1. A multifunctional retraction cabin for a modular underwater intelligent equipment platform is characterized by comprising a cabin body, a cabin door, a tail wing, a hanging ring, a photoelectric composite towing cable, a watertight photoelectric interface, a sliding rail, a ballast lead block, an underwater acoustic communication system and an underwater acoustic positioning system; the cabin body is connected with the mother ship through the photoelectric composite towing cable and the lifting ring, the cabin body is configured to be neutral buoyancy, the ballast lead blocks are arranged at the front end and the rear end of the bottom of the cabin body, when the cabin body is submerged, the mother ship releases the photoelectric composite towing cable, the cabin body is submerged to the working depth by the weight of the ballast lead blocks, the ballast lead blocks are released after the cabin body reaches the working depth, the cabin body is in a neutral buoyancy state, the photoelectric composite towing cable is collected by the mother ship during recovery, and the lifting ring is hooked by a gantry crane on the mother ship to realize recovery of the cabin body; the cabin body is designed in an open structure, and all sensors and actuators of the modular underwater intelligent equipment platform can work normally in the cabin body; the cabin door is in a bell mouth shape when opened and is similar to an oil delivery port of an oiling machine, so that the modularized underwater intelligent equipment platform is guided to enter the cabin body in the butt joint process; after the butt joint is finished, the cabin door is contracted and locked through the slide rail to lock the modular underwater intelligent equipment platform, the modular underwater intelligent equipment platform is connected with the multifunctional retractable cabin through the watertight photoelectric interface, and the mother ship performs underwater wired charging, communication, control and data transmission on the modular underwater intelligent equipment platform through the photoelectric composite towing cable and the watertight photoelectric interface; the underwater sound communication system and the underwater sound positioning system are arranged on the cabin body, and are in real-time communication with the modular underwater intelligent equipment platform in the butt joint process, so that the underwater intelligent equipment platform can accurately adjust the position and the posture conveniently, and meanwhile, the tail wing can enable the cabin body to have certain posture holding capacity in the butt joint process; the multifunctional retractable cabin for the modular underwater intelligent equipment platform comprises the following functions: the modularized underwater intelligent equipment platform is used for laying and recovering, and switching between an autonomous cruise measurement mode and a fishing towing measurement mode.

2. The multifunctional retraction cabin for a modular underwater intelligent equipment platform as claimed in claim 1, wherein the multifunctional retraction cabin for a modular underwater intelligent equipment platform is capable of deployment and retrieval of the modular underwater intelligent equipment platform: the modularized underwater intelligent equipment platform sails autonomously to enter a cabin body, the watertight photoelectric interface butt joint between the modularized underwater intelligent equipment platform and the cabin body is completed, the cabin door is tightened and locked through a sliding rail, and the mother ship receives the photoelectric composite towing cable to realize the recovery of the modularized underwater intelligent equipment platform; the laying is the reverse process; the modularized underwater intelligent equipment platform cannot be directly hoisted, and multifunctional retractable cabins are adopted for distribution, recovery and transportation.

3. The multifunctional retraction cabin for the modular underwater intelligent equipment platform as claimed in claim 1, wherein the multifunctional retraction cabin for the modular underwater intelligent equipment platform can assist the modular underwater intelligent equipment platform in realizing the switching of the autonomous cruise measurement and fishing measurement modes: when the modular underwater intelligent equipment platform works in deep sea far away from a mother ship, autonomous cruise measurement needs to be carried out in a deep sea survey area by depending on a self-carried battery; when the modular underwater intelligent equipment platform works in shallow sea near a mother ship, the modular underwater intelligent equipment platform is automatically butted with the multifunctional collecting and releasing cabin, the mother ship drags a combined body of the butted multifunctional collecting and releasing cabin and the modular underwater intelligent equipment platform to carry out fishing dragging measurement operation, the mother ship carries out whole-process control, wired charging, task planning and health detection on the modular underwater intelligent equipment platform, and the modular underwater intelligent equipment platform only needs to execute a normal measurement function; the photoelectric composite towing cable can be properly relaxed, so that the modular underwater intelligent equipment platform can freely work in a small range around the mother ship in an allowable moving range of the photoelectric composite towing cable.

Background art:

the recovery of underwater unmanned equipment is always a difficult problem in marine scientific investigation. Particularly, when the device meets severe weather conditions, the wind and the waves are high, the traditional manual lasso on the sea surface is difficult to recover and implement, personnel are very easy to be injured, and equipment damage and property loss are caused by the fact that unmanned equipment collides with a mother ship. The laying process is also the same, and a certain degree of manual participation is required, so that the laying process has certain operation difficulty and danger.

As a novel underwater intelligent unmanned device, the modularized underwater intelligent device platform also needs to face the difficult problems of laying and recycling, and needs to have the capability of freely switching between autonomous cruise measurement and fishing towing measurement modes. Therefore, a multifunctional retractable cabin for a modular underwater intelligent equipment platform is needed to realize the functions.

The invention content is as follows:

aiming at the problems, the invention provides the multifunctional retractable cabin for the modular underwater intelligent equipment platform, which can realize intelligent autonomous underwater deployment and recovery of the modular underwater intelligent equipment platform, almost does not need manual participation, reduces the operation difficulty, improves the working efficiency and reduces the operation risk. By means of the invention, the modular underwater intelligent equipment platform can realize free switching between the autonomous cruise measurement mode and the fishing towing measurement mode. Meanwhile, the underwater intelligent unmanned equipment system can perform underwater wired charging, issue task instructions and recover data for the modular underwater intelligent equipment platform, the underwater continuous working time of the modular underwater intelligent equipment platform is prolonged, frequent arrangement and recovery are avoided, the time cost, the use cost and the maintenance cost are saved, and the standardization, systematization and intellectualization of the modular underwater intelligent unmanned equipment system are greatly improved.

The purpose of the invention is realized by the following technical scheme:

a multifunctional retractable cabin for a modular underwater intelligent equipment platform comprises a cabin body, a cabin door, an empennage, a hanging ring, a photoelectric composite towing cable, a watertight photoelectric interface, a sliding rail, a ballast lead block, an underwater acoustic communication system and an underwater acoustic positioning system; the cabin body is connected with the mother ship through the photoelectric composite towing cable and the lifting ring, the cabin body is configured to be neutral buoyancy, the ballast lead blocks are arranged at the front end and the rear end of the bottom of the cabin body, when the cabin body is submerged, the mother ship releases the photoelectric composite towing cable, the cabin body is submerged to the working depth by the weight of the ballast lead blocks, the ballast lead blocks are released after the cabin body reaches the working depth, the cabin body is in a neutral buoyancy state, the photoelectric composite towing cable is collected by the mother ship during recovery, and the lifting ring is hooked by a gantry crane on the mother ship to realize recovery of the cabin body; the cabin body is designed in an open structure, and all sensors and actuators of the modular underwater intelligent equipment platform can work normally in the cabin body; the cabin door is in a bell mouth shape when opened and is similar to an oil delivery port of an oiling machine, so that the modularized underwater intelligent equipment platform is guided to enter the cabin body in the butt joint process; after the butt joint is finished, the cabin door is contracted and locked through the slide rail to lock the modular underwater intelligent equipment platform, the modular underwater intelligent equipment platform is connected with the multifunctional retractable cabin through the watertight photoelectric interface, and the mother ship performs underwater wired charging, communication, control and data transmission on the modular underwater intelligent equipment platform through the photoelectric composite towing cable and the watertight photoelectric interface; the underwater sound communication system and the underwater sound positioning system are arranged on the cabin body, and are in real-time communication with the modular underwater intelligent equipment platform in the butt joint process, so that the underwater intelligent equipment platform can accurately adjust the position and the posture conveniently, and meanwhile, the tail wing can enable the cabin body to have certain posture holding capacity in the butt joint process; the multifunctional retractable cabin for the modular underwater intelligent equipment platform comprises the following functions: the modularized underwater intelligent equipment platform is used for laying and recovering, and switching between an autonomous cruise measurement mode and a fishing towing measurement mode.

As a further improvement of the invention, the multifunctional retraction cabin for the modular underwater intelligent equipment platform can perform deployment and recovery of the modular underwater intelligent equipment platform: the modularized underwater intelligent equipment platform sails autonomously to enter a cabin body, the watertight photoelectric interface butt joint between the modularized underwater intelligent equipment platform and the cabin body is completed, the cabin door is tightened and locked through a sliding rail, and the mother ship receives the photoelectric composite towing cable to realize the recovery of the modularized underwater intelligent equipment platform; the laying is the reverse process; the modularized underwater intelligent equipment platform cannot be directly hoisted, and multifunctional retractable cabins are adopted for distribution, recovery and transportation.

As a further improvement of the invention, the multifunctional retractable cabin for the modular underwater intelligent equipment platform can assist the modular underwater intelligent equipment platform to realize the switching of the autonomous cruise measurement mode and the fishing towing measurement mode: when the modular underwater intelligent equipment platform works in deep sea far away from a mother ship, autonomous cruise measurement needs to be carried out in a deep sea survey area by depending on a self-carried battery; when the modular underwater intelligent equipment platform works in shallow sea near a mother ship, the modular underwater intelligent equipment platform is automatically butted with the multifunctional collecting and releasing cabin, the mother ship drags a combined body of the butted multifunctional collecting and releasing cabin and the modular underwater intelligent equipment platform to carry out fishing dragging measurement operation, the mother ship carries out whole-process control, wired charging, task planning and health detection on the modular underwater intelligent equipment platform, and the modular underwater intelligent equipment platform only needs to execute a normal measurement function; the photoelectric composite towing cable can be properly relaxed, so that the modular underwater intelligent equipment platform can freely work in a small range around the mother ship in an allowable moving range of the photoelectric composite towing cable.

The invention has the beneficial effects that:

the intelligent autonomous underwater deploying and recovering system can realize intelligent autonomous underwater deploying and recovering of the modular underwater intelligent equipment platform, almost does not need manual participation, reduces operation difficulty, improves working efficiency and reduces operation risk. The underwater laying and recovering mode can avoid the influence of severe weather, and normal operation can be carried out in relatively quiet underwater environment without the influence of weather even when the sea surface is windy and wavey. Meanwhile, the multifunctional retractable cabin main body is in an open structural design, all sensors and actuators of the modular underwater intelligent equipment platform can normally work in the cabin body, free switching of various working modes can be achieved underwater, the underwater continuous working time of the modular underwater intelligent equipment platform is prolonged, frequent arrangement and recovery are avoided, time cost, use cost and maintenance cost are saved, role switching can be rapidly completed according to task needs, and systematization and intellectualization of the modular underwater intelligent unmanned equipment system can be greatly improved.

Description of the drawings:

FIG. 1 is a block diagram of the system of the present invention;

FIG. 2 is a schematic diagram of the docking process of the system of the present invention with a modular underwater intelligent equipment platform;

FIG. 3 is a side view of the present invention after docking is complete;

shown in the figure: the underwater intelligent equipment platform comprises a cabin body 1, a cabin door 2, an empennage 3, a hanging ring 4, a photoelectric composite towing cable 5, a watertight photoelectric interface 6, a sliding rail 7, a ballast lead block 8, an underwater acoustic communication system 9, an underwater acoustic positioning system 10 and a modularized underwater intelligent equipment platform 11.

The specific implementation mode is as follows:

the technical solution of the present invention will be clearly and completely described by the following embodiments.

FIG. 1 is a system block diagram of the present invention. The invention consists of a cabin body 1, a cabin door 2, a tail wing 3, a hanging ring 4, a photoelectric composite towing cable 5, a watertight photoelectric interface 6, a sliding rail 7, a ballast lead block 8, an underwater acoustic communication system 9 and an underwater acoustic positioning system 10.

Fig. 2 is a schematic diagram of the docking process of the system of the present invention with a modular underwater intelligent equipment platform. The butt joint is completed before, during and after the butt joint from left to right. As can be seen from fig. 2, before docking, the hatch 2 is in a bell mouth shape when opened, similar to an oil delivery port of an oiling machine, which is beneficial for guiding the modular underwater intelligent equipment platform 11 into the cabin 1 during docking; after the butt joint is finished, the cabin door 2 is contracted and locked through the slide rails 7, the modular underwater intelligent equipment platform 11 is locked, and as can be seen from fig. 1 and 2, four slide rails 7 are uniformly distributed in the upper, lower, left and right directions of the cabin body 1, so that the cabin door 2 is conveniently and uniformly contracted and locked. After butt joint, the modular underwater intelligent equipment platform 11 is connected with the multifunctional retractable cabin through the watertight photoelectric interface 6, and the mother ship carries out underwater wired charging, communication, control and data transmission on the modular underwater intelligent equipment platform 11 through the photoelectric composite towline 5 and the watertight photoelectric interface 6.

Fig. 3 is a side view of the present invention after docking is complete. Details of the belly of the hull 1 can be seen in fig. 3, including ballast lead blocks 8, an underwater acoustic communication system 9 and an underwater acoustic positioning system 10. The cabin body 1 is connected with a mother ship through a photoelectric composite towing cable 5 and a hanging ring 4, the cabin body 1 is configured to be neutral buoyancy, both ends are provided with ballast lead blocks 8 around the bottom, the mother ship releases the photoelectric composite towing cable 5 when the cabin body 1 submerges, the cabin body 1 submerges to the working depth by the weight of the ballast lead blocks 8, the ballast lead blocks 8 are released after reaching the working depth, the cabin body 1 is in a neutral buoyancy state, the photoelectric composite towing cable 5 is received by the mother ship during recovery, and the hanging ring 4 is hooked by a gantry crane on the mother ship to realize recovery of the cabin body 1. The underwater acoustic communication system 9 and the underwater acoustic positioning system 10 are mounted on the cabin body 1, real-time communication can be carried out with the modular underwater intelligent equipment platform 11 in the butt joint process, the modular underwater intelligent equipment platform 11 can accurately adjust the position and the posture conveniently, and meanwhile the tail wing 3 can enable the cabin body 1 to have certain posture maintaining capacity in the butt joint process. The cabin body 1 is designed in an open structure, and all sensors and actuators of the modular underwater intelligent equipment platform 11 can normally work in the cabin body 1.

The multifunctional retractable cabin for the modular underwater intelligent equipment platform 11 comprises the following functions: and (3) arranging and recovering the modular underwater intelligent equipment platform 11, and switching between an autonomous cruise measurement mode and a fishing towing measurement mode.

The modularized underwater intelligent equipment platform 11 is laid and recovered: the modularized underwater intelligent equipment platform 11 sails autonomously to enter the cabin body 1, the watertight photoelectric interface 6 between the cabin body 1 and the cabin door 1 is butted, the cabin door 1 is tightened and locked through the slide rail 7, and the mother ship receives the photoelectric composite towline 5 to realize the recovery of the modularized underwater intelligent equipment platform 11; the process of deployment is the reverse. The modular underwater intelligent equipment platform 11 cannot be directly hoisted, and multifunctional retractable cabins are adopted for distribution, recovery and transportation. The automatic cloth placing and recycling device can achieve the automation of cloth placing and recycling, reduces manual participation and enhances the operation safety.

The multifunctional retractable cabin for the modular underwater intelligent equipment platform 11 can assist the modular underwater intelligent equipment platform 11 to realize the switching of autonomous cruise measurement and fishing towing measurement modes: when the modular underwater intelligent equipment platform 11 works in the deep sea far away from the mother ship, autonomous cruise measurement needs to be carried out in a deep sea survey area by depending on a self-carried battery; when the modular underwater intelligent equipment platform 11 works in shallow sea near a mother ship, the modular underwater intelligent equipment platform 11 is automatically butted with the multifunctional retractable cabin, the mother ship drags a combined body of the butted multifunctional retractable cabin and the modular underwater intelligent equipment platform 11 to carry out fishing dragging measurement operation, the mother ship carries out whole-course control, wired charging, task planning and health detection on the modular underwater intelligent equipment platform 11, the modular underwater intelligent equipment platform 11 executes a normal measurement function and simultaneously returns measurement data in a working period; the photoelectric composite towing cable 5 can be properly relaxed, so that the modular underwater intelligent equipment platform 11 can freely work in a small range around the mother ship in the movement range allowed by the photoelectric composite towing cable 5. After charging, detection and data return are completed, the modular underwater intelligent equipment platform 11 can be automatically separated from the mother ship and enters an autonomous cruise measurement mode to execute a new task. The function can prolong the underwater working time of the modularized underwater intelligent equipment platform 11, reduce the frequency of recovery and arrangement, improve the working efficiency and control the running cost.

The invention has the advantages of high automation degree of recycling and laying, flexible and various working modes, prolonged working time of the modularized underwater intelligent equipment platform 11, reduced maintenance and use cost and the like.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.