CN112061354A - Autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicle and unmanned aerial vehicle recovery method - Google Patents
Autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicle and unmanned aerial vehicle recovery method Download PDFInfo
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- CN112061354A CN112061354A CN202010859947.3A CN202010859947A CN112061354A CN 112061354 A CN112061354 A CN 112061354A CN 202010859947 A CN202010859947 A CN 202010859947A CN 112061354 A CN112061354 A CN 112061354A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/84—Waterborne vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The unmanned aerial vehicle (carrying unmanned aerial vehicle) reaches a designated area to realize fixed-point launching of the unmanned aerial vehicle, and after the unmanned aerial vehicle finishes detection, the underwater vehicle carries out fixed-point recovery, so that the functions of underwater autonomous underwater vehicle and autonomous unmanned aerial vehicle launching and releasing on the water surface are realized. The underwater vehicle can continue to receive instructions to perform the next detection task. Therefore, multi-range detection and multi-domain detection are realized, so that the detection task can be comprehensively and efficiently executed. The wireless charging area is arranged in the underwater vehicle recovery cabin, so that the unmanned aerial vehicle is guaranteed to have enough cruising ability, and multiple tasks can be completed within a certain time. The invention can realize single-point launching and multi-point measurement, expands the application range of the amphibious unmanned aerial vehicle, can meet the requirements of multiple fields and improves the task execution rate.
Description
Technical Field
The invention relates to the field of ocean technology observation equipment, in particular to an autonomous underwater vehicle capable of carrying and recovering an unmanned aerial vehicle and an unmanned aerial vehicle recovery method.
Background
With the proposal of the strategic position of the national ocean development, the flow of people, property and things on the sea is increased rapidly, the marine criminal activities are prominent, and the marine security order is seriously damaged. Meanwhile, with the increasing severity of international conditions, China needs to strengthen protection and monitoring of sea areas. Furthermore, the role of marine weapons in aquatic battlefields has changed significantly and is increasingly being used in offshore sea areas to support combo combat, whereas conventional marine weapons are often too bulky and can be easily discovered and attacked by one another, which undoubtedly increases the risk of costly marine weapons.
Therefore, the unmanned system is required to collect information to places where the traditional offshore strength cannot reach, and the unmanned underwater vehicle and the unmanned aerial vehicle stand out. At present, no report about the mature application of the air and sea general observer is available at home and abroad. In the existing series of unmanned underwater vehicles, the traditional underwater vehicle has a high market occupation ratio, such as an autonomous underwater vehicle and a remote control underwater vehicle. However, the conventional underwater vehicle has the problems of insufficient observation capability on the water environment, limited observation range, large disturbance on the environment, poor motion flexibility and the like, and the application range of the underwater vehicle is limited by the problems. The amphibious unmanned aerial vehicle is in the initial research stage at home and abroad, and has the problems of high manufacturing difficulty, serious insufficient cruising ability, incapability of completing multi-point observation and the like, so that the application range of the unmanned aerial vehicle is limited.
Disclosure of Invention
The technical problem solved by the invention is as follows: in order to solve the problems, the invention provides an autonomous underwater vehicle capable of carrying and recovering an unmanned aerial vehicle and a method for recovering the unmanned aerial vehicle, wherein the autonomous underwater vehicle and the unmanned aerial vehicle are combined. The underwater vehicle (carrying the unmanned aerial vehicle) reaches a designated area to realize fixed-point launching of the unmanned aerial vehicle, and after the unmanned aerial vehicle finishes detection, the underwater vehicle carries out fixed-point recovery, so that the functions of autonomous underwater crawling and autonomous underwater unmanned aerial vehicle launching and releasing on the water surface are realized. The underwater vehicle can then continue to receive instructions to perform the next detection task. Therefore, multi-range detection and multi-domain detection are realized, so that the detection task can be comprehensively and efficiently executed. In addition, in consideration of the cruising ability of the unmanned aerial vehicle, a wireless charging area is arranged in the underwater vehicle recovery cabin, so that the unmanned aerial vehicle is guaranteed to have enough cruising ability, and multiple tasks can be completed within a certain time.
The technical scheme of the invention is as follows: the autonomous underwater vehicle capable of carrying and recovering the unmanned aerial vehicle comprises a head section 1, a first battery cabin 2, a front auxiliary pushing section 3, a control cabin 8, a rear auxiliary pushing section 7, a battery cabin 8, an antenna 9 and a main pushing section 10; the device is characterized by further comprising a recovery cabin 4, wherein the recovery cabin 4 is positioned between the front auxiliary pushing section 3 and the control cabin 8;
the recovery cabin 4 comprises a front cabin 11, a middle cabin 12, a rear cabin 14, a cabin door mechanism, a pumping device 16, a buoyancy member 17, an electronic sealed cabin structure, a wireless charging device 24 and an identification module; the front cabin 11 is connected with the front auxiliary pushing section 3, the rear cabin 14 is connected with the control cabin 8, and cabin door mechanisms are arranged in the front cabin 11 and the rear cabin 14; the interior of the middle cabin 12 is a cavity, the electronic sealed cabin structure is positioned at the bottom of the cavity, the electronic sealed cabin structure is provided with a buoyancy piece 17, and the buoyancy piece 17 is provided with a wireless charging device and an identification module; buoyancy pieces 17 are arranged between the two sides of the electronic sealed cabin structure and the side wall of the middle cabin 12; the water pumping device 16 is positioned outside the middle compartment 12; unmanned aerial vehicle is located wireless charging device and identification module, accomplishes and puts in, retrieves and charges.
The further technical scheme of the invention is as follows: the cabin door mechanism comprises a waterproof motor 20 and a speed reducer 22, the speed reducer 22 is driven by the waterproof motor 20, and then the cabin door of the recovery cabin is driven by the speed reducer 22, so that the opening and closing of the cabin door are realized.
The further technical scheme of the invention is as follows: the wireless charging device 24 includes a wireless charger and an annular electromagnet, wherein the annular electromagnet is used for adsorption of the fixing device of the unmanned aerial vehicle.
The further technical scheme of the invention is as follows: the identification module comprises a signal lamp 19 and a two-dimension code sheet 18, the signal lamp 19 is fixedly connected with the buoyancy piece 17, and the two-dimension code plastic sheet is fixedly connected with the wireless charger.
The further technical scheme of the invention is as follows: the signal lamp 19 carries out direction positioning on the unmanned aerial vehicle through the existing visual identification technology; when four signal lamps were discerned to the camera, the deviation of the angle of the position of calculating signal lamp and signal lamp that sets for in advance, through the angular difference who calculates to control unmanned aerial vehicle's direction.
The further technical scheme of the invention is as follows: the electronic sealed cabin structure comprises an electronic sealed cabin end cover 25 and an electronic sealed cabin body 26, wherein the electronic sealed cabin end cover 25 is arranged on the electronic sealed cabin body 26, a cavity is formed between the electronic sealed cabin end cover 25 and the electronic sealed cabin body 26, a GPS and a control circuit board are arranged in the electronic sealed cabin end cover and the electronic sealed cabin body, and the GPS is used for positioning the unmanned aerial vehicle and assisting the underwater vehicle in recovering the unmanned aerial vehicle 13; the control circuit board is used for controlling the motion of the unmanned aerial vehicle.
The further technical scheme of the invention is as follows: the unmanned aerial vehicle placed in the middle cabin 12 comprises a brushless motor, a propeller 27, an electronic sealed cabin 25, a body 29, an unmanned aerial vehicle electronic sealed cabin 30, a communication module 30 and an observation mechanism 28; an unmanned aerial vehicle electronic sealed cabin 30 is arranged below the machine body 26, an electromagnet 33 and a charging mechanism 34 are arranged below the unmanned aerial vehicle electronic sealed cabin 30, the electromagnet 33 is adsorbed on an annular electromagnet of a charging device, and the charging mechanism 34 is matched with a wireless charger for charging; the four corners of the unmanned aerial vehicle are respectively connected with brushless motors and propellers 27, a communication module 30 is arranged above the body 29 and consists of a GPS and a wireless device, the GPS is used for positioning the unmanned aerial vehicle, the wireless device is used for sending information collected when the unmanned aerial vehicle executes tasks to an aircraft, an observation mechanism 28 is arranged on the side face and consists of a miniature camera, and when the unmanned aerial vehicle takes off and executes tasks, the camera is used for monitoring the situation on the water surface; when the unmanned aerial vehicle is recovered, the camera is responsible for identifying a signal lamp and a two-dimensional code in the recovery cabin of the aircraft; when the unmanned aerial vehicle lands and returns to the aircraft recovery cabin, the wireless device of the communication module sends the information recorded on the water surface to the aircraft.
The further technical scheme of the invention is as follows: head 1, first battery compartment 2, preceding assistance push away section 3, retrieve cabin 5, control cabin 8, the back is assisted and is pushed away section 7, second battery compartment 8, antenna 9 and main section 10 of pushing away and connect gradually, and preceding assistance pushes away section 3 and the back is assisted and is equipped with propeller 4 in pushing away the section 7.
The further technical scheme of the invention is as follows: an unmanned aerial vehicle recovery method for an autonomous underwater vehicle capable of carrying and recovering an unmanned aerial vehicle comprises the following steps:
step 1: the autonomous underwater vehicle carries the unmanned aerial vehicle to navigate to a specified place, an underwater vehicle navigation system generates an electric signal 1 and sends the electric signal to a main control mechanism in a vehicle control cabin, and the control mechanism controls a propeller to float the vehicle to the water surface after receiving the electric signal 1;
step 2: when the control mechanism detects that the depth of the aircraft is 0, the control mechanism controls the cabin door mechanism to open the cabin door, and then the control mechanism sends a wireless signal 1 to the unmanned aerial vehicle;
and step 3: the unmanned aerial vehicle receives the wireless signal 1, starts up the unmanned aerial vehicle, flies out of the recovery cabin, measures the height by the unmanned aerial vehicle observation device, and sends a wireless signal 2 to the wireless receiver of the aircraft after the height is met; after receiving the wireless signal 2, the wireless receiver sends an electric signal 2 to the aircraft control mechanism;
and 4, step 4: after the control mechanism receives the electric signal 2, the cabin door mechanism is controlled to close the cabin door and the propeller is controlled to submerge the aircraft below the water surface;
and 5: the underwater vehicle and the unmanned aerial vehicle simultaneously execute detection tasks in a specified area, and after the tasks are executed, the underwater vehicle and the unmanned aerial vehicle are recovered in a specified place. When the aircraft arrives at the place, the aircraft navigation system generates an electric signal 3 and sends the electric signal to the aircraft control mechanism, the control mechanism controls the propeller to float the aircraft to the water surface after receiving the electric signal 3, the control mechanism detects that the depth is 0 at the moment, and the cabin door mechanism is controlled to open the cabin door; the unmanned aerial vehicle returns to the upper part of the aircraft recovery cabin by using a vision technology and a GPS, and then is accurately positioned by using a signal module of the aircraft, so that the recovery of the unmanned aerial vehicle is realized; after recovery, the charging plate is charged, and an electric signal 4 generated after the electromagnet is adsorbed is sent to the aircraft control mechanism;
step 6: the aircraft control mechanism receives the electrical signal 4, controls the hatch door mechanism and the propeller: the hatch door is closed, the aircraft dives, and then advances to the next mission point to execute the next detection mission.
Effects of the invention
The invention has the technical effects that:
1. the invention adopts a combined detection mode of an underwater vehicle and an unmanned aerial vehicle, and takes the underwater vehicle as a carrying platform of the unmanned aerial vehicle. The traditional underwater vehicle cannot effectively observe the dynamic states on water and underwater at the same time, and the amphibious unmanned aerial vehicle cannot perform multi-point detection in a short time and has serious insufficient cruising ability. The invention combines the underwater vehicle and the unmanned aerial vehicle into a whole, realizes amphibious large-range detection by utilizing the flexibility of the autonomous navigation unmanned aerial vehicle flying in the air, has strong maneuvering characteristics, is convenient for detection at any time, and meets the timeliness requirements in the fields of surveying and mapping and the like.
2. By utilizing GPS positioning and visual identification technologies, the unmanned aerial vehicle can autonomously return to an aircraft platform. The positions of the unmanned aerial vehicle and the recovery cabin stop platform are planned to a certain range by using a GPS positioning technology, and then the unmanned aerial vehicle is accurately arranged right above the recovery cabin stop platform of the underwater vehicle by using a visual identification technology so as to land.
3. The recovery cabin of the autonomous underwater vehicle can wirelessly charge the unmanned aerial vehicle. Traditional amphibious unmanned aerial vehicle generally adopts solar charging, and charge efficiency is low and receive environmental impact big. The unmanned aerial vehicle is charged in a wireless charging mode of the recovery cabin, the charging efficiency is high, the influence of the environment is small, multiple tasks can be executed in a short time, and the task execution rate is improved.
4. The unmanned aerial vehicle can transmit data to the underwater vehicle in a near water surface area through WIFI near distance, and then the underwater vehicle transmits the data outwards, so that the load of the unmanned aerial vehicle can be reduced, and the energy consumption is reduced.
5. After the unmanned aerial vehicle is recovered, the recovery cabin of the underwater vehicle is adsorbed by the electromagnet, so that the wireless charging efficiency and the stability of the unmanned aerial vehicle in the cabin can be well improved.
6. The invention has strong concealment, ensures the concealment of action by autonomous underwater navigation, meets the requirement of instant detection information by taking off and landing the unmanned aerial vehicle at any time, can realize single-point release and multipoint measurement, enlarges the application range of the amphibious unmanned aerial vehicle and has wide application prospect in ocean monitoring.
7. The invention has light design, flexible use and diversified functions, so that the invention can meet the requirements of a plurality of fields and provide new ideas for other inventions and designs.
Drawings
FIG. 1 three-dimensional structural schematic of an autonomous underwater vehicle
FIG. 2 is a schematic front view of an autonomous underwater vehicle
FIG. 3 is a schematic diagram of the three-dimensional structure of the recovery compartment (hatch door open) of an autonomous underwater vehicle (unmanned aerial vehicle)
FIG. 4 schematic three-dimensional structure of autonomous Underwater vehicle recovery pod (pod door open)
FIG. 5 is a front view semi-cut-away schematic view of an autonomous underwater vehicle recovery pod (pod door open)
FIG. 6 is a schematic top view of an autonomous underwater vehicle recovery pod (pod door open)
FIG. 7 schematic right side half section view of autonomous underwater vehicle recovery pod (pod door open)
FIG. 8 is a schematic view of the reducer structure
FIG. 9 schematic view of the hatch mechanism
FIG. 10 schematic three-dimensional structure of unmanned aerial vehicle
Fig. 11 schematic right view of unmanned aerial vehicle
Fig. 12 schematic bottom view of a drone
FIG. 13 is a schematic representation of step 1 of the process of the present invention
FIG. 14 is a schematic diagram of step 2 of the method of the present invention
FIG. 15 is a schematic view of step 3 of the method of the present invention
FIG. 16 is a schematic diagram of step 4 of the method of the present invention
FIG. 17 is a schematic diagram of step 5 of the method of the present invention
FIG. 18 is a schematic representation of step 6 of the method of the present invention
Description of reference numerals: 1-head segment; 2-battery compartment 1; 3-front auxiliary pushing section; 4-a propeller; 5-a recovery cabin; 6-control cabin 7-rear auxiliary pushing section; 8-battery compartment 2; 9-an antenna; 10-a main push section; 11-a front cabin; 12-middle cabin; 13-unmanned aerial vehicle 14-rear deck; 15-hatch door; 16-a water pumping device; 17-a buoyancy element; 18-two-dimensional code plastic sheet; 19-signal lamps; 20-a waterproof motor; 21-motor fixing plate; 22-a reducer; 23-a reduction shaft fixing plate; 24-a wireless charging device; 25-electronic sealed cabin end cover 26-electronic sealed cabin body; 27-brushless motor and propeller; 28-observation mechanism; 29-fuselage body; 30-a communication module; 31-an electronic sealed cabin (unmanned aerial vehicle) end cover 32-a cabin body 33 of the electronic sealed cabin (unmanned aerial vehicle) -an electromagnet; 34-charging mechanism
Detailed Description
Referring to fig. 1 to 18, the underwater vehicle is an improved underwater vehicle based on the 'mine torpedo' of the underwater vehicle autonomously developed by the inventor team, and mainly comprises a head section, a front auxiliary push section, a recovery cabin, a battery cabin, a rear auxiliary push section, a control section, an antenna and a main push section. The head section, the main push section, the auxiliary push section, the battery cabin, the control section and the antenna of the underwater vehicle are all known components and are connected in a common mode.
The underwater vehicle recovery cabin mainly comprises a cabin body, a buoyancy piece, an electronic sealed cabin (AUV), a cabin door mechanism, an unmanned aerial vehicle identification module, a charging device and a pumping device. The cabin body is made of aluminum alloy materials and is divided into a front cabin body, a middle cabin body and a rear cabin body, the three cabin bodies are cylindrical in appearance and coaxial, the front cabin body and the rear cabin body are mainly used for opening and closing cabin doors, and the middle cabin body is used for throwing, recovering and charging the unmanned aerial vehicle; the buoyancy piece is made of polyurethane materials, can be automatically polished through a space needing to be filled, is low in density and high in buoyancy, and plays a role in filling and fixing other devices in the cabin; the cabin door mechanism comprises a cabin door, a speed reducer, a motor and a speed reducer fixing plate, wherein the speed reducer is fixed on the front cabin/the rear cabin through the speed reducer fixing plate, one end of the speed reducer is connected with the motor, the other end of the speed reducer is connected with the cabin door, the motor drives the speed reducer, and the speed reducer drives the cabin door to open and close; the cabin door is made of nylon, the motor is a waterproof motor, and the cabin door is difficult to directly control to open and close by the motor due to high rotating speed of the motor, so that the motor is connected with the cabin door through the speed reducer, and the opening and closing of the cabin door can be better controlled; unmanned aerial vehicle identification module, including signal lamp and two-dimensional code thin slice, when unmanned aerial vehicle discernment two-dimensional code, through current visual identification technique, can discern the size of a dimension of two-dimensional code and the position of two-dimensional code, through comparing with experimental data, can roughly estimate out current unmanned aerial vehicle's height and position, then calculate current height and position and set for height difference and position difference between the height and the position that nothing in advance to control unmanned aerial vehicle's height and position. The signal lamps are directly pasted on the buoyancy piece, the four signal lamps are respectively located at four vertexes of a square, the color is one blue and three green, the unmanned aerial vehicle is directionally positioned through the existing visual identification technology, the two-dimension code plastic sheet is directly pasted right above the wireless charger, and the height and the position of the unmanned aerial vehicle are calculated through the unmanned aerial vehicle identification two-dimension code; the electronic seal cabin (AUV) is provided with a rubber O-shaped ring for national standard seal in a dynamic seal mode, is made of aluminum alloy materials, can be soaked in water for working, and is internally provided with a GPS (global positioning system) and a circuit board, wherein the GPS is used for positioning with the unmanned aerial vehicle mutually to assist the recovery of the unmanned aerial vehicle; the charging device comprises a wireless charger and an annular electromagnet, the wireless charger is sleeved in the electromagnet, the device adopts a wireless charger charging mode and is in close contact with a charging module of the unmanned aerial vehicle for charging, the wireless charger can be a commercially available wireless charger, the electromagnet is arranged on the outer ring of the charging device, and the electromagnet is adsorbed by a fixing device of the unmanned aerial vehicle to play a role in fixing the unmanned aerial vehicle, so that the stability of the unmanned aerial vehicle in a recovery cabin is improved; the pumping device adopts a small-sized pumping machine which is commercially available, and pumps out seawater entering the cabin body, so that the water in the cabin body is kept below a certain scale.
Unmanned aerial vehicle comprises fuselage body, unmanned aerial vehicle portion, electron sealed cabin (unmanned aerial vehicle), control mechanism, electrical power unit, observation mechanism, communication module, the mechanism that charges, the fixed establishment that charges. The carbon fiber plate observation device comprises a machine body, a positioning mechanism and a power supply mechanism, wherein the machine body is a circular carbon fiber plate, and the front end of the carbon fiber plate is fixedly connected with the observation mechanism; the carbon fiber engine body is fixedly connected with a carbon fiber engine arm at four equal points on the circumference of the carbon fiber plate of the engine body, and the carbon fiber engine arm is fixedly connected with the unmanned engine part; the electronic seal cabin (unmanned aerial vehicle) is made of an aluminum alloy material, is cylindrical in shape, is fixed below the carbon fiber plate, is internally used for placing a control mechanism and a power supply mechanism, and is provided with a rubber O-shaped ring for sealing in a dynamic seal mode; the control mechanism is fixedly arranged on the upper part of the electronic sealed cabin (unmanned aerial vehicle); the power supply mechanism is fixedly arranged at the lower part of the electronic sealed cabin (unmanned aerial vehicle); the observation mechanism is fixedly connected to the front end of the round carbon fiber plate through a screw; the communication module is fixedly connected to the center of the round carbon fiber plate in a sticking manner and is connected with the control mechanism and the power supply mechanism; the charging mechanism is directly adhered to the bottom of the power supply mechanism and directly contacts with a charging plate of a recovery cabin of the underwater vehicle to charge; the charging fixing mechanism is arranged at the bottom of the electronic seal cabin, is coaxial with the charging mechanism, is directly contacted with the underwater vehicle recovery cabin electromagnet, plays a role in fixing the unmanned aerial vehicle, and increases the stability of the unmanned aerial vehicle in the cabin.
The underwater vehicle recovery cabin mainly comprises a cabin body 11/12/14, a buoyancy member 17, an electronic sealed cabin (AUV)25/26, a cabin door mechanism 15 (figure 9), an identification module 18/19, a wireless charging device 24 and a pumping device 16. The cabin body is made of aluminum alloy materials and comprises a front cabin 11, a middle cabin 12 and a rear cabin 14, the three cabin bodies are connected through screws, and the shapes of the three cabin bodies are all cylinders; a cabin door mechanism 15 (figure 9) is arranged in the front cabin 11 and the rear cabin 14, and a water pumping device 16 is arranged right below the rear cabin; the buoyancy piece 17, the wireless charging device 24, the unmanned aerial vehicle identification module 18/19 and the electronic sealed cabin (AUV)25/26 are arranged in the middle cabin 12; the pumping device 16 adopts a small-sized water pump to pump out the seawater entering the middle cabin 12, so that the water in the cabin body is kept below a certain scale; the buoyancy piece 17 is irregular in shape, the main material of the buoyancy piece is polyurethane, the buoyancy piece can be polished by itself through a space to be filled, and the buoyancy piece plays a role in filling and fixing the electronic sealed cabin; the cabin door mechanism is mainly controlled by the matching of a waterproof motor 20 and a speed reducer 22, the motor drives the speed reducer, and then the speed reducer drives the cabin door to realize the opening and closing of the cabin door; the charging device 24 comprises a wireless charger and an annular electromagnet, the wireless charger is sleeved in the electromagnet, the device adopts a wireless charger charging mode and is in close contact with a charging module of the unmanned aerial vehicle for charging, the wireless charger can be a commercially available wireless charger, the electromagnet is arranged on the outer ring of the charging device, and the electromagnet is adsorbed by a fixing device of the unmanned aerial vehicle to play a role in fixing the unmanned aerial vehicle, so that the stability of the unmanned aerial vehicle in a recovery cabin is improved; the electronic seal cabin (AUV)25/26 is made of aluminum alloy materials, the electronic seal cabin (AUV) end cover is provided with the rubber O-shaped ring in a dynamic seal mode, the national standard seal mode is made of aluminum alloy materials, the electronic seal cabin (AUV) end cover can be soaked in water to work, a GPS and a circuit board are arranged in the electronic seal cabin (AUV) end cover, the GPS is used for mutually positioning with the unmanned aerial vehicle, and the underwater vehicle is assisted to recover the unmanned aerial.
Unmanned aerial vehicle 13 comprises fuselage body 29, unmanned aerial vehicle portion, electron sealed cabin (unmanned aerial vehicle) 31/32, control mechanism, power mechanism, observation mechanism 28, communication module 30, charging mechanism 34, the fixed establishment magnet 33 that charges. The carbon fiber plate observation device comprises a machine body, a positioning mechanism and a power supply mechanism, wherein the machine body is a circular carbon fiber plate, and the front end of the carbon fiber plate is fixedly connected with the observation mechanism; the carbon fiber engine body is fixedly connected with a carbon fiber engine arm at four equal points on the circumference of the carbon fiber plate of the engine body, and the carbon fiber engine arm is fixedly connected with the unmanned engine part; the electronic sealed cabin 31/32 is made of aluminum alloy materials, is cylindrical in shape, is fixed below the carbon fiber plate and is used for placing a control mechanism and a power supply mechanism (the control mechanism and the power supply mechanism are placed together, the number of the sealed cabins is reduced, and the load of the unmanned aerial vehicle is effectively reduced), and a rubber O-shaped ring is installed on an end cover of the electronic sealed cabin in a dynamic sealing manner to achieve national standard sealing; the control mechanism is fixedly arranged at the upper part of the electronic sealed cabin; the power supply mechanism is fixedly arranged at the lower part of the electronic sealed cabin and is provided with a power battery; the observation mechanism 28 is fixedly connected to the front end of the round carbon fiber plate and used for detection and identification; the communication module 30 is fixedly connected to the center of the round carbon fiber plate, a GPS and a wireless device are arranged in the communication module, the GPS is used for detecting and positioning the unmanned aerial vehicle, the wireless device is used for sending information collected when the unmanned aerial vehicle executes a task to an aircraft, and the communication module 30 is connected with the control mechanism and the power supply mechanism; the charging mechanism 3 is directly adhered to a circular groove at the bottom of the electronic sealed cabin 31/32 and directly contacts with the underwater vehicle recovery cabin charging device 24 for charging; fixed establishment magnet 33 that charges pastes in electron seal chamber 31/32 bottom slot, directly retrieves cabin electro-magnet contact with underwater vehicle, plays fixed unmanned aerial vehicle 13's effect, increases unmanned aerial vehicle 13 stability in the cabin.
Fig. 13-18 illustrate the workflow of the autonomous underwater vehicle (on board drone) of the present invention, and the following detailed description of fig. 13-18 refers to: FIG. 13: the autonomous underwater vehicle carries the unmanned aerial vehicle to navigate to a specified place, an underwater vehicle navigation system generates an electric signal 1 and sends the electric signal to a main control mechanism in a vehicle control cabin, and the control mechanism controls a propeller to float the vehicle to the water surface after receiving the electric signal 1; FIG. 14: when the control mechanism detects that the depth of the aircraft is 0, the control mechanism controls the cabin door mechanism to open the cabin door, and then the control mechanism sends a wireless signal 1 to the unmanned aerial vehicle; FIG. 15: the unmanned aerial vehicle receives the wireless signal 1, starts up the unmanned aerial vehicle, flies out of the recovery cabin, measures the height by the unmanned aerial vehicle observation device, and sends a wireless signal 2 to the wireless receiver of the aircraft after the height is met; after receiving the wireless signal 2, the wireless receiver sends an electric signal 2 to the aircraft control mechanism; FIG. 16: after the control mechanism receives the electric signal 2, the cabin door mechanism is controlled to close the cabin door and the propeller is controlled to submerge the aircraft below the water surface; FIG. 17: the underwater vehicle and the unmanned aerial vehicle simultaneously execute detection tasks in a specified area, and after the tasks are executed, the underwater vehicle and the unmanned aerial vehicle are recovered in a specified place. When the aircraft arrives at the place, the aircraft navigation system generates an electric signal 3 and sends the electric signal to the aircraft control mechanism, the control mechanism controls the propeller to float the aircraft to the water surface after receiving the electric signal 3, the control mechanism detects that the depth is 0 at the moment, and the cabin door mechanism is controlled to open the cabin door; the unmanned aerial vehicle returns to the upper part of the aircraft recovery cabin by using a vision technology and a GPS, and then is accurately positioned by using a signal module of the aircraft, so that the recovery of the unmanned aerial vehicle is realized; after recovery, the charging plate is charged, and an electric signal 4 generated after the electromagnet is adsorbed is sent to the aircraft control mechanism; FIG. 18: the aircraft control mechanism receives the electrical signal 4, controls the hatch door mechanism and the propeller: the hatch door is closed, the aircraft dives, and then advances to the next mission point to execute the next detection mission.
Claims (9)
1. An autonomous underwater vehicle capable of carrying and recovering an unmanned aerial vehicle comprises a head section (1), a first battery cabin (2), a front auxiliary push section (3), a control cabin (8), a rear auxiliary push section (7), a battery cabin (8), an antenna (9) and a main push section (10); the device is characterized by further comprising a recovery cabin (4), wherein the recovery cabin (4) is positioned between the front auxiliary pushing section (3) and the control cabin (8);
the recovery cabin (4) comprises a front cabin (11), a middle cabin (12), a rear cabin (14), a cabin door mechanism, a pumping device (16), a buoyancy piece (17), an electronic sealed cabin structure, a wireless charging device (24) and an identification module; the front cabin (11) is connected with the front auxiliary pushing section (3), the rear cabin (14) is connected with the control cabin (8), and cabin door mechanisms are arranged in the front cabin (11) and the rear cabin (14); the interior of the middle cabin (12) is a cavity, the electronic sealed cabin structure is positioned at the bottom of the cavity, a buoyancy piece (17) is arranged on the electronic sealed cabin structure, and a wireless charging device and an identification module are arranged on the buoyancy piece (17); buoyancy pieces (17) are arranged between the two sides of the electronic sealed cabin structure and the side wall of the middle cabin (12); the water pumping device (16) is positioned outside the middle cabin (12); unmanned aerial vehicle is located wireless charging device and identification module, accomplishes and puts in, retrieves and charges.
2. The autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicles according to claim 1, characterized in that the hatch mechanism comprises a waterproof motor (20) and a reducer (22), the reducer (22) is driven by the waterproof motor (20), and the hatch of the recovery cabin is driven by the reducer (22) to realize the opening and closing of the hatch.
3. The autonomous underwater vehicle on which a drone can be carried and recovered according to claim 1, characterized in that said wireless charging device (24) comprises a wireless charger and a ring electromagnet for the fixing device adsorption of the drone.
4. The autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicles according to claim 1, characterized in that said identification module comprises a signal lamp (19) and a two-dimensional code sheet (18), the signal lamp (19) being fixed to the buoyancy member (17), the two-dimensional code sheet being fixed to the wireless charger.
5. The autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicles according to claim 4, characterized in that said signal lights (19) allow the directional positioning of the unmanned aerial vehicle by means of existing visual recognition techniques; when four signal lamps were discerned to the camera, the deviation of the angle of the position of calculating signal lamp and signal lamp that sets for in advance, through the angular difference who calculates to control unmanned aerial vehicle's direction.
6. The autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicles according to claim 1, wherein the electronic capsule structure comprises an electronic capsule end cover (25) and an electronic capsule body (26), the electronic capsule end cover (25) is disposed on the electronic capsule body (26), a cavity is formed between the electronic capsule end cover and the electronic capsule body, a GPS and a control circuit board are installed inside the electronic capsule end cover and the electronic capsule body, and the GPS is used for positioning the unmanned aerial vehicle with each other and assisting the underwater vehicle in recovering the unmanned aerial vehicle 13; the control circuit board is used for controlling the motion of the unmanned aerial vehicle.
7. The autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicles according to claim 1, characterized in that the unmanned aerial vehicle placed in the middle compartment (12) comprises a brushless motor and propeller (27), an electronic capsule (25), a fuselage body (29), an unmanned aerial vehicle electronic capsule (30), a communication module (30) and a sighting mechanism (28); an unmanned aerial vehicle electronic sealed cabin (30) is arranged below the machine body (26), an electromagnet (33) and a charging mechanism (34) are arranged below the unmanned aerial vehicle electronic sealed cabin (30), the electromagnet (33) is adsorbed on an annular electromagnet of a charging device, and the charging mechanism (34) is matched with a wireless charger for charging; the unmanned aerial vehicle is characterized in that four corners of the unmanned aerial vehicle are respectively connected with a brushless motor and a propeller (27), a communication module (30) is arranged above a body (29), the communication module consists of a GPS (global positioning system) and a wireless device, the GPS is used for positioning the unmanned aerial vehicle, the wireless device is used for sending information collected when the unmanned aerial vehicle executes tasks to an aircraft, an observation mechanism (28) is arranged on the side surface of the unmanned aerial vehicle and consists of a miniature camera, and when the unmanned aerial vehicle takes off to execute the tasks, the camera is used for monitoring the; when the unmanned aerial vehicle is recovered, the camera is responsible for identifying a signal lamp and a two-dimensional code in the recovery cabin of the aircraft; when the unmanned aerial vehicle lands and returns to the aircraft recovery cabin, the wireless device of the communication module sends the information recorded on the water surface to the aircraft.
8. The autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicles according to claim 1, characterized in that the head section (1), the first battery compartment (2), the front auxiliary push section (3), the recovery compartment (5), the control compartment (8), the rear auxiliary push section (7), the second battery compartment (8), the antenna (9) and the main push section (10) are connected in sequence, and thrusters (4) are provided in the front auxiliary push section (3) and the rear auxiliary push section (7).
9. The unmanned aerial vehicle recovery method for the autonomous underwater vehicle capable of carrying and recovering the unmanned aerial vehicle according to claim 1, comprising the steps of:
step 1: the autonomous underwater vehicle carries the unmanned aerial vehicle to navigate to a specified place, an underwater vehicle navigation system generates an electric signal 1 and sends the electric signal to a main control mechanism in a vehicle control cabin, and the control mechanism controls a propeller to float the vehicle to the water surface after receiving the electric signal 1;
step 2: when the control mechanism detects that the depth of the aircraft is 0, the control mechanism controls the cabin door mechanism to open the cabin door, and then the control mechanism sends a wireless signal 1 to the unmanned aerial vehicle;
and step 3: the unmanned aerial vehicle receives the wireless signal 1, starts up the unmanned aerial vehicle, flies out of the recovery cabin, measures the height by the unmanned aerial vehicle observation device, and sends a wireless signal 2 to the wireless receiver of the aircraft after the height is met; after receiving the wireless signal 2, the wireless receiver sends an electric signal 2 to the aircraft control mechanism;
and 4, step 4: after the control mechanism receives the electric signal 2, the cabin door mechanism is controlled to close the cabin door and the propeller is controlled to submerge the aircraft below the water surface;
and 5: the underwater vehicle and the unmanned aerial vehicle simultaneously execute detection tasks in a specified area, and after the tasks are executed, the underwater vehicle and the unmanned aerial vehicle are recovered in a specified place. When the aircraft arrives at the place, the aircraft navigation system generates an electric signal 3 and sends the electric signal to the aircraft control mechanism, the control mechanism controls the propeller to float the aircraft to the water surface after receiving the electric signal 3, the control mechanism detects that the depth is 0 at the moment, and the cabin door mechanism is controlled to open the cabin door; the unmanned aerial vehicle returns to the upper part of the aircraft recovery cabin by using a vision technology and a GPS, and then is accurately positioned by using a signal module of the aircraft, so that the recovery of the unmanned aerial vehicle is realized; after recovery, the charging plate is charged, and an electric signal 4 generated after the electromagnet is adsorbed is sent to the aircraft control mechanism;
step 6: the aircraft control mechanism receives the electrical signal 4, controls the hatch door mechanism and the propeller: the hatch door is closed, the aircraft dives, and then advances to the next mission point to execute the next detection mission.
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