CN114802668A - AUV underwater autonomous recovery system and method - Google Patents
AUV underwater autonomous recovery system and method Download PDFInfo
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- CN114802668A CN114802668A CN202210459545.3A CN202210459545A CN114802668A CN 114802668 A CN114802668 A CN 114802668A CN 202210459545 A CN202210459545 A CN 202210459545A CN 114802668 A CN114802668 A CN 114802668A
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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
- 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
- B63G8/14—Control of attitude or depth
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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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- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an AUV underwater autonomous recovery system and method, belonging to the technical field of AUV recovery; the recovery dock cabin is arranged at the bottom of a body carrying the mother boat; the recovery of the AUV, locking and fixing, signal and data interaction and energy supply are realized through the recovery dock cabin; the AUV exposed part and the profile of the bottom of the body carrying the mother boat are ensured to be in an integrated streamline shape after recovery; the AUV is provided with a control system, a propeller, an ascent guide device, a posture adjusting device and a vision processing system. The invention adopts a conformal carrying type AUV (autonomous underwater vehicle) underwater autonomous recovery technology, takes the wing body fused underwater glider as an underwater butt joint platform, realizes the purpose of carrying the load on the premise of keeping or not greatly changing the overall streamlined hydrodynamic layout of the glider, improves the detection capability of the glider, improves the range of a small-sized aircraft, namely the AUV (autonomous underwater vehicle), and realizes the purposes of remote delivery, deep sea reconnaissance and the like.
Description
Technical Field
The invention belongs to the technical field of AUV (autonomous underwater vehicle) recovery, and particularly relates to an AUV underwater autonomous recovery system and method.
Background
AUV (autonomous Underwater vehicle) plays a great role in the aspects of ocean development, Underwater search and rescue and the like as an unmanned marine navigation device with wide application, high practicability and wide prospect, wherein the autonomous recovery technology of AUV is one of the key technologies for researching AUV. The underwater autonomous docking recovery process is more flexible, can be prevented from being influenced by landforms and marine attachments, is higher in operation efficiency, and is more applied to the autonomous recovery process of the AUV.
The wing body fuses glider under water and is fit for long-range navigation, and the noise is little, stealthy better, can carry out long-time navigation of hiding, but because its special appearance characteristic, compare in gyrator type glider, the wing body fuses glider under water mobility not enough, consequently accomplishes the purpose of exploring in a flexible way with the small-size navigation ware of the high mobility of driving entirely. The small-sized aircraft has high maneuverability and better scouting capability and carrying capability, but is limited by energy and motion modes, so that the small-sized aircraft cannot sail for a long distance. The invention provides a working mode for carrying an eight-drive high-mobility small aircraft by using a glider by combining the characteristics of a wing body integrating an underwater glider and the small aircraft.
The current research mainly focuses on recycling the rotary AUV, and most of recycling devices are in a bell mouth shape; in the prior art, a lifting table type AUV releasing and recovering device is disclosed, the device occupies a large volume, has large limitation on parameters such as the volume and the like of the recovered AUV, and is not suitable for recovering the AUV by a flat underwater glider.
Also there is partial research at present to the recovery release of wing body fusion glider under water to AUV, have among the prior art to adopt suspension type AUV to release recovery unit, but inside this kind of device was arranged in the glider, carry out the in-process that AUV released and retrieved, the original hydrodynamic force overall arrangement that the wing body fused glider under water changes great, increased navigation resistance, also weakened glider low-power consumption, advantages such as silence glider, influence the normal navigation efficiency and the navigation security of glider.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides an AUV underwater autonomous recovery system and method, which adopt a shape-preserving carrying type AUV underwater autonomous recovery technology, use a wing body fused underwater glider as an underwater butt joint platform, and realize the purpose of carrying loads on the premise of keeping or not greatly changing the hydrodynamic layout of the overall streamline of the glider.
The technical scheme of the invention is as follows: an AUV underwater autonomous recovery system comprises a carrying mother boat and an AUV, wherein a recovery dock cabin is arranged at the bottom of a body of the carrying mother boat; the recovery of the AUV, locking and fixing, signal and data interaction and energy supply are realized through the recovery dock cabin; the AUV exposed part and the molded surface of the bottom of the body carrying the mother boat are integrated into a streamline after recovery;
the AUV is provided with a control system, a propeller, an ascent guide device, a posture adjusting device and a vision processing system;
searching and determining the position of the underwater glider through the learning guide device, and controlling the AUV to sail to the position near the carrying mother boat through a control system;
the position and the posture of the AUV are adjusted through the posture adjusting device, so that the longitudinal speed of the AUV is consistent with that of the carrying mother boat;
recognizing the beacon of the recovery dock cabin through the vision processing system, calculating the position deviation of the beacon and the recovery dock cabin, and adjusting the position and the posture of the beacon according to the deviation;
through the propeller control AUV come-up is close to and retrieves the depressed place cabin, and after the AUV got into and retrieves the depressed place cabin, the locking device through retrieving the depressed place cabin fixes the AUV, accomplishes whole butt joint process.
The invention further adopts the technical scheme that: the carrying mother boat is a wing body integrated underwater glider.
The further technical scheme of the invention is as follows: retrieve the depressed place cabin and be uncovered formula structure, the AUV after retrieving inlays in retrieving the depressed place cabin, and the lower part of AUV is streamlined and carries on the smooth transition of mother ship fuselage profile and links up.
The further technical scheme of the invention is as follows: the opening of the recovery dock cabin is provided with a guide structure for guiding the AUV to enter the recovery dock cabin.
The further technical scheme of the invention is as follows: the beacon of the recovery dock chamber comprises an acoustic beacon and a light source beacon, wherein the acoustic beacon is used for a remote search stage, and the light source beacon is used for a close docking stage.
An AUV underwater autonomous recovery method is applied to a wing body fusion underwater glider and comprises the following specific steps:
step 1: after receiving a recovery instruction, the underwater glider sails to a sea area nearby for recovery to carry out periodic motion to wait for an AUV signal; the AUV sends a self signal through a self-learning guide device to search and determine the position of the underwater glider;
step 2: the underwater glider keeps the self-motion state unchanged, the AUV gradually moves to be close to the position right below the recovery dock cabin, and the longitudinal speed of the AUV is kept consistent with that of the glider by adjusting the self-position and the posture; then adjusting the position and the posture of the self body to carry out recovery;
and step 3: AUV discerns the light source beacon position on retrieving the depressed place cabin, calculate through self vision processing system and retrieve the positional deviation in depressed place cabin, carry out self position attitude adjustment according to the deviation, through the propeller control AUV come-up on the AUV and be close to retrieving the depressed place cabin, after the AUV got into to retrieve the depressed place cabin, fix the AUV through the locking device who retrieves the depressed place cabin, accomplish whole butt joint process.
Advantageous effects
The invention has the beneficial effects that: the invention innovatively designs a shape-preserving carrying working mode, and sails by carrying a small-sized Aircraft (AUV) through the wing body fused with the underwater glider; the recovery dock cabin is of an open structure, the lower part of the AUV is streamline, and after the AUV enters the dock cabin and is recovered, the shape of the lower part of the AUV is smoothly transited with the shape of the bottom of the underwater glider, so that the shape preserving effect is achieved, and the integrity of the shape of the glider is ensured to the maximum extent; the purpose of carrying the load is realized on the premise of keeping or not greatly changing the overall linear hydrodynamic layout of the glider. The working mode utilizes the advantages of long range, low power consumption, low noise and good invisibility of the glider, combines the maneuverability and underwater exploration capability of a small AUV, and solves the problem that the carrying space of the underwater glider fused with a flat wing body is limited compared with a missile shooting bin mode; on the other hand, compared with a mounting mode, the invention effectively optimizes the appearance, reduces the influence of the small AUV as the mounting on the hydrodynamic layout of the glider, and realizes the aims of remote delivery and deep sea exploration.
In the embodiment of the invention, a small eight-wheel drive aircraft is used as a carrying aircraft to finish underwater exploration. Compared with the cabin installed inside the glider in the past, the flat underwater glider carries a small-sized aircraft, the carrying technology keeps the streamline shape of the glider, and in order to change the hydrodynamic layout of the glider, the underwater exploration task can be well completed by the high maneuverability of the small-sized aircraft while the long-range, low-power consumption and mute stealth navigation task is completed. Therefore, the system not only improves the detection capability of the glider, but also improves the range of the small aircraft, namely the AUV, and achieves the purposes of remote delivery, deep sea reconnaissance and the like.
Drawings
FIG. 1 is a schematic view of a conformal piggyback recovery apparatus;
FIG. 2 is a schematic view of underwater sailing of a conformal cargo glider;
FIG. 3 is a schematic view of the small aircraft operating off glider;
FIG. 4 is a schematic view of a small vehicle underwater recovery;
description of reference numerals: 1. underwater glider, 2.AUV, 3. recovery dock 3.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1 to 3, the autonomous underwater vehicle recovery system of the present embodiment includes a wing-body integrated underwater glider 1 and an AUV2, wherein a recovery dock cabin 3 is disposed at the bottom of the body of the underwater glider 1;
the recovery dock cabin 3 is an open structure, and the recovered AUV2 is embedded in the recovery dock cabin; the recovery and locking fixation of the AUV2, signal and data interaction and energy supply are realized through the recovery dock chamber 3; ensuring that the exposed part of the AUV2 and the profile of the bottom of the underwater glider 1 are integrated into a streamline shape after recovery; the beacons of the recovery bay 3 include an acoustic beacon for the remote search phase and a light beacon for the close docking phase.
The AUV2 is provided with a control system, a propeller, a learning guide device, a posture adjusting device and a vision processing system;
searching and determining the position of the underwater glider through the learning guide device, and controlling the AUV to sail to the position near the carrying mother boat through a control system; the position and the posture of the AUV are adjusted through the posture adjusting device, so that the longitudinal speed of the AUV is consistent with that of the carrying mother boat; recognizing the beacon of the recovery dock cabin through the vision processing system, calculating the position deviation of the beacon and the recovery dock cabin, and adjusting the position and the posture of the beacon according to the deviation; through the propeller control AUV come-up is close to and retrieves the depressed place cabin, and after the AUV got into and retrieves the depressed place cabin, the locking device through retrieving the depressed place cabin fixes the AUV, accomplishes whole butt joint process.
Referring to fig. 4, the present embodiment provides a conformal embarkation type underwater recovery technology for an AUV, and the recovery of the AUV is completed by a recovery bay built in a submarine body. The internal installation of the lower part of the mother sports boat is used for recovering the dock cabin as a recovery end, the AUV is used as a control carrier, the whole recovery process is divided into three stages of homing, adjustment and butt joint, and finally the AUV enters the recovery dock cabin under the action of a self control system to complete the whole recovery process.
A homing section: from the beginning of the AUV ending the underwater operation preparation to enter the recovery orbit to the end of the AUV reaching the vicinity of the underwater glider. When the recovery operation is needed, the underwater glider sails to the sea area near the recovery area to carry out periodic motion to wait for an AUV signal. After the AUV finishes underwater operation, the AUV sends a self signal through the self learning guide device to search and determine the position of the underwater glider, and the recovery dock cabin is loaded with a sound beacon. And planning the navigation track of the underwater glider through the received information.
Adjusting section: in the stage, the underwater glider keeps the self-moving state unchanged, the AUV gradually moves to be close to the position under the recovery device, the self position and the posture are continuously adjusted, the longitudinal speed of the AUV kept in the glider is consistent, and the self position and the posture are adjusted at the same time to carry out recovery.
And (3) butt joint: and when the AUV finishes self position and posture adjustment and the speed is suitable for butt joint, starting butt joint movement. AUV discerns through the light source position to recovery unit on, calculates and retrieves the positional deviation in depressed place cabin through self vision processing system, carries out self position attitude adjustment according to the deviation, and propeller control AUV come-up through AUV on is close to retrieves the depressed place cabin, and after AUV got into and retrieves the depressed place cabin, fixing AUV through the locking device who retrieves the depressed place cabin, accomplish whole butt joint process.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that those skilled in the art may make variations, modifications, substitutions and alterations within the scope of the present invention without departing from the spirit and scope of the present invention.
Claims (6)
1. The utility model provides an AUV is autonomic recovery system under water which characterized in that: the recovery dock cabin is arranged at the bottom of a body of the carrying mother boat; the recovery of the AUV, locking and fixing, signal and data interaction and energy supply are realized through the recovery dock cabin; the AUV exposed part and the profile of the bottom of the body carrying the mother boat are ensured to be in an integrated streamline shape after recovery;
the AUV is provided with a control system, a propeller, an ascent guide device, a posture adjusting device and a vision processing system;
searching and determining the position of the underwater glider through the learning guide device, and controlling the AUV to sail to the position near the carrying mother boat through a control system;
the position and the posture of the AUV are adjusted through the posture adjusting device, so that the longitudinal speed of the AUV is consistent with that of the carrying mother boat;
recognizing the beacon of the recovery dock cabin through the vision processing system, calculating the position deviation of the beacon and the recovery dock cabin, and adjusting the position and the posture of the beacon according to the deviation;
through the propeller control AUV come-up is close to and retrieves the depressed place cabin, and after the AUV got into and retrieves the depressed place cabin, the locking device through retrieving the depressed place cabin fixes the AUV, accomplishes whole butt joint process.
2. The AUV underwater autonomous recovery system of claim 1, wherein: the carrying mother boat is a wing body integrated underwater glider.
3. The AUV underwater autonomous recovery system of claim 1, wherein: retrieve the depressed place cabin and be uncovered formula structure, the AUV after retrieving inlays in retrieving the depressed place cabin, and the lower part of AUV is streamlined and carries on the smooth transition of mother ship fuselage profile and links up.
4. The AUV underwater autonomous recovery system of claim 3, wherein: the opening of the recovery dock cabin is provided with a guide structure for guiding the AUV to enter the recovery dock cabin.
5. The AUV underwater autonomous recovery system of claim 1, wherein: the beacon of the recovery dock chamber comprises an acoustic beacon and a light source beacon, wherein the acoustic beacon is used for a remote search stage, and the light source beacon is used for a close docking stage.
6. A method for autonomous recovery by using the AUV underwater autonomous recovery system of claim 1, applied to a wing-body-fused underwater glider, is characterized by comprising the following specific steps:
step 1: after receiving a recovery instruction, the underwater glider sails to a sea area nearby for recovery to carry out periodic motion to wait for an AUV signal; the AUV sends a self signal through a self-learning guide device to search and determine the position of the underwater glider;
step 2: the underwater glider keeps the self-motion state unchanged, the AUV gradually moves to be close to the position right below the recovery dock cabin, and the longitudinal speed of the AUV is kept consistent with that of the glider by adjusting the self-position and the posture; then adjusting the position and the posture of the self body to carry out recovery;
and step 3: AUV discerns the light source beacon position on retrieving the depressed place cabin, calculate through self vision processing system and retrieve the positional deviation in depressed place cabin, carry out self position attitude adjustment according to the deviation, through the propeller control AUV come-up on the AUV and be close to retrieving the depressed place cabin, after the AUV got into to retrieve the depressed place cabin, fix the AUV through the locking device who retrieves the depressed place cabin, accomplish whole butt joint process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210459545.3A CN114802668A (en) | 2022-04-27 | 2022-04-27 | AUV underwater autonomous recovery system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210459545.3A CN114802668A (en) | 2022-04-27 | 2022-04-27 | AUV underwater autonomous recovery system and method |
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| CN114802668A true CN114802668A (en) | 2022-07-29 |
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| CN202210459545.3A Pending CN114802668A (en) | 2022-04-27 | 2022-04-27 | AUV underwater autonomous recovery system and method |
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2022
- 2022-04-27 CN CN202210459545.3A patent/CN114802668A/en active Pending
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| CN111731458A (en) * | 2020-06-22 | 2020-10-02 | 西北工业大学 | Push-jet AUV release device based on underwater glider |
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