CN113232779A - Control system of honeycomb AUV cluster laying and recycling device - Google Patents
Control system of honeycomb AUV cluster laying and recycling device Download PDFInfo
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- CN113232779A CN113232779A CN202110626369.3A CN202110626369A CN113232779A CN 113232779 A CN113232779 A CN 113232779A CN 202110626369 A CN202110626369 A CN 202110626369A CN 113232779 A CN113232779 A CN 113232779A
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- auv
- catamaran
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
- B63B23/48—Use of lowering or hoisting gear using winches for boat handling
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Abstract
The invention discloses a control system of a honeycomb AUV cluster distribution and recovery device, which comprises: the central control unit controls the coordinated movement between the catamaran movement control unit and the AUV in a wireless control mode, so that the AUV is controlled to be accurately butted with the horn mouth-AUV centering unit to finish the recovery work of the AUV. The system controls the real-time positions of the catamaran and the AUV, and realizes the accurate centering of the AUV and the bell mouth device through the AUV-bell mouth centering system.
Description
Technical Field
The invention relates to the technical field of AUV (autonomous underwater vehicle) recovery, in particular to a control system of a honeycomb AUV cluster laying and recovering device.
Background
With the rapid advance of computer technology, artificial intelligence technology, micro positioning equipment, command and control hardware and logic and software technology, the AUV is developed rapidly at present, the AUV gets rid of the tradition mooring rope, and the common recovery method is easy to damage the AUV due to various sensors on the AUV. Secondly receive influence such as positioning accuracy and complicated sea state, for preventing that the AUV from damaging because of the collision, current main recovery mode is once only to retrieve an AUV device, also can only singly retrieve in proper order once to retrieving a plurality of AUVs, has greatly reduced recovery efficiency, needs charge, the maintenance to the AUV after retrieving simultaneously, and the collection of information. The traditional cloth placing mode is still complicated by performing cloth placing operation after a series of operations. The current requirements of cluster type distribution and recovery of AUV cannot be met.
Disclosure of Invention
According to the problems in the prior art, the invention discloses a control system of a honeycomb AUV cluster arrangement and recovery device, which comprises a central control unit, a bell mouth-AUV centering unit and a catamaran motion control unit, wherein the central control unit controls the coordinated motion between the catamaran motion control unit and an AUV in a wireless control mode so as to control the precise butt joint of the AUV and the bell mouth-AUV centering unit to complete the recovery work of the AUV;
the central control unit comprises a power supply unit, a main control chip, a wireless remote control unit and an element control unit, wherein the power supply unit and the wireless remote control unit are connected with the main control chip, the wireless remote control unit controls the motion and steering process of the double-pod propeller of the catamaran, and the element control unit controls the coordinated operation of elements of all components of the system;
the bell-mouth-AUV centering unit comprises a main winch, a sliding table screw rod, an auxiliary winch, a cluster recovery device, a bell-mouth device and a distribution baffle net, wherein the main winch controls the cluster recovery device to lift and fall so that the cluster recovery device reaches a proper underwater height; a horizontal servo motor in the sliding table lead screw is arranged at one end of the horizontal lead screw and is used for driving the horizontal movement of the bell mouth device, a vertical servo motor in the sliding table lead screw is arranged at one end of the vertical lead screw and is used for driving the vertical movement of the bell mouth device, and the horizontal servo motor and the vertical servo motor drive the horizontal vertical movement of the sliding table lead screw so as to control the alignment of the bell mouth device and each cluster recovery cabin hatch; the auxiliary winch controls the lifting of the distribution blocking net to enable the AUV to successfully complete the actual distribution process;
the control unit for the motion of the catamaran comprises a dual-pod propeller, a wireless control transmission module, a Beidou positioning module, a USBL underwater positioning and orientation instrument and a battery pack of the dual-pod propeller, wherein the dual-pod propeller is positioned at the tail part of a cabin of the catamaran, the wireless control transmission module and the Beidou positioning module send position information of the catamaran to the central control unit in real time, the USBL underwater positioning and orientation instrument is positioned at the bottom of a honeycomb type recovery cabin body and is used for underwater positioning of the catamaran in an underwater environment, and the battery pack of the dual-pod propeller is positioned in cabins at two sides of the catamaran and is used for providing energy for the dual-pod propeller; the double-pod propeller comprises a slewing mechanism and a propeller, wherein the slewing mechanism drives the propeller to complete slewing action, and the propeller provides driving force for the whole catamaran motion control unit.
The bellmouth-AUV centering unit recovers the AUV by adopting a coarse adjustment and fine adjustment method:
reading real-time position information of the catamaran acquired by the USBL underwater positioning and orienting instrument, and adjusting the relative position of the catamaran and the AUV to be a set value X1(can be 30 meters) range, and then the positions of the catamaran and the AUV are adjusted again through the Beidou positioning module, and the positions of the catamaran and the AUV are adjusted to be a second set value X2(can be 3 meters) range;
monitoring the position of the AUV through an underwater high-definition camera on the catamaran, finely adjusting the positions of the catamaran and the AUV, and finely adjusting the positions of the catamaran and the AUV to a position suitable for recovery;
when the AUV reaches the centered position of the flare barrel, it passes through to the flare barrel and into a single recovery compartment by its own motion.
After the recovery of a single AUV is finished, if the recovery work of the AUV is continued, the sliding table lead screw adjusts the recovery work of the bell-mouth cylindrical structure on the plurality of AUVs again, and after the recovery work of the plurality of AUVs is finished, the main winch lifts the cluster type recovery cabin and the double-pod propeller of the catamaran moves to bring the cluster type recovery cabin and the double-pod propeller to the shore to finish the recovery work.
When the honeycomb AUV cluster distribution and recovery device performs distribution work, the main winch puts the cluster recovery cabin into water, then the grippers in the single recovery cabin are loosened, meanwhile, the auxiliary winch works to lift the blocking net and move the AUV out of the cabin to complete the distribution work.
Due to the adoption of the technical scheme, the control system of the honeycomb AUV cluster deployment and recovery device provided by the invention can be used for simultaneously recovering and deploying a plurality of AUVs, can realize the charging, maintenance and signal acquisition of the AUVs by depending on a catamaran as a carrier, is simple to operate, can accurately complete the cluster recovery and subsequent deployment of the AUVs, can effectively improve the economy and efficiency of AUV recovery, has high recovery and deployment efficiency, and can effectively improve the AUV recovery efficiency and economy.
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 block diagram of a control system according to the present invention;
FIG. 2 is a logic diagram of AUV-catamaran capture according to the present invention;
FIG. 3 is a logic diagram of a bell mouth-AUV positioning and centering system of the present invention;
FIG. 4 is a schematic structural diagram of a flare-AUV centering unit according to the present invention;
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
the control system of the honeycomb AUV cluster arrangement and recovery device shown in FIG. 1 specifically comprises a central control unit, a bell-mouth AUV centering unit and a catamaran motion control unit. The central control unit controls the bell-AUV centering unit and the catamaran motion control unit through wireless signals. The system controls the real-time positions of the catamaran and the AUV, and realizes the accurate centering of the AUV and the bell mouth device through the AUV-bell mouth centering system.
The central control unit comprises a power supply unit, a main control chip, a wireless remote control unit and an element control unit, wherein the power supply unit and the wireless remote control unit are connected with the main control chip, the wireless remote control unit controls the motion and steering process of the double-pod propeller of the catamaran, and the element control unit controls the coordinated operation of elements of all components of the system.
As shown in fig. 4, the bell-mouth-AUV centering unit includes a main hoist 7.1, a sliding table screw 7.5, an auxiliary hoist 7.3, a cluster recovery device, a bell-mouth device (a bell-mouth cylindrical structure 7.2 and a bell-mouth structure 7.4) and a distribution baffle net, and the main hoist controls the lifting and falling of the cluster recovery device, so that the cluster recovery device reaches a proper height in water; a horizontal servo motor in the sliding table lead screw is arranged at one end of the horizontal lead screw and is used for driving the horizontal movement of the bell mouth device, a vertical servo motor in the sliding table lead screw is arranged at one end of the vertical lead screw and is used for driving the vertical movement of the bell mouth device, and the horizontal servo motor and the vertical servo motor drive the horizontal vertical movement of the sliding table lead screw so as to control the alignment of the bell mouth device and each cluster recovery cabin hatch; the auxiliary winch controls the lifting of the distribution blocking net to enable the AUV to successfully complete the actual distribution process.
The catamaran motion control unit comprises a dual-pod propeller, a wireless control transmission module, a Beidou positioning module, a USBL underwater positioning and orienting instrument and a battery pack of the dual-pod propeller. The dual-pod thruster is positioned at the tail part of a cabin of the catamaran, the wireless control transmission module and the Beidou positioning module send position information of the catamaran to the central control unit in real time, the USBL underwater positioning and orienting instrument is positioned at the bottom of the honeycomb type recovery cabin body and is used for underwater positioning the catamaran in an underwater environment, and battery packs of the dual-pod thruster are positioned in the cabins at two sides of the catamaran and are used for providing energy for the dual-pod thruster; the double-pod propeller comprises a slewing mechanism and a propeller, wherein the slewing mechanism drives the propeller to complete slewing action, and the propeller provides driving force for the whole catamaran motion control unit.
Further, as shown in fig. 2 and 2, the flare-AUV centering unit recovers the AUV by using a coarse adjustment method and a fine adjustment method, and the specific method includes the following steps:
1) the relative position of the USBL module and the AUV can be adjusted to be X through the motion of the catamaran by the information provided by the USBL module1(can be 30 meters), then the positions of the catamaran and the AUV are adjusted again through the Beidou positioning module, and the positions of the catamaran and the AUV are adjusted to be X2(which may be 3 meters).
2) And then monitoring the position of the AUV through an underwater high-definition camera on the catamaran, realizing fine adjustment of the catamaran and the AUV, and fine adjusting the positions of the catamaran and the AUV to the position suitable for recovery.
The invention discloses a control system of a honeycomb AUV cluster distribution and recovery device, which is built by taking a main control chip as a main controller and specifically comprises the following contents:
1. the main control chip controls the lifting action of the cluster type recovery cabin through the main winch, and the water enters and exits from the cabin body so as to complete the subsequent AUV recovery and distribution work
2. The main control chip completes the positioning and centering of the horn mouth and the AUV through the sliding table lead screw. The main lifting loop controls the winch to take up and pay off the mooring rope, and the hoisting and paying off of the rope net type AUV device are achieved.
3. The main control chip completes the positioning and centering of the horn mouth and the AUV through the sliding table lead screw, and the double-pod propeller is controlled through the wireless control module to complete the rotation of the rotation mechanism and the propulsion action of the propeller.
4. The main control chip realizes the butt joint of the honeycomb-shaped cluster laying and recycling device and the AUV through position information and longitude and latitude provided by the USBL and the Beidou positioning module.
5. The main control chip can monitor and adjust the position difference between the AUV and the cluster type recovery cabin in real time through analog quantity input of the monitoring camera, and the cluster type recovery cabin and the AUV are accurately butted under the control of the central control unit.
Furthermore, when the AUV reaches the centering position of the bell mouth, the AUV smoothly enters a single recovery cabin through the bell mouth device through the self-movement of the AUV; when the AUV enters the single recovery cabin, the elastic gripping clamp of the single recovery cabin senses that the AUV enters the single recovery cabin, and the elastic gripping clamp clamps the AUV to finish the recovery work of the single AUV.
Further, after the recovery of a single AUV is finished, if the recovery work of the AUV is continued, the screw rod sliding table adjusts the positions of the bell mouth and the recovery cabin again, and then the cluster recovery work is finished on a plurality of AUV devices. After the recovery work of the AUVs is finished, the main winch lifts the cluster type recovery cabin, and the double-pod propeller of the catamaran moves to bring the cluster type recovery cabin to the shore to finish the recovery work. When the honeycomb AUV cluster distribution and recovery device performs distribution work, the main winch puts the cluster recovery cabin into water, then the grippers in the single recovery cabin are loosened, the auxiliary winch works to lift the blocking net, and the AUV moves out of the cabin to finish the distribution work.
Example (b): the recycling and laying of the control system of the honeycomb AUV cluster laying and recycling device can be as follows:
1. in the recovery stage of the honeycomb type AUV recovery device, the coarse adjustment of the catamaran motion control system and the AUV is realized by utilizing the motion of the catamaran hull and the motion of the AUV.
2. In the recovery process of the honeycomb type AUV recovery device, the AUV enters the cluster type recovery cabin through the horn mouth device by utilizing the positioning and centering of the horn mouth-AUV, and the elastic grasping clamp in the single recovery cabin grasps to complete the recovery work of the AUV. When the recovery work of a plurality of AUVs is finished, the positioning and centering system of the horn mouth-AUV sequentially positions and centers each cabin.
3. In the process of arranging the honeycomb type AUV recovery device, the auxiliary winch lifts the blocking net, the elastic gripping clamp in the single recovery cabin is loosened, and the AUV exits from the cabin to finish the arrangement work of the AUV.
4. The horn mouth-AUV positioning and centering logic in the honeycomb AUV recovery device is as follows:
1) when the AUV enters the recovery range of the cluster recovery device, the central control system controls the screw rod sliding table to enable the bell mouth and the single recovery cabin to be centered.
2) After the bell mouth and a single recovery cabin are centered, the central control system controls the AUV to complete AUV-bell mouth positioning and centering, if the AUV cannot complete positioning and centering, the AUV readjusts the position relation with the bell mouth until the positioning and centering are successful.
3) After the AUV and the bell mouth are successfully positioned and centered, the AUV enters the single recovery cabin through the bell mouth, and then the elastic gripping clamp in the single recovery cabin grips to complete the recovery work of the AUV.
4) If a plurality of AUVs carry out the recovery work, the position of the horn mouth is adjusted through the sliding table lead screw, and the horn mouth and the next cabin are centered so as to complete the subsequent recovery work.
Compared with the background technology, the invention has the following beneficial effects:
1) the invention relies on the movement of the catamaran, and the positioning module is matched with the movement of the AUV, so that the butt joint precision in the recovery process can be greatly improved.
2) The control method and the system can realize the distribution and recovery operation of a plurality of AUV devices at one time and rely on a catamaran. And the charging, maintenance and information acquisition work of the AUV can be realized. Greatly improving the efficiency of laying and recovering.
3) The AUV-bell mouth centering device can reduce the difficulty in the AUV recovery process and improve the recovery efficiency. Meanwhile, the system is safe and simple to operate, does not need to manually arrange and recover the AUV, and has good economic benefit.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. A control system of a honeycomb AUV cluster arrangement and recovery device is characterized by comprising: the system comprises a central control unit, a bell mouth-AUV centering unit and a catamaran motion control unit, wherein the central control unit controls the coordinated motion between the catamaran motion control unit and an AUV in a wireless control mode so as to control the AUV to be accurately butted with the bell mouth-AUV centering unit to complete the recovery work of the AUV;
the central control unit comprises a power supply unit, a main control chip, a wireless remote control unit and an element control unit, wherein the power supply unit and the wireless remote control unit are connected with the main control chip, the wireless remote control unit controls the motion and steering process of the double-pod propeller of the catamaran, and the element control unit controls the coordinated operation of elements of all components of the system;
the bell-mouth-AUV centering unit comprises a main winch, a sliding table screw rod, an auxiliary winch, a cluster recovery device, a bell-mouth device and a distribution baffle net, wherein the main winch controls the cluster recovery device to lift and fall so that the cluster recovery device reaches a proper underwater height; a horizontal servo motor in the sliding table lead screw is arranged at one end of the horizontal lead screw and is used for driving the horizontal movement of the bell mouth device, a vertical servo motor in the sliding table lead screw is arranged at one end of the vertical lead screw and is used for driving the vertical movement of the bell mouth device, and the horizontal servo motor and the vertical servo motor drive the horizontal vertical movement of the sliding table lead screw so as to control the alignment of the bell mouth device and each cluster recovery cabin hatch; the auxiliary winch controls the lifting of the distribution blocking net to enable the AUV to successfully complete the actual distribution process;
the control unit for the motion of the catamaran comprises a dual-pod propeller, a wireless control transmission module, a Beidou positioning module, a USBL underwater positioning and orientation instrument and a battery pack of the dual-pod propeller, wherein the dual-pod propeller is positioned at the tail part of a cabin of the catamaran, the wireless control transmission module and the Beidou positioning module send position information of the catamaran to the central control unit in real time, the USBL underwater positioning and orientation instrument is positioned at the bottom of a honeycomb type recovery cabin body and is used for underwater positioning of the catamaran in an underwater environment, and the battery pack of the dual-pod propeller is positioned in cabins at two sides of the catamaran and is used for providing energy for the dual-pod propeller; the double-pod propeller comprises a slewing mechanism and a propeller, wherein the slewing mechanism drives the propeller to complete slewing action, and the propeller provides driving force for the whole catamaran motion control unit.
2. The control system of claim 1, wherein: the bellmouth-AUV centering unit recovers the AUV by adopting a coarse adjustment and fine adjustment method:
reading real-time position information of the catamaran acquired by the USBL underwater positioning and orienting instrument, and adjusting the relative position of the catamaran and the AUV to be a set value X1Within the range, the positions of the catamaran and the AUV are adjusted again through the Beidou positioning module, and the positions of the catamaran and the AUV are adjusted to the second positionTwo set values X2Within the range;
the position of the catamaran and the AUV is finely adjusted by monitoring the position of the AUV through an underwater high-definition camera on the catamaran, and the catamaran and the AUV are finely adjusted to be suitable for recycling.
3. The control system of claim 1, wherein: when the AUV reaches the centered position of the flare barrel, it passes through to the flare barrel and into a single recovery compartment by its own motion.
4. The control system of claim 3, wherein: after the recovery of a single AUV is finished, if the recovery work of the AUV is continued, the sliding table lead screw adjusts the recovery work of the bell-mouth cylindrical structure on the plurality of AUVs again, and after the recovery work of the plurality of AUVs is finished, the main winch lifts the cluster type recovery cabin and the double-pod propeller of the catamaran moves to bring the cluster type recovery cabin and the double-pod propeller to the shore to finish the recovery work.
5. The control system of claim 3, wherein: when the honeycomb AUV cluster distribution and recovery device performs distribution work, the main winch puts the cluster recovery cabin into water, then the grippers in the single recovery cabin are loosened, meanwhile, the auxiliary winch works to lift the blocking net and move the AUV out of the cabin to complete the distribution work.
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| CN202110626369.3A CN113232779A (en) | 2021-06-04 | 2021-06-04 | Control system of honeycomb AUV cluster laying and recycling device |
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| CN202110626369.3A CN113232779A (en) | 2021-06-04 | 2021-06-04 | Control system of honeycomb AUV cluster laying and recycling device |
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