CN213036034U - Small-size AUV cluster is put/recovery system under water - Google Patents
Small-size AUV cluster is put/recovery system under water Download PDFInfo
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- CN213036034U CN213036034U CN202020943725.5U CN202020943725U CN213036034U CN 213036034 U CN213036034 U CN 213036034U CN 202020943725 U CN202020943725 U CN 202020943725U CN 213036034 U CN213036034 U CN 213036034U
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Abstract
The utility model discloses a small-size AUV cluster is laid under water/recovery system, include: the recovery structure is used for accommodating the AUV underwater, the telescopic structure is used for fixing, lifting and conveying the recovery structure to an inlet of a mother ship, and the automatic cable arrangement mechanism is arranged on the mother ship, is connected with the telescopic structure and receives the AUV transmitted by the recovery structure; the recycling structure comprises an ROV power structure which is positioned at the upper part of the recycling structure and used for controlling the process of recycling the AUV, and the bottom end of the ROV power structure is fixedly connected with a recycling cabin structure used for loading the AUV. The system adopts a soft and hard combined mode to lay/recover the AUV, adopts a telescopic guide rail hard link design above the sea surface, completely avoids collision with a mother ship in the AUV recovery process, adopts a soft connection mode of connecting an umbilical cable and a recovery mechanism below the sea surface, and provides convenience for free movement of the recovery mechanism.
Description
Technical Field
The utility model relates to an underwater robot control field especially relates to a small-size AUV cluster is laid under water/recovery system.
Background
At present, the recovery and the distribution of the AUV mainly adopt three modes: the AUV is manually laid/recovered, the AUV is laid/recovered in a sling relay mode, and the AUV is laid/recovered in a slideway mode.
The mode of manual AUV deployment/recovery is that AUV deployment and recovery are completed by cooperation of multiple persons, a diver needs to perform auxiliary adjustment on the advancing of the AUV underwater, the diver is required to have necessary technical knowledge in the field, technical staff is lacked, the AUV deployment and recovery cost is high, the AUV deployment and recovery efficiency is low, the diver is troubled by scuba for a long time, the working time is short, and the AUV deployment/recovery is extremely not beneficial to body health.
The method is characterized in that the AUV is laid/recovered in a sling relaying mode, although hands of people participating in work are reduced, the influence of the environment and external conditions is severe, when stormy waves are too large, a relaying device with the AUV can generate severe shaking, the relaying device is easy to collide with a mother ship, unnecessary loss is caused to the AUV in the process of recovery and laying, in addition, the relaying device does not have self-adjusting capacity in water, the position is influenced by water flow, the relay device cannot be efficiently butted with the AUV, and the recovery efficiency of the AUV is low.
The AUV is arranged/recovered in a slideway mode, the method is only suitable for arranging and recovering large AUVs, and the AUVs are difficult to butt with the slideways, are easy to collide with the AUVs and are not beneficial to the protection of the AUVs.
SUMMERY OF THE UTILITY MODEL
According to the problem that prior art exists, the utility model discloses a small-size AUV cluster is laid under water/recovery system, include: the recovery structure is used for accommodating the AUV underwater, the telescopic structure is used for fixing, lifting and conveying the recovery structure to the mother ship, and the automatic cable arrangement mechanism is arranged on the mother ship, is connected with the telescopic structure and receives the AUV transmitted by the recovery structure;
the recovery structure comprises an ROV power structure which is positioned at the upper part of the recovery structure and used for controlling the AUV recovery process, and the bottom end of the ROV power structure is fixedly connected with a recovery cabin structure used for loading the AUV;
the telescopic structure at least comprises a guide rail connector and a telescopic guide rail which are used for fixing the recovery structure, the bottom end of the telescopic guide rail is connected with the guide rail connector, the telescopic structure is connected with the automatic cable arrangement mechanism through the telescopic guide rail,
the automatic cable arrangement mechanism comprises an automatic cable arrangement winch and an AUV (autonomous underwater vehicle) transmission mechanism which are arranged on the mother ship, wherein the automatic cable arrangement winch is connected with an armored cable and an umbilical cable, one end of the armored cable is connected with the automatic cable arrangement winch, and the other end of the armored cable is connected with the guide rail connector to control the lowering and recovering actions of the guide rail connector; one end of the umbilical cable is connected with the automatic cable arranging winch, the other end of the umbilical cable is connected with the recovery structure, the umbilical cable is used for communicating with the recovery structure at a mother ship terminal and guiding the recovery structure to be in butt joint with the guide rail connector in water, and the AUV conveying mechanism is used for extracting the AUV from the recovery structure and transmitting the AUV to the mother ship.
The guide rail connector comprises a hydraulic locking structure, the end part of the hydraulic locking structure is fixedly connected with a gripper, and the end parts of the periphery of the guide rail connector are fixedly connected with four electromagnetic induction units.
The top end of the ROV power structure is fixedly connected with a locking mechanism, a control cabin for controlling the recovery platform to recover the AUV is arranged in the ROV power structure, and the control cabin is electrically connected with a power supply cabin for supplying electric energy to the device; the control cabin is electrically connected with a power supply cabin for supplying electric energy to the device, and the control cabin at least comprises a raspberry pi, an electric cat, a switch and a flight control board; the recovery cabin structure comprises a cabin body for containing the AUV, four vertical propellers are arranged around the cabin body in a vertical direction, and four horizontal propellers are arranged in a horizontal direction of the cabin body;
the cabin body is an open structure, be provided with four signal lamps in the opening side's of the cabin body the framework, be provided with the triangle-shaped signal lamp on the inside back wall of the cabin body, the opening side top fixedly connected with of the cabin body measures the binocular camera of scene and this recovery unit distance information under water, four electromagnetic induction sensors of top fixedly connected with of the cabin body, electromagnetic induction sensor and electromagnetic induction unit's position one-to-one and cooperation work, the inside side fixedly connected with earth magnetic sensor and the depth sensor of the cabin body, the bottom fixedly connected with of the cabin body is used for judging AUV at the stroke mechanism of the positional information of the cabin body, the inside fixedly connected with of the cabin body is used for promptly AUV's clamping mechanism, when AUV get into the cabin internal promotion stroke mechanism move to the target position department that sets up in the cabin body clamping mechanism is fixed.
The hydraulic locking structure comprises a pair of hydraulic rods and an antirust steel block with an arc-shaped groove, a spring used for resetting the hydraulic locking structure is arranged on the antirust steel block, the hydraulic locking structure is connected with the locking mechanism, then the control cabin controls the hydraulic rods to push the antirust steel block to move to fix the locking mechanism, when the structure is required to be released and recovered, the control on the hydraulic rods is cancelled, and then the antirust steel block is unlocked under the tension of the spring.
The four grippers are driven and controlled by the steering engine, and the gripping and recycling structure is clamped after the guide rail connector is completely butted with the recycling structure.
The shape of clamping mechanism corresponds to the shape of AUV, clamping mechanism includes embracing the clamp, fixedly connected with connecting rod on embracing the clamp.
The locking mechanism is of a hollow structure, and the umbilical cable penetrates through the locking mechanism to be connected with the control cabin.
AUV transport mechanism includes conveyer belt and fixture, fixture is arranged in pressing from both sides from retrieving the structure and gets AUV, the conveyer belt drives fixture and moves on mother's ship.
The upper end fixed connection of telescopic guide rail is on automatic cable arrangement mechanism, the other end along mother's ship downwardly extending, telescopic guide rail's bottom adopts extending structure, telescopic guide rail's length is greater than mother's ship height.
Furthermore, the terminal on the mother ship is in data communication with the control cabin in the recovery structure through the umbilical cable.
Due to the adoption of the technical scheme, the utility model provides a small-size AUV cluster is put/recovery system under water, firstly, this system adopts the mode cloth of soft or hard combination to put/retrieve the AUV, adopt the design of flexible guide rail rigid connection above the sea, collision with mother's ship in the AUV recovery process has been avoided completely, adopt the flexible connection mode that umbilical cable and recovery structure are connected below the sea, for the free motion of recovery structure provides convenience, and then the butt joint of convenient recovery structure and AUV, secondly, adopt the recovery structure of taking power, the recovery structure has man-machine cooperation, independently discern, the fixed point, multiple mode such as depthkeeping, can accomplish in multiple complicated sea areas and carry out the cloth of AUV and put and retrieve; the AUV is guided by adopting a guiding mode combining sound and light, the capability of automatically identifying the optimal channel is realized, the butt joint with the AUV can be efficiently completed, and the AUV is guided to enter the cabin by the optimal channel; and finally, an AUV loading and unloading conveying device arranged on the mother ship can accurately complete loading and unloading of the AUV. The AUV cluster underwater deployment/recovery system is an independent and complete system independent of a mother ship and external facilities, and can complete AUV deployment and recovery tasks safely, accurately and efficiently.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural view of a recycling structure of the present invention;
FIG. 2 is a schematic structural view of a recycling structure of the present invention;
FIG. 3 is a schematic diagram of an electrical part of the ROV power structure of the recycling structure of the present invention;
fig. 4 is a schematic structural view of the telescopic structure of the present invention;
FIG. 5 is a schematic structural view of the automatic cable arrangement mechanism of the present invention;
fig. 6 is a schematic structural view of the AUV transmission mechanism in the automatic cable arrangement mechanism of the present invention;
fig. 7 is the utility model discloses middle-size and small-size AUV cluster is recovery system under water's overall structure schematic diagram.
Detailed Description
For making the technical solution and the advantages of the present invention clearer, the following combines the drawings in the embodiments of the present invention, to the technical solution in the embodiments of the present invention is clear and complete description:
as shown in fig. 7, the small-sized AUV cluster underwater deployment/recovery system specifically includes a recovery structure for accommodating AUVs underwater, a telescopic structure for fixing, lifting and conveying the recovery structure to a mother ship, and an automatic cable arrangement mechanism arranged on the mother ship, connected with the telescopic structure, and receiving the AUVs. In the actual working process, firstly, the recovery structure recovers the AUV into the cabin body, secondly, the recovery structure is guided to be in butt joint with the guide rail connector under the flexible connection of the umbilical cable 96, the guide rail connector 102 locks the recovery structure after the butt joint is completed, then under the traction of the armored cable 97, the recovery structure rises to an inlet of the mother ship along the telescopic guide rail in a hard link mode along with the guide rail connector, and finally, the AUV is extracted by the clamping mechanism 94 in the automatic cable arrangement mechanism and sent to the mother ship.
Further, as shown in fig. 1-3, the recovery structure includes an ROV power structure located at an upper portion thereof, and a recovery cabin structure is fixedly connected to a bottom end of the ROV power structure; the ROV power knot provides a control terminal for the working process of the device, and regulates and controls the AUV recycling process of the device in real time, and the recycling cabin structure is used for recycling and loading the AUV.
Further, a locking mechanism 3 is fixedly connected to the top end of the ROV power structure, a control cabin 1 for controlling the recovery device to recover the AUV is arranged inside the ROV power structure, the control cabin 1 is connected with a power supply cabin 2 for supplying electric energy to the device, and the control cabin 1 is electrically connected with the power supply cabin 2; the locking mechanism 3 is positioned at the topmost end of the AUV cluster underwater recovery device, and is used for being butted with the guide rail connector 102 in the actual working process, the locking mechanism 3 can be locked on the guide rail connector 102, the locking mechanism 3 is designed into a hollow structure, and the umbilical cable 31 passes through the middle and is connected into the control cabin 1.
Further, as shown in fig. 2, the recovery cabin structure includes a cabin body 5 for accommodating the AUV, four vertical thrusters 51 are disposed around the cabin body 5 in a vertical direction, and four horizontal thrusters 52 are disposed in a horizontal direction of the cabin body 5. According to the scheme, 8 propellers are arranged on the cabin body 5, 4 propellers are arranged in the horizontal direction, 4 propellers are arranged in the vertical direction, each propeller can provide the most sufficient power to ensure that the recovery device can realize 6DoF movement underwater, the influence of water flow is overcome, and the fixed-point mode is always stably kept (namely the recovery device is kept still underwater) so as to ensure that the AUV enters the recovery device at the highest speed in the optimal navigation channel.
Further, the cabin body 5 is of an open structure, four signal lamps are arranged on the frame body on the open side of the cabin body 5, and a triangular signal lamp 53 is arranged on the inner rear wall of the cabin body 5. The signal lamps play a role in optical guidance, are 5 in number and are respectively positioned at the four sides of the cabin body 5 and the center of the rear wall of the cabin body 5, the lamps on the four sides of the hatch are designed in a circular shape, and the signal lamps on the rear wall of the cabin are designed in a triangular shape. When the AUV reaches the optical guide range, the position of the recovery cabin can be determined according to the signal lamps on the four sides of the hatch, and the height to be kept when the AUV enters the cabin is determined according to the signal lamp in the center of the rear wall of the recovery cabin.
The opening side top end of the cabin body 5 is fixedly connected with a binocular camera 6 for measuring distance information between an underwater scene and the recovery device, the top of the cabin body 5 is fixedly connected with four electromagnetic induction sensors 9, and the side surface inside the cabin body 5 is fixedly connected with a geomagnetic sensor 7 and a depth sensor 8. The binocular camera 6 is used for measuring the distance between a scene and the recovery platform, and man-machine cooperative operation under a complex environment is achieved. The electromagnetic induction sensors 9 are located at four corners of the top of the recovery platform, and once the electromagnetic induction sensors 9 are triggered in the process that the AUV recovery device is butted with the guide rail connector 102 from the underwater, the AUV recovery device is successfully butted with the guide rail connector 102, and the recovery structure can be locked and the next step of work can be carried out. The geomagnetic sensor 7 provides the current movement direction of the recovery device for the control cabin 1, is located at the top of the AUV recovery device, and adjusts the direction of the recovery device through the geomagnetic sensor during recovery to enable the recovery cabin to face the mother ship so as to take out the recovered AUV from the recovery cabin. The depth sensor 8 is located on the side face of the AUV recovery platform and used for acquiring the depth information of the recovery platform.
Further, a stroke mechanism 10 for determining position information of the AUV in the cabin is fixedly connected to the bottom of the cabin 5, a clamping mechanism 12 for grasping the AUV is fixedly connected to the interior of the cabin 5, the stroke mechanism 10 is used for determining the position of the AUV in the cabin, when the AUV starts to enter the cabin, the stroke mechanism 10 is pushed to advance, and when the stroke mechanism 10 is pushed to reach a target position, it represents that the AUV has finished entering the cabin, and at this time, the tightening mechanism 12 can be triggered to fix the AUV.
Furthermore, the shape of the clamping mechanism 12 corresponds to the shape of the AUV, the clamping mechanism 12 includes an arc-shaped clasping clamp 121 when the AUV is in an arc shape, the clasping clamp 121 is fixedly connected with a connecting rod 122, and the connecting rod 122 is driven by a steering engine, so that the clasping clamp 121 can freely complete the locking and unlocking actions of the AUV.
The control cabin 1 at least comprises a raspberry pi, an electric cat, a switch and a flight control board, and is all functions of a general electric device in the prior art, autonomous cruising and underwater positioning of an AUV recovery platform and the like, and the control cabin is communicated with a central control system through an umbilical cable.
Further, as shown in fig. 4 and 5, the telescopic structure includes a telescopic guide rail 100 located at an upper end, a guide rail connector 102 is fixedly connected to a lower end of the telescopic guide rail 100, the guide rail connector 102 includes a hydraulic locking structure 103, a hand grip 104 is fixedly connected to an end of the hydraulic locking structure 103, and four electromagnetic induction units 105 are fixedly connected to peripheral ends of the guide rail connector 102. The electromagnetic induction unit 105 is embedded in the guide rail connector 102, corresponds to the four electromagnetic induction sensors 9 on the recovery structure, and is used for detecting whether the AUV recovery structure is completely butted with the guide rail connector or not and whether a locking process can be executed or not. Hydraulic locking device is used for fixing the structure of retrieving in the course of the work, hydraulic locking structure 103 includes a pair of hydraulic stem 106 and the rust-resistant steel block 107 that has the arc recess, be provided with on the rust-resistant steel block 107 and be used for carrying out the spring 108 that resets to this hydraulic locking structure 103, hydraulic locking structure 103 and retrieve the structure butt joint back then female ship terminal controllable hydraulic stem 106 promote rust-resistant steel block 107 motion and fix locking mechanism 3, cancel the control to hydraulic stem 106 when needing to release the structure of retrieving, then rust-resistant steel block 107 unblocks under the pulling force of spring 108.
Further, automatic cable arranging mechanism is including setting up automatic cable arranging winch 98 and AUV transport mechanism 91 on mother's ship, and it is shown in FIG. 5 that automatic cable arranging mechanism includes an A form support body, and A form support body 92 is fixed in on mother's ship, and A form support body right-hand member is equipped with automatic cable arranging winch 98 and AUV transport mechanism 91, and the left end of A form support body stretches out outside mother's ship for fixed telescopic guide 100, and two fixed pulleys are equipped with on the top of A form support body, transfer effect is played with the recovery in-process to the cable transfer.
Further, the automatic cable arrangement winch is responsible for lowering and recovering cables, and two cables are arranged on the automatic cable arrangement winch 98: the armored cable 97 has enough bearing capacity, one end of the armored cable 97 is fixed on the automatic cable arranging winch, the other end of the armored cable 97 is fixed on the guide rail connector 102, and the armored cable 97 is responsible for placing and recovering the guide rail connector 102 and is responsible for controlling the guide rail connector 102. One end of the umbilical cable 96 is fixed on the automatic cable arranging winch 98, and the other end is fixed on the AUV recovery structure, which is responsible for guiding the recovery structure to be butted with the guide rail connector 102 in water, and simultaneously responsible for signal transmission of the mother ship terminal and the recovery machine structure, so as to complete communication between the central control system and the recovery platform.
Further, as shown in fig. 6, the AUV transport mechanism 91 is responsible for transporting the recovered AUV back to the mother ship, and is composed of a conveyor belt and a clamp, the clamp can safely take out the AUV from the recovery cabin of the AUV recovery platform, and the conveyor belt can drive the clamp to move, and transport the AUV taken out from the recovery cabin back to the mother ship.
Further, the upper half of the telescopic guide rail 100 is fixed on the A-shaped frame body 92, the lower half of the telescopic guide rail is retractable and can be retracted along with the armored cable 97, the total length of the telescopic guide rail 100 is larger than the height of the mother ship, and therefore the guide rail connector 102 can be guaranteed to be lowered below the water surface. The guide rail connector 102 is located on the telescopic guide rail 100 and is lowered through hard guiding of the telescopic guide rail 100, so that the problem that flexible hoisting modes such as ropes are seriously affected by stormy waves or mother ships in the process of recovering and lowering is solved, and the AUV is guaranteed not to be damaged.
The utility model discloses a small-size AUV cluster is laid under water/recovery system combines together extending structure and automatic cable arrangement mechanism, and the accurate butt joint of structure and guide rail connector is retrieved in the guide under the flexible coupling through umbilical cable 96, guarantees AUV's the smooth cabin that returns.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (10)
1. A small-size AUV cluster is put/recovery system under water which characterized in that includes: the recovery structure is used for accommodating the AUV underwater, the telescopic structure is used for fixing, lifting and conveying the recovery structure to an inlet of a mother ship, and the automatic cable arrangement mechanism is arranged on the mother ship, is connected with the telescopic structure and receives the AUV transmitted by the recovery structure;
the recovery structure comprises an ROV power structure which is positioned at the upper part of the recovery structure and used for controlling the AUV recovery process, and the bottom end of the ROV power structure is fixedly connected with a recovery cabin structure used for loading the AUV;
the telescopic structure at least comprises a guide rail connector (102) and a telescopic guide rail (100) which are used for fixing the recovery structure, the bottom end of the telescopic guide rail (100) is connected with the guide rail connector (102), the telescopic structure is connected with the automatic cable arrangement mechanism through the telescopic guide rail (100),
the automatic cable arrangement mechanism comprises an automatic cable arrangement winch (98) and an AUV (autonomous underwater vehicle) transmission mechanism (91) which are arranged on a mother ship, wherein the automatic cable arrangement winch (98) is connected with an armored cable (97) and an umbilical cable (96), one end of the armored cable (97) is connected with the automatic cable arrangement winch (98), the other end of the armored cable is connected with a guide rail connector (102), and the lowering and recovering actions of the guide rail connector (102) are controlled; one end of the umbilical cable (96) is connected with the automatic cable arranging winch (98), the other end of the umbilical cable is connected with the recovery structure, the umbilical cable is used for communicating with the recovery structure at a mother ship terminal and guiding the recovery structure to be in butt joint with the guide rail connector (102) in water, and the AUV transmission mechanism (91) is used for extracting the AUV from the recovery structure and transmitting the AUV to the mother ship.
2. The small-scale AUV cluster underwater deployment/retrieval system of claim 1, further characterized by: the guide rail connector (102) comprises a hydraulic locking structure (103), a gripper (104) is fixedly connected to the end portion of the hydraulic locking structure (103), and four electromagnetic induction units (105) are fixedly connected to the end portions of the periphery of the guide rail connector (102).
3. The small-scale AUV cluster underwater deployment/retrieval system of claim 1, further characterized by: the top end of the ROV power structure is fixedly connected with a locking mechanism (3), a control cabin (1) for controlling the recovery system to recover the AUV and a power supply cabin (2) for supplying electric energy to the system are arranged in the ROV power structure, and the control cabin (1) is electrically connected with the power supply cabin (2); the recovery cabin structure comprises a cabin body (5) for containing the AUV, four vertical propellers (51) are arranged around the cabin body (5) in the vertical direction, and four horizontal propellers (52) are arranged in the horizontal direction of the cabin body (5);
the cabin body (5) is of an open structure, four signal lamps are arranged on the frame body of the opening side of the cabin body (5), triangular signal lamps (53) are arranged on the inner rear wall of the cabin body (5), the opening side top end of the cabin body (5) is fixedly connected with a binocular camera (6) for measuring distance information of an underwater scene and the recovery system, four electromagnetic induction sensors (9) are fixedly connected to the top of the cabin body (5), the electromagnetic induction sensors (9) correspond to the electromagnetic induction units (105) one by one and work in a matched manner, a geomagnetic sensor (7) and a depth sensor (8) are fixedly connected to the side surface of the inner part of the cabin body (5), a travel mechanism (10) for judging the position information of an AUV in the cabin body is fixedly connected to the bottom of the cabin body (5), and a clamping mechanism (12) for grasping the AUV is fixedly connected to the inner part of the cabin body, when the AUV enters the cabin body (5) to push the stroke mechanism (10) to move to the set target position, the clamping mechanism (12) fixes the AUV.
4. The small-scale AUV cluster underwater deployment/retrieval system of claim 2, further characterized by: the hydraulic locking structure (103) comprises a pair of hydraulic rods (106) and an antirust steel block (107) with an arc-shaped groove, a spring (108) used for resetting the hydraulic locking structure (103) is arranged on the antirust steel block (107), the hydraulic rods (106) are controlled by the hydraulic locking structure (103) and the locking mechanism (3) to push the antirust steel block (107) to move to fix the locking mechanism (3), and when the recovery structure needs to be released, the control on the hydraulic rods (106) is cancelled, so that the antirust steel block (107) completes unlocking under the tension of the spring (108).
5. The small AUV cluster underwater deployment/retrieval system of claim 4, further characterized by: the four grippers (104) are driven and controlled by the steering engine, and the grippers (104) clamp the recovery structure after the guide rail connector (102) is completely butted with the recovery structure.
6. The small AUV cluster underwater deployment/retrieval system of claim 3, further characterized by: the shape of the clamping mechanism (12) corresponds to that of the AUV, the clamping mechanism (12) comprises a holding clamp (121), and a connecting rod (122) is fixedly connected to the holding clamp (121).
7. The small AUV cluster underwater deployment/retrieval system of claim 3, further characterized by: the locking mechanism (3) is of a hollow structure, and the umbilical (96) penetrates through the locking mechanism to be connected with the control cabin (1).
8. The small-scale AUV cluster underwater deployment/retrieval system of claim 1, further characterized by: AUV transport mechanism (91) include conveyer belt (95) and fixture (94), fixture (94) are used for pressing from both sides from retrieving the structure and get AUV, conveyer belt (95) drive fixture (94) free motion.
9. The small-scale AUV cluster underwater deployment/retrieval system of claim 1, further characterized by: the upper end fixed connection of telescopic guide rail (100) is on automatic row's cable mechanism, the other end along mother's ship downwardly extending, telescopic guide rail (100)'s bottom adopts extending structure, telescopic guide rail (100)'s length is greater than mother's ship height.
10. A small AUV cluster underwater deployment/retrieval system according to any of claims 1-9, further characterized by: the terminal on the parent vessel communicates data with the recovery structure via an umbilical (96).
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| CN202020943725.5U CN213036034U (en) | 2020-05-28 | 2020-05-28 | Small-size AUV cluster is put/recovery system under water |
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| CN202020943725.5U CN213036034U (en) | 2020-05-28 | 2020-05-28 | Small-size AUV cluster is put/recovery system under water |
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