CN106428485A - Novel submersible for capturing and recovering AUV through long-distance acousto-optic bidirectional guidance - Google Patents
Novel submersible for capturing and recovering AUV through long-distance acousto-optic bidirectional guidance Download PDFInfo
- Publication number
- CN106428485A CN106428485A CN201610934979.9A CN201610934979A CN106428485A CN 106428485 A CN106428485 A CN 106428485A CN 201610934979 A CN201610934979 A CN 201610934979A CN 106428485 A CN106428485 A CN 106428485A
- Authority
- CN
- China
- Prior art keywords
- auv
- submersible
- support frame
- acousto
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
-
- 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
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a novel submersible for capturing and recovering AUV through long-distance acousto-optic bidirectional guidance. The submersible is connected with a winch through a umbilical cable and comprises a supporting frame, and an acoustic receiving and transmitting transducer is installed on the supporting frame; an acoustic transponder in butt joint with the acoustic receiving and transmitting transducer is arranged at the end of the AUV; an optical generator is installed in the supporting frame, and an optical receiver in butt joint with the optical generator is installed at the end of the AUV. According to feedback signals of the optical generator and the acoustic receiving and transmitting transducer, the own forward direction of the submersible is corrected, and the own forward direction of the AUV is corrected so that the AUV can be in butt joint with the submersible. The submersible can get away from a mother ship to actively capture the AUV, acousto-optic bidirectional guidance of the submersible and the AUV is adopted for butt joint, the butt joint positioning distance and accuracy of butt joint recovery can be improved, the long-distance butt joint guidance capacity is improved, and the AUV can be recovered and released in the mode of being away from the mother ship.
Description
Technical field
The present invention relates to submersible technical field, reclaim and dispose the latent of AUV particularly to being applied to accurately capture under water
Hydrophone and new method.
Background technology
AUV (no cable underwater robot) reclaims the hot and difficult issues of always one research under water, and current AUV reclaims
Main method：Voluntary recall is carried out by the funneling recover or lash ship bottom platform being fixed on lash ship；By ROV's
Cameras are observed, and clamp AUV from submarine torpedo pipe recovery etc. using ROV manipulator.Due to by lash ship hydrodynamic force, produce
Noise or magnetic field impact, and in docking operation, lash ship is in more complicated navigation running status under water, leads to merging precision relatively low,
Reclaim setting ratio not high.
Content of the invention
Instant invention overcomes disadvantages mentioned above, propose that a kind of merging precision is high, it is reliable to reclaim, to reclaim setting ratio high for growing
Capture, apart from the two-way guiding of acousto-optic, the Novel submarine hydrophone reclaiming AUV, may be located remotely from lash ship and carry out flexible actively set and catch AUV, adopt
Submersible is docked with the two-way guiding of acoustics with the optics of AUV, can improve butt junction location distance and the positioning that docking is reclaimed
Precision, improves distance docking guidance capability, realizes reclaiming release AUV away from lash ship.
In order to solve the above problems, the present invention adopts following scheme：
A kind of Novel submarine hydrophone capturing recovery AUV for the two-way guiding of distance acousto-optic, this submersible passes through umbilical cables
It is connected with winch, described winch is arranged under water in lash ship platform；Described submersible includes support frame, described support frame tool
There is the mantle cavity that can accommodate described AUV, buoyant mass, horizontal propeller, vertical pusher are installed in support frame, fix to clamp machine
Structure and acoustics transmitting-receiving transducer, after described AUV is placed in described support frame, AUV is clamped by the described mechanism that fixes to clamp；Described
The end of AUV is provided with receives and dispatches, with described acoustics, the acoustics transponder that transducer docks；It is also equipped with described support frame controlling
Device, described acoustics transmitting-receiving transducer, horizontal propeller and vertical pusher are all connected with described controller；Described AUV is according to sound
Learn the signal of transponder, revise the direction of advance of itself to dock with described submersible.
Improvement further as technique scheme：
Optics generator is also equipped with described support frame, the end of described AUV is provided with and described optics generator
The optical receiver of docking；Described AUV according to the signal of optical receiver, revise the direction of advance of itself with described submersible
Docking.
It is provided with described support frame by the acoustics transmitting-receiving transducer being made up of several hydrophone units.
Multiple described acoustics are received and dispatched transducer and are formed the end that circular array is arranged in support frame.
Multiple described optics generators form the two ends that circular array is arranged in support frame.
Described buoyant mass is installed on the inwall of described support frame, and described support frame forms hollow with described buoyant mass
Circulus, described AUV is placed in the ring cavity of described circulus.
It is also equipped with video camera, described video camera can be roughly to AUV positioning capturing on described submersible.
The method have technical effect that：
The lash ship that may be located remotely from of the present invention carries out flexible actively set and catches AUV, using optics and the acoustics of submersible and AUV
Two-way guiding docking, can improve butt junction location distance and the precision positioning that docking is reclaimed, and improve distance docking guiding energy
Power, realizes reclaiming release AUV away from lash ship.Meanwhile, after AUV is captured, fixes to clamp mechanism and fix, safe and reliable, relatively hold
Easily pass through to carry cable connection submersible capture to reclaim AUV, the configuration of this submersible makes conventional the diving of the power ratio of submersible capture
Hydrophone require will low it is easy on lash ship arrange.
Brief description
Fig. 1 is the sectional view (AUV does not cut open) of the present invention.
Fig. 2 is the A-A sectional view of Fig. 1.
Fig. 3 is the B-B sectional view of Fig. 1.
Fig. 4 is Fig. 1 right view (including lash ship platform under water).
Fig. 5 is the C-C sectional view of Fig. 4.
Fig. 6 be in the present invention submersible and AUV dock schematic diagram.
In figure：1st, support frame；2nd, horizontal propeller；3rd, vertical pusher；4th, controller；5th, buoyant mass；6th, acoustics is received
Send out transducer；7th, optics generator；8th, video camera；9th, fix to clamp mechanism；10th, winch；11、AUV；12nd, acoustics transponder；
13rd, optical receiver；14th, umbilical cables；15th, lash ship platform under water.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described further.
As Figure 1 and Figure 4, the novel submerged capturing recovery AUV for the two-way guiding of distance acousto-optic of the present embodiment
Device, this submersible is connected with winch 10 by umbilical cables 14, and winch 10 is arranged under water in lash ship platform 15,15 dozens, lash ship platform
Open open and close door, releasable submersible；Submersible includes support frame 1, and support frame 1 supports, as submersible equipment, the load installed
Body, plays the effect of the equipment on protection submersible.Support frame 1 has the mantle cavity that can accommodate AUV11, pacifies in support frame 1
Equipped with buoyant mass 5 (see Fig. 2, Fig. 3), horizontal propeller 2, vertical pusher 3, fix to clamp mechanism 9 (see Fig. 3) and acoustics transmitting-receiving
Transducer 6, after AUV11 is placed in support frame 1, fixes to clamp mechanism 9 and clamps AUV11；The end of AUV11 is provided with and acoustics
The acoustics transponder 12 (see Fig. 1, Fig. 5) of transmitting-receiving transducer 6 docking；It is also equipped with controller 4, acoustics is received and dispatched in support frame 1
Transducer 6, horizontal propeller 2 and vertical pusher 3 are all connected with controller 4；AUV11 according to the signal of acoustics transponder 12,
Revise the direction of advance of itself to dock with submersible.Wherein, horizontal propeller 2 includes being arranged in submersible support frame 1
Multiple, left and right, be equipped with front and back, it is possible to achieve the advance of the horizontal plane of submersible and steering, vertical pusher 3 is arranged on
The both sides up and down of support frame frame 1, realize the heave movement of submersible.
As shown in Figure 1, shown in Figure 5, support frame 1 is also equipped with optics generator 7, the end of AUV11 is provided with and optics
The optical receiver 13 of generator 7 docking；AUV11 according to the signal of optical receiver 13, revise the direction of advance of itself with
Submersible docks, and wherein, AUV11 also has level and vertical pusher, in figure is not shown.
As shown in figure 4, support frame 1 on be provided with by be made up of several hydrophone units acoustics transmitting-receiving transducer
6, dock intensity for improving acoustics transmitting-receiving transducer 6 with the signal between acoustics transponder 12, multiple acoustics receive and dispatch 6 groups of transducer
Circular array is arranged in the end of support frame 1.
As shown in figure 4, being similarly the signal improving between optics generator 7 and optics (mainly adopting laser) receiver 13
Docking intensity, multiple optics generators 7 form the two ends that circular array is arranged in support frame 1, multiple optical receiver 13 cloth
It is placed in the end of AUV11.
As shown in Figure 2 and Figure 3, buoyant mass 5 is installed on the inwall of support frame 1, and support frame 1 forms hollow with buoyant mass 5
Circulus, AUV11 is placed in the ring cavity of circulus.
As shown in figure 4, being also equipped with video camera 8 on submersible, video camera 8 can be to AUV11 positioning capturing.
In the present invention, submersible is mainly artificial to be manipulated, and AUV11 itself carries controller (not shown), its control
Device can resolve and control AUV11 to dock.Closely AUV11 relies on circular optical markers, carries out calculating analysis, to position
Near submersible, meanwhile, submersible can pass through video camera 8, and after manual observation, manual control device caters to docking AUV11.Acoustics
Transmitting-receiving transducer 6 is used for remote docking guiding.
The operation principle of the present invention is as follows：
The every one end of submersible forms acoustics transmitting-receiving transducer 6 basic matrix by several hydrophone units, can be received by acoustics
Send out transducer 6 transmission signal and receive the positioning to AUV11 for the measurement AUV11 acoustics transponder 12 signal realization, thus by control
System revises the position of submersible.On the other hand, submersible two ends are equipped with optics generator 7, and AUV is equipped with optical receiver 13,
The circular optical information of submersible is received by the optical receiver 13 of AUV11, this circle is identified by AUV11 signal processing algorithm
Shape signal, it is possible to position to submersible, can revise the position and attitude of AUV11 by location information；Further, it is also possible to
By the video camera 8 on submersible, manipulated by artificial, carry out the positioning to AUV11.Bilateral by AUV11 and submersible
Continuous correction, the purpose of more accurate positioning can be reached.AUV11 guides rectification by acousto-optic to carry out being docked to support frame
In 1 circulus, the mechanism 9 that fixes to clamp being socketed in submersible inner support framework 1 circulus is clamped fixing.Then
Umbilical cables 14 are reclaimed with winch 10 by horizontal propeller 2, vertical pusher 3 and reclaims AUV11.Conversely, passing through horizontal propeller
2nd, vertical pusher 3 is delivered with winch 10 release umbilical cables 14 and is laid AUV11.
As shown in fig. 6, the process that in the present invention, submersible is docked with AUV11, belong to simple signal, including submersible
Lift adjustment, adjustment in direction and AUV11 adjustment in direction process.
Embodiment provided above is the better embodiment of the present invention, is only used for the convenient explanation present invention, not to this
Bright make any pro forma restriction, any those of ordinary skill in the art, if without departing from the carried skill of the present invention
In the range of art feature, using the Equivalent embodiments locally changed done by disclosed technology contents or modify, and
Without departing from the technical characteristic content of the present invention, all still fall within the range of the technology of the present invention feature.
Claims (7)
1. a kind of for the two-way guiding of distance acousto-optic capture reclaim AUV Novel submarine hydrophone it is characterised in that：This submersible leads to
Cross umbilical cables (14) to be connected with winch (10), it is interior that described winch (10) is arranged in lash ship platform (15) under water；Described submersible bag
Include support frame (1), described support frame (1) has the mantle cavity that can accommodate described AUV (11), and support frame is provided with (1)
Buoyant mass (5), horizontal propeller (2), vertical pusher (3), fix to clamp mechanism (9) and acoustics transmitting-receiving transducer (6), described
After AUV (11) is placed in described support frame (1), described fix to clamp whether mechanism (9) automatic identification AUV (11) puts in place, and
Automatically locked；The end of described AUV (11) is provided with receives and dispatches, with described acoustics, the acoustics transponder that transducer (6) docks
(12)；Be also equipped with controller (4) in described support frame (1), described acoustics transmitting-receiving transducer (6), horizontal propeller (2) and
Vertical pusher (3) is all connected with described controller (4).(docking mode herein, illustrates in the description, therefore deletes
Remove).
2. the Novel submarine hydrophone capturing recovery AUV for the two-way guiding of distance acousto-optic according to claim 1, its feature
It is：Optics generator (7) is also equipped with described support frame (1), the end of described AUV (11) is provided with and described optics
The optical receiver (13) that generator (7) docks, described optics generator (7) is connected with described controller (4)；Described AUV
(11) optical markers being detected according to optical receiver (13), by calculate analyze after, revise the direction of advance of itself with institute
State submersible docking.
3. the Novel submarine hydrophone capturing recovery AUV for the two-way guiding of distance acousto-optic according to claim 1 and 2, its
It is characterised by：It is provided with described support frame (1) by the acoustics transmitting-receiving transducer being made up of several hydrophone units
(6).
4. the Novel submarine hydrophone capturing recovery AUV for the two-way guiding of distance acousto-optic according to claim 3, its feature
It is：Multiple described acoustics are received and dispatched transducer (6) and are formed the end that circular array is arranged in support frame (1).
5. the Novel submarine hydrophone capturing recovery AUV for the two-way guiding of distance acousto-optic according to claim 2, its feature
It is：Multiple described optics generators (7) form the two ends that circular array is arranged in support frame (1).
6. the Novel submarine hydrophone capturing recovery AUV for the two-way guiding of distance acousto-optic according to claim 2, its feature
It is：Described buoyant mass (5) is installed on the inwall of described support frame (1), described support frame (1) and described buoyant mass (5)
The circulus of composition hollow, described AUV (11) is placed in the ring cavity of described circulus.
7. the Novel submarine hydrophone capturing recovery AUV for the two-way guiding of distance acousto-optic according to claim 1, its feature
It is：Video camera (8) is also equipped with described submersible, AUV (11) positioning capturing can be manipulated by described video camera (8)
The position of submersible.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610934979.9A CN106428485B (en) | 2016-11-01 | 2016-11-01 | Novel submarine hydrophone for the two-way guiding capture recycling AUV of long range acousto-optic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610934979.9A CN106428485B (en) | 2016-11-01 | 2016-11-01 | Novel submarine hydrophone for the two-way guiding capture recycling AUV of long range acousto-optic |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106428485A true CN106428485A (en) | 2017-02-22 |
| CN106428485B CN106428485B (en) | 2018-08-28 |
Family
ID=58178130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610934979.9A Active CN106428485B (en) | 2016-11-01 | 2016-11-01 | Novel submarine hydrophone for the two-way guiding capture recycling AUV of long range acousto-optic |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106428485B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956757A (en) * | 2017-03-31 | 2017-07-18 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Actively catch the lasso trick device of the latent device of autonomous |
| CN107933860A (en) * | 2017-11-23 | 2018-04-20 | 广东合新材料研究院有限公司 | A kind of underwater mobile carrying platform |
| CN109131801A (en) * | 2018-10-12 | 2019-01-04 | 上海工业自动化仪表研究院有限公司 | The voluntary recall device and control method of the complete deep unmanned submersible in sea |
| CN111268067A (en) * | 2020-02-13 | 2020-06-12 | 新昌县羽林街道智西机械厂 | Small module ocean magnetic detection device based on transmission of Internet of things |
| CN111398905A (en) * | 2020-03-03 | 2020-07-10 | 浙江大学 | AUV underwater recovery docking system based on multi-acoustic beacon guidance |
| CN111409793A (en) * | 2019-01-07 | 2020-07-14 | 中国科学院沈阳自动化研究所 | Capture system and method for recovering underwater robot by using water surface robot |
| CN111409796A (en) * | 2019-01-07 | 2020-07-14 | 中国科学院沈阳自动化研究所 | Cable capturing type mechanism for autonomous recovery underwater robot |
| CN111559480A (en) * | 2020-06-12 | 2020-08-21 | 江苏科技大学 | Robot cooperation collecting and releasing device and method |
| CN111572737A (en) * | 2020-05-28 | 2020-08-25 | 大连海事大学 | AUV capturing and guiding method based on acoustic and optical guidance |
| CN111601089A (en) * | 2020-05-28 | 2020-08-28 | 大连海事大学 | AUV recovery platform for monitoring AUV recovery and hoisting process in real time |
| CN111982117A (en) * | 2020-08-17 | 2020-11-24 | 电子科技大学 | AUV optical guiding and direction finding method based on deep learning |
| CN112937349A (en) * | 2021-02-05 | 2021-06-11 | 中国船舶科学研究中心 | AUV underwater special self-charging equipment and charging method |
| CN112960086A (en) * | 2021-02-03 | 2021-06-15 | 吉林大学 | Seat formula AUV is butt joint platform under water |
| CN112987798A (en) * | 2019-12-17 | 2021-06-18 | 中国科学院沈阳自动化研究所 | Heavy AUV dynamic/static target autonomous docking method based on acousto-optic combined guidance |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2248300C1 (en) * | 2003-06-30 | 2005-03-20 | Федеральное Государственное Унитарное Предприятие "Санкт-Петербургское Морское Бюро Машиностроения "Малахит" | Rescue submersible vehicle |
| US20100018449A1 (en) * | 2006-07-26 | 2010-01-28 | lfremer-Institut Francais de Recherche pour L'Exploitation de la Mer | Installation and method for recovering an underwater or marine vehicle |
| JP2010285072A (en) * | 2009-06-11 | 2010-12-24 | Ihi Corp | Water column observing device |
| KR20140025033A (en) * | 2012-08-21 | 2014-03-04 | 대우조선해양 주식회사 | Uuv recovery device for submarine |
| WO2015027987A1 (en) * | 2013-08-26 | 2015-03-05 | Atlas Elektronik Gmbh | Coupling device, coupling system, and towing system, and method for uncoupling and coupling an unmanned underwater vehicle |
| CN105501415A (en) * | 2015-12-15 | 2016-04-20 | 浙江大学 | Automatic tail end docking device and method for deep sea AUV docking |
| CN105775079A (en) * | 2016-04-25 | 2016-07-20 | 浙江大学 | Underwater non-contact mobile docking device for underwater unmanned vehicle and water surface mobile platform |
| CN105809684A (en) * | 2016-03-08 | 2016-07-27 | 哈尔滨工程大学 | Optical guiding recovery system of autonomous underwater robot and recovery method of optical guiding recovery system |
| CN205524896U (en) * | 2016-02-29 | 2016-08-31 | 中海蓝水自动化装备有限公司 | A retrieve and device is put to cloth for underwater vehicle |
-
2016
- 2016-11-01 CN CN201610934979.9A patent/CN106428485B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2248300C1 (en) * | 2003-06-30 | 2005-03-20 | Федеральное Государственное Унитарное Предприятие "Санкт-Петербургское Морское Бюро Машиностроения "Малахит" | Rescue submersible vehicle |
| US20100018449A1 (en) * | 2006-07-26 | 2010-01-28 | lfremer-Institut Francais de Recherche pour L'Exploitation de la Mer | Installation and method for recovering an underwater or marine vehicle |
| JP2010285072A (en) * | 2009-06-11 | 2010-12-24 | Ihi Corp | Water column observing device |
| KR20140025033A (en) * | 2012-08-21 | 2014-03-04 | 대우조선해양 주식회사 | Uuv recovery device for submarine |
| WO2015027987A1 (en) * | 2013-08-26 | 2015-03-05 | Atlas Elektronik Gmbh | Coupling device, coupling system, and towing system, and method for uncoupling and coupling an unmanned underwater vehicle |
| CN105501415A (en) * | 2015-12-15 | 2016-04-20 | 浙江大学 | Automatic tail end docking device and method for deep sea AUV docking |
| CN205524896U (en) * | 2016-02-29 | 2016-08-31 | 中海蓝水自动化装备有限公司 | A retrieve and device is put to cloth for underwater vehicle |
| CN105809684A (en) * | 2016-03-08 | 2016-07-27 | 哈尔滨工程大学 | Optical guiding recovery system of autonomous underwater robot and recovery method of optical guiding recovery system |
| CN105775079A (en) * | 2016-04-25 | 2016-07-20 | 浙江大学 | Underwater non-contact mobile docking device for underwater unmanned vehicle and water surface mobile platform |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956757B (en) * | 2017-03-31 | 2018-11-13 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Actively capture the lasso trick device of the latent device of autonomous |
| CN106956757A (en) * | 2017-03-31 | 2017-07-18 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Actively catch the lasso trick device of the latent device of autonomous |
| CN107933860A (en) * | 2017-11-23 | 2018-04-20 | 广东合新材料研究院有限公司 | A kind of underwater mobile carrying platform |
| CN107933860B (en) * | 2017-11-23 | 2023-11-07 | 广东合一新材料研究院有限公司 | Underwater mobile carrying platform |
| CN109131801A (en) * | 2018-10-12 | 2019-01-04 | 上海工业自动化仪表研究院有限公司 | The voluntary recall device and control method of the complete deep unmanned submersible in sea |
| CN111409793B (en) * | 2019-01-07 | 2021-05-28 | 中国科学院沈阳自动化研究所 | Capture system and method for recovering underwater robot by using water surface robot |
| CN111409793A (en) * | 2019-01-07 | 2020-07-14 | 中国科学院沈阳自动化研究所 | Capture system and method for recovering underwater robot by using water surface robot |
| CN111409796A (en) * | 2019-01-07 | 2020-07-14 | 中国科学院沈阳自动化研究所 | Cable capturing type mechanism for autonomous recovery underwater robot |
| CN112987798A (en) * | 2019-12-17 | 2021-06-18 | 中国科学院沈阳自动化研究所 | Heavy AUV dynamic/static target autonomous docking method based on acousto-optic combined guidance |
| CN111268067A (en) * | 2020-02-13 | 2020-06-12 | 新昌县羽林街道智西机械厂 | Small module ocean magnetic detection device based on transmission of Internet of things |
| CN111398905A (en) * | 2020-03-03 | 2020-07-10 | 浙江大学 | AUV underwater recovery docking system based on multi-acoustic beacon guidance |
| CN111398905B (en) * | 2020-03-03 | 2022-06-10 | 浙江大学 | AUV underwater recovery docking system based on multi-acoustic beacon guidance |
| CN111601089A (en) * | 2020-05-28 | 2020-08-28 | 大连海事大学 | AUV recovery platform for monitoring AUV recovery and hoisting process in real time |
| CN111572737A (en) * | 2020-05-28 | 2020-08-25 | 大连海事大学 | AUV capturing and guiding method based on acoustic and optical guidance |
| CN111572737B (en) * | 2020-05-28 | 2022-04-12 | 大连海事大学 | AUV capturing and guiding method based on acoustic and optical guidance |
| CN111601089B (en) * | 2020-05-28 | 2022-04-12 | 大连海事大学 | AUV recovery system for real-time monitoring AUV recovery and hoisting process |
| CN111559480B (en) * | 2020-06-12 | 2023-10-27 | 江苏科技大学 | Robot cooperation retraction device and method |
| CN111559480A (en) * | 2020-06-12 | 2020-08-21 | 江苏科技大学 | Robot cooperation collecting and releasing device and method |
| CN111982117A (en) * | 2020-08-17 | 2020-11-24 | 电子科技大学 | AUV optical guiding and direction finding method based on deep learning |
| CN111982117B (en) * | 2020-08-17 | 2022-05-10 | 电子科技大学 | AUV optical guiding and direction finding method based on deep learning |
| CN112960086A (en) * | 2021-02-03 | 2021-06-15 | 吉林大学 | Seat formula AUV is butt joint platform under water |
| CN112937349A (en) * | 2021-02-05 | 2021-06-11 | 中国船舶科学研究中心 | AUV underwater special self-charging equipment and charging method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106428485B (en) | 2018-08-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106428485A (en) | Novel submersible for capturing and recovering AUV through long-distance acousto-optic bidirectional guidance | |
| KR101621143B1 (en) | Underwater docking system based on underwater agent and the method of docking using thereof | |
| WO2020082821A1 (en) | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle | |
| CN203786566U (en) | Submarine cable maintenance underwater robot system | |
| CN110027688B (en) | Deep sea cloth recycling device of full-sea deep unmanned submersible and implementation method | |
| EP4005917B1 (en) | Underwater mobile inspection apparatus and underwater inspection equipment | |
| US6390012B1 (en) | Apparatus and method for deploying, recovering, servicing, and operating an autonomous underwater vehicle | |
| US8757083B2 (en) | Coupling head, coupling device with coupling head, rendezvous head couplable thereto, rendezvous device with rendezvous head and underwater vehicle therewith, coupling system, coupling method and deployment method for an underwater vehicle | |
| KR101416141B1 (en) | Work support platform and method of underwater robot | |
| CN108248801B (en) | Underwater hoisting robot | |
| US20160236760A1 (en) | A system for monitoring a remote underwater location | |
| CN111516805B (en) | Small AUV cluster underwater laying/recycling system | |
| KR101760192B1 (en) | Underwater docking system based on underwater agent and the method of docking using thereof | |
| JP5884978B2 (en) | Underwater vehicle lifting device and method | |
| OA12026A (en) | Underwater power and data relay. | |
| WO2001021478A1 (en) | Underwater latch and power supply | |
| JP2012206602A (en) | Underwater sailing body lifting and recovery method, and underwater sailing body lifting and recovery system | |
| KR101467887B1 (en) | Combined remotely operated vehicle and power supplying method of remotely operrated vehicle | |
| CN106741754A (en) | A kind of UUV crutches formula reclaims docking system and reclaims docking calculation | |
| CN111239746A (en) | Dam crack detection underwater robot and using method thereof | |
| CN110937087A (en) | Underwater AUV (autonomous underwater vehicle) laying and recycling butt joint device and butt joint method | |
| KR20130047186A (en) | System for collecting autonomous underwater vehicle and method for collectiing of the same | |
| KR20130003043A (en) | Unmanned surface robot | |
| CN213768912U (en) | Multifunctional intelligent salvage system on sea | |
| CN112896471B (en) | Multifunctional suspended underwater robot and base station system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |