Unmanned underwater vehicle recycling and laying device with primary-secondary portal frame and method

The invention belongs to the technical field of unmanned underwater vehicle laying and recovery, and discloses an unmanned underwater vehicle laying and recovery system capable of running in a complex and uncertain sea surface storm interference environment. The system mainly comprises a primary-secondary portal frame system, a telescopic semi-submersible recovery fishing net, a three-degree-of-freedom mechanical claw, a main control system, a sensor and an information interaction processing system. The sensor and information interaction system comprises a positioning module, an underwater vehicle speed detection module and an underwater vehicle pose detection module. The telescopic semi-submersible fishing net can overcome the influence of rolling of the underwater vehicle relative to the unmanned ship during recovery under the complex and uncertain environment of sea surface wind wave interference, and the underwater vehicle in any posture state can be recovered on the fishing net through cooperation with t