is jacked up through the hydraulic device, so that the tail end of the second sliding rail is submerged below the water surface, at the moment, under the action of gravity, the second motor is controlled, and the steel rope is released, so that the AUV is distributed in the recovery cabin, and the AUV in the cabin slides into the water along the length direction of the second sliding rail;

step five: when the AUV leaves, the cabin door of the AUV distributing and recycling cabin is closed, the water pump is controlled to discharge the water in the ballast water cabin, the motor 2 is controlled to distribute and recycle the AUV in the cabin, the AUV is not contained in the cabin, the AUV is pulled back to the second slideway, the second slideway is retracted to the first slideway, the AUV console is closed, and the AUV is distributed.

3. A method for underwater deployment recovery of an underwater unmanned vehicle, wherein the AUV console, using the apparatus of claim 1, performs the operation of AUV recovery comprising the steps of:

step two: when the first sliding frame slides to the tail end of the first sliding rail, the head end of the second sliding rail is jacked up through the hydraulic device, so that the tail end of the second sliding rail is submerged below the water surface, at the moment, under the action of gravity, the second motor is controlled, and the steel rope is released, so that the AUV is distributed in the recovery cabin, no AUV exists in the cabin, and the AUV slides into the water along the length direction of the second sliding rail;

step four: opening a cabin door of the AUV distribution recovery cabin, and opening an acoustic guiding device and an optical guiding device; firstly, an AUV is driven to an AUV cloth and storage cabin under the action of an acoustic guiding device, when the AUV is close to the AUV cloth and storage cabin, the AUV is guided to reach the upper part of the AUV cloth and storage cabin through the optical guiding device, the buoyancy of the AUV is controlled to enter the AUV cloth and storage cabin, a hydraulic device is controlled to tighten a holding claw to fix the AUV, and the cabin door of the AUV cloth and storage cabin is closed;