CN109367707B - A kind of unmanned boat recycling Autonomous Underwater Vehicle device and method based on guide cable - Google Patents
A kind of unmanned boat recycling Autonomous Underwater Vehicle device and method based on guide cable Download PDFInfo
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- CN109367707B CN109367707B CN201811258227.0A CN201811258227A CN109367707B CN 109367707 B CN109367707 B CN 109367707B CN 201811258227 A CN201811258227 A CN 201811258227A CN 109367707 B CN109367707 B CN 109367707B
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- 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
- B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
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- 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
- 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
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of, and the unmanned boat based on guide cable recycles Autonomous Underwater Vehicle device, it is characterised in that: including water surface unmanned boat, the recyclable device being equipped on water surface unmanned boat, the Autonomous Underwater Vehicle for being recovered or laying and the guidance recovery control system being arranged on Autonomous Underwater Vehicle；The unmanned boat bottom of the water surface is provided with underwater acoustic transducer, underwater acoustic communication is carried out for water surface unmanned boat and Autonomous Underwater Vehicle, the hydraulic telescopic rod connecting with recyclable device is provided in the cabin of the water surface unmanned boat, the hydraulic telescopic rod can be realized the movement in recyclable device vertical direction；The fore body top of the Autonomous Underwater Vehicle is provided with arc guid arm and heaving pile clamps.The invention has the benefit that provide one kind using USV as surface platform, using the device and method of guide cable voluntary recall AUV, lay that recycling is big by sea Lidar Equation, haves the defects that personnel and equipment safety risk to solve the water surface in current technological means.
Description
Technical field
The present invention relates to a kind of, and the unmanned boat based on guide cable recycles Autonomous Underwater Vehicle device and method, belongs to sea
Unmanned systems technical field.
Background technique
Water surface unmanned boat (Unmanned Surface Vehicle, abbreviation USV) and Autonomous Underwater Vehicle
The chief component of (Autonomous Underwater Vehicle, abbreviation AUV) as marine unmanned systems, in recent years
By more and more concerns both at home and abroad.As research hotspot, all have broad application prospects in terms of military and civilian.With
Various countries all more and more important role will be played the part of to the attention of the "Oceanic" strategy and the increasing of ocean development dynamics, USV and AUV,
It exerts far reaching influence to the application of mankind's water project, ocean military activity and ocean exploitation etc..
As unmanned platform, USV and AUV have his own strong points, and also respectively have shortage, can not be substituted for each other.AUV is led under water
The technical bottlenecks such as news, navigation and cruising ability restrict, and are difficult independent fine solution, have seriously affected its future in engineering applications.
And the working range of USV be located at it is waterborne, deep water mobility and undersea detection ability are subject to certain restrictions again.By USV and AUV
Two kinds of platforms carry out system globe area, to execute a series of cannot independently being realized by wherein individual system for tasks, in particular for
The certain occasions contacted between underwater AUV and water surface USV are established, there is bright prospect in marine field, it can also be further
The unmanned fleet system in sea being made of USV and AUV is developed into, cluster effect is given full play to.Wherein, how voluntary recall AUV
It is the important key technology of USV and AUV work compound.
In fact, the cruising ability due to AUV is limited, no matter it is applied is surveyed in ocean military affairs, oceanographic survey, seabed resources
The fields such as spy, pipeline inspection require to recycle in the water surface in most cases after AUV completion task, supplement electric power and exchange
Data.But due to marine environment complexity, being influenced by the wind, wave, stream on sea, the recycling problem of AUV is always global problem,
Technical bottleneck as limitation AUV development.Especially someone assists recycling, needs personnel to take motorboat and hangs close to AUV
Point docking, when sea situation is severe, lash ship heave amplitude is larger, easily damages equipment and seriously threatens personnel safety.
In addition, also there is AUV, by hawser of dishing out automatically, to capture the behaviour recycled after hawser by lash ship personnel in the water surface
Make.But it is big by Lidar Equation that the water surface captures hawser, and can not dispose again in a short time, and Autonomous Underwater Vehicle is dished out
Hawser, which is bubbled through the water column, to be not fixed, and is easy to drift away by sea Lidar Equation.Under sea situation harsh conditions, lash ship is unstable, catches cable work
It is difficult to realize.Meanwhile AUV line throwing apparatus belongs to disposable product, needing to be replaced after recycling can just dispose again.
Therefore, being docked in a manner of nobody from main boot in the water surface and recycling AUV technology becomes the hot spot of Recent study.
In more than ten years in past, the western countries headed by the U.S. successively propose it is a variety of nobody lay and recycle AUV in the way of, with speaker hole
Based on formula and derrick type docking.Wherein, loudspeaker cellular type is very serious to the hydrodynamic influence of platform, be suitble to seabed docking rather than
Water surface recycling；The hydrodynamic influence of derrick type is smaller, but dynamic docking difficulty is larger, it is desirable that higher guidance accuracy.
Based on above-mentioned consideration, there is an urgent need to one kind can reduce sea Lidar Equation, can carry out repeating folding and unfolding operation, have
The device and method of autonomous mobility and safe and reliable voluntary recall AUV.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, provide one kind using USV as surface platform,
Using the device and method of guide cable voluntary recall AUV, recycling is laid by sea stormy waves to solve the water surface in current technological means
Influence is big, haves the defects that personnel and equipment safety risk.
In order to achieve the above objectives, the present invention adopts the following technical scheme that:
A kind of unmanned boat based on guide cable recycles Autonomous Underwater Vehicle device, including water surface unmanned boat, is equipped on water
Recyclable device on the unmanned boat of face, the Autonomous Underwater Vehicle for being recovered or laying and guidance recovery control system；
The unmanned boat bottom of the water surface is provided with underwater acoustic transducer, carries out for water surface unmanned boat and Autonomous Underwater Vehicle
Underwater acoustic communication is provided with the hydraulic telescopic rod connecting with recyclable device, the hydraulically extensible in the cabin of the water surface unmanned boat
Bar can be realized the movement in recyclable device vertical direction；Be provided on the deck of the water surface unmanned boat be used cooperatively it is electronic
Winch and A type frame, the electric winch and A type frame, which are used cooperatively, is used for folding and unfolding guide cable；
The shell of the recyclable device is the semi-surrounding tubular structure of bottom opening, and the shell is located at A type frame side
Top offers hole, and for being pierced by guide cable downwards, and guide cable can freely move up and down in hole, and interior of shell is equipped with
A pair of of recycling network mechanism；
The fore body top of the Autonomous Underwater Vehicle is provided with arc guid arm and heaving pile and clamps, the arc guid arm with
Heaving pile clipper joint, when guid arm opens, heaving pile pincers are also opened, and heaving pile pincers are closed when guid arm is withdrawn；The heaving pile pincers are for covering
Firmly guide cable；
The guidance recovery control system includes the autonomous submarine navigation device control being integrated in Autonomous Underwater Vehicle
System, unmanned boat control system and positioning guidance system, the autonomous Underwater Vehicle Control System receive next self-positioning
The data information that guidance system measures carries out recycling path planning and motion control, constantly adjusts self-position and posture is close
Recyclable device；The unmanned boat control system receives position, route speed, the course, posture letter that Autonomous Underwater Vehicle transmits
Breath, planning recycling working path, control water surface unmanned boat movement.
A kind of above-mentioned unmanned boat based on guide cable recycles Autonomous Underwater Vehicle device, is provided on the guide cable
Lamp is guided, and bottom end hangs with pouring weight, for being tensioned guide cable, sleeve is fixedly installed above the pouring weight, for lifting independently
Submarine navigation device.
A kind of above-mentioned unmanned boat based on guide cable recycles Autonomous Underwater Vehicle device, the shell of the recyclable device
Inside top is provided with ultrasonic range finder, to judge relative position of the Autonomous Underwater Vehicle in recyclable device, shell
Both ends setting is provided with motor and corollary equipment, the sealing drum and mating setting use there are two sealing drum in the sealing drum
It is worked normally under water in guarantee motor；The pair of recycling network mechanism is mytiliform grab bucket shape mechanism, the recycling network mechanism
Both ends of the surface are fan-shaped, and bottom is the flexible metal net of arc-shaped curved surface equipped with shape, each recycling network mechanism one end and are fixed on outer
Rotation axis connection on shell, the other end and motor axis connection, the motor drives recycling network mechanism to rotate by motor shaft, described
Rotary shaft top is both provided with gear, the intermeshing of axis gear, a pair of of recycling network mechanism, rotary shaft, motor, motor shaft, tooth
For the arrangement of wheel to indulge face antisymmetry in recyclable device, a pair of of recycling network mechanism realizes by motor rotation and opens and closes that when closing can
Autonomous Underwater Vehicle is enclosed in recyclable device, it is online that Autonomous Underwater Vehicle is placed on flexible metal, and when unlatching is autonomous
Submarine navigation device can free in and out recyclable device.
A kind of above-mentioned unmanned boat based on guide cable recycles Autonomous Underwater Vehicle device, and the arc guid arm is just
It is to shrink that be hidden in Autonomous Underwater Vehicle intracorporal, in removal process, by steering engine in horizontal plane direction often during navigation
Deployed position is turned to, forms V-arrangement guide area in Autonomous Underwater Vehicle front；It is provided with mechanics sensor on heaving pile pincers,
The mechanics sensor is used for when guide cable is enclosed in and clamps generation active force to heaving pile in heaving pile pincers, and mechanics sensor generates arteries and veins
Signal is rushed, by pulse signal transmission to guiding recovery control system；USBL ultra-short baseline array is housed in Autonomous Underwater Vehicle
Column, camera, optical sensor and attitude transducer, the USBL ultra-short baseline array are underwater for Autonomous Underwater Vehicle
Positioning, the ping issued by the acoustic transducer of water surface unmanned boat, Autonomous Underwater Vehicle calculate itself relative to water
The plan-position of face unmanned boat and depth, the camera are used for the autonomous underwater when Autonomous Underwater Vehicle is close to guide cable
Aircraft will recycle picture transmission and give water surface unmanned boat, and picture is transmitted to bank station by water surface unmanned boat, monitor for staff, described
When optical sensor guides lamp close to guide cable for Autonomous Underwater Vehicle, optical sensor can obtain intensity signal, will
Intensity signal is transmitted to guidance recovery control system, and the attitude transducer is for the appearance in Autonomous Underwater Vehicle driving process
State acquisition of information, Autonomous Underwater Vehicle adjusts propulsion device according to itself posture and with the relative position of water surface unmanned boat, real
Existing long-range navigation, is internally provided with power receiving coil and mating battery, the power receiving coil and mating electricity in Autonomous Underwater Vehicle
After pond enters recovery cylinder for Autonomous Underwater Vehicle, magnetic coupling occurs with the power receiving coil in recovery cylinder, realizes autonomous underwater
The wireless non-contact charge of aircraft.
A kind of above-mentioned unmanned boat based on guide cable recycles Autonomous Underwater Vehicle device, the autonomous underwater navigation
Device control system is received from the position that USBL ultra-short baseline array, optical sensor and attitude transducer transmit, sensing data,
Recycling path planning and motion control are carried out, constantly adjusts self-position and posture close to guide cable；Mechanics on heaving pile pincers passes
Heat transfer agent is reached autonomous Underwater Vehicle Control System by sensor, and control steering engine realizes the opening and closing of heaving pile pincers and guid arm；
Self-position, route speed, course, posture information are transferred to by autonomous Underwater Vehicle Control System by underwater acoustic communication
Unmanned boat control system；The unmanned boat set-up of control system is connected inside water surface unmanned boat with electric winch, and control twists
Vehicle realizes the folding and unfolding of guide cable and the switch of guiding lamp；Meanwhile the unmanned boat control system passes through control hydraulic telescopic rod
It stretches and realizes the folding and unfolding of recyclable device, range information is passed to unmanned boat control system by the ultrasonic range finder in recyclable device
System, unmanned boat control system determine whether Autonomous Underwater Vehicle enters recyclable device, realize recycling network machine by control motor
The switch of structure；Unmanned boat control system receives position, the route speed, boat that Autonomous Underwater Vehicle transmits by underwater acoustic communication
To, posture information, planning recycling working path, control unmanned boat movement.
A kind of above-mentioned unmanned boat based on guide cable recycles Autonomous Underwater Vehicle device, the positioning guidance system packet
Acoustics guiding positioning unit and optical navigation positioning unit are included, the acoustics guiding positioning unit includes that Autonomous Underwater Vehicle is taken
Ultra-short baseline acoustic marker, navigation attitude transducer and the underwater acoustic transducer of the unmanned boat bottom setting of the water surface of band, autonomous underwater
Aircraft is by underwater acoustic communication, and with the rate of 2~4kbit/s, itself operational configuration and water surface unmanned boat are carried out information exchange,
Long-range and middle shoran before realizing recycling；The optical navigation positioning unit include the guiding lamp being mounted on guide cable,
Camera and visual sensor, for short distance precision navigation of the Autonomous Underwater Vehicle within 5~20m.
A kind of above-mentioned unmanned boat based on guide cable recycles Autonomous Underwater Vehicle device, and the guiding lamp is waterproof
LED light bar band；The outer casing bottom two sides are enclosed with cushion made of a flexible material respectively, prevent in removal process certainly
Main submarine navigation device and cover attack are impaired；: the arc guid arm is clamped with heaving pile and is connect by gear mechanism.
A kind of unmanned boat recycling Autonomous Underwater Vehicle method based on guide cable, utilizes appointing described in claim 1 to 7
Anticipate a device, removal process the following steps are included:
Step 1: it is communicated after the Autonomous Underwater Vehicle completion task with water surface unmanned boat, it is desirable that start to recycle
Program starts simultaneously at floating, guides positioning unit by acoustics and interacts with water surface unmanned boat progress sail information, by itself position
It sets, route speed, course, posture information pass to water surface unmanned boat；Water surface unmanned boat receive request after by comparing oneself with
A recycling working path is cooked up in the relative position of Autonomous Underwater Vehicle, and recycling working path is straight line, the water surface without
People's ship will plan that speed (recycling cruising speed) and course angle are navigated by water according to recycling path, and will recycle path, the water surface nobody
Foot speed, course angle information are transmitted to Autonomous Underwater Vehicle by underwater acoustic communication；The electric winch on deck will be led simultaneously
Put down to cable, open the guiding lamp on guide cable, by hydraulic telescopic rod by recyclable device into the water, prepare to recycle autonomous water
Lower aircraft；0~10m's depthkeeping navigates under water after Autonomous Underwater Vehicle receives the recycling working path that water surface unmanned boat issues
Row, is arranged into heaving pile region to be moored according to trajectory planning；
Step 2: the Autonomous Underwater Vehicle enters to be postponed to berth, is guided positioning unit by acoustics and is determined again
The relative position of water surface unmanned boat and Autonomous Underwater Vehicle carries out position correction, plans heaving pile course line again, while passing through rudder
Machine opens arc guid arm and heaving pile clamps；Guid arm forms V-arrangement in Autonomous Underwater Vehicle front, and heaving pile pincers open；After the completion
Start close to guide cable, positioning unit long-range navigation and optical navigation positioning unit short range precision navigation are guided by acoustics, from
Main submarine navigation device drives towards guide cable, and constantly adjusts posture, so that guide cable enters in guid arm v-shaped opening, autonomous underwater
Optical sensor in aircraft according to the light intensity magnitude and the angle of sight of guiding lamp judge guide cable apart from orientation；Work as the angle of sight
In it is intermediate when judge that guide cable has entered in heaving pile pincers, withdraw guid arm at this time, heaving pile pincers also clamp therewith, when guide cable quilt
When covering in heaving pile pincers to heaving pile pincers generation active force, force snesor generates pulse signal, and guidance recovery control system will be autonomous
The propeller of submarine navigation device is closed, while sending signal to water surface unmanned boat, indicates that heaving pile is completed；Water surface unmanned boat by
Start take-up after signal, Autonomous Underwater Vehicle is directed to the lifting of the sleeve below cable, to surface motions；
Step 3: after the Autonomous Underwater Vehicle is mentioned approximately level, towing of the Autonomous Underwater Vehicle in guide cable
Lower to enter recyclable device, the ultrasonic range finder of recyclable device cover top portion constantly carries out ranging, judges until up to recyclable device
Autonomous Underwater Vehicle comes into recyclable device, and the motor for being set to recyclable device both ends drives the rotation of recycling network mechanism,
Autonomous Underwater Vehicle is enclosed in recyclable device, hydraulic telescopic rod recycles later, and recyclable device is carried away water surface income water
In the unmanned cabin in face, recycling is completed.
A kind of above-mentioned unmanned boat based on guide cable recycles Autonomous Underwater Vehicle method, and the process of laying includes following step
Rapid: into the water by recyclable device, while electric winch puts down guide cable to the water surface unmanned boat, after device to be recycled enters water
Recycling network mechanism is opened, the Autonomous Underwater Vehicle leaves recyclable device under the effect of gravity, then opens heaving pile pincers, and disengaging is led
To cable, complete to lay.
A kind of above-mentioned unmanned boat based on guide cable recycles Autonomous Underwater Vehicle method, which is characterized in that the step
The trajectory planning of water surface unmanned boat when recycling the planning medium and long distance of working path in rapid one are as follows: start in removal process or again
When removal process starts, the motion state of water surface unmanned boat initial time is obtained by each sensing system and carries out target position
It sets and is initialized with constraint condition, import information into simplified model, trajectory parameters are indicated, saved using A* algorithm
Point search carries out airworthiness judgement and the calculating of costs of flight routes to the path for meeting energy and time constraint condition, thus shape
At trajectory planning parametric equation, and according to determined discrimination standard, the most short carry out duty Optimization of ship trajectory, finally to institute
Air route be smoothed, obtain desired motion state, need in this process the current information of flow of real-time update with
And barrier situation, guarantee the safety of water surface unmanned boat navigation.
Advantageous effects of the invention:
(1) present invention solves the water surface and lays that recycling AUV is big by sea Lidar Equation, there are the technologies of security risk to lack
It falls into, AUV is first docked with guide cable under water, and guide cable drives AUV to enter recyclable device, and AUV recycles depth of implements (5m) and is greater than 5
Grade sea situation wave height, avoids influence of the sea stormy waves to submarine navigation device motion state, while having cable recycling to improve docking and holding
Error rate is, it can be achieved that recycling operation under complicated sea situation；
(2) present invention is compared to underwater fixed recycling deployment device, laying using USV as AUV recycle platform, it can be achieved that
It is autonomous motor-driven, it carries out actively laying recycling, greatly improves the job area of AUV；
(3) present invention substitutes traditional someone with USV and lays way of recycling, avoids personnel from being lauched, reduces and lay and recycle
Risk in the process is improved work efficiency without artificial de- hook operation so that recycling deployment it is more efficient, it is safe,
It is convenient；
(4) AUV improves AUV heaving pile success rate, heaving pile by arc guid arm formation V-arrangement guide area in the present invention
Pincers carry out being the movement of de- cable by rotation, compared to the autonomous submarine navigation device using line throwing apparatus, no replacement is required components
Next subtask can be carried out, the continuous deployment ability of repeatable folding and unfolding operation is realized；
(5) present invention is different from traditional Purely mechanical and lays recyclable device, and the present invention uses the acoustics of USV and AUV and leads to
News are docked with optical navigation, communicate amendment aircraft course line by acoustics in long range, are closely accurately guided using guiding lamp
Docking improves docking probability of recycling success；
(6) present invention is preferable to most of Autonomous Underwater Vehicle compatibility, can be can be realized together by being simply transformed
Set of system lays recycling to a variety of submarine navigation devices, has the characteristics that have a wide range of application.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is the structural schematic diagram of recyclable device 6 in Fig. 1；
Fig. 3 is the central fore-and-aft vertical plane schematic diagram of recyclable device 6 in Fig. 2；
Fig. 4 is the horizontal profile schematic diagram of recyclable device 6 in Fig. 2
Fig. 5 is Autonomous Underwater Vehicle structural schematic diagram of the invention；
Fig. 6 is the schematic diagram that Autonomous Underwater Vehicle docks guide cable 4；
Fig. 7 is the schematic diagram of 4 traction Autonomous Underwater Vehicle of guide cable；
Fig. 8 is the schematic diagram that water surface unmanned boat 1 has cable to recycle Autonomous Underwater Vehicle；
Fig. 9 is the schematic diagram that water surface unmanned boat 1 lays Autonomous Underwater Vehicle；
Figure 10 is the left end partial enlarged view of Fig. 4.
The meaning of appended drawing reference in figure:
1, water surface unmanned boat, 2, A type frame, 3, electric winch, 4, guide cable, 41, sleeve, 42, pouring weight, 5, hydraulically extensible
Bar, 6, recyclable device, 61, shell, 62, sealing drum, 63, cushion, 64, motor, 65, recycling network mechanism, 66, flexible metal
Net, 67, rotary shaft, 68, motor shaft, 69, gear, 610, ultrasonic range finder, 7, Autonomous Underwater Vehicle, 71, arc guiding
Arm, 72, heaving pile pincers, 73, steering engine, 74, gear mechanism, 75, optical sensor, 76, camera, 77, USBL ultra-short baseline array,
78, autonomous Underwater Vehicle Control System.
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 Figure 10, the unmanned boat of the invention based on guide cable recycles Autonomous Underwater Vehicle device, including water
Face unmanned boat 1, the recyclable device 6 being equipped on water surface unmanned boat 1, the Autonomous Underwater Vehicle 7 for being recovered or laying and draw
Lead recovery control system；1 bottom of water surface unmanned boat is provided with underwater acoustic transducer, navigates by water for water surface unmanned boat 1 and autonomous underwater
Device 7 carries out underwater acoustic communication, is provided with the hydraulic telescopic rod 5 connecting with recyclable device 6 in the cabin of water surface unmanned boat 1, hydraulic to stretch
Contracting bar 5 can be realized the movement in 6 vertical direction of recyclable device；The electricity being used cooperatively is provided on the deck of water surface unmanned boat 1
Dynamic winch 3 and A type frame 2, electric winch 3 and A type frame 2 are used cooperatively and are used for folding and unfolding guide cable 4；Guiding is provided on guide cable 4
Lamp, and bottom end hangs with pouring weight 42, for being tensioned guide cable 4, sleeve 41 is fixedly installed above pouring weight 42, for lifting autonomous water
Lower aircraft 7.
The shell 61 of recyclable device 6 is the semi-surrounding tubular structure of bottom opening, and shell 61 is located at the top of 2 side of A type frame
Portion offers hole, and for being pierced by guide cable 4 downwards, and guide cable 4 can freely move up and down in hole；Outside recyclable device 6
61 inside top of shell is provided with ultrasonic range finder 610, to judge that Autonomous Underwater Vehicle 7 is opposite in recyclable device 6
Position, the setting of 61 both ends of shell are provided with motor 64 and corollary equipment there are two sealing drum 62 in sealing drum 62, sealing drum 62 with
It is mating to be arranged for guaranteeing that motor 64 works normally under water；A pair of of recycling network mechanism 65 is installed, a pair is returned inside shell 61
Net collecting mechanism 65 is mytiliform grab bucket shape mechanism, and the both ends of the surface of recycling network mechanism 65 are fan-shaped, and bottom is arc-shaped curved surface equipped with shape
Flexible metal net 66, each 65 one end of recycling network mechanism connect with the rotary shaft 67 being fixed on shell 61, the other end and electricity
Arbor 68 connects, and motor 64 drives recycling network mechanism 65 to rotate by motor shaft 68, and 67 top of rotary shaft is both provided with gear 69,
Axis gear 69 be intermeshed, a pair of of recycling network mechanism 65, rotary shaft 67, motor 64, motor shaft 68, gear 69 arrangement with return
Face antisymmetry is indulged in receiving apparatus 6, a pair of of recycling network mechanism 65 realizes folding by the rotation of motor 64, and when closing can be by autonomous water
Lower aircraft 7 is enclosed in recyclable device 6, and Autonomous Underwater Vehicle 7 is placed on flexible metal net 66, autonomous underwater when unlatching
Aircraft 7 can free in and out recyclable device 6.
The fore body top of Autonomous Underwater Vehicle 7 be provided with arc guid arm 71 and heaving pile pincers 72, arc guid arm 71 with
72 connection of heaving pile pincers, when guid arm opens, heaving pile pincers 72 are also opened, and heaving pile pincers 72 are closed when guid arm is withdrawn；Heaving pile pincers 72 are used
In entangling guide cable 4；Arc guid arm 71 is to shrink that be hidden in Autonomous Underwater Vehicle 7 intracorporal during normal/cruise,
In removal process, deployed position is turned in horizontal plane direction by steering engine 73, forms V-arrangement in 7 front of Autonomous Underwater Vehicle
Guide area；Be provided with mechanics sensor on heaving pile pincers 72, mechanics sensor be used for when guide cable 4 be enclosed in it is right in heaving pile pincers 72
When heaving pile pincers 72 generate active force, mechanics sensor generates pulse signal, by pulse signal transmission to guiding recovery control system；
USBL ultra-short baseline array 77, camera 76, optical sensor 75 and attitude transducer are housed in Autonomous Underwater Vehicle 7,
USBL ultra-short baseline array 77 is used for the Underwater Navigation of Autonomous Underwater Vehicle 7, is sent out by the acoustic transducer of water surface unmanned boat 1
Ping out, Autonomous Underwater Vehicle 7 calculate itself plan-position and depth relative to water surface unmanned boat 1, camera
76 for when Autonomous Underwater Vehicle 7 is close to guide cable 4, Autonomous Underwater Vehicle 7 will recycle picture transmission to the water surface nobody
Picture is transmitted to bank station by ship 1, water surface unmanned boat 1, is monitored for staff, and optical sensor 75 is used for Autonomous Underwater Vehicle 7
When guiding lamp close to guide cable 4, optical sensor 75 can obtain intensity signal, and intensity signal is transmitted to guidance recycling control
System, attitude transducer are obtained for the posture information in 7 driving process of Autonomous Underwater Vehicle, and Autonomous Underwater Vehicle 7
Propulsion device is adjusted according to itself posture and with the relative position of water surface unmanned boat 1, long-range navigation is realized, in Autonomous Underwater Vehicle
7 are internally provided with power receiving coil and mating battery, and power receiving coil and mating battery are used for Autonomous Underwater Vehicle 7 and enter recovery cylinder
Afterwards, magnetic coupling occurs with the power receiving coil in recovery cylinder, realizes the wireless non-contact charge of Autonomous Underwater Vehicle 7.
Guiding recovery control system includes the autonomous Underwater Vehicle Control System being integrated in Autonomous Underwater Vehicle 7
78, unmanned boat control system and positioning guidance system；Autonomous Underwater Vehicle Control System 78 receives ultrashort from USBL
Position that baseline array 77, optical sensor 75 and attitude transducer transmit, sensing data carry out recycling path planning and movement
Control constantly adjusts self-position and posture close to guide cable 4；Mechanics sensor on heaving pile pincers 72 reaches heat transfer agent certainly
Formula Underwater Vehicle Control System 78 is controlled, control steering engine 73 realizes the opening and closing of heaving pile pincers 72 with guid arm；Autonomous underwater navigation
Device control system 78 is transferred to unmanned boat control system by underwater acoustic communication, by self-position, route speed, course, posture information
System；Unmanned boat set-up of control system is connected inside water surface unmanned boat 1 with electric winch 3, and control winch realizes guide cable 4
Folding and unfolding and guiding lamp switch；Meanwhile unmanned boat control system passes through the flexible realization recyclable device of control hydraulic telescopic rod 5
Range information is passed to unmanned boat control system, unmanned boat control by 6 folding and unfolding, the ultrasonic range finder 610 in recyclable device 6
System determines whether Autonomous Underwater Vehicle 7 enters recyclable device 6, realizes opening for recycling network mechanism 65 by control motor 64
It closes；Unmanned boat control system receives position, route speed, course, appearance that Autonomous Underwater Vehicle 7 transmits by underwater acoustic communication
State information, planning recycling working path, control unmanned boat movement.
Positioning guidance system includes acoustics guiding positioning unit and optical navigation positioning unit, and acoustics guides positioning unit packet
Include ultra-short baseline acoustic marker, navigation attitude transducer and the setting of 1 bottom of water surface unmanned boat that Autonomous Underwater Vehicle 7 carries
Underwater acoustic transducer, Autonomous Underwater Vehicle 7 is by underwater acoustic communication, with the rate of 2~4kbit/s, by itself operational configuration and water
Face unmanned boat 1 carries out information exchange, the long-range and middle shoran before realizing recycling；Optical navigation positioning unit includes being mounted on
Guiding lamp, camera 76 and visual sensor on guide cable 4, for low coverage of the Autonomous Underwater Vehicle 7 within 5~20m
From precision navigation.
Guiding lamp is water-proof LED lamp band；61 two sides of the bottom of shell are enclosed with buffering made of a flexible material respectively
Pad 63 prevents Autonomous Underwater Vehicle 7 and the collision of shell 61 in removal process impaired；: arc guid arm 71 and heaving pile pincers 72 are logical
Cross the connection of gear mechanism 74.
Unmanned boat based on guide cable of the invention recycles Autonomous Underwater Vehicle method, and removal process includes following step
It is rapid:
Step 1: it is communicated after 7 completion task of Autonomous Underwater Vehicle with water surface unmanned boat 1, it is desirable that start to recycle journey
Sequence starts simultaneously at floating, guides positioning unit and water surface unmanned boat 1 progress sail information by acoustics and interacts, by self-position,
Route speed, course, posture information pass to water surface unmanned boat 1；Water surface unmanned boat 1 receive request after by comparing oneself with from
A recycling working path is cooked up in the relative position of main submarine navigation device 7, and recycling working path is straight line, the water surface nobody
Ship 1 will plan that speed (recycling cruising speed) and course angle are navigated by water according to recycling path, and will recycle path, water surface unmanned boat
1 travel speed, course angle information are transmitted to Autonomous Underwater Vehicle 7 by underwater acoustic communication；The electric winch 3 on deck will be led simultaneously
Put down to cable 4, open guide cable 4 on guiding lamp, by hydraulic telescopic rod 5 by recyclable device 6 into the water, prepare to be recovered from
Main submarine navigation device 7；Autonomous Underwater Vehicle 7 receive after the recycling working path of the sending of water surface unmanned boat 1 depthkeeping under water 0~
10m navigation, best depthkeeping are 5m under water, are arranged into heaving pile region to be moored according to trajectory planning.
For recycle working path planning medium and long distance when water surface unmanned boat 1 trajectory planning are as follows: in removal process
Start or weight removal process be when starting, by each sensing system obtain 1 initial time of water surface unmanned boat motion state and
Target position and constraint condition initialization are carried out, imports information into simplified model, trajectory parameters is indicated, utilize A*
Algorithm carries out node searching, to the path progress airworthiness judgement and costs of flight routes for meeting energy and time constraint condition
It calculates, to form trajectory planning parametric equation, and according to determined discrimination standard, the most short progress optimization problem of ship trajectory is asked
Solution, is finally smoothed gained air route, obtains desired motion state, need real-time update current in this process
Information of flow and barrier situation guarantee the safety that water surface unmanned boat 1 navigates by water.
Step 2: Autonomous Underwater Vehicle 7 enters to be postponed to berth, is guided positioning unit by acoustics and is determined the water surface again
The relative position of unmanned boat 1 and Autonomous Underwater Vehicle 7 carries out position correction, plans heaving pile course line again, while passing through steering engine
73 open arc guid arm 71 and heaving pile pincers 72；Guid arm forms V-arrangement in 7 front of Autonomous Underwater Vehicle, and heaving pile pincers 72 open；
Start to guide positioning unit long-range navigation close to guide cable 4 by acoustics and optical navigation positioning unit short range is accurate after the completion
Navigation, Autonomous Underwater Vehicle 7 drives towards guide cable 4, and constantly adjusts posture, so that guide cable 4 enters guid arm v-shaped opening
It is interior, optical sensor 75 in Autonomous Underwater Vehicle 7 according to the light intensity magnitude and the angle of sight of guiding lamp judge guide cable 4 away from
From orientation；When the angle of sight is in it is intermediate when judge that guide cable 4 has entered heaving pile and clamped in 72, withdraw guid arm at this time, heaving pile clamps 72
Also it clamps therewith, when guide cable 4, which is enclosed in, generates active force to heaving pile pincers 72 in heaving pile pincers 72, force snesor generates pulse letter
Number, guidance recovery control system closes the propeller of Autonomous Underwater Vehicle 7, while sending signal, table to water surface unmanned boat 1
Show that heaving pile is completed；Water surface unmanned boat 1 is directed to the sleeve of 4 lower section of cable by take-up, Autonomous Underwater Vehicle 7 is started after signal
41 liftings, to surface motions.
Step 3: after Autonomous Underwater Vehicle 7 is mentioned approximately level, Autonomous Underwater Vehicle 7 is under the towing of guide cable 4
Into recyclable device 6, the ultrasonic range finder 610 at 6 shell of recyclable device, 61 top constantly carries out ranging, until reaching recyclable device
6 judge that Autonomous Underwater Vehicle 7 comes into recyclable device 6, and the motor 64 for being set to 6 both ends of recyclable device drives recycling network
Mechanism 65 rotates, and Autonomous Underwater Vehicle 7 is enclosed in recyclable device 6, and hydraulic telescopic rod 5 recycles later, by recyclable device 6
It carries away in water surface income 1 cabin of water surface unmanned boat, recycling is completed.
It is of the invention lay process the following steps are included: water surface unmanned boat 1 by recyclable device 6 into the water, while it is electronic
Winch 3 puts down guide cable 4, and device 6 to be recycled opens recycling network mechanism 65 after entering water, and Autonomous Underwater Vehicle 7 is made in gravity
Recyclable device 6 is left under, then opens heaving pile pincers 72, is detached from guide cable 4, is completed to lay.
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 (8)
1. a kind of unmanned boat based on guide cable recycles Autonomous Underwater Vehicle device, it is characterised in that: including water surface unmanned boat,
The recyclable device that is equipped on water surface unmanned boat, the Autonomous Underwater Vehicle for being recovered or laying and guidance recycling control system
System；
The unmanned boat bottom of the water surface is provided with underwater acoustic transducer, carries out the underwater sound for water surface unmanned boat and Autonomous Underwater Vehicle
It communicates, is provided with the hydraulic telescopic rod connecting with recyclable device, the hydraulic telescopic rod energy in the cabin of the water surface unmanned boat
Enough realize the movement in recyclable device vertical direction；The electric winch being used cooperatively is provided on the deck of the water surface unmanned boat
With A type frame, the electric winch and A type frame are used cooperatively and are used for folding and unfolding guide cable；
The shell of the recyclable device is the semi-surrounding tubular structure of bottom opening, and the shell is located at the top of A type frame side
Hole is offered, for being pierced by guide cable downwards, and guide cable can freely move up and down in hole, and interior of shell is equipped with a pair
Recycling network mechanism；
The fore body top of the Autonomous Underwater Vehicle is provided with arc guid arm and heaving pile clamps, the arc guid arm and heaving pile
Clipper joint, when guid arm opens, heaving pile pincers are also opened, and heaving pile pincers are closed when guid arm is withdrawn；The heaving pile pincers are led for entangling
To cable；
The guidance recovery control system include the autonomous Underwater Vehicle Control System being integrated in Autonomous Underwater Vehicle,
Unmanned boat control system and positioning guidance system, the autonomous Underwater Vehicle Control System, which receives, comes self-positioning guiding system
The data information that unified test obtains, carries out recycling path planning and motion control, constantly adjusts self-position and posture and fills close to recycling
It sets；The unmanned boat control system receives position, route speed, the course, posture information that Autonomous Underwater Vehicle transmits, planning
Recycle working path, control water surface unmanned boat movement；
Guiding lamp is provided on the guide cable, and bottom end hangs with pouring weight, for being tensioned guide cable, fixation is set above the pouring weight
It is equipped with sleeve, for lifting Autonomous Underwater Vehicle；
It is provided with ultrasonic range finder on the inside of the cover top portion of the recyclable device, to judge that Autonomous Underwater Vehicle is recycling
Relative position in device, the setting of shell both ends are provided with motor and corollary equipment, institute in the sealing drum there are two sealing drum
Sealing drum is stated to be arranged with mating for guaranteeing that motor works normally under water；The pair of recycling network mechanism is mytiliform grab bucket shape machine
The both ends of the surface of structure, the recycling network mechanism are fan-shaped, and bottom is the flexible metal net of arc-shaped curved surface, each recycling network equipped with shape
Mechanism one end and fixed rotation axis connection on the shell, the other end and motor axis connection, the motor are driven by motor shaft
The rotation of recycling network mechanism, the rotary shaft top are both provided with gear, the intermeshing of axis gear, a pair of of recycling network mechanism, rotation
Shaft, motor, motor shaft, gear arrangement in recyclable device indulge face antisymmetry, a pair of of recycling network mechanism by motor rotation
Realize folding, Autonomous Underwater Vehicle can be enclosed in recyclable device by when closing, and Autonomous Underwater Vehicle is placed on flexibility
On metal mesh, Autonomous Underwater Vehicle can free in and out recyclable device when unlatching.
2. a kind of unmanned boat based on guide cable according to claim 1 recycles Autonomous Underwater Vehicle device, feature
Be: the arc guid arm is to shrink intracorporal, the removal process that is hidden in Autonomous Underwater Vehicle during normal/cruise
In, deployed position is turned in horizontal plane direction by steering engine, forms V-arrangement guide area in Autonomous Underwater Vehicle front；System
Mechanics sensor is provided on cable pincers, and the mechanics sensor is used to generate work when guide cable is enclosed in heaving pile to be clamped in heaving pile pincers
When firmly, mechanics sensor generates pulse signal, by pulse signal transmission to guiding recovery control system；It is navigated by water in autonomous underwater
USBL ultra-short baseline array, camera, optical sensor and attitude transducer are housed, the USBL ultra-short baseline array is used in device
In the Underwater Navigation of Autonomous Underwater Vehicle, the ping issued by the acoustic transducer of water surface unmanned boat, autonomous underwater boat
Row device calculates itself plan-position and depth relative to water surface unmanned boat, and the camera is for working as Autonomous Underwater Vehicle
When close to guide cable, Autonomous Underwater Vehicle will recycle picture transmission and give water surface unmanned boat, and picture is transmitted to bank by water surface unmanned boat
It stands, is monitored for staff, when the optical sensor guides lamp close to guide cable for Autonomous Underwater Vehicle, optical sensing
Device can obtain intensity signal, intensity signal is transmitted to guidance recovery control system, the attitude transducer is used for autonomous water
Posture information in lower aircraft driving process obtains, phase of the Autonomous Underwater Vehicle according to itself posture and with water surface unmanned boat
Propulsion device is adjusted to position, long-range navigation is realized, is internally provided with power receiving coil and mating battery in Autonomous Underwater Vehicle,
After the power receiving coil and mating battery enter recovery cylinder for Autonomous Underwater Vehicle, occur with the power receiving coil in recovery cylinder
Magnetic coupling realizes the wireless non-contact charge of Autonomous Underwater Vehicle.
3. a kind of unmanned boat based on guide cable according to claim 2 recycles Autonomous Underwater Vehicle device, feature
Be: the autonomous Underwater Vehicle Control System is received to be passed from USBL ultra-short baseline array, optical sensor and posture
Position that sensor transmits, sensing data carry out recycling path planning and motion control, constantly adjust self-position and posture is close
Guide cable；Heat transfer agent is reached autonomous Underwater Vehicle Control System by the mechanics sensor on heaving pile pincers, and control steering engine is real
The opening and closing of existing heaving pile pincers and guid arm；Autonomous Underwater Vehicle Control System is by underwater acoustic communication, by self-position, navigation speed
Degree, course, posture information are transferred to unmanned boat control system；The unmanned boat set-up of control system inside water surface unmanned boat,
It is connected with electric winch, control winch realizes the folding and unfolding of guide cable and the switch of guiding lamp；Meanwhile unmanned boat control system
System passes through the folding and unfolding of the flexible realization recyclable device of control hydraulic telescopic rod, and the ultrasonic range finder in recyclable device will be apart from letter
Breath passes to unmanned boat control system, and unmanned boat control system determines whether Autonomous Underwater Vehicle enters recyclable device, passes through
Control the switch that motor realizes recycling network mechanism；Unmanned boat control system is received Autonomous Underwater Vehicle and is passed by underwater acoustic communication
Come position, route speed, course, posture information, planning recycling working path, control unmanned boat movement.
4. a kind of unmanned boat based on guide cable according to claim 3 recycles Autonomous Underwater Vehicle device, feature
Be: the positioning guidance system includes acoustics guiding positioning unit and optical navigation positioning unit, the acoustics guiding positioning
Unit includes that the ultra-short baseline acoustic marker, navigation attitude transducer and the unmanned boat bottom of the water surface of Autonomous Underwater Vehicle carrying are set
The underwater acoustic transducer set, Autonomous Underwater Vehicle is by underwater acoustic communication, with the rate of 2 ~ 4kbit/s, by itself operational configuration with
Water surface unmanned boat carries out information exchange, the long-range and middle shoran before realizing recycling；The optical navigation positioning unit includes
Guiding lamp, camera and the visual sensor being mounted on guide cable, it is close within 5~20m for Autonomous Underwater Vehicle
Apart from precision navigation.
5. a kind of unmanned boat based on guide cable according to claim 1 recycles Autonomous Underwater Vehicle device, feature
Be: the guiding lamp is water-proof LED lamp band；The outer casing bottom two sides, which are enclosed with respectively made of a flexible material, delays
Punching pad prevents Autonomous Underwater Vehicle and cover attack in removal process impaired；The arc guid arm and heaving pile pincers pass through tooth
Take turns mechanism connection.
6. a kind of unmanned boat based on guide cable recycles Autonomous Underwater Vehicle method, using device as claimed in claim 4,
Be characterized in that, removal process the following steps are included:
Step 1: it is communicated after the Autonomous Underwater Vehicle completion task with water surface unmanned boat, it is desirable that start reclaimer,
Floating is started simultaneously at, positioning unit is guided by acoustics and is interacted with water surface unmanned boat progress sail information, by self-position, navigation
Speed, course, posture information pass to water surface unmanned boat；Water surface unmanned boat receives after request by comparing oneself and autonomous underwater
A recycling working path is cooked up in the relative position of aircraft, and recycling working path is straight line, and water surface unmanned boat will be by
According to recycling path to recycle cruising speed and course angle navigation, and will recycling path, water surface unmanned boat travel speed, course angle letter
Breath is transmitted to Autonomous Underwater Vehicle by underwater acoustic communication；The electric winch on deck puts down guide cable simultaneously, opens guide cable
On guiding lamp, by hydraulic telescopic rod by recyclable device into the water, prepare recycling Autonomous Underwater Vehicle；Autonomous underwater boat
0 ~ 10m is navigated by water depthkeeping under water after row device receives the recycling working path that water surface unmanned boat issues, and is arranged into according to trajectory planning
Enter heaving pile region to be moored；
Step 2: the Autonomous Underwater Vehicle enters to be postponed to berth, is guided positioning unit by acoustics and is determined the water surface again
The relative position of unmanned boat and Autonomous Underwater Vehicle carries out position correction, plans heaving pile course line again, while beating by steering engine
Open arc shape guid arm and heaving pile clamp；Guid arm forms V-arrangement in Autonomous Underwater Vehicle front, and heaving pile pincers open；Start after the completion
Close to guide cable, positioning unit long-range navigation and optical navigation positioning unit short range precision navigation, autonomous water are guided by acoustics
Lower aircraft drives towards guide cable, and constantly adjusts posture, so that guide cable enters in guid arm v-shaped opening, autonomous underwater navigation
Optical sensor in device according to the light intensity magnitude and the angle of sight of guiding lamp judge guide cable apart from orientation；When the angle of sight is in
Judge that guide cable has entered in heaving pile pincers when intermediate, withdraws guid arm at this time, heaving pile pincers also clamp therewith, when guide cable is enclosed in
When clamping generation active force to heaving pile in heaving pile pincers, mechanics sensor generates pulse signal, guides recovery control system by autonomous water
The propeller of lower aircraft is closed, while sending signal to water surface unmanned boat, indicates that heaving pile is completed；Water surface unmanned boat is believed
Start take-up after number, Autonomous Underwater Vehicle is directed to the lifting of the sleeve below cable, to surface motions；
Step 3: the Autonomous Underwater Vehicle be mentioned approximately level after, Autonomous Underwater Vehicle under the towing of guide cable into
Enter recyclable device, the ultrasonic range finder of recyclable device cover top portion constantly carries out ranging, until autonomous up to recyclable device judgement
Submarine navigation device comes into recyclable device, and the motor for being set to recyclable device both ends drives the rotation of recycling network mechanism, will be certainly
Main submarine navigation device is enclosed in recyclable device, later hydraulic telescopic rod recycle, by recyclable device carry away the water surface income water surface without
In people's cabin, recycling is completed.
7. a kind of unmanned boat based on guide cable according to claim 6 recycles Autonomous Underwater Vehicle method, feature
Be, lay process the following steps are included: the water surface unmanned boat by recyclable device into the water, while electric winch will be oriented to
Cable is put down, and device to be recycled opens recycling network mechanism after entering water, and the Autonomous Underwater Vehicle leaves recycling under the effect of gravity
Device, then heaving pile pincers are opened, it is detached from guide cable, completes to lay.
8. a kind of unmanned boat based on guide cable according to claim 6 recycles Autonomous Underwater Vehicle method, feature
It is, the trajectory planning of the water surface unmanned boat in the step 1 when planning medium and long distance of recycling working path are as follows: recycling
When process starts or weight removal process starts, the motion state of water surface unmanned boat initial time is obtained simultaneously by each sensing system
And target position and constraint condition initialization are carried out, it imports information into simplified model, trajectory parameters is indicated, utilize
A* algorithm carries out node searching, carries out airworthiness judgement and costs of flight routes to the path for meeting energy and time constraint condition
Calculating, to form trajectory planning parametric equation, and according to determined discrimination standard, the most short carry out optimization problem of ship trajectory
It solves, finally gained air route is smoothed, desired motion state is obtained, needs real-time update to work as in this process
Preceding information of flow and barrier situation guarantee the safety of water surface unmanned boat navigation.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811258227.0A CN109367707B (en) | 2018-10-26 | 2018-10-26 | A kind of unmanned boat recycling Autonomous Underwater Vehicle device and method based on guide cable |
| PCT/CN2019/095929 WO2020082821A1 (en) | 2018-10-26 | 2019-07-15 | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle |
| GB2006065.3A GB2581091B (en) | 2018-10-26 | 2019-07-15 | Apparatuses and methods for recovering autonomous underwater vehicle by steering cable-based unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811258227.0A CN109367707B (en) | 2018-10-26 | 2018-10-26 | A kind of unmanned boat recycling Autonomous Underwater Vehicle device and method based on guide cable |
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| Publication Number | Publication Date |
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| CN109367707A CN109367707A (en) | 2019-02-22 |
| CN109367707B true CN109367707B (en) | 2019-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811258227.0A Active CN109367707B (en) | 2018-10-26 | 2018-10-26 | A kind of unmanned boat recycling Autonomous Underwater Vehicle device and method based on guide cable |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN109367707B (en) |
| GB (1) | GB2581091B (en) |
| WO (1) | WO2020082821A1 (en) |
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| CN108248765B (en) * | 2018-02-07 | 2020-04-10 | 国家海洋局第一海洋研究所 | Unmanned ship laying and recycling device |
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| CN109367707B (en) * | 2018-10-26 | 2019-07-12 | 河海大学 | A kind of unmanned boat recycling Autonomous Underwater Vehicle device and method based on guide cable |
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| CN109367707A (en) | 2019-02-22 |
| GB2581091B (en) | 2022-10-19 |
| WO2020082821A1 (en) | 2020-04-30 |
| GB2581091A (en) | 2020-08-05 |
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