CN105501415A - Automatic tail end docking device and method for deep sea AUV docking - Google Patents

Automatic tail end docking device and method for deep sea AUV docking Download PDF

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Publication number
CN105501415A
CN105501415A CN201510934802.4A CN201510934802A CN105501415A CN 105501415 A CN105501415 A CN 105501415A CN 201510934802 A CN201510934802 A CN 201510934802A CN 105501415 A CN105501415 A CN 105501415A
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China
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deep
platform
plugging
horn
sea auv
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CN201510934802.4A
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Chinese (zh)
Inventor
杨灿军
张涛
李德骏
邬国权
林鸣威
张俊有
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浙江大学
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Priority to CN201510934802.4A priority Critical patent/CN105501415A/en
Publication of CN105501415A publication Critical patent/CN105501415A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, 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
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for

Abstract

The invention discloses an automatic tail end docking device and method for deep sea AUV docking. The device comprises an acoustic guide unit, a monocular vision guide unit and a rotatable connection platform control unit. The acoustic guide unit is used for achieving acoustic communication and positioning of a connection platform and a deep sea AUV, and automatically guiding the deep sea AUV in the remote range to the position near a connection platform. The monocular vision guide unit is used for guiding the deep sea AUV in the close range into the connection platform. The rotatable connection platform control unit is used for monitoring and controlling the direction of a horn mouth guide barrel. According to the automatic tail end docking method, influences of surroundings on the connection process are reduced, and the requirement for the deep sea AUV maneuvering characteristics is lowered, so that the deep sea AUV connection docking success rate is greatly improved, and the underwater connection technology of the deep sea AUV and the connection platform is improved.

Description

A kind of end automatic butt jointing device for deep-sea AUV docking and method

Technical field

The present invention relates to maritime technology engineering field, especially a kind of end automatic butt method for deep-sea AUV docking and device.

Background technology

Deep-sea AUV (autonomous underwater vehicle) joint technology under water of plugging into needed for platform is comprehensive very strong a, technology that complexity is very high, and end automatic butt technology is wherein the technology of very crucial a, core.This technology can ensure that deep-sea AUV completes back depressed place task smoothly, is that deep-sea AUV is follow-up in the precondition of the functions such as platform carries out delivery of electrical energy, task is assigned, data upload of plugging into.

China starts late in the research of maritime technology engineering field, and the underwater mating technology of deep-sea AUV was just just being risen in recent years.Patent CN201110178669.6 discloses a set of Autonomous Underwater Vehicle and submarine observation network docking facilities, Autonomous Underwater Vehicle is guided can reliably rest in POP main body through horn-like mouth of leading, and realizes the transmission of electric energy and signal between Autonomous Underwater Vehicle and seabed observation network.Patent CN201310668750.1 discloses a set of deep-sea AUV docking platform towards variotrol, and this docking platform can be front to exit skirt automatic direction regulating according to information realization docking such as ocean current directions, and the rear function to exit skirt auto lock is determined in direction.The light that patent CN201410029681.4 discloses a kind of submarine navigation device and base station guides automatic butt method and device, adopts four-quadrant photo detector to carry out light and guides automatic butt.

But marine environment has its special, complicated, changeable characteristic: in deep-sea, light path affects by the factor such as impurity scattering, Absorption by Sea Water, the distance that light guidance mode can be guided is very limited, is generally no more than 30 meters; In addition, the ocean current in deep-sea also can cause the docking operation of deep-sea AUV and greatly challenge.Therefore, consider in the vast oceans, only to rely on light to guide deep-sea AUV can not complete the impact of automatic butt and deep-sea ocean current factor, can automatically regulate disclosed in patent CN201310668750.1 towards docking platform system (platform of namely plugging into turnably) basis on, the present invention proposes the end automatic butt jointing device based on acoustics and the AUV docking of optical guidance deep-sea and method.

Summary of the invention

The object of the invention is to for the deficiencies in the prior art, a kind of end automatic butt jointing device for deep-sea AUV docking and method are provided, adopt acoustics to guide and monocular vision guides, greatly improve deep-sea AUV and to plug into the success ratio of docking.

For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of end automatic butt jointing device for deep-sea AUV docking, and it comprises acoustics guidance unit, monocular vision guidance unit and platform control unit of plugging into turnably, platform control unit of wherein plugging into turnably comprises horn-like guiding tube, pedestal, be arranged on the electrical compass module in the middle part of horn-like guiding tube, connect the steering hardware of horn-like guiding tube and pedestal, be fixed on the acoustic Doppler fluid velocity profile instrument on pedestal and platform side controller (platform side of plugging into controller can adopt microprocessor to realize) of plugging into, platform control unit of plugging into turnably is for monitoring, control exit skirt guiding tube towards, to alleviate the demand to deep-sea AUV maneuverability, reduce deep-sea ocean current to the impact of deep-sea AUV, thus promote docking success ratio of plugging into,

Acoustics guidance unit comprise the attitude sensor being fixed on the withstand voltage inside cavity of deep-sea AUV, the ultra short baseline locating system being arranged on bottom, AUV front end, deep-sea (i.e. the bow of AUV), be fixed on platform of plugging into horn-like guiding tube in the middle part of sound lead to, acoustics guidance unit for the acoustics communication of realize plugging into platform and deep-sea AUV and location, and by near deep-sea AUV homing guidance to platform of plugging in far range;

Monocular vision guidance unit comprise be arranged on center, AUV front end, deep-sea monocular cam, be loaded on AUV front end, deep-sea with the line of centers guiding lamp protecting the streamlined reefer housing of headend equipment, be arranged on the front end guidance lamp of horn-like guiding tube entrance upper end, be arranged on horn-like guiding tube distal center place; streamlined reefer housing adopts the material possessing entrant sound transmittancy to make; as: makrolon material; monocular vision guidance unit is used for the deep-sea AUV in short range to guide into platform of plugging into, to complete the task of plugging into.

End automatic butt method for deep-sea AUV docking of the present invention, comprises following process:

S1, open back depressed place task, the sound of platform end of plugging into leads to the positioning signal intercepting ultra short baseline locating system, and the return signal that deep-sea AUV holds if obtain, then continue next step, otherwise continue to intercept process;

S2, utilize the sound of platform end of plugging into lead to the ultra short baseline locating system held with deep-sea AUV to carry out acoustics communication, the deep-sea AUV that the deep-sea AUV orientation information of the attitude sensor measurement of acquisition deep-sea platform end and ultra short baseline locating system locate gained and the range information of plugging between platform, feed back to platform side controller of plugging into;

S3, platform side of plugging into controller obtain the horn-like guiding tube orientation information of electronic compass measurement, the ocean current flow velocity of acoustic Doppler fluid velocity profile instrument measurement and flow to information;

The relevant information obtained in S4, platform side of plugging into controller synthesis S2 and S3 is carried out horn-like guiding tube and is turned to judgement, concrete judgement can be carried out according to the rule preset, need to turn to when determining horn-like guiding tube, then platform side of plugging into controller controls steering hardware and turns to horn-like guiding tube; If do not need, course changing control is carried out to horn-like guiding tube, continue S5;

S5, the flow velocity of the orientation information of horn-like guiding tube, ocean current to be led to by sound with the information that flows to feed back to deep-sea AUV with the acoustics communication of ultra short baseline locating system;

S6, platform side of plugging into controller again obtain deep-sea AUV towards and range information, if deep-sea AUV and the distance of plugging between platform are less than 30 meters, continue next-step operation, otherwise be back to S1 and continue to intercept process;

S7, the orientation information of platform side of plugging into controller according to the deep-sea AUV received and the orientation information of horn-like guiding tube, judge deep-sea AUV towards whether within the scope of the guiding angle of horn-like guiding tube, if within the scope of its guiding angle, continue S9, otherwise carry out S8;

S8, platform side of plugging into controller calculate the required steering direction rotated of the horn-like guiding tube meeting docking requirement and the minimum steering angle that need carry out, according to the steering direction of above-mentioned calculating and Angle ambiguity steering hardware twirl with regulate horn-like guiding tube to suitable towards;

S9, platform side of plugging into controller control the front end guidance lamp (now line of centers guiding lamp is closed condition) turning on platform of plugging into, thus open the monocular vision guiding function of deep-sea AUV, carry out end vision guide;

S10, deep-sea AUV can be received at platform of plugging into locating information prerequisite under, platform side of plugging into controller judges whether deep-sea AUV enters the monitoring camera visual field, if meet, continues lower step, otherwise skips to S12;

S11, close plug into platform front end guiding lamp, open plug into platform line of centers guiding lamp, to guide deep-sea AUV to advance along the axis of horn-like guiding tube, thus complete final docking process;

S12, flow process enter this step and then show that deep-sea AUV occurs unusual condition in the docking process of end, and platform of now plugging into sends instruction to deep-sea AUV, starts the emergency response program of deep-sea AUV.

End automatic butt jointing device for deep-sea AUV docking of the present invention and method consider particularity and the challenge of abyssal environment, adopt the deep-sea AUV in acoustics guidance mode guiding far range, adopt the deep-sea AUV in monocular vision guidance mode guiding short range, and according to deep-sea AUV and the plug into relative position information of platform and ambient condition information regulate horn-like guiding tube towards, thus reduce the impact of surrounding environment on the process of plugging into, also mitigate the demand to deep-sea AUV maneuvering performance, thus substantially increase deep-sea AUV and to plug into the success ratio of docking, perfect deep-sea AUV and the joint technology under water of plugging between platform.

Accompanying drawing explanation

Fig. 1 is the structural representation of apparatus of the present invention;

Fig. 2 is the automatic butt diagram of circuit of the inventive method;

In figure: 1. deep-sea AUV side controller, 2. attitude sensor, 3. monocular cam, 4. streamlined reefer housing, 5. ultra short baseline locating system, 6. front end guidance lamp, 7. monitoring camera, 8. sound leads to, 9. electrical compass module, 10. line of centers guiding lamp, 11. steering hardwarees, 12. plug into platform side controller, 13. pedestals, 14. acoustic Doppler fluid velocity profile instrument, 15. horn-like guiding tubes.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in further details.

With reference to Fig. 1-Fig. 2, the end automatic butt jointing device for deep-sea AUV docking of the present invention, comprises acoustics guidance unit, monocular vision guidance unit and platform control unit of plugging into turnably;

Platform control unit of wherein plugging into turnably comprises horn-like guiding tube 15, pedestal 13, be arranged on the electrical compass module 9 in the middle part of horn-like guiding tube 15, connect the steering hardware 11 of horn-like guiding tube 15 and pedestal 13, be fixed on the acoustic Doppler fluid velocity profile instrument 14 on pedestal 13 and platform side controller 12 of plugging into, the concrete structure of described steering hardware 11 can referenced patent CN201310668750.1, platform control unit of plugging into turnably is for monitoring, control exit skirt guiding tube towards, to alleviate the demand to deep-sea AUV maneuverability, reduce deep-sea ocean current to the impact of deep-sea AUV, thus promote docking success ratio of plugging into,

Acoustics guidance unit comprises the attitude sensor 2 being fixed on the withstand voltage inside cavity of deep-sea AUV, the ultra short baseline locating system 5 being arranged on deep-sea AUV front bottom end, is fixed on sound in the middle part of the horn-like guiding tube 15 of platform of plugging into logical 8, this unit for the acoustics communication of realize plugging into platform and deep-sea AUV and location, and by near deep-sea AUV homing guidance to platform of plugging in far range;

Monocular vision guidance unit comprise be arranged on center, AUV front end, deep-sea monocular cam 3, protection deep-sea AUV headend equipment and possess entrant sound transmittancy streamlined reefer housing 4, be arranged on the front end guidance lamp 6 of horn-like guiding tube 15 entrance upper end, be arranged on the line of centers guiding lamp 10 at horn-like guiding tube 15 distal center place, monocular vision guidance unit is for guiding into platform of plugging into, to complete the task of plugging into by the deep-sea AUV in short range;

End automatic butt method for deep-sea AUV docking of the present invention, working process is as follows:

S1, open back depressed place task, the sound of platform end of plugging into leads to the positioning signal that 8 intercept ultra short baseline locating system 5, and the return signal that deep-sea AUV holds if obtain, then continue next step, otherwise continue to intercept process;

S2, utilize the sound of platform end of plugging into lead to 8 ultra short baseline locating systems 5 held with deep-sea AUV to carry out acoustics communication, the deep-sea AUV that the orientation information of the deep-sea AUV that the attitude sensor 2 obtaining deep-sea platform end is measured and ultra short baseline locating system 5 locate gained and the range information of plugging between platform, feed back to platform side controller 12 of plugging into;

S3, platform side of plugging into controller 12 obtain horn-like guiding tube 15 orientation information of electrical compass module 9 measurement, the ocean current flow velocity of acoustic Doppler fluid velocity profile instrument 14 measurement and flow to information;

The relevant information obtained in S4, comprehensive S2 and the S3 of platform side of plugging into controller 12 is also carried out horn-like guiding tube 15 according to the rule preset and is turned to judgement, when horn-like guiding tube 15 needs to turn to, then platform side of plugging into controller 12 controls steering hardware 11 and turns to horn-like guiding tube 15; If do not need, course changing control is carried out to horn-like guiding tube 15, continue S5;

S5, the flow velocity of the orientation information of horn-like guiding tube 15, ocean current is led to 8 with the information that flows to by sound feed back to deep-sea AUV side controller with the acoustics communication of ultra short baseline locating system 5;

S6, platform side of plugging into controller 12 again obtain deep-sea AUV towards and range information, if deep-sea AUV and the distance of plugging between platform are less than 30 meters, continue next-step operation, otherwise be back to S1 and continue to intercept process;

S7, the orientation information of platform side of plugging into controller 12 according to the deep-sea AUV received and the orientation information of horn-like guiding tube 15, judge deep-sea AUV towards whether within the scope of the guiding angle of horn-like guiding tube 15, if meet the demands, continue S9, otherwise carry out S8;

S8, platform side of plugging into controller 12 calculate the steering direction of the required rotation of horn-like guiding tube 15 meeting docking requirement and minimum steering angle, according to the steering direction of above-mentioned calculating and Angle ambiguity steering hardware 11 twirl with regulate horn-like guiding tube 15 towards, make deep-sea AUV can enter the guiding angle scope of horn-like guiding tube 15;

S9, platform side of plugging into controller 12 control the front end guidance lamp 6 (now line of centers guiding lamp 10 is closed condition) turning on platform of plugging into, and open the vision guide function of deep-sea AUV, carry out end vision guide;

S10, wait for about 10s, under the locating information prerequisite that platform of plugging into can receive deep-sea AUV, platform side of plugging into controller 12 judges whether deep-sea AUV enters monitoring camera 7 visual field, if meet, continues lower step, otherwise skips to S12;

S11, close plug into platform front end guiding lamp 6, open plug into platform line of centers guiding lamp 10, to guide deep-sea AUV near the axis of horn-like guiding tube 15, thus complete final docking process; Judging whether deep-sea AUV enters platform of plugging into, if enter deep-sea AUV and plug into platform, completing follow-up operation of plugging into as carried out electric energy and Signal transmissions;

S12, flow process enter this step and then show that deep-sea AUV occurs unusual condition in the docking process of end, and platform of now plugging into sends instruction to deep-sea AUV, starts the emergency response program of deep-sea AUV.

Claims (2)

1., for an end automatic butt jointing device for deep-sea AUV docking, it is characterized in that:
Comprise platform control unit of plugging into turnably, acoustics guidance unit and monocular vision guidance unit; Wherein:
Platform control unit of plugging into turnably comprise pedestal (13), horn-like guiding tube (15), be arranged on horn-like guiding tube (15) middle part electrical compass module (9), connect horn-like guiding tube (15) and pedestal (13) steering hardware (11), be fixed on the acoustic Doppler fluid velocity profile instrument (14) on pedestal (13) and platform side controller (12) of plugging into;
Acoustics guidance unit comprises attitude sensor (2), ultra short baseline locating system (5) harmony logical (8), attitude sensor (2) is fixed on the withstand voltage inside cavity of deep-sea AUV, ultra short baseline locating system (5) is arranged on deep-sea AUV front bottom end, sound logical (8) is fixed on the middle part of horn-like guiding tube (15);
Monocular vision guidance unit comprises monocular cam (3), streamlined reefer housing (4), front end guidance lamp (6) and line of centers guiding lamp (10); monocular cam (3) is arranged on center, AUV front end, deep-sea; streamlined reefer housing (4) is installed on AUV front end, deep-sea to protect headend equipment; streamlined reefer housing adopts the material possessing entrant sound transmittancy;, front end guidance lamp (6) is arranged on horn-like guiding tube (15) entrance upper end, line of centers guiding lamp (10) is arranged on horn-like guiding tube (15) distal center place.
2., for an end automatic butt method for deep-sea AUV docking, it is characterized in that: comprise the following steps:
S1, open back depressed place task, the sound logical (8) of platform end of plugging into intercepts the positioning signal of ultra short baseline locating system (5), and the return signal that deep-sea AUV holds if obtain, then continue next step, otherwise continue to intercept process;
S2, the ultra short baseline locating system (5) utilizing the sound of platform end of plugging into logical (8) and deep-sea AUV to hold carry out acoustics communication, the range information obtaining deep-sea AUV orientation information that the attitude sensor (2) of deep-sea AUV measures and the deep-sea AUV that ultra short baseline locating system (5) locates gained and plug between platform, feeds back to platform side controller (12) of plugging into;
The ocean current flow velocity that S3, platform side of plugging into controller (12) obtain the orientation information of electrical compass module (9) the horn-like guiding tube (15) measured, acoustic Doppler fluid velocity profile instrument (14) is measured with flow to information;
The relevant information obtained in comprehensive S2 and the S3 of S4, platform side of plugging into controller (12) is carried out horn-like guiding tube (15) and is turned to judgement, when horn-like guiding tube (15) needs to turn to, then platform side of plugging into controller (12) controls steering hardware (11) and turns to horn-like guiding tube (15); If do not need, course changing control is carried out to horn-like guiding tube (15), continue S5;
S5, by the flow velocity of the orientation information of horn-like guiding tube (15), ocean current with flow to information and feed back to deep-sea AUV by sound logical (8) with the acoustics communication of ultra short baseline locating system (5);
S6, platform side of plugging into controller (12) obtain the orientation information of deep-sea AUV and itself and the range information of plugging between platform again, if deep-sea AUV and the distance of plugging between platform are less than 30 meters, continue next-step operation, otherwise be back to S1 and continue to intercept process;
S7, platform side of plugging into controller (12) are according to the orientation information of deep-sea AUV received and the orientation information of horn-like guiding tube (15), judge deep-sea AUV towards whether within the scope of the guiding angle of horn-like guiding tube (15), if within the scope of its guiding angle, continue S9, otherwise carry out S8;
S8, platform side of plugging into controller (12) calculate the steering direction of the required rotation of horn-like guiding tube (15) and minimum steering angle, and by control steering hardware (11) rotate adjustment horn-like guiding tube (15) towards, make deep-sea AUV can enter the guiding angle scope of horn-like guiding tube (15);
S9, platform side of plugging into controller (12) control the front end guidance lamp (6) turning on platform of plugging into, and carry out guiding the monocular vision of deep-sea AUV;
S10, platform side of plugging into controller (12) judge whether deep-sea AUV enters monitoring camera (7) visual field, if enter, continue lower step, otherwise skip to S12;
S11, close plug into platform front end guiding lamp (6), open plug into platform line of centers guiding lamp (10), to guide deep-sea AUV to advance along the axis of horn-like guiding tube (15), thus complete final docking process;
There is unusual condition in docking process in S12, deep-sea AUV, platform of now plugging into, by ultra short baseline locating system (5) the transmission instruction of sound logical (8) to deep-sea AUV, starts the emergency response program of deep-sea AUV.
CN201510934802.4A 2015-12-15 2015-12-15 Automatic tail end docking device and method for deep sea AUV docking CN105501415A (en)

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Application publication date: 20160420