CN115384736A - Active-passive AUV (autonomous underwater vehicle) underwater docking recovery system and method - Google Patents
Active-passive AUV (autonomous underwater vehicle) underwater docking recovery system and method Download PDFInfo
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- CN115384736A CN115384736A CN202211014006.5A CN202211014006A CN115384736A CN 115384736 A CN115384736 A CN 115384736A CN 202211014006 A CN202211014006 A CN 202211014006A CN 115384736 A CN115384736 A CN 115384736A
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- 238000011084 recovery Methods 0.000 title claims abstract description 155
- 238000003032 molecular docking Methods 0.000 title claims abstract description 62
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention discloses an active and passive combined AUV (autonomous underwater vehicle) underwater butt joint recovery system and method, belonging to the field of AUV underwater recovery; the underwater docking platform comprises a table type underwater docking platform, an angle adjusting and supporting module, a recovery frame, a power supply module and a control cabin; the recovery frame is arranged on the desk type underwater docking platform through an angle adjusting and supporting module and is used as an AUV recovery cabin; the angle adjusting and supporting module is controlled by the control bin, and performs pitching or horizontal angle adjustment on the recovery frame to complete butt joint recovery with the AUV; the power supply module provides electric energy for the whole system. The underwater butt joint recovery device of the AUV is designed into an integral module in a centralized manner, has simple structure and flexible direction change, is easy to realize and modify, and can carry out the underwater butt joint recovery of the AUV without a complicated and expensive mechanical structure.
Description
Technical Field
The invention belongs to the field of underwater recovery of AUV (autonomous underwater vehicle), and particularly relates to an active-passive AUV underwater butt joint recovery system and method.
Background
In order to fully develop, utilize and protect marine environmental resources, autonomous Underwater Vehicles (AUVs) which are flexible in action, rich in functions, accurate and rapid in data transmission and carry energy by themselves are widely applied to the aspects of Underwater resource exploration, water surface and Underwater engineering development and the like.
The AUV carries energy, does not need a water surface platform to cooperate for a long time during working, and can realize accurate fixed-point detection and monitoring tasks through a power device equipped by the AUV. The AUV cannot sail for a long time due to the restriction of battery technology, and after a task period is completed, the AUV needs to upload data and download tasks, so that the AUV needs to be recovered so as to perform energy supplement, data interaction, guarantee, maintenance and other work.
The underwater environment is complex and changeable, noise interference is numerous, and safety and accuracy of underwater recovery are greatly influenced. The recovery methods commonly used today are: the method comprises the following steps of suspension capture rope butt joint, fixed butt joint rod recovery, underwater platform sitting type butt joint and conical guide cover recovery. The guide cover is simple in recycling structure, high in recycling efficiency and low in manufacturing cost, and is widely applied to underwater recycling butt joint of the AUV. However, the traditional guide cover is fixed on the seabed, the position and the direction of the guide cover are fixed, the AUV can only enter the guide cover in the fixed direction and the fixed position, and the recovery failure rate is high. In order to efficiently and reliably complete the AUV underwater recovery and docking task, the AUV underwater docking recovery system with the active and passive combination is provided, the AUV is recovered by changing the angle and the position of the guide cover, and the recovery success rate of the AUV is greatly improved.
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 active-passive AUV underwater docking recovery system and method, a desk type underwater recovery platform is used as a base, a recovery device adopts a guide cover recovery frame, all recovery components are arranged on the desk type underwater docking platform, and the system is simple in composition, reasonable in layout, low in power consumption, high in reliability and good in recovery precision.
The technical scheme of the invention is as follows: an active-passive AUV (autonomous underwater vehicle) underwater docking recovery system comprises a table type underwater docking platform, an angle adjusting and supporting module, a recovery frame, a power supply module and a control cabin;
the recovery frame is arranged on the table type underwater docking platform through an angle adjusting and supporting module and is used as an AUV recovery cabin; the angle adjusting and supporting module is controlled by the control bin, and performs pitching or horizontal angle adjustment on the recovery frame to complete butt joint recovery with the AUV; the power supply module provides electric energy for the whole system.
The invention further adopts the technical scheme that: also included is a transducer for emitting an acoustic locating signal.
The further technical scheme of the invention is as follows: the angle adjusting and supporting module comprises a pitching adjusting module and a horizontal adjusting module, the horizontal adjusting module is rotatably connected with the table type underwater docking platform, and the recovery frame is arranged on the horizontal adjusting module through the pitching adjusting module; the horizontal rotation angle of the recovery frame is adjusted by the horizontal adjusting module, and the pitching angle of the recovery frame is adjusted by the pitching adjusting module.
The invention further adopts the technical scheme that: the horizontal adjusting module comprises a horizontal steering platform, a rotating column and a motor, wherein the horizontal steering platform is rotatably connected with the table type underwater butt joint platform through the rotating column, and the motor drives the rotating column to further drive the horizontal steering platform to rotate around a shaft.
The further technical scheme of the invention is as follows: the pitching adjusting module comprises a fixed supporting column and an electro-hydraulic telescopic column which are vertically fixed on the horizontal steering table, and the top ends of the fixed supporting column and the electro-hydraulic telescopic column are respectively hinged with the head end and the tail end of the recovery frame; the electro-hydraulic telescopic column changes the height by stretching along the axial direction, so that the pitching angle of the recovery frame is changed, and the recovery butt joint is facilitated.
The further technical scheme of the invention is as follows: the top end of the fixed support column is hinged with the tail end of the recovery frame, and the top end of the electro-hydraulic telescopic column is hinged with the head end of the recovery frame; when the electro-hydraulic telescopic column is in a contraction state, the height of the electro-hydraulic telescopic column is consistent with that of the fixed support column, and the recovery frame can be kept horizontal.
The further technical scheme of the invention is as follows: the horizontal steering platform is an ellipse-like platform, and two ends of a long shaft of the horizontal steering platform are respectively and fixedly provided with a fixed supporting column and an electro-hydraulic telescopic column.
The invention further adopts the technical scheme that: the table type underwater docking platform is used for supporting the whole system, is cuboid in shape and is longer than the axial length of the recovery frame; the underwater butt joint recovery system is fixed on the seabed through three inserted fixed angles which are distributed in a triangular mode, and the inserted fixed angles can stretch into the sea level to stabilize the whole underwater butt joint recovery system.
The further technical scheme of the invention is as follows: the recovery frame is a guide cover type recovery frame and comprises a cylindrical recovery pipe and a bell-mouth-shaped guide cover, the cylindrical recovery pipe is of a tubular structure with one closed end, and the bell-mouth-shaped guide cover is coaxially arranged at the open end of the cylindrical recovery pipe; the plurality of positioning lamps are uniformly distributed on the inner edge of the bell mouth guide cover along the circumferential direction.
A docking recovery method of an active-passive AUV underwater docking recovery system comprises the following specific steps:
step 1: after receiving a recovery instruction, the transducer of the butt joint recovery system sends out an acoustic positioning signal;
step 2: the AUV receives an acoustic positioning signal from the docking recovery system through a signal receiver carried on the AUV, and calculates the relative deviation between the position of the AUV and the docking recovery system according to the arrival time difference of the acoustic positioning signal, and then controls the AUV to move up and down and left and right according to the deviation so as to complete the docking with the docking recovery system;
and step 3: when the AUV approaches the butt joint recovery system, the butt joint recovery system receives and analyzes position information of the AUV, the control cabin controls angle adjustment and horizontal and pitching direction angle rotation of the supporting module, and then the position and the angle of the recovery frame are adjusted, and the butt joint recovery system is actively in butt joint with the AUV to complete a recovery task.
Advantageous effects
The invention has the beneficial effects that: the AUV underwater butt joint recovery platform is fixed through the insertion type fixing feet, so that the device can be tightly fixed on the seabed; the AUV adjusts the posture of the AUV through analyzing an optical signal sent by the guide cover positioning lamp to complete butt joint recovery, which is the recovery operation passively performed by the underwater butt joint recovery platform; the underwater butt joint recovery device is provided with a control bin for receiving and analyzing the position of the AUV, the position of the AUV is analyzed, the posture of the guide cover type recovery frame is changed through the horizontal rotation of the horizontal rotating table and the length change of the electro-hydraulic telescopic column, and underwater recovery butt joint is actively carried out. And the butt joint recovery mode of active and passive combination can improve the precision of AUV butt joint recovery to a great extent.
The underwater docking recovery device of the AUV is designed into an integral module in a centralized manner, so that the structure is simple, the direction change is flexible, the realization and the modification are easy, and the underwater docking recovery of the AUV can be realized without a complicated and expensive mechanical structure; the acoustic information and the optical information are utilized simultaneously, the horizontal rotating platform and the electro-hydraulic telescopic column are suitable for, so that the posture of the guide cover type recovery frame is changed flexibly, the posture of the recovery frame can be changed, the AUV navigation track is adapted, the underwater butt joint precision and efficiency are greatly improved, the whole device is low in cost and small in occupied space, and the practical value is high.
Drawings
FIG. 1 is a general view of an active and passive AUV underwater docking recovery system;
FIG. 2 is a top view of an active and passive AUV underwater docking recovery system;
FIG. 3 is a schematic view of a flare-locating lamp arrangement;
FIG. 4 is a schematic diagram of an active-passive AUV underwater docking recovery system in operation 1;
FIG. 5 is a schematic diagram of an active-passive AUV underwater docking recovery system in operation 2;
FIG. 6 is a diagram of the operation ending of the active and passive AUV underwater docking recovery system;
description of reference numerals: 1. the device comprises a guide hood type recovery frame, 2 fixed support columns, 3 electro-hydraulic telescopic columns, 4 horizontal steering tables, 5 table type underwater butt joint platforms, 6 plug-in type fixed feet, 7 power supply modules, 8 transducers, 9 control bins, 10 cylindrical recovery pipes, 11 horn mouth-shaped guide hoods and 12 positioning lamps.
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.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1, the active and passive combined AUV underwater docking recovery system of the present embodiment includes an AUV and an underwater recovery platform, where the underwater recovery platform includes a guiding hood type recovery frame 1, a fixed support column 2, an electro-hydraulic telescopic column 3, a horizontal steering table 4, a desktop underwater docking platform 5, an insertion type fixed foot 6, a power supply module 7, a transducer 8, a control cabin 9, and a positioning lamp 12.
The AUV underwater recovery system adopts a symmetrical design, and as shown in figures 2 and 3, the whole system is symmetrical about a vertical plane. The underwater table type docking platform 5 is a main body of the AUV underwater recovery device, and all movable components in the recovery system are arranged on the underwater table type docking platform 5. The main body of the table type underwater docking platform 5 is a cuboid, the length of the table type underwater docking platform is slightly larger than that of the guide cover type recovery frame 1, the table type underwater docking platform is fixed on the seabed through three plug-in fixed angles 6 which are distributed in a triangular mode, and the plug-in fixed angles 6 can stretch into the sea level to stabilize the whole underwater docking recovery system; a flat elliptic horizontal steering platform 4 is arranged above the table type underwater docking platform 5, is connected with the table type underwater docking platform 5 through a rotating column, and is driven by a motor to rotate the horizontal steering platform 4; the two ends of the long shaft of the horizontal rotating table 4 are respectively fixedly provided with a fixed supporting column 2 and an electro-hydraulic telescopic column 3, and the height of the electro-hydraulic telescopic column 3 in a contraction state is consistent with that of the fixed supporting column 2, so that the level of the guide cover type recovery frame 1 is kept; the electro-hydraulic telescopic column 3, the fixed support column 2 and the guide hood type recovery frame are connected through a hinge, so that the angle of the guide hood type recovery frame 1 can be changed when the length of the electro-hydraulic telescopic column 3 is changed so as to facilitate recovery and butt joint; the guide cover type recovery frame 1 is a main body for underwater butt joint recovery of the AUV and comprises a cylindrical recovery pipe 10 and a bell mouth-shaped guide cover 11; the power supply module 7, the control cabin 9 and the energy converter 8 are respectively fixed at the corners of the table type underwater docking platform 5; the four positioning lamps 12 are symmetrically and uniformly distributed on the inner edge of the bell-mouth guide cover 11.
With reference to fig. 4 to 6, the invention mainly comprises two functional components, namely, the horizontal direction of the guide hood type recovery frame 1 is changed by horizontal rotation, and the pitch angle of the guide hood type recovery frame 1 is changed by the length change of the electro-hydraulic telescopic column 3. And the AUV underwater butt joint recovery is completed by changing the posture of the guide hood type recovery frame 1 in time through an analysis instruction of the control cabin 9.
The underwater docking recovery device consists of an inserted fixing foot 6, a table type underwater docking platform 5, a horizontal steering table 4, an electro-hydraulic telescopic column 3, a fixed support column 2, a guide hood type recovery frame 1, a transducer 8, a power supply module 7 and a control cabin 9. The positioning lamps 12 are symmetrically and uniformly arranged on a horizontal central axis and a vertical central axis of a narrow opening of the bell-mouth guide cover, when the AUV sails to be close to the underwater butt joint recovery device, different signals are sent to the AUV, the light guide of the AUV adjusts the course and the posture of the AUV by analyzing the position of the positioning lamps, and meanwhile, the AUV and the underwater butt joint recovery device carry out data intercommunication. A control cabin in the desk type underwater docking platform adjusts the telescopic and rotary of the electro-hydraulic telescopic column and the horizontal rotary platform by analyzing AUV position and posture information received by the transducer, so that the posture of the guide hood type recovery frame is controlled, and the horn mouth guide hood can be docked with the AUV with the maximum accuracy. Under the effect of flexible post of electricity liquid and horizontal rotation platform for the angle that leads bell-type recovery frame not only can adjust self in the horizontal direction, can also adjust the gesture of self in the vertical direction, can make AUV all can get into recovery unit with the angle of attack of difference. The device waits for the AUV to correct the horizontal position, the vertical position and the angle of the device through acoustic guidance information to carry out passive docking and actively adjusts the angle of the recovery device through analyzing the AUV navigation attitude by using optical guidance information to carry out underwater docking recovery of the AUV. After the butt joint recovery is finished, the control cabin sends out an instruction, so that the long shaft of the horizontal rotating platform is parallel to the long edge of the table type underwater butt joint platform, the electro-hydraulic telescopic column is retracted to enable the guide cover recovery frame to be horizontal, and the underwater butt joint recovery of the AUV is finished.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (10)
1. The utility model provides an active and passive AUV that combines is butt joint recovery system under water which characterized in that: the underwater docking platform comprises a table type underwater docking platform, an angle adjusting and supporting module, a recovery frame, a power supply module and a control cabin;
the recovery frame is arranged on the desk type underwater docking platform through an angle adjusting and supporting module and is used as an AUV recovery cabin; the angle adjusting and supporting module is controlled by the control bin, and performs pitching or horizontal angle adjustment on the recovery frame to complete butt joint recovery with the AUV; the power supply module provides electric energy for the whole system.
2. The active-passive AUV underwater docking recovery system according to claim 1, wherein: also included is a transducer for emitting an acoustic locating signal.
3. The active-passive AUV underwater docking recovery system according to claim 1, wherein: the angle adjusting and supporting module comprises a pitching adjusting module and a horizontal adjusting module, the horizontal adjusting module is rotatably connected with the table type underwater docking platform, and the recovery frame is arranged on the horizontal adjusting module through the pitching adjusting module; the horizontal rotation angle of the recovery frame is adjusted by the horizontal adjusting module, and the pitching angle of the recovery frame is adjusted by the pitching adjusting module.
4. The active-passive AUV underwater docking recovery system according to claim 3, wherein: the horizontal adjusting module comprises a horizontal steering platform, a rotating column and a motor, wherein the horizontal steering platform is rotatably connected with the table type underwater butt joint platform through the rotating column, and the motor drives the rotating column to further drive the horizontal steering platform to rotate around a shaft.
5. The active-passive AUV underwater docking recovery system according to claim 3, wherein: the pitching adjusting module comprises a fixed supporting column and an electro-hydraulic telescopic column which are vertically fixed on the horizontal steering table, and the top ends of the fixed supporting column and the electro-hydraulic telescopic column are respectively hinged with the head end and the tail end of the recovery frame; the electro-hydraulic telescopic column changes the height by stretching along the axial direction, so that the pitching angle of the recovery frame is changed, and the recovery butt joint is facilitated.
6. The active-passive AUV underwater docking recovery system according to claim 5, wherein: the top end of the fixed support column is hinged with the tail end of the recovery frame, and the top end of the electro-hydraulic telescopic column is hinged with the head end of the recovery frame; when the electro-hydraulic telescopic column is in a contraction state, the height of the electro-hydraulic telescopic column is consistent with that of the fixed support column, and the recovery frame can be kept horizontal.
7. The active-passive AUV underwater docking recovery system according to claim 3, wherein: the horizontal steering platform is an ellipse-like platform, and two ends of a long shaft of the horizontal steering platform are respectively and fixedly provided with a fixed supporting column and an electro-hydraulic telescopic column.
8. The active-passive AUV underwater docking recovery system of claim 1, wherein: the table type underwater docking platform is used for supporting the whole system, is cuboid in shape and is longer than the axial length of the recovery frame; the three plug-in fixed angles which are distributed in a triangular mode are fixed on the seabed, and the plug-in fixed angles can extend into the sea level to stabilize the whole underwater butt joint recovery system.
9. The active-passive AUV underwater docking recovery system of claim 1, wherein: the recovery frame is a guide cover type recovery frame and comprises a cylindrical recovery pipe and a bell-mouth-shaped guide cover, the cylindrical recovery pipe is of a tubular structure with one closed end, and the bell-mouth-shaped guide cover is coaxially arranged at the open end of the cylindrical recovery pipe; the plurality of positioning lamps are uniformly distributed on the inner edge of the bell mouth guide cover along the circumferential direction.
10. The active and passive AUV underwater docking recovery system docking recovery method of any one of claims 1-9 is characterized by comprising the following steps:
step 1: after receiving a recovery instruction, the transducer of the butt joint recovery system sends out an acoustic positioning signal;
step 2: the AUV receives an acoustic positioning signal from the docking recovery system through a signal receiver carried on the AUV, and calculates the relative deviation between the position of the AUV and the docking recovery system according to the arrival time difference of the acoustic positioning signal, and then controls the AUV to move up and down and left and right according to the deviation so as to complete the docking with the docking recovery system;
and step 3: when the AUV is close to the butt joint recovery system, the butt joint recovery system receives and analyzes position information of the AUV, the control bin controls angle adjustment and horizontal and pitching direction angle rotation of the supporting module, the position and the angle of the recovery frame are further adjusted, and the AUV is actively in butt joint to complete a recovery task.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211014006.5A CN115384736A (en) | 2022-08-23 | 2022-08-23 | Active-passive AUV (autonomous underwater vehicle) underwater docking recovery system and method |
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| CN202211014006.5A CN115384736A (en) | 2022-08-23 | 2022-08-23 | Active-passive AUV (autonomous underwater vehicle) underwater docking recovery system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117508464A (en) * | 2023-10-27 | 2024-02-06 | 哈尔滨工程大学 | Floating box type AUV (autonomous Underwater vehicle) distributing and recycling device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117508464A (en) * | 2023-10-27 | 2024-02-06 | 哈尔滨工程大学 | Floating box type AUV (autonomous Underwater vehicle) distributing and recycling device |
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