CN109319071A - A kind of recycling of unmanned boat submarine navigation device lays method - Google Patents
A kind of recycling of unmanned boat submarine navigation device lays method Download PDFInfo
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- CN109319071A CN109319071A CN201811266461.8A CN201811266461A CN109319071A CN 109319071 A CN109319071 A CN 109319071A CN 201811266461 A CN201811266461 A CN 201811266461A CN 109319071 A CN109319071 A CN 109319071A
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- 238000004064 recycling Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000012790 confirmation Methods 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 238000010200 validation analysis Methods 0.000 claims abstract description 12
- 238000011084 recovery Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 5
- 238000005457 optimization Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 206010048669 Terminal state Diseases 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
Classifications
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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
-
- 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
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of recycling of unmanned boat submarine navigation device to lay method, and recovery method and submarine navigation device including submarine navigation device lay method；Wherein, the recovery method of submarine navigation device is the following steps are included: first terminal sends first location information, stops forecast information to second terminal；Second terminal sends second location information, the second operational configuration information to first terminal；First terminal sends berthing routing information to second terminal；Second terminal sends berthing path validation information to first terminal；Submarine navigation device tracking berthing path, until unmanned boat stops berth；First terminal transmission starts to recycle information to second terminal, and second terminal sends recycling confirmation message to first terminal；Unmanned boat carries out submarine navigation device recycling.Recycling of the present invention lays method, by carrying out two-way information interaction between the second terminal on the first terminal and unmanned boat waterborne on submarine navigation device to obtain the information of other side, to realize the folding and unfolding of submarine navigation device.
Description
Technical field
The present invention relates to fields of communication technology, and in particular to a kind of recycling of unmanned boat submarine navigation device lays method.
Background technique
Ship and submarine navigation device using more and more extensive, submarine navigation device is mainly used for water quality, fishery, mineral products, ocean
The exploration such as stream, but since the voyage of submarine navigation device, energy etc. are limited, it needs just make underwater using reasonable folding and unfolding scheme
Aircraft works normally.Currently, the more example for providing ship folding and unfolding submarine navigation device with scheme all compared with it is specific, usually in ship
Under the folding structure effect of oceangoing ship, the folding and unfolding of submarine navigation device is carried out.Such as a kind of unmanned boat robot automatic winding-unwinding system (application number
201510417994.1) the unmanned boat robot automatic deploying and retracting that a kind of structure is simple, stability is good and folding and unfolding effect is good is disclosed
System, specific submarine navigation device folding structure effect under, horizontal draw off gear with mobile robot on the hull of ship with
It is moved back and forth between ship side is outer, vertical draw off gear band mobile robot moves up and down in-between in the water surface, completes underwater
The folding and unfolding of aircraft；A kind of devices, systems, and methods (application number 201710378267.8) of auxiliary ship station recycling machine people, it is public
A kind of recycling machine people's device of auxiliary ship station is opened, the main folding and unfolding that robot is carried out using mechanical arm；A kind of unmanned boat adds
The combined system (application number 201610965516.9) of unmanned submersible, disclose it is a kind of by umbilical cables connect unmanned boat and
The combined system of unmanned submersible, ship are equipped with the extension and retraction system of automatic deploying and retracting umbilical cables；Carry nobody of underwater robot
Ship (grant number CN206437172) discloses a kind of lifting for carrying out underwater robot by lifting device, mainly passes through nobody
Cable between ship and underwater robot operates underwater robot；Unmanned boat lays recyclable device, system and ship cloth and puts back to
Receiving method (application number 201710743537.0) discloses a kind of unmanned boat and lays recyclable device, including strut, hook, first
Locking device, control system, the first cable coiling device, second cable coiling device etc., and recycling is laid based on the ship for laying recyclable device
System and ship lay, recovery method.The ship of above-mentioned patent disclosure lays recovery technology scheme and all there is specific limitation,
Lack the technical solution in the communication aspects of ship folding and unfolding submarine navigation device.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of recycling of unmanned boat submarine navigation device to lay method,
It is by carrying out two-way information interaction to obtain between the second terminal on the first terminal and unmanned boat waterborne on submarine navigation device
The information for obtaining other side, to realize the folding and unfolding of submarine navigation device.
To achieve the above object, a kind of recycling of unmanned boat submarine navigation device provided by the present invention lays method, including
The recovery method of submarine navigation device and submarine navigation device lay method；
Wherein, submarine navigation device recovery method the following steps are included:
S101: the first terminal on submarine navigation device sends the first location information of local terminal, stop forecast information
To the second terminal being located on unmanned boat；
S102: the second terminal sends second location information, the second operational configuration information to the first terminal；
S103: the first terminal is according to second location information, the second operational configuration information, first location information, first
Operational configuration information, generates the berthing routing information of submarine navigation device, and berthing routing information is sent to institute by the first terminal
State second terminal；
S104: berthing path validation information is sent to the first terminal by the second terminal；
S105: submarine navigation device tracking berthing path, until driving into the stop berth of unmanned boat；
S106: the first terminal transmission starts to recycle information to the second terminal, and the second terminal transmission starts
Confirmation message is recycled to the first terminal；
S107: unmanned boat carries out submarine navigation device recycling；
Submarine navigation device lay method the following steps are included:
S201: the second terminal sends job information to the first terminal；
S202: after submarine navigation device receives job information, check whether job information meets the reasonable work of submarine navigation device
Make content, if satisfied, then the first terminal sends work confirmation message to the second terminal；
S203: submarine navigation device is laid to the stop berth of unmanned boat；
S204: the second terminal transmission, which is laid, completes information to the first terminal；
S205: the first terminal receive lay complete information after, submarine navigation device check navigation condition, work item
Part, and generating from the operating path for stopping berth to operating position, the first terminal send work start, operating path to institute
State second terminal；
S206: confirmation submarine navigation device job information and operating path, the second terminal send work and start confirmation extremely
The first terminal；
S207: submarine navigation device tracking operating path adjusts course, the speed of a ship or plane in real time, into working condition, completes work letter
Breath.
Further, in S101, the first location information includes the satellite positioning location of submarine navigation device, underwater
Depth, the speed of a ship or plane, course, the stop forecast information include estimated set out berthing time, submarine navigation device identification information.
Further, in S102, the second location information includes the satellite positioning location, unmanned boat and water of unmanned boat
The relative position of lower aircraft, the second operational configuration information include the speed of a ship or plane of unmanned boat, course.
Further, the S102 specifically:
After the second terminal receives the first location information that the first terminal is sent and stops forecast information, according to
The identification information of submarine navigation device verifies whether to pass through；
If being verified, the second location information and the second operational configuration letter of unmanned boat are sent to the first terminal
Breath；If verifying does not pass through, end of message communication is sent.
Further, the S104 specifically:
After the second terminal receives the berthing routing information of submarine navigation device transmission, the conjunction in analytical calculation berthing path
Rationality sends berthing path validation information to the first terminal if berthing path is reasonable；If berthing path is unreasonable,
Berthing path optimization is carried out, the berthing path validation information after sending optimization to the first terminal.
Further, the S106 specifically:
After submarine navigation device stops navigation, first terminal transmission starts to recycle information to the second terminal, nobody
Whether boat inspection meets the recycling condition of submarine navigation device, if meeting recycling condition, the second terminal sends recycling confirmation
Information is to the first terminal；If being unsatisfactory for recycling condition, the information to be recycled such as the second terminal is sent to described first
Terminal, and alarm.
Further, the S203 specifically:
After the first terminal receives work confirmation message, unmanned boat checks whether that meet submarine navigation device lays item
Part lays condition if meeting, and unmanned boat starts to lay submarine navigation device to the stop berth of unmanned boat；If being unsatisfactory for recycling item
Part is then alarmed.
A kind of recycling of unmanned boat submarine navigation device provided by the present invention lays method compared with the prior art, have with
Lower technical effect:
Bidirectional information friendship is carried out with the second terminal being located on unmanned boat by the first terminal being located on submarine navigation device
Mutually；So that letter can be carried out by being equipped between the submarine navigation device of the first terminal and the unmanned boat equipped with the second terminal
Breath is sent to be received with information, to realize that two-way information interaction obtains the information of other side respectively, and then realizes unmanned boat to underwater
The folding and unfolding of aircraft.
Detailed description of the invention
Fig. 1 is the flow chart of the recovery method of the unmanned boat submarine navigation device of the embodiment of the present invention；
Fig. 2 is the flow chart for laying method of the unmanned boat submarine navigation device of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the extension and retraction system of the unmanned boat submarine navigation device of the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
As shown in Figures 1 and 2, a kind of recycling of unmanned boat submarine navigation device described in the embodiment of the present invention lays method,
Its recovery method for including submarine navigation device and submarine navigation device lay method；
In embodiments of the present invention, submarine navigation device recovery method specifically includes the following steps:
S101: the first terminal 1 on submarine navigation device sends the first location information of local terminal, stop forecast information
To the second terminal 2 being located on unmanned boat；
Wherein, the first location information includes the satellite positioning location of submarine navigation device, underwater depth, the speed of a ship or plane, boat
To the stop forecast information includes estimated set out berthing time, submarine navigation device identification information；
S102: the second terminal 2 receives the first location information that the first terminal 1 is sent and stops forecast information
Afterwards, it verifies whether to pass through according to the identification information of submarine navigation device；
If being verified, the second location information and the second operational configuration letter of unmanned boat are sent to the first terminal 1
Breath；If verifying does not pass through, end of message communication is sent；
Wherein, the second location information includes the phase of the satellite positioning location of unmanned boat, unmanned boat and submarine navigation device
To position, the second operational configuration information includes the speed of a ship or plane of unmanned boat, course；
S103: after the first terminal 1 receives the second location information and the second operational configuration information of unmanned boat transmission,
According to the relative position of submarine navigation device and ship, the navigational parameter of submarine navigation device, submarine navigation device is generated to unmanned boat
Berthing routing information, and berthing routing information is sent to by the second terminal 2 by the first terminal 1；
S104: after the second terminal 2 receives the berthing routing information of submarine navigation device transmission, analytical calculation berthing road
The reasonability of diameter sends berthing path validation information to first terminal if berthing path is reasonable；If berthing path is unreasonable,
Berthing path optimization is then carried out, the berthing path validation information after sending optimization to the first terminal 1；
S105: the first terminal 1 receives the berthing path validation information that the second terminal 2 is sent, underwater navigation
Device tracking berthing path adjusts the speed of a ship or plane and course, until in the stop berth that submarine navigation device drives into unmanned boat in real time；
S106: after submarine navigation device stops navigation, the transmission of first terminal 1 starts to recycle information to the second terminal
2, unmanned boat checks whether the recycling condition for meeting submarine navigation device, if meeting recycling condition, the second terminal 2 is sent back
Confirmation message is received to the first terminal 1；If being unsatisfactory for recycling condition, the information to be recycled such as the second terminal 2 is sent are extremely
The first terminal 1, and alarm；
S107: unmanned boat carries out the inspection of submarine navigation device reclaimer, carries out the recycling of submarine navigation device；
In embodiments of the present invention, submarine navigation device lay method specifically includes the following steps:
S201: selecting suitable submarine navigation device from multiple submarine navigation devices, sends work by the second terminal 2
Information is to the first terminal 1；
S202: after submarine navigation device receives job information, check whether job information meets the reasonable work of submarine navigation device
Make content, if satisfied, then first terminal 1 sends work confirmation message to the second terminal 2；
S203: after the first terminal 1 receives work confirmation message, unmanned boat, which checks whether, meets submarine navigation device
Condition is laid, lays condition if meeting, unmanned boat starts to lay submarine navigation device to the stop berth of unmanned boat；If being unsatisfactory for
Recycling condition, then alarm；
S204: after the completion of unmanned boat lays submarine navigation device, the second terminal 2 transmission, which is laid, completes information to described the
One terminal 1；
S205: the first terminal 1 receive lay complete information after, submarine navigation device check navigation condition, work item
Part, and generating from the operating path for stopping berth to operating position, the first terminal 1 send work start, operating path extremely
The second terminal 2；
S206: unmanned boat confirms submarine navigation device job information and operating path, and the second terminal 2 sends work and starts
Confirm to the first terminal 1；
S207: submarine navigation device tracking operating path adjusts course, the speed of a ship or plane in real time, into working condition, completes work letter
Breath.
Below with reference to Fig. 3, the folding and unfolding system of method is laid to the recycling using unmanned boat submarine navigation device of the present invention
System is described in detail:
The extension and retraction system includes first terminal 1 on the submarine navigation device and the on the unmanned boat of the water surface
Two terminals 2, the first terminal 1 are communicated to connect with the second terminal 2 to realize two-way information interaction；
Wherein, the first terminal 1 includes:
First receiving module 11, for receive from the second terminal 2 send second location information, second navigation shape
State information, berthing path validation information start to recycle confirmation message, job information, lay and complete information；
First memory module 12, for storing the second location information received, the second operational configuration information, work letter
Breath and berthing routing information, operating path information；
First sending module 13, for sending the first location information of the first terminal 1, stopping forecast information, berthing
Routing information, and start to recycle information and the start information that works.
The second terminal 2 includes:
Second receiving module 21, for receive first location information from the first terminal 1, stop forecast information,
Berthing routing information, and start to recycle information and the start information that works；
Second memory module 22, for storing the first location information received, stopping forecast information, berthing path letter
Breath, and lay and complete information and job information；
Second sending module 23, for send the second location information of the second terminal 2, the second operational configuration information,
Berthing path validation information starts to recycle confirmation message, job information, lays and complete information.
It should be noted that the settable first terminal 1 on multiple submarine navigation devices, and the first terminal 1 is equal
It is communicated to connect with the second terminal 2, to realize that a unmanned boat carries out folding and unfolding to multiple aircraft；Meanwhile it is multiple nobody
The settable second terminal 2 on ship, and the second terminal 2 is communicated to connect with the first terminal 1, to realize more
A unmanned boat carries out folding and unfolding to same aircraft, does not have herein to the setting quantity of the first terminal 1, second terminal 2
Body limits.
To sum up, a kind of recycling of unmanned boat submarine navigation device provided by the embodiment of the present invention lays method, by being located at
First terminal 1 on submarine navigation device carries out two-way information interaction with the second terminal 2 being located on unmanned boat；So that being equipped with
Information transmission and information can be carried out between the submarine navigation device of the first terminal 1 and unmanned boat equipped with the second terminal 2
It receives, to realize that two-way information interaction obtains the information of other side respectively, and then realizes folding and unfolding of the unmanned boat to submarine navigation device.
It should be understood that various information are described in the present invention using term " first ", " second " etc., but these information
It should not necessarily be limited by these terms, these terms are only used to for same type of information being distinguished from each other out.For example, not departing from the present invention
In the case where range, " first " information can also be referred to as " second " information, and similar, " second " information can also be referred to as
" first " information.
The above is only the preferred embodiment of the present invention, it is noted that those skilled in the art are come
It says, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement is also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of recycling of unmanned boat submarine navigation device lays method, which is characterized in that the recovery method including submarine navigation device
Method is laid with submarine navigation device；
Wherein, submarine navigation device recovery method the following steps are included:
S101: the first location information of local terminal, stop forecast information are sent to position by the first terminal on submarine navigation device
In the second terminal on unmanned boat；
S102: the second terminal sends second location information, the second operational configuration information to the first terminal；
S103: the first terminal is according to second location information, the second operational configuration information, first location information, the first navigation
Status information, generates the berthing routing information of submarine navigation device, and berthing routing information is sent to described by the first terminal
Two terminals；
S104: berthing path validation information is sent to the first terminal by the second terminal；
S105: submarine navigation device tracking berthing path, until driving into the stop berth of unmanned boat；
S106: the first terminal transmission starts to recycle information to the second terminal, and the second terminal transmission starts to recycle
Confirmation message is to the first terminal；
S107: unmanned boat carries out submarine navigation device recycling；
Submarine navigation device lay method the following steps are included:
S201: the second terminal sends job information to the first terminal；
S202: after submarine navigation device receives job information, check whether job information meets in the reasonable work of submarine navigation device
Hold, if satisfied, then the first terminal sends work confirmation message to the second terminal；
S203: submarine navigation device is laid to the stop berth of unmanned boat；
S204: the second terminal transmission, which is laid, completes information to the first terminal；
S205: the first terminal receive lay complete information after, submarine navigation device check navigation condition, operating condition, and
Generate from the operating path for stopping berth to operating position, the first terminal send work start, operating path to described the
Two terminals；
S206: confirmation submarine navigation device job information and operating path, the second terminal send work and start to confirm to described
First terminal；
S207: submarine navigation device tracking operating path adjusts course, the speed of a ship or plane in real time, into working condition, completes job information.
2. the recycling of unmanned boat submarine navigation device as described in claim 1 lays method, which is characterized in that in S101, institute
Stating first location information includes the satellite positioning location of submarine navigation device, underwater depth, the speed of a ship or plane, course, the stop forecast
Information includes predicting hair berthing time, submarine navigation device identification information.
3. the recycling of unmanned boat submarine navigation device as described in claim 1 lays method, which is characterized in that in S102, institute
State the satellite positioning location that second location information includes unmanned boat, the relative position of unmanned boat and submarine navigation device, described second
Operational configuration information includes the speed of a ship or plane of unmanned boat, course.
4. the recycling of unmanned boat submarine navigation device as described in claim 1 lays method, which is characterized in that the S102 is specific
Are as follows:
After the second terminal receives the first location information that the first terminal is sent and stops forecast information, according to underwater
The identification information of aircraft verifies whether to pass through；
If being verified, the second location information and the second operational configuration information of unmanned boat are sent to the first terminal；If
Verifying does not pass through, then sends end of message communication.
5. the recycling of unmanned boat submarine navigation device as described in claim 1 lays method, which is characterized in that the S104 is specific
Are as follows:
The second terminal receive submarine navigation device transmission berthing routing information after, analytical calculation berthing path it is reasonable
Property, if berthing path is reasonable, berthing path validation information is sent to the first terminal；If berthing path is unreasonable, into
Row berthing path optimization sends the berthing path validation information after optimizing to the first terminal.
6. the recycling of unmanned boat submarine navigation device as described in claim 1 lays method, which is characterized in that the S106 is specific
Are as follows:
After submarine navigation device stops navigation, the first terminal transmission starts to recycle information to the second terminal, unmanned boat inspection
The recycling condition for whether meeting submarine navigation device is looked into, if meeting recycling condition, the second terminal sends recycling confirmation message
To the first terminal；If being unsatisfactory for recycling condition, the information to be recycled such as the second terminal is sent to the first terminal,
And it alarms.
7. the recycling of unmanned boat submarine navigation device as described in claim 1 lays method, which is characterized in that the S203 is specific
Are as follows:
After the first terminal receives work confirmation message, unmanned boat checks whether that meet submarine navigation device lays condition,
If satisfaction lays condition, unmanned boat starts to lay submarine navigation device to the stop berth of unmanned boat；If being unsatisfactory for recycling condition,
Then alarm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811266461.8A CN109319071A (en) | 2018-10-29 | 2018-10-29 | A kind of recycling of unmanned boat submarine navigation device lays method |
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| CN201811266461.8A CN109319071A (en) | 2018-10-29 | 2018-10-29 | A kind of recycling of unmanned boat submarine navigation device lays method |
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| CN114771778A (en) * | 2022-04-12 | 2022-07-22 | 株洲中车时代电气股份有限公司 | Recovery method and recovery device for underwater robot and underwater robot |
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