CN109367706A - A kind of unmanned boat actively captures the device and method of underwater unmanned vehicle in the water surface - Google Patents
A kind of unmanned boat actively captures the device and method of underwater unmanned vehicle in the water surface Download PDFInfo
- Publication number
- CN109367706A CN109367706A CN201811258208.8A CN201811258208A CN109367706A CN 109367706 A CN109367706 A CN 109367706A CN 201811258208 A CN201811258208 A CN 201811258208A CN 109367706 A CN109367706 A CN 109367706A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- underwater
- water surface
- recycling
- cage
- 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
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Abstract
The invention discloses a kind of unmanned boats actively to capture the device and method of underwater unmanned vehicle in the water surface, and including binary ship type and mid-ship is provided with the water surface unmanned boat in opening cabin, the recycling cage for capturing underwater unmanned vehicle and is integrated in the water surface unmanned boat boat-carrying computer and actively captures control system；The intermediate openings cabin of the water surface unmanned boat is used to place recycling cage, the recycling cage is connect by the hydraulic telescopic rod being mounted in cabin with water surface unmanned boat, the hydraulic telescopic rod with actively capture control system and be connected, and control system control is actively captured by recycling cage into the water or in income cabin by described, and realize the accurate adjustment of recycling cage height.The invention has the benefit that providing a kind of by unmanned boat and its recyclable device and method, cooperation without underwater unmanned vehicle can be recycled by force, it can be realized the capture of the active to unknown source, uncontrollable underwater unmanned vehicle, there is important application value in army.
Description
Technical field
The present invention relates to a kind of unmanned boats actively to capture the device and method of underwater unmanned vehicle in the water surface, belongs to ocean
Unmanned systems technical field.
Background technique
As a kind of advanced hydrospace detection platform, underwater unmanned vehicle is widely used to oceanographic survey, sea
Bottom exploration, Military Application etc. are multi-field.After underwater unmanned vehicle completion task, it usually needs lash ship returns it on sea
It receives, but by marine stormy waves and lash ship flow, water surface recycling underwater unmanned vehicle always exists the technology bottle for being difficult to break through
Neck.
Currently, the recycling of underwater unmanned vehicle is mainly the following mode:
1. water surface lifting recycling generally requires staff and takes motorboat close to underwater unmanned vehicle completion and recycle
The docking of mechanism, which is big by Lidar Equation, and equipment damage is easy to appear when sea situation is severe and personnel safety is dangerous.
2. lash ship carries out underwater mating using hoistway or underwater connecting device and recycles operation, but underwater mating difficulty
Greatly, height is required, underwater unmanned vehicle needs to keep real-time communication with lash ship, and constantly adjustment posture aims at docking facilities, simultaneously
Lash ship flow field will affect the movement of underwater unmanned vehicle, further increase recovery difficult.
3. by drawing the traction rope dished out of underwater unmanned vehicle, using dedicated docking boom hoisting carry out docking with
Recycling, which need underwater unmanned vehicle using specific shooting rope mechanism, and limitation is big, for underwater unmanned vehicle
There are problems that applicability.
Importantly, above main way of recycling is all recycled just for the controllable underwater unmanned vehicle of one's own side,
Not yet occur actively capturing recyclable device and method for unknown source, uncontrollable underwater unmanned vehicle at present.Especially
Allow for underwater unmanned vehicle militarily using more and more extensive, actively capture enemy's underwater unmanned vehicle target
With important military value, need a kind of applicability is high, recovery difficult is small, it is safe and reliable, can be to uncontrollable underwater unmanned boat
The water surface recyclable device and method that row device is captured.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, one kind is provided by unmanned boat and its is returned
Receiving apparatus actively captures the device and method of unknown underwater unmanned vehicle in the water surface, the cooperation without underwater unmanned vehicle
It can be recycled by force, can be realized the capture of the active to unknown source, uncontrollable underwater unmanned vehicle, have important
Application value in army.
In order to achieve the above objectives, the present invention adopts the following technical scheme that:
A kind of unmanned boat actively captures the device of underwater unmanned vehicle in the water surface, including binary ship type and mid-ship are set
It is equipped with the opening water surface unmanned boat in cabin, the recycling cage for capturing underwater unmanned vehicle and is integrated in the water surface unmanned boat ship
It carries in computer and actively captures control system；The intermediate openings cabin of the water surface unmanned boat is used to place recycling cage, described
Recycling cage is connect by the hydraulic telescopic rod being mounted in cabin with water surface unmanned boat, and the hydraulic telescopic rod and actively capture are controlled
System processed is connected, and actively captures control system control by recycling cage into the water or in income cabin by described, and realize
Recycle the accurate adjustment of cage height；It is provided with Forward-Looking Sonar in the floating body of the water surface unmanned boat, for water surface unmanned boat
Front waters carries out 3-D scanning imaging, display front waters target.
A kind of above-mentioned unmanned boat actively captures the device of underwater unmanned vehicle in the water surface, and the recycling cage includes recycling
Cylinder is separately positioned on recovery cylinder two sides lower part and symmetrically arranged two recycling networks, is located at the external frame in recovery cylinder periphery
Frame and the guiding door for being symmetricly set on external frame front end；The recovery cylinder is the semiclosed cylinder that front end and bottom are all open
Shape structure, tin is wider than the diameter of existing underwater unmanned vehicle, endcapped, and end is disposed in cylinder
The buffer gear motor of the buffer gear and driving buffer gear that stop underwater unmanned vehicle to advance；Inside the buffer gear
It is provided with Underwater Camera, and is equipped with searchlight, can be to captured in real-time and transmission be carried out in recycling cage, the buffer gear is last
End is provided with the first touch sensor, and actively capture control is sent a signal to when underwater unmanned vehicle touches buffer gear
System；Recovery cylinder top is provided with haptic unit, and the haptic unit includes the second touch sensor and spring, when it is underwater nobody
Aircraft sends a signal to when touching haptic unit and actively captures control system；The recycling network is arranged in pairs, and wire side is
Arc, both ends setting respectively have a crank, and one end of the crank is connected with the rotary shaft being fixed in recovery cylinder, the rotation
Shaft passes through the recycling network motor being arranged on recovery cylinder and drives, and can make recycling network being freely rotated around one end of crank, lead to
The folding at cylinder bottom is realized in the rotation for crossing two recycling networks；The crank other end is connect with gas spring, the gas spring
The other end is connect with recovery cylinder.
A kind of above-mentioned unmanned boat actively captures the device of underwater unmanned vehicle in the water surface, the external frame respectively with
Recovery cylinder is connected with hydraulic telescopic rod, and external frame front end is provided with is driven by the guiding door motor being arranged in external frame
Steering gate that is dynamic and can rotating, the steering gate lower part is equipped with forword-looking imaging sonar, to detect underwater unmanned vehicle
With the relative position of recycling cage.
A kind of above-mentioned unmanned boat actively captures the device of underwater unmanned vehicle in the water surface, the water surface unmanned boat it is upper
PTZ camera is provided on deck, can 360 degree rotation, and by the Image Real-time Transmission taken to active capture control
System.
A kind of above-mentioned unmanned boat actively captures the device of underwater unmanned vehicle, the active capture control system in the water surface
System is also connected with recycling network motor, guiding door motor, haptic unit, Forward-Looking Sonar respectively；The recycling network motor, steering gate
Motor respectively with actively capture control system and be connected, be the switch control for the folding and steering gate of realizing recycling network；Recycling
Haptic unit in cage, which reaches heat transfer agent, actively captures control system, for determine underwater unmanned vehicle whether completely into
Enter to recycle cage；The control system that actively captures is connect with Forward-Looking Sonar, and the image that Forward-Looking Sonar is surveyed and drawn is collected
With processing, it is sent to bank station host computer, by comparing Built-in Image library, it is determined whether be underwater unmanned vehicle, realize underwater
The image processor of unmanned vehicles；The control system that actively captures is connect with forword-looking imaging sonar, is to obtain underwater nothing
The relative position of people's aircraft and recycling cage is gone constantly to adjust recycling cage height, is convenient for underwater nothing by controlling hydraulic telescopic rod
People's aircraft can level enter to recycle cage；The control system that actively captures is connect with gas spring, is to realize that recycling network exists
The position of opening and closing state locks；The control system that actively captures is connect with underwater camera, be in order under water without
After people's aircraft enters cage, Underwater Camera, which will continue location information of the underwater unmanned vehicle observed in recycling cage, to be transmitted
To control system is actively captured, active capture systems control hydraulic telescopic rod constantly adjust recycling cage height, until under water nobody
Aircraft is completely into recycling cage；First touch sensor with actively capture control system and connect, in order to will it is underwater nobody
The information that aircraft touches buffer gear, which is sent to, actively captures control system.
A kind of above-mentioned unmanned boat actively captures the device of underwater unmanned vehicle in the water surface, and the external frame is metal
Steel pipe is made, and its underpart is enclosed with cushion made of flexible buffer material, for preventing underwater unmanned vehicle and external frame
Frame collides and damages.
A kind of above-mentioned unmanned boat actively captures the device of underwater unmanned vehicle in the water surface, and the recycling network is metal material
Expect the wire side being configured to.
A kind of above-mentioned unmanned boat actively captures the device of underwater unmanned vehicle in the water surface, and the buffer gear is spring
It is made with flexible material.
A kind of above-mentioned unmanned boat actively captures the device of underwater unmanned vehicle in the water surface, and the guiding door is height peculiar to vessel
Density foams are made.
A kind of method that unmanned boat actively captures underwater unmanned vehicle in the water surface, using above-mentioned unmanned boat in water surface active
Capture the device of unknown underwater unmanned vehicle, comprising the following steps:
Step A: water surface unmanned boat floats intracorporal Forward-Looking Sonar and keeps it turning in surface navigation, before scanning water surface unmanned boat
Square waters actively captures control system by the image of underwater unmanned vehicle in contrast images library, judges whether to occur underwater
Unmanned vehicles, while by scan image real-time Transmission to bank station；When finding doubtful underwater unmanned vehicle, water surface unmanned boat
Transmission is alerted to bank station, and bank station staff is determined by observation Forward-Looking Sonar scan image with real time video image, if
It is determined as underwater unmanned vehicle and then sends instructions to water surface unmanned boat, opens water surface acquisition procedure；
Step B: water surface unmanned boat recycles path according to the relative position contexture by self of underwater unmanned vehicle, from rear
It chases or head-on recycles, water surface unmanned boat is constantly close to underwater unmanned vehicle, further close to after underwater unmanned vehicle
Course line is modified, so that underwater unmanned vehicle is overlapped with water surface unmanned boat center as far as possible, while water surface unmanned boat is stretched by hydraulic
Contracting bar will recycle cage into the water；
Step C: after recycling cage enters water, the steering gate and recycling network of front end are opened, while opening forword-looking imaging sonar, obtained
The relative position of underwater unmanned vehicle and recycling cage is not captured control system processing actively, by controlling hydraulic telescopic rod
Constantly adjustment recycling cage height, convenient for underwater unmanned vehicle can level enter to recycle cage；Water surface unmanned boat continues close to underwater
Unmanned vehicles make underwater unmanned vehicle enter recycling cage, after underwater unmanned vehicle enters cage, are continued by Underwater Camera
Underwater unmanned vehicle, constantly adjustment recycling cage are observed until it is completely into when underwater unmanned vehicle touches peace simultaneously
When haptic unit in recovery cylinder, judge that underwater unmanned vehicle enters cage success, actively capture control system closing and recycle
Net and steering gate capture underwater unmanned vehicle into recycling cage；
Step D: water surface unmanned boat will recycle in cage income hull cabin, complete underwater unmanned vehicle capture and recycle successfully simultaneously
It makes a return voyage.
Advantageous effects of the invention:
(1) recycling can be completed without doing any change to underwater unmanned vehicle in the present invention, is applicable to sizes
Model underwater unmanned vehicle has wide applicability compared to traditional way of recycling；
(2) using the way of recycling of water surface fishing, unmanned boat is directly travelled to underwater unmanned vehicle the present invention, logical
Cross recycling cage to capture aircraft, without complicated underwater mating and hang operation, underwater unmanned vehicle and unmanned boat also without
Real-time communication is needed, recovery difficult substantially reduces, and greatly improves probability of recycling success；
(3) present invention uses binary ship type, and removal process carries out in unmanned boat floating body, reduces lash ship flow field to underwater
The influence of unmanned vehicles movement；
(4) present invention can also capture unknown source in addition to underwater unmanned vehicle that can be controllable to one's own side recycles
Uncontrollable underwater unmanned vehicle has military application prospect；
(5) present invention substitutes traditional someone with water surface unmanned boat and lays way of recycling, avoids personnel from being lauched, reduces and lay
With the risk in removal process so that recycling deployment is more efficient, safely, conveniently.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is the structural schematic diagram that cage 2 is recycled in Fig. 1；
Fig. 3 is the central fore-and-aft vertical plane schematic diagram that cage 2 is recycled in Fig. 2；
Fig. 4 is the schematic diagram that water surface unmanned boat 1 searches for underwater unmanned vehicle 3；
Fig. 5 is the schematic diagram of the capture recycling underwater unmanned vehicle 3 of water surface unmanned boat 1.
The meaning of appended drawing reference in figure:
1, water surface unmanned boat, 11, upper deck, 12, floating body, 13, PTZ camera, 14, hydraulic telescopic rod, 2, recycling cage,
21, recovery cylinder, 22, buffer gear, 23, Underwater Camera, 24, recycling network motor, 25, haptic unit, 26, recycling network, 27, song
Handle, 28, gas spring, 29, external frame, 210, guiding door motor, 211, steering gate, 212, forword-looking imaging sonar, 213, buffering
Pad, 3, underwater unmanned vehicle.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Referring to Fig. 1 to Fig. 5, unmanned boat of the invention actively captures the device of underwater unmanned vehicle in the water surface, including double
Body ship type and mid-ship are provided with water surface unmanned boat 1,2 and of recycling cage for capturing underwater unmanned vehicle 3 in opening cabin
It is integrated in 1 boat-carrying computer of water surface unmanned boat and actively captures control system；The intermediate openings cabin of water surface unmanned boat 1 is for putting
It puts back into and receives cage 2, recycling cage 2 is connect by the hydraulic telescopic rod 14 being mounted in cabin with water surface unmanned boat 1, hydraulic telescopic rod
14 with actively capture control system and be connected, and by actively capture control system control will recycling cage 2 into the water or income ship
In cabin, and realize the accurate adjustment of recycling 2 height of cage；It is provided with Forward-Looking Sonar in the floating body 12 of water surface unmanned boat 1, for water
The front waters of face unmanned boat 1 carries out 3-D scanning imaging, display front waters target.
Further, recycling cage 2 includes recovery cylinder 21, is separately positioned on 21 two sides lower part of recovery cylinder and symmetrically arranged
Two recycling networks 26 are located in the peripheral external frame 29 of recovery cylinder 21 and are symmetricly set on drawing for 29 front end of external frame
Lead door；Recovery cylinder 21 is the semiclosed tubular structure that front end and bottom are all open, and cylinder is wider than existing underwater unmanned navigation
The diameter of device 3 can make underwater unmanned vehicle 3 freely enter in cylinder (the present patent application from the front end of recovery cylinder 21 and bottom
In forward and backward (end) position correspond to it is left, rear in Fig. 2), endcapped, it is underwater to be disposed with blocking for end in cylinder
The buffer gear motor of buffer gear 22 and driving buffer gear 22 that unmanned vehicles 3 advance；It is arranged inside buffer gear 22
There is Underwater Camera 23, and is equipped with searchlight, it can be to progress captured in real-time and transmission in recycling cage 2,22 end of buffer gear
It is provided with the first touch sensor, actively capture control is sent a signal to when underwater unmanned vehicle 3 touches buffer gear 22
System processed；21 top of recovery cylinder is provided with haptic unit 25, and haptic unit 25 includes the second touch sensor and spring, when underwater
Unmanned vehicles 3 send a signal to when touching haptic unit 25 and actively capture control system；Recycling network 26 is arranged in pairs, net
Face is arc, and both ends setting respectively has a crank 27, and one end of crank 27 is connected with the rotary shaft being fixed in recovery cylinder 21,
Rotary shaft passes through the recycling network motor 24 that is arranged on recovery cylinder 21 and drives, can make recycling network 26 around one end of crank 27 from
By rotating, the folding at cylinder bottom is realized by the rotation of two recycling networks 26；27 other end of crank is connect with gas spring 28, gas spring
28 other end is connect with recovery cylinder 21, and gas spring 28 is connect with relieving mechanism, can be stopped in any position in stroke, and
With larger coupling mechanism force, it can be achieved that recycling network 26 is locked in the position of the state of opening and closing, and held after the closing of recycling network 26
By the weight of underwater unmanned vehicle 3.
Further, external frame 29 is connected with recovery cylinder 21 and hydraulic telescopic rod 14 respectively, 29 front end of external frame
Portion is provided with the steering gate 211 that is driven and can be rotated by the guiding door motor 210 being arranged in external frame 29, recycles cage 2
Steering gate 211 is opened after entering water, to guide underwater unmanned vehicle 3 to enter recovery cylinder 21, avoids being stuck in recycling cage 2 and floating body
In gap between 12；Steering gate 211 is accordingly turned off after recycling network 26 is closed, to prevent underwater unmanned vehicle 3 from recovery cylinder 21
Inside skid off；211 lower part of steering gate is equipped with forword-looking imaging sonar 212, to detect underwater unmanned vehicle 3 and recycle cage 2
Relative position.
Further, be provided with PTZ camera 13 on the upper deck 11 of water surface unmanned boat 1, can 360 degree rotation, and
The Image Real-time Transmission taken is found into underwater unmanned vehicle in the water surface to control system, PTZ camera 13 is actively captured
3, guidance water surface unmanned boat 1 navigates by water, the recycling state reached are as follows: the middle longitudinal axis of underwater unmanned vehicle 3 and water surface unmanned boat 1
Unanimously, underwater unmanned vehicle 3 is located between the binary of water surface unmanned boat 1.
Further, external frame 29 is made of metal steel pipe, and its underpart is enclosed with buffering made of flexible buffer material
Pad 213 is damaged for preventing underwater unmanned vehicle 3 from colliding with external frame 29.
Still further, actively capture control system also respectively with also respectively with recycling network motor 24, guiding door motor
210, haptic unit 25, Forward-Looking Sonar, forword-looking imaging sonar 212, underwater camera 23, gas spring 28, the first touch sensor
It is connected；Actively capturing control system is the prior art,；Meanwhile to each sensor in recycling cage 2 (for example, the first tactile sensing
Device, the second touch sensor) data are handled, and pass through adjusting hydraulic telescopic rod 14, folding recycling network 26 and steering gate 211
Responded, realize to recycling cage 2 autonomous control, specifically are as follows: actively capture control system also respectively with recycling network motor
24, door motor 210, haptic unit 25, Forward-Looking Sonar is guided to be connected；Recycling network motor 24, guiding door motor 210 respectively with master
Dynamic capture control system is connected, and is the switch control in order to realize the folding of recycling network 26 Yu steering gate 211；It recycles in cage 2
Haptic unit 25, which reaches heat transfer agent, actively captures control system, for determine underwater unmanned vehicle 3 whether completely into
Recycle cage 2；It actively captures control system to connect with Forward-Looking Sonar, the image that Forward-Looking Sonar is surveyed and drawn is collected and locates
Reason, is sent to bank station host computer, passes through and compares Built-in Image library, it is determined whether be underwater unmanned vehicle 3, realize it is underwater nobody
The image processor of aircraft 3；It actively captures control system to connect with forword-looking imaging sonar, is to obtain underwater unmanned vehicle
3 with the relative position of recycling cage 2, go the height for constantly adjusting recycling cage 2 by controlling hydraulic telescopic rod 14, convenient for it is underwater nobody
Aircraft 3 can level enter to recycle cage 2；It actively captures control system to connect with gas spring 28, is to realize that recycling network 26 exists
The position of opening and closing state locks；Control system is actively captured to connect with underwater camera 23, be in order under water nobody
After aircraft 3 enters cage, Underwater Camera 23 will continue location information of the underwater unmanned vehicle 3 observed in recycling cage 2
It is transferred to and actively captures control system, active capture systems control constantly 2 height of adjustment recycling cage of hydraulic telescopic rod 14, until water
Lower unmanned vehicles 3 are completely into recycling cage 2；First touch sensor with actively capture control system and connect, in order to will be underwater
The information that unmanned vehicles 3 touch buffer gear 22, which is sent to, actively captures control system.
Preferably, recycling network 26 is the wire side that metal material is configured to；Buffer gear 22 is made of spring and flexible material；
Guiding door is made of high-density foam material peculiar to vessel.
A kind of method that unmanned boat actively captures unknown underwater unmanned vehicle in the water surface, utilizes the dress in the present patent application
It sets, comprising the following steps:
Step A: Forward-Looking Sonar of the water surface unmanned boat 1 in surface navigation, floating body 12 is kept it turning on, and scans water surface unmanned boat
1 front waters actively captures control system by the image of underwater unmanned vehicle 3 in contrast images library, judges whether occur
Underwater unmanned vehicle 3, while by scan image real-time Transmission to bank station；When finding doubtful underwater unmanned vehicle 3, the water surface
The transmission of unmanned boat 1 is alerted to bank station, and bank station staff is carried out by observation Forward-Looking Sonar scan image and real time video image
It determines, however, it is determined that then send instructions to water surface unmanned boat 1 for underwater unmanned vehicle 3, open water surface acquisition procedure；
Step B: water surface unmanned boat 1 recycles path according to the relative position contexture by self of underwater unmanned vehicle 3, from rear
Side chases or head-on recycles, and water surface unmanned boat 1 is constantly close to underwater unmanned vehicle 3, laggard close to underwater unmanned vehicle 3
One step modifies course line, so that underwater unmanned vehicle 3 is overlapped with 1 center of water surface unmanned boat as far as possible, while water surface unmanned boat 1 passes through
Hydraulic telescopic rod 14 will recycle cage 2 into the water；
Step C: after recycling cage 2 enters water, the steering gate 211 and recycling network 26 of front end are opened, while opening forword-looking imaging sound
212, it obtains underwater unmanned vehicle 3 and recycles the relative position of cage 2, actively captured control system processing, pass through control
Constantly adjustment recycling cage 2 height of hydraulic telescopic rod 14, convenient for underwater unmanned vehicle 3 can level enter to recycle cage 2；The water surface nobody
Ship 1 continues to make underwater unmanned vehicle 3 enter recycling cage 2 close to underwater unmanned vehicle 3, and underwater unmanned vehicle 3 enters cage
Afterwards, continue to observe underwater unmanned vehicle 3, constantly adjustment recycling cage 2 by Underwater Camera 23 until it is completely into working as water
When lower unmanned vehicles 3 touch the haptic unit 25 being mounted in recovery cylinder 21 simultaneously, judge that underwater unmanned vehicle 3 enters cage
Success actively captures control system and closes recycling network 26 and steering gate 211, by the capture of underwater unmanned vehicle 3 to recycling cage 2
In；
Step D: water surface unmanned boat 1 will recycle cage 2 take in hull cabin in, complete underwater unmanned vehicle 3 capture recycling at
Function simultaneously makes a return voyage.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. the device that a kind of unmanned boat actively captures underwater unmanned vehicle in the water surface, it is characterised in that: including binary ship type and
Mid-ship is provided with the opening water surface unmanned boat in cabin, the recycling cage for capturing underwater unmanned vehicle and is integrated in the water
Control system is actively captured in the unmanned boat boat-carrying computer of face；The intermediate openings cabin of the water surface unmanned boat is for placing recycling
Cage, the recycling cage is connect by the hydraulic telescopic rod being mounted in cabin with water surface unmanned boat, the hydraulic telescopic rod with
It actively captures control system to be connected, and is put recycling cage by the flexible of control system control hydraulic telescopic rod that actively capture
Enter in water or take in cabin, and realizes the accurate adjustment of recycling cage height；Before being provided in the floating body of the water surface unmanned boat
Depending on sonar, 3-D scanning imaging, display front waters target are carried out for the front waters to water surface unmanned boat.
2. a kind of unmanned boat according to claim 1 actively captures the device of underwater unmanned vehicle, feature in the water surface
Be: the recycling cage includes recovery cylinder, is separately positioned on recovery cylinder two sides lower part and symmetrically arranged two recycling networks, sets
Recovery cylinder periphery external frame and be symmetricly set on the guiding door of external frame front end；The recovery cylinder is front end
The semiclosed tubular structure being all open with bottom tin is wider than the diameter of existing underwater unmanned vehicle, end envelope
It closes, interior end is disposed with the buffer of the buffer gear for stopping underwater unmanned vehicle to advance and driving buffer gear
Structure motor；The buffer gear is internally provided with Underwater Camera, and is equipped with searchlight, can be clapped in real time recycling in cage
It takes the photograph and transmits, the buffer gear end is provided with the first touch sensor, when underwater unmanned vehicle touches buffer gear
When send a signal to and actively capture control system；Recovery cylinder top is provided with haptic unit, and the haptic unit includes the second touching
Feel sensor and spring, is sent a signal to when underwater unmanned vehicle touches haptic unit and actively capture control system；Institute
It states recycling network to be arranged in pairs, wire side is arc, and both ends setting respectively has a crank, one end of the crank and is fixed on recycling
Rotary shaft in cylinder is connected, and the rotary shaft passes through the recycling network motor being arranged on recovery cylinder and drives, and can make recycling network
Around being freely rotated for one end of crank, the folding at cylinder bottom is realized by the rotation of two recycling networks；The crank other end
It is connect with gas spring, the other end of the gas spring is connect with recovery cylinder.
3. a kind of unmanned boat according to claim 2 actively captures the device of underwater unmanned vehicle, feature in the water surface
Be: the external frame is connected with recovery cylinder and hydraulic telescopic rod respectively, and external frame front end is provided with by being arranged in
Steering gate motor driven in external frame and the steering gate that can be rotated, the steering gate lower part is equipped with forword-looking imaging sound
, to detect underwater unmanned vehicle and recycle the relative position of cage.
4. a kind of unmanned boat according to claim 1 actively captures the device of underwater unmanned vehicle, feature in the water surface
Be: being provided with PTZ camera on the upper deck of the water surface unmanned boat, can 360 degree rotation, and the figure that will be taken
As real-time Transmission is to actively capturing control system.
5. a kind of unmanned boat according to claim 3 actively captures the device of underwater unmanned vehicle, feature in the water surface
Be: the control system that actively captures also is connected with recycling network motor, guiding door motor, haptic unit, Forward-Looking Sonar respectively
It connects；The recycling network motor, guiding door motor respectively with actively capture control system and be connected, be the folding in order to realize recycling network
With the switch control of steering gate；Haptic unit in recycling cage, which reaches heat transfer agent, actively captures control system, for determining
Whether underwater unmanned vehicle is completely into recycling cage；The control system that actively captures is connect with Forward-Looking Sonar, by forward sight sound
It surveys and draws obtained image to be collected and handle, is sent to bank station host computer, by comparing Built-in Image library, it is determined whether be
Underwater unmanned vehicle realizes the image processor of underwater unmanned vehicle；It is described actively to capture control system and forword-looking imaging sound
Connection is to go constantly to adjust by controlling hydraulic telescopic rod to obtain underwater unmanned vehicle and recycle the relative position of cage
Whole recycling cage height, convenient for underwater unmanned vehicle can level enter to recycle cage；It is described actively to capture control system and gas spring
Connection is to realize that recycling network is locked in the position of the state of opening and closing；It is described actively to capture control system and take the photograph under water
Shadow machine connection, be in order to which unmanned vehicles enter cage under water after, Underwater Camera will continue the underwater unmanned vehicle observed
Location information in recycling cage, which is transferred to, actively captures control system, and active capture systems control hydraulic telescopic rod constantly adjusts
Cage height is recycled, until underwater unmanned vehicle is completely into recycling cage；First touch sensor and actively capture control
System connection, actively captures control system in order to which the information that underwater unmanned vehicle is touched buffer gear is sent to.
6. a kind of unmanned boat according to claim 5 actively captures the device of underwater unmanned vehicle, feature in the water surface
Be: the external frame is made of metal steel pipe, and its underpart is enclosed with cushion made of flexible buffer material, for preventing
Underwater unmanned vehicle collides with external frame and is damaged.
7. a kind of unmanned boat according to claim 2 actively captures the device of underwater unmanned vehicle, feature in the water surface
Be: the recycling network is the wire side that metal material is configured to.
8. a kind of unmanned boat according to claim 2 actively captures the device of underwater unmanned vehicle, feature in the water surface
Be: the buffer gear is made of spring and flexible material.
9. a kind of unmanned boat according to claim 3 actively captures the device of underwater unmanned vehicle, feature in the water surface
Be: the guiding door is made of high-density foam material peculiar to vessel.
10. a kind of method that unmanned boat actively captures underwater unmanned vehicle in the water surface utilizes appointing described in claim 2 to 8
It anticipates a device, which comprises the following steps:
Step A: water surface unmanned boat floats intracorporal Forward-Looking Sonar and keeps it turning in surface navigation, water in front of scanning water surface unmanned boat
Domain actively captures control system by the image of underwater unmanned vehicle in contrast images library, judge whether to occur it is underwater nobody
Aircraft, while by scan image real-time Transmission to bank station；When finding doubtful underwater unmanned vehicle, water surface unmanned boat is sent
It is alerted to bank station, bank station staff is determined by observation Forward-Looking Sonar scan image with real time video image, however, it is determined that
Water surface unmanned boat is then sent instructions to for underwater unmanned vehicle, opens water surface acquisition procedure；
Step B: water surface unmanned boat recycles path according to the relative position contexture by self of underwater unmanned vehicle, chases from rear
Or head-on recycle, water surface unmanned boat constantly close to underwater unmanned vehicle, is further modified close to after underwater unmanned vehicle
Course line, so that underwater unmanned vehicle is overlapped with water surface unmanned boat center as far as possible, while water surface unmanned boat passes through hydraulic telescopic rod
Cage will be recycled into the water；
Step C: after recycling cage enters water, opening the steering gate and recycling network of front end, while opening forword-looking imaging sonar, obtains underwater
The relative position of unmanned vehicles and recycling cage is actively captured control system processing, is constantly adjusted by controlling hydraulic telescopic rod
Whole recycling cage height, convenient for underwater unmanned vehicle can level enter to recycle cage；Water surface unmanned boat continues close to underwater unmanned boat
Row device makes underwater unmanned vehicle enter recycling cage, after underwater unmanned vehicle enters cage, continues to observe water by Underwater Camera
Lower unmanned vehicles, constantly adjustment recycling cage until its completely into when underwater unmanned vehicle is touched and is mounted on back simultaneously
When receiving the haptic unit in cylinder, judges that underwater unmanned vehicle enters cage success, actively capture control system and close recycling network and lead
Draw door, underwater unmanned vehicle is captured into recycling cage；
Step D: water surface unmanned boat will recycle in cage income hull cabin, complete underwater unmanned vehicle capture and recycle successfully and return
Boat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811258208.8A CN109367706B (en) | 2018-10-26 | 2018-10-26 | A kind of unmanned boat actively captures the device and method of underwater unmanned vehicle in the water surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811258208.8A CN109367706B (en) | 2018-10-26 | 2018-10-26 | A kind of unmanned boat actively captures the device and method of underwater unmanned vehicle in the water surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109367706A true CN109367706A (en) | 2019-02-22 |
| CN109367706B CN109367706B (en) | 2019-07-12 |
Family
ID=65390050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811258208.8A Active CN109367706B (en) | 2018-10-26 | 2018-10-26 | A kind of unmanned boat actively captures the device and method of underwater unmanned vehicle in the water surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109367706B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775200A (en) * | 2019-10-23 | 2020-02-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
| CN111090103A (en) * | 2019-12-25 | 2020-05-01 | 河海大学 | Three-dimensional imaging device and method for dynamically and finely detecting underwater small target |
| CN111204412A (en) * | 2020-01-09 | 2020-05-29 | 广州船舶及海洋工程设计研究院（中国船舶工业集团公司第六0五研究院） | Carrying structure and folding and unfolding method of work boat |
| CN111559476A (en) * | 2020-01-20 | 2020-08-21 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| CN113788116A (en) * | 2021-09-11 | 2021-12-14 | 国网江苏省电力有限公司泰州供电分公司 | Interim charging platform in movable waters |
| CN113879493A (en) * | 2021-11-23 | 2022-01-04 | 广东海洋大学 | Underwater vehicle salvage mechanical claw |
| CN114074747A (en) * | 2021-12-30 | 2022-02-22 | 上海大学 | Novel unmanned underwater vehicle laying and recycling system and method |
| CN114435550A (en) * | 2022-03-28 | 2022-05-06 | 南通市融信信息科技有限公司 | Underwater measurement system of unmanned ship |
| CN114701608A (en) * | 2022-03-29 | 2022-07-05 | 上海大学 | A hang formula of putting and prevent breaking away from keel block that is used for unmanned ship of surface of water to lay to retrieve |
| CN115180097A (en) * | 2022-07-25 | 2022-10-14 | 西南科技大学 | Capturing device of underwater unmanned vehicle |
| WO2023015857A1 (en) * | 2021-08-13 | 2023-02-16 | 鹏城实验室 | Underwater robot recovery device and mother vessel |
| CN115723905A (en) * | 2022-12-15 | 2023-03-03 | 广东智能无人系统研究院(南沙) | Pull-type retracting device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171746A (en) * | 2011-12-26 | 2013-06-26 | 中国科学院沈阳自动化研究所 | Launching and recovery device for self-government underwater vehicle |
| CN103693178A (en) * | 2013-09-26 | 2014-04-02 | 青岛海山海洋装备有限公司 | Cage type recovery apparatus |
| CN103847938A (en) * | 2012-11-28 | 2014-06-11 | 华东师范大学附属枫泾中学 | Robot capable of bundling submarine |
| EP2468621B1 (en) * | 2010-12-23 | 2016-03-02 | Eca | Device for launching and recovering a submersible or surface craft. |
| JP6134741B2 (en) * | 2012-02-03 | 2017-05-24 | タレス | Receiving assembly for receiving a marine vessel and system for retrieving and placing such a vessel at sea |
| CN106956760A (en) * | 2017-03-29 | 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） | The AUV latent device of cable control is reclaimed under High-efficient Water |
| CN107065882A (en) * | 2017-05-17 | 2017-08-18 | 哈尔滨工程大学 | A kind of dynamic voluntary recall UUV of USV waters surface method |
| CN207550461U (en) * | 2017-11-22 | 2018-06-29 | 国家海洋局第二海洋研究所 | A kind of new A UV accurately lays retracting device |
-
2018
- 2018-10-26 CN CN201811258208.8A patent/CN109367706B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2468621B1 (en) * | 2010-12-23 | 2016-03-02 | Eca | Device for launching and recovering a submersible or surface craft. |
| CN103171746A (en) * | 2011-12-26 | 2013-06-26 | 中国科学院沈阳自动化研究所 | Launching and recovery device for self-government underwater vehicle |
| JP6134741B2 (en) * | 2012-02-03 | 2017-05-24 | タレス | Receiving assembly for receiving a marine vessel and system for retrieving and placing such a vessel at sea |
| CN103847938A (en) * | 2012-11-28 | 2014-06-11 | 华东师范大学附属枫泾中学 | Robot capable of bundling submarine |
| CN103693178A (en) * | 2013-09-26 | 2014-04-02 | 青岛海山海洋装备有限公司 | Cage type recovery apparatus |
| CN106956760A (en) * | 2017-03-29 | 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） | The AUV latent device of cable control is reclaimed under High-efficient Water |
| CN107065882A (en) * | 2017-05-17 | 2017-08-18 | 哈尔滨工程大学 | A kind of dynamic voluntary recall UUV of USV waters surface method |
| CN207550461U (en) * | 2017-11-22 | 2018-06-29 | 国家海洋局第二海洋研究所 | A kind of new A UV accurately lays retracting device |
Non-Patent Citations (1)
| Title |
|---|
| 杜俊: "面向USV的AUV自主回收装置设计及其水动力分析", 《工程设计学报》 * |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775200B (en) * | 2019-10-23 | 2021-06-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
| CN110775200A (en) * | 2019-10-23 | 2020-02-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
| CN111090103A (en) * | 2019-12-25 | 2020-05-01 | 河海大学 | Three-dimensional imaging device and method for dynamically and finely detecting underwater small target |
| CN111204412A (en) * | 2020-01-09 | 2020-05-29 | 广州船舶及海洋工程设计研究院（中国船舶工业集团公司第六0五研究院） | Carrying structure and folding and unfolding method of work boat |
| CN111204412B (en) * | 2020-01-09 | 2024-03-26 | 广州船舶及海洋工程设计研究院(中国船舶集团有限公司第六〇五研究院) | Carrying structure and retraction method of working boat |
| CN111559476A (en) * | 2020-01-20 | 2020-08-21 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| CN111559476B (en) * | 2020-01-20 | 2021-02-12 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| WO2023015857A1 (en) * | 2021-08-13 | 2023-02-16 | 鹏城实验室 | Underwater robot recovery device and mother vessel |
| CN113788116A (en) * | 2021-09-11 | 2021-12-14 | 国网江苏省电力有限公司泰州供电分公司 | Interim charging platform in movable waters |
| CN113879493A (en) * | 2021-11-23 | 2022-01-04 | 广东海洋大学 | Underwater vehicle salvage mechanical claw |
| CN114074747A (en) * | 2021-12-30 | 2022-02-22 | 上海大学 | Novel unmanned underwater vehicle laying and recycling system and method |
| CN114074747B (en) * | 2021-12-30 | 2022-09-30 | 上海大学 | Novel unmanned underwater vehicle deployment and recovery system and method |
| CN114435550A (en) * | 2022-03-28 | 2022-05-06 | 南通市融信信息科技有限公司 | Underwater measurement system of unmanned ship |
| CN114701608A (en) * | 2022-03-29 | 2022-07-05 | 上海大学 | A hang formula of putting and prevent breaking away from keel block that is used for unmanned ship of surface of water to lay to retrieve |
| CN114701608B (en) * | 2022-03-29 | 2024-03-15 | 上海大学 | Hanging type anti-separation keel block for deploying and recycling unmanned water surface vehicle |
| CN115180097A (en) * | 2022-07-25 | 2022-10-14 | 西南科技大学 | Capturing device of underwater unmanned vehicle |
| CN115180097B (en) * | 2022-07-25 | 2023-05-16 | 西南科技大学 | Capturing device of underwater unmanned aircraft |
| CN115723905A (en) * | 2022-12-15 | 2023-03-03 | 广东智能无人系统研究院(南沙) | Pull-type retracting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109367706B (en) | 2019-07-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109367706B (en) | A kind of unmanned boat actively captures the device and method of underwater unmanned vehicle in the water surface | |
| WO2020082821A1 (en) | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle | |
| CN102139750B (en) | Underwater object lifting device | |
| CN108688782A (en) | A kind of AUV underwaters | |
| US10942526B2 (en) | System for navigation of an autonomously navigating submersible body during entry into a docking station, method | |
| US9032894B2 (en) | Marine or underwater vehicle and associated securing method | |
| Zhuang et al. | Radar-based collision avoidance for unmanned surface vehicles | |
| KR20110059206A (en) | Vessel docking guide system | |
| CN108438178B (en) | Sliding type manned device for maintenance and detection of deepwater face dam | |
| CN109153432A (en) | For operating the method and system of one or more towboat | |
| CN109153434A (en) | Towboat with overturn-preventing and lower sinking system | |
| US11383800B2 (en) | Marine vessel display device, marine vessel, and image display method for marine vessel | |
| US20210094665A1 (en) | System and method for positioning an aquatic vessel | |
| CN110989617A (en) | Unmanned ship obstacle avoidance control system and unmanned ship | |
| JP2021501724A (en) | System for maneuvering a boat | |
| Zhang et al. | An underwater docking system based on UUV and recovery mother ship: design and experiment | |
| US11518485B2 (en) | Autonomous lifebuoy | |
| CN108255176A (en) | A kind of double unmanned boats independently cooperate with recycling ship method | |
| KR20170003078A (en) | Seabed investigation apparatus with self moving buoy and the seabed investigation method thereof | |
| KR102197140B1 (en) | Auto-Piloting Unmanned Ship Having Seabed Soil Collection Apparatus | |
| CN207622804U (en) | A kind of pressure water conveyer tunnel intelligent detection device | |
| JPH01127487A (en) | Underwater robot | |
| CN116424501A (en) | Autonomous search and rescue unmanned ship and autonomous search and rescue method | |
| CN213620185U (en) | Robot with side scan sonar | |
| CN215405957U (en) | Unmanned garbage collection device on water |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |