CN109367707B - Device and method for recovering autonomous underwater vehicle by unmanned ship based on guide cable - Google Patents

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

Device and method for recovering autonomous underwater vehicle by unmanned ship based on guide cable

technical field

The invention relates to a device and method for recovering an autonomous underwater vehicle based on a guide cable for an unmanned ship, belonging to the technical field of marine unmanned systems.

Background technique

Unmanned Surface Vehicle (USV) and Autonomous Underwater Vehicle (AUV), as the main components of maritime unmanned systems, have received more and more attention at home and abroad in recent years. As a research hotspot, it has broad application prospects in both military and civilian applications. As countries pay more attention to marine strategies and increase their efforts in marine development, both USV and AUV will play an increasingly important role, which will have a profound impact on human aquatic engineering applications, marine military activities, and marine development and utilization.

As unmanned platforms, USVs and AUVs have their own strengths and weaknesses, and cannot replace each other. AUV is restricted by technical bottlenecks such as underwater communication, navigation and endurance, and it is difficult to solve it independently, which seriously affects its engineering application prospects. However, the working range of USV is located on the water, and the ability of deep water activities and underwater detection is limited to a certain extent. The USV and AUV platforms are systematically integrated to perform a series of tasks that cannot be achieved by a single system independently, especially in some occasions where the connection between the underwater AUV and the surface USV needs to be established, which has a bright future in the marine field. In the future, it can also be further developed into a maritime unmanned formation system composed of USVs and AUVs to give full play to the role of the cluster. Among them, how to independently recycle AUVs is an important key technology for the collaborative operation of USVs and AUVs.

In fact, due to the limited endurance of AUV, no matter its application in marine military, marine survey, seabed resource exploration, pipeline inspection and other fields, in most cases, AUV needs to be recovered on the water surface after completing the task, supplemented with electricity and exchanged data. . However, due to the complex marine environment and the influence of wind, waves and currents on the sea surface, the recycling of AUVs has always been a worldwide problem and has become a technical bottleneck restricting the development of AUVs. In particular, when someone assists the recovery, it is necessary to take a motor boat close to the AUV for lifting point docking. When the sea conditions are bad, the heave of the mother ship is relatively large, which can easily damage the equipment and seriously threaten the safety of personnel.

In addition, there are also operations in which the AUV automatically throws the cable on the water surface and is recovered by the mother ship personnel after capturing the cable. However, the surface capture cable is greatly affected by wind and waves, and cannot be deployed again in a short time, and the cable thrown by the autonomous underwater vehicle is not fixed on the water surface, and it is easy to float away due to the influence of wind and waves on the sea surface. In severe sea conditions, the mother ship is unstable, and it is difficult to catch the cable. At the same time, the AUV rope throwing device is a one-time item and needs to be replaced after recycling before it can be deployed again.

Therefore, the technology of autonomously guiding docking and recovering AUVs on the water surface in an unmanned manner has become a research hotspot in recent years. In the past ten years, Western countries led by the United States have successively proposed various methods for unmanned deployment and recovery of AUVs, mainly horn-hole and boom-type docking. Among them, the horn-hole type has a very serious impact on the hydrodynamics of the platform, and is suitable for seabed docking rather than surface recovery; the boom type has less hydrodynamic impact, but it is more difficult for dynamic docking and requires higher guidance accuracy.

Based on the above considerations, there is an urgent need for a device and method for autonomously recovering AUVs that can reduce the impact of wind and waves on the sea surface, can perform repeated retractable operations, have autonomous mobility, and are safe and reliable.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the defects of the prior art, and to provide a device and method for autonomously recovering AUVs by using a USV as a water surface platform and using guide cables, so as to solve the problem that the water surface deployment and recovery in the current technical means is greatly affected by sea surface wind and waves , There are defects in personnel and equipment safety risks.

In order to achieve above-mentioned goal, the present invention adopts following technical scheme:

A device for recovering an autonomous underwater vehicle based on a guide cable for an unmanned ship, comprising a surface unmanned ship, a recovery device mounted on the surface unmanned ship, a recovered or deployed autonomous underwater vehicle, and a guidance and recovery control system;

An underwater acoustic transducer is arranged at the bottom of the unmanned surface ship, which is used for underwater acoustic communication between the unmanned surface unmanned ship and the autonomous underwater vehicle. The cabin of the unmanned surface ship is provided with a hydraulic telescopic device connected to the recovery device. The hydraulic telescopic rod can realize the vertical movement of the recovery device; the deck of the unmanned surface ship is provided with a matching electric winch and an A-frame, and the electric winch and the A-frame are used in conjunction with retractable guide cable;

The casing of the recovery device is a semi-enclosed cylindrical structure with an opening at the bottom. The casing is located at the top of the A-frame side with a hole for passing the guide cable downward, and the guide cable can freely move up and down in the hole. , a pair of recycling net mechanisms are installed inside the shell;

The top of the bow of the autonomous underwater vehicle is provided with an arc-shaped guide arm and a mooring clamp, and the arc-shaped guiding arm is connected with the mooring clamp. When the guiding arm is opened, the mooring clamp is also opened, and the guiding arm The mooring clamp is closed when retracted; the mooring clamp is used to sheath the guide wire;

The guidance and recovery control system includes an autonomous underwater vehicle control system, an unmanned ship control system, and a positioning guidance system integrated in the autonomous underwater vehicle, and the autonomous underwater vehicle control system receives information from the positioning guidance. The unmanned ship control system receives the position, sailing speed, heading and attitude from the autonomous underwater vehicle according to the data information measured by the retrieval system, carries out recovery path planning and motion control, and continuously adjusts its own position and attitude to approach the recovery device; information, plan the recovery operation path, and control the movement of the surface unmanned ship.

The above-mentioned guide cable-based unmanned ship recycling autonomous underwater vehicle device, the guide cable is provided with a guide light, and the bottom end is hung with a weight for tensioning the guide cable, and the weight is above the weight. A sleeve is fixedly arranged for pulling the autonomous underwater vehicle.

The above-mentioned unmanned ship based on the guide cable to recover the autonomous underwater vehicle device, the inner side of the shell top of the recovery device is provided with an ultrasonic range finder to judge the relative position of the autonomous underwater vehicle in the recovery device, Two sealing cylinders are arranged at both ends of the outer casing, and a motor and supporting equipment are arranged in the sealing cylinder. The sealing cylinder and the supporting equipment are used to ensure the normal operation of the motor under water; the pair of recovery net mechanisms are shell-shaped grabbers. Bucket-shaped mechanism, the two ends of the recovery net mechanism are fan-shaped, and the bottom is equipped with a flexible metal net with an arc-shaped curved surface. One end of each recovery net mechanism is connected to the rotating shaft fixed on the casing, and the other end is connected to the motor shaft. , the motor drives the recycling net mechanism to rotate through the motor shaft, the top of the rotating shaft is provided with gears, the gears on the shaft mesh with each other, and the arrangement of a pair of recycling net mechanisms, rotating shafts, motors, motor shafts, and gears Longitudinal anti-symmetry, a pair of recovery net mechanisms can be opened and closed by the rotation of the motor. When closed, the autonomous underwater vehicle can be enclosed in the recovery device. The autonomous underwater vehicle is placed on the flexible metal net. When it is opened, the autonomous underwater vehicle can be closed. Free access to the recovery unit.

In the above-mentioned device for recovering an autonomous underwater vehicle for an unmanned ship based on a guide cable, the arc-shaped guide arm is retracted and hidden in the body of the autonomous underwater vehicle during the normal navigation process. The machine rotates to the open position in the horizontal direction, forming a V-shaped guide area in the front of the autonomous underwater vehicle; a mechanical sensor is provided on the mooring clamp, and the mechanical sensor is used to adjust the guide cable when the guide cable is sheathed in the mooring clamp. When the mooring clamp generates a force, the mechanical sensor generates a pulse signal, which is transmitted to the guidance and recovery control system; the USBL ultra-short baseline array, camera, optical sensor and attitude sensor are installed in the autonomous underwater vehicle. The ultra-short baseline array is used for underwater positioning of autonomous underwater vehicles. Through the acoustic pulses emitted by the acoustic transducer of the surface unmanned vehicle, the autonomous underwater vehicle calculates its own plane position and depth relative to the surface unmanned vehicle. , the camera is used for when the autonomous underwater vehicle approaches the guide cable, the autonomous underwater vehicle transmits the recovery picture to the surface unmanned ship, and the surface unmanned ship transmits the picture to the shore station for the staff to monitor, the said When the optical sensor is used for the autonomous underwater vehicle to approach the guide cable guide light, the optical sensor can obtain the light intensity information and transmit the light intensity information to the guidance and recovery control system. The attitude sensor is used in the driving process of the autonomous underwater vehicle. The autonomous underwater vehicle adjusts the propulsion device according to its own attitude and the relative position with the surface unmanned ship to realize remote navigation. The autonomous underwater vehicle is provided with a power receiving coil and a supporting battery. The coil and supporting battery are used for magnetic coupling with the power receiving coil in the recovery tank after the autonomous underwater vehicle enters the recovery tank to realize wireless non-contact charging of the autonomous underwater vehicle.

The above-mentioned unmanned ship recovery autonomous underwater vehicle device based on the guide cable, the autonomous underwater vehicle control system receives the position and sensing data from the USBL ultra-short baseline array, optical sensor and attitude sensor. , carry out recovery path planning and motion control, and continuously adjust its position and attitude to approach the guide cable; the mechanical sensor on the mooring clamp transmits the sensing information to the autonomous underwater vehicle control system, and controls the steering gear to realize the cable clamp and the guide cable. The opening and closing of the jib; the autonomous underwater vehicle control system transmits its own position, sailing speed, heading, and attitude information to the unmanned ship control system through underwater acoustic communication; Inside the ship, it is connected with the electric winch, and controls the winch to realize the retraction and release of the guide cable and the switch of the guide light; at the same time, the unmanned ship control system realizes the retraction and release of the recovery device by controlling the expansion and contraction of the hydraulic telescopic rod. The ultrasonic range finder transmits the distance information to the unmanned ship control system, the unmanned ship control system determines whether the autonomous underwater vehicle enters the recovery device, and realizes the switch of the recovery network mechanism by controlling the motor; the unmanned ship control system uses the underwater sound Communication, receive position, sailing speed, heading, attitude information from autonomous underwater vehicle, plan recovery operation path, and control the movement of unmanned ship.

The above-mentioned guide cable-based unmanned ship recovering autonomous underwater vehicle device, the positioning and guidance system includes an acoustic guidance and positioning unit and an optical guidance and positioning unit, and the acoustic guidance and positioning unit includes an autonomous underwater navigation unit. The ultra-short baseline acoustic beacon carried by the vehicle, the navigation attitude sensor, and the underwater acoustic transducer set at the bottom of the surface unmanned ship, the autonomous underwater vehicle communicates with the underwater sound, and at a rate of 2 to 4 kbit/s, it communicates its own sailing state. Information interaction with surface unmanned ships to realize long-range and medium-short-range navigation before recovery; the optical guidance and positioning unit includes guidance lights, cameras and visual sensors installed on the guidance cable, which are used for autonomous underwater vehicles Accurate short-range navigation within 5-20m.

The above-mentioned guide cable-based unmanned ship recycling autonomous underwater vehicle device, the guide light is a waterproof LED light strip; During the recovery process, the autonomous underwater vehicle collided with the shell and was damaged; the arc-shaped guide arm and the mooring clamp were connected by a gear mechanism.

A method for recovering an autonomous underwater vehicle for an unmanned ship based on a guide cable, using any one of the devices described in claims 1 to 7, the recovery process comprises the following steps:

Step 1: After the autonomous underwater vehicle completes the task, it communicates with the surface unmanned ship, requires to start the recovery procedure, and starts to float at the same time. The navigation speed, heading, and attitude information are transmitted to the surface unmanned ship; after receiving the request, the surface unmanned ship plans a recovery operation path by comparing the relative positions of itself and the autonomous underwater vehicle. The recovery operation path is a straight line, and there is no water surface. The human ship will sail at the planned speed (recovery cruising speed) and heading angle according to the recovery path, and transmit the recovery path, the driving speed of the surface unmanned ship, and the heading angle information to the autonomous underwater vehicle through hydroacoustic communication; The electric winch puts down the guide cable, turns on the guide light on the guide cable, puts the recovery device into the water through the hydraulic telescopic rod, and prepares to recover the autonomous underwater vehicle; the autonomous underwater vehicle receives the recovery operation from the surface unmanned ship After the route, set the depth to navigate underwater at 0-10m, and enter the mooring waiting area according to the track planning arrangement;

Step 2: After the autonomous underwater vehicle enters the waiting position, the relative position of the surface unmanned ship and the autonomous underwater vehicle is re-determined through the acoustic guidance and positioning unit, the position is corrected, and the mooring route is re-planned. The steering gear opens the arc-shaped guide arm and the mooring clamp; the guiding arm forms a V shape at the front of the autonomous underwater vehicle, and the mooring clamp is opened; after completion, it starts to approach the guide wire, and the acoustic guidance and positioning unit is used for remote navigation and The optical guidance and positioning unit is used for short-range precise navigation. The autonomous underwater vehicle drives to the guide cable and continuously adjusts its attitude so that the guide cable enters the V-shaped opening of the guide arm. The optical sensor in the autonomous underwater vehicle is based on the guide light. The light intensity and the line of sight angle determine the distance and orientation of the guide cable; when the line of sight angle is in the middle, it is judged that the guide cable has entered the cable clamp. At this time, the guide arm is retracted and the cable clamp is also clamped. When the guide cable is covered by the quilt When the mooring clamp exerts force on the mooring clamp, the force sensor generates a pulse signal, which guides the recovery control system to turn off the propeller of the autonomous underwater vehicle, and at the same time sends a signal to the surface unmanned vessel, indicating that the mooring has been completed; After receiving the signal, the surface unmanned ship starts to retract the cable, and the autonomous underwater vehicle is pulled by the sleeve under the guide cable and moves to the water surface;

Step 3: After the autonomous underwater vehicle is lifted near the water surface, the autonomous underwater vehicle enters the recovery device under the tow of the guide cable, and the ultrasonic range finder on the top of the recovery device shell continuously measures the distance until it reaches the recovery device. It is judged that the autonomous underwater vehicle has entered the recovery device, the motors arranged at both ends of the recovery device drive the recovery net mechanism to rotate, the autonomous underwater vehicle is enclosed in the recovery device, and then the hydraulic telescopic rod is recovered, and the recovery device is lifted out of the water surface Income into the unmanned cabin on the water surface, and the recovery is completed.

The above-mentioned method for recovering an autonomous underwater vehicle by an unmanned ship based on a guide cable, the deployment process includes the following steps: the surface unmanned ship puts the recovery device into the water, and at the same time, the electric winch puts down the guide cable, and the recovery device is to be recovered. After entering the water, the recovery net mechanism is opened, and the autonomous underwater vehicle leaves the recovery device under the action of gravity, and then opens the mooring clamp, disengages the guide cable, and completes the deployment.

The above-mentioned method for recovering an autonomous underwater vehicle by an unmanned ship based on a guide cable is characterized in that, in the planning of the recovery operation path in the step 1, the trajectory planning of the surface unmanned ship at a long distance is as follows: when the recovery process starts Or at the beginning of the re-recovery process, the motion state of the surface unmanned ship at the initial moment is obtained through each sensor system, and the target position and constraint conditions are initialized, the information is imported into the simplified model, the trajectory parameters are represented, and the A* algorithm is used to carry out nodes. Search, carry out navigability judgment on the path that satisfies the energy and time constraints, and calculate the cost of the route, so as to form the trajectory planning parameter equation, and solve the optimization problem according to the determined criterion, the shortest navigation trajectory, and finally the obtained route. Smooth processing to obtain the desired motion state. In this process, it is necessary to update the current flow field information and obstacle conditions in real time to ensure the safety of the unmanned ship on the surface.

The beneficial effects achieved by the present invention:

(1) The present invention solves the technical defect that the AUV deployed on the water surface is greatly affected by the wind and waves on the sea surface and has safety risks. The AUV is first docked with the guide cable underwater, and the guide cable drives the AUV into the recovery device, and the AUV recovery operation depth (5m) The wave height of sea state greater than level 5 avoids the influence of sea surface wind and waves on the motion state of underwater vehicles, and at the same time, cable recovery improves the docking fault tolerance rate, and can realize recovery operations under complex sea conditions;

(2) Compared with the underwater fixed recovery and deployment device of the present invention, the USV is used as the deployment and recovery platform of the AUV, which can realize autonomous maneuvering, perform active deployment and recovery, and greatly improve the operating range of the AUV;

(3) The present invention replaces the traditional manned laying and recycling method with USV, avoids personnel entering the water, reduces the danger in the laying and recycling process, does not require manual unhooking operation, improves work efficiency, and makes the recycling and laying operation more efficient, Safe and convenient;

(4) In the present invention, the AUV forms a V-shaped guide area through the arc guide arm, which improves the success rate of the AUV tethering cable. The next mission can be carried out without replacing parts, realizing the continuous deployment capability of repeatable retractable operations;

(5) The present invention is different from the traditional purely mechanical deployment and recovery device. The present invention adopts the acoustic and communication of USV and AUV to connect with optical guidance, corrects the aircraft route through acoustic communication at a long distance, and uses the guidance light for accurate short distances. Guide the docking and improve the success rate of docking recovery;

(6) The present invention has good compatibility with most autonomous underwater vehicles, and can realize the deployment and recovery of various underwater vehicles with the same system through simple transformation, and has the characteristics of wide application range.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the structural representation of the recovery device 6 in Fig. 1;

Fig. 3 is the middle longitudinal section schematic diagram of the recovery device 6 in Fig. 2;

FIG. 4 is a schematic horizontal cross-sectional view of the recovery device 6 in FIG. 2

5 is a schematic structural diagram of an autonomous underwater vehicle of the present invention;

FIG. 6 is a schematic diagram of the autonomous underwater vehicle docking the guide cable 4;

7 is a schematic diagram of the guide cable 4 towing an autonomous underwater vehicle;

8 is a schematic diagram of the surface unmanned ship 1 having a cable to recover the autonomous underwater vehicle;

Fig. 9 is the schematic diagram of the autonomous underwater vehicle deployed by the surface unmanned ship 1;

FIG. 10 is a partial enlarged view of the left end of FIG. 4 .

The meaning of the reference numbers in the figure:

1. Surface unmanned vessel, 2. A-frame, 3. Electric winch, 4. Guide cable, 41, Sleeve, 42, Weight, 5. Hydraulic telescopic rod, 6. Recovery device, 61, Shell, 62, Sealing cylinder, 63, Cushion pad, 64, Motor, 65, Recycling mesh mechanism, 66, Flexible metal mesh, 67, Rotating shaft, 68, Motor shaft, 69, Gear, 610, Ultrasonic distance meter, 7, Autonomous underwater Vehicle, 71, Curved Guide Arm, 72, Mooring Clamp, 73, Steering Gear, 74, Gear Mechanism, 75, Optical Sensor, 76, Camera, 77, USBL Ultra-Short Baseline Array, 78, Autonomous Underwater aircraft control system.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.

Referring to FIGS. 1 to 10 , the device for recovering an autonomous underwater vehicle based on a guide cable for an unmanned ship of the present invention includes a surface unmanned ship 1 , a recovery device 6 mounted on the surface unmanned ship 1 , which is recovered or deployed. The autonomous underwater vehicle 7 and the guidance and recovery control system; the bottom of the surface unmanned ship 1 is provided with an underwater acoustic transducer, which is used for underwater acoustic communication between the surface unmanned ship 1 and the autonomous underwater vehicle 7. The cabin of 1 is provided with a hydraulic telescopic rod 5 connected with the recovery device 6, and the hydraulic telescopic rod 5 can realize the movement of the recovery device 6 in the vertical direction; the deck of the unmanned surface ship 1 is provided with a matching electric winch 3 and A. The frame 2, the electric winch 3 and the A-frame 2 are used together to retract the guide cable 4; the guide cable 4 is provided with a guide light, and the bottom end is hung with a weight 42, which is used to tension the guide cable 4. A sleeve 41 is fixed above the block 42 for pulling the autonomous underwater vehicle 7 .

The casing 61 of the recovery device 6 is a semi-enclosed cylindrical structure with an open bottom. The casing 61 is located at the top of the A-frame 2 side with a hole for passing the guide cable 4 downward, and the guide cable 4 can be free in the hole. Up and down movement; the inside of the top of the casing 61 of the recovery device 6 is provided with an ultrasonic range finder 610 to judge the relative position of the autonomous underwater vehicle 7 in the recovery device 6, two sealing cylinders 62 are provided at both ends of the casing 61, The sealing cylinder 62 is provided with a motor 64 and supporting equipment, and the sealing cylinder 62 and the supporting equipment are used to ensure the normal operation of the motor 64 under water; a pair of recovery net mechanisms 65 are installed inside the casing 61, and the pair of recovery net mechanisms 65 are shell-shaped grab buckets The two ends of the recovery net mechanism 65 are fan-shaped, and the bottom is equipped with a flexible metal net 66 with an arc-shaped curved surface. One end of each recovery net mechanism 65 is connected to the rotating shaft 67 fixed on the housing 61, and the other end is connected to the motor. The shaft 68 is connected, the motor 64 drives the recovery net mechanism 65 to rotate through the motor shaft 68, the top of the rotating shaft 67 is provided with a gear 69, the gears 69 on the shaft mesh with each other, a pair of recovery net mechanism 65, rotating shaft 67, motor 64, motor shaft 68. The arrangement of the gears 69 is symmetrical to the longitudinal plane of the recovery device 6. A pair of recovery net mechanisms 65 are opened and closed by the rotation of the motor 64. When closed, the autonomous underwater vehicle 7 can be enclosed in the recovery device 6, and the autonomous underwater vehicle can be closed. The vehicle 7 is placed on the flexible metal mesh 66, and the autonomous underwater vehicle 7 can freely enter and exit the recovery device 6 when turned on.

The top of the bow of the autonomous underwater vehicle 7 is provided with an arc-shaped guide arm 71 and a mooring clamp 72, and the arc-shaped guiding arm 71 is connected with the mooring clamp 72. When the arm is retracted, the mooring clamp 72 is closed; the mooring clamp 72 is used to cover the guide cable 4; the arc-shaped guiding arm 71 is retracted and hidden in the autonomous underwater vehicle 7 during the normal navigation process. , by turning the steering gear 73 to the open position in the horizontal direction, a V-shaped guide area is formed at the front of the autonomous underwater vehicle 7; the mooring clamp 72 is provided with a mechanical sensor, and the mechanical sensor is used when the guide cable 4 is sheathed in the When the mooring clamp 72 exerts a force on the mooring clamp 72, the mechanical sensor generates a pulse signal, and transmits the pulse signal to the guidance and recovery control system; the autonomous underwater vehicle 7 is equipped with a USBL ultra-short baseline array 77 and a camera 76 , optical sensor 75 and attitude sensor, USBL ultra-short baseline array 77 is used for underwater positioning of autonomous underwater vehicle 7, through the acoustic pulse emitted by the acoustic transducer of surface unmanned vessel 1, autonomous underwater vehicle 7 calculates Knowing the plane position and depth of itself relative to the surface unmanned ship 1, the camera 76 is used for when the autonomous underwater vehicle 7 is close to the guide cable 4, the autonomous underwater vehicle 7 transmits the recovery picture to the surface unmanned ship 1, and the water surface The unmanned ship 1 transmits the picture to the shore station for monitoring by the staff. The optical sensor 75 is used for the autonomous underwater vehicle 7 to approach the guide light of the guide cable 4. The optical sensor 75 can obtain the light intensity information and transmit the light intensity information. To the guidance and recovery control system, the attitude sensor is used to obtain attitude information during the driving of the autonomous underwater vehicle 7, and the autonomous underwater vehicle 7 adjusts the propulsion device according to its own attitude and the relative position with the surface unmanned ship 1 to realize remote navigation. , A power receiving coil and a supporting battery are arranged inside the autonomous underwater vehicle 7. The power receiving coil and the supporting battery are used for magnetic coupling with the power receiving coil in the recovery tank after the autonomous underwater vehicle 7 enters the recovery tank to realize Wireless contactless charging of autonomous underwater vehicle 7.

The guidance and recovery control system includes an autonomous underwater vehicle control system 78 integrated in the autonomous underwater vehicle 7, an unmanned ship control system, and a positioning and guidance system; the autonomous underwater vehicle control system 78 receives data from the USBL ultra-short The position and sensing data transmitted by the baseline array 77, the optical sensor 75 and the attitude sensor are used for recovery path planning and motion control, and continuously adjust their position and attitude to approach the guide cable 4; the mechanical sensor on the cable clamp 72 will sense the information It is transmitted to the autonomous underwater vehicle control system 78, and the steering gear 73 is controlled to realize the opening and closing of the mooring clamp 72 and the guide arm; the autonomous underwater vehicle control system 78 communicates its own position, sailing speed, The heading and attitude information are transmitted to the unmanned ship control system; the unmanned ship control system is set inside the surface unmanned ship 1 and connected with the electric winch 3 to control the winch to realize the retraction and release of the guide cable 4 and the switch of the guide light; at the same time , the unmanned ship control system realizes the retraction and release of the recovery device 6 by controlling the expansion and contraction of the hydraulic telescopic rod 5, and the ultrasonic range finder 610 in the recovery device 6 transmits the distance information to the unmanned ship control system, and the unmanned ship control system determines the autonomous Whether the underwater vehicle 7 enters the recovery device 6, the switch of the recovery net mechanism 65 is realized by controlling the motor 64; the unmanned ship control system receives the position, sailing speed, heading, Attitude information, planning the recovery operation path, and controlling the movement of the unmanned ship.

The positioning and guidance system includes an acoustic guidance and positioning unit and an optical guidance and positioning unit, and the acoustic guidance and positioning unit includes an ultra-short baseline acoustic beacon carried by the autonomous underwater vehicle 7, a navigation attitude sensor, and a surface unmanned vessel 1 set at the bottom. Underwater acoustic transducer, the autonomous underwater vehicle 7 exchanges information with the surface unmanned vessel 1 at a rate of 2 to 4 kbit/s through underwater acoustic communication, and realizes long-range and short-range navigation before recovery ; The optical guiding and positioning unit includes a guiding light, a camera 76 and a visual sensor installed on the guiding cable 4, and is used for the short-range precise navigation of the autonomous underwater vehicle 7 within 5-20m.

The guide light is a waterproof LED light strip; both sides of the bottom of the casing 61 are respectively wrapped with a buffer pad 63 made of flexible material to prevent the collision between the autonomous underwater vehicle 7 and the casing 61 during the recovery process and damage;: arc guide The arm 71 and the mooring clamp 72 are connected by a gear mechanism 74 .

The method for recovering an autonomous underwater vehicle by an unmanned ship based on a guide cable of the present invention, the recovery process includes the following steps:

Step 1: After the autonomous underwater vehicle 7 completes the task, it communicates with the surface unmanned ship 1, requires to start the recovery procedure, and starts to float at the same time. , sailing speed, heading, and attitude information are transmitted to the surface unmanned ship 1; after receiving the request, the surface unmanned ship 1 plans a recovery operation path by comparing the relative positions of itself and the autonomous underwater vehicle 7, and the recovery operation path is a In a straight line, the surface unmanned ship 1 will sail at the planned speed (recovery cruise speed) and heading angle according to the recovery path, and transmit the recovery path, the driving speed of the surface unmanned ship 1, and the heading angle information to the autonomous underwater navigation through underwater acoustic communication. At the same time, the electric winch 3 on the deck puts down the guide cable 4, turns on the guide light on the guide cable 4, puts the recovery device 6 into the water through the hydraulic telescopic rod 5, and prepares to recover the autonomous underwater vehicle 7; After receiving the recovery operation path sent by the surface unmanned vessel 1, the lower vehicle 7 sails at a fixed depth of 0-10m underwater, and the optimal fixed depth is 5m underwater, and enters the mooring waiting area according to the track planning arrangement.

For the planning of the recovery operation path, the trajectory planning of the surface unmanned ship 1 at a long distance is: at the beginning of the recovery process or the beginning of the re-recovery process, the motion state of the surface unmanned ship 1 at the initial moment is obtained through each sensor system and the target position is obtained. and constraints initialization, import the information into the simplified model, represent the trajectory parameters, use the A* algorithm to search for nodes, judge the airworthiness of the path that meets the energy and time constraints, and calculate the route cost, thus forming The trajectory planning parameter equation, and according to the determined criteria, the shortest navigation trajectory is used to solve the optimization problem. Finally, the obtained route is smoothed to obtain the desired motion state. In this process, the current flow field information and obstacle conditions need to be updated in real time. The safety of the unmanned surface ship 1 is ensured.

Step 2: After the autonomous underwater vehicle 7 enters the waiting position, the relative position of the surface unmanned ship 1 and the autonomous underwater vehicle 7 is determined again through the acoustic guidance and positioning unit, the position is corrected, and the mooring route is re-planned. The arc-shaped guide arm 71 and the mooring clamp 72 are opened by the steering gear 73; the guiding arm forms a V shape at the front of the autonomous underwater vehicle 7, and the mooring clamp 72 is opened; The long-distance navigation of the guidance and positioning unit and the short-range precise navigation of the optical guidance and positioning unit, the autonomous underwater vehicle 7 drives to the guide cable 4, and continuously adjusts the attitude, so that the guide cable 4 enters the V-shaped opening of the guide arm, and the autonomous underwater vehicle The optical sensor 75 in the aircraft 7 judges the distance and azimuth of the guide cable 4 according to the light intensity of the guide light and the line of sight angle; when the line of sight angle is in the middle, it is judged that the guide line 4 has entered the cable clamp 72, and the guide line is retracted at this time. The arm, the mooring clamp 72 is also clamped accordingly, when the guide cable 4 is sheathed in the mooring clamp 72 and exerts a force on the mooring clamp 72, the force sensor generates a pulse signal, and the guidance and recovery control system will guide the autonomous underwater vehicle 7. The propeller is turned off, and at the same time, a signal is sent to the surface unmanned ship 1, indicating that the mooring has been completed; the surface unmanned ship 1 starts to retract the cable after receiving the signal, and the autonomous underwater vehicle 7 is pulled by the sleeve 41 under the guide cable 4 , moving towards the water surface.

Step 3: After the autonomous underwater vehicle 7 is lifted near the water surface, the autonomous underwater vehicle 7 enters the recovery device 6 under the drag of the guide cable 4, and the ultrasonic range finder 610 on the top of the casing 61 of the recovery device 6 continuously measures the distance Until the recovery device 6 judges that the autonomous underwater vehicle 7 has entered the recovery device 6, the motors 64 arranged at both ends of the recovery device 6 drive the recovery net mechanism 65 to rotate, and the autonomous underwater vehicle 7 is enclosed in the recovery device 6. , and then the hydraulic telescopic rod 5 is recovered, and the recovery device 6 is lifted out of the water surface into the 1 cabin of the water surface unmanned ship, and the recovery is completed.

The deployment process of the present invention includes the following steps: the unmanned surface ship 1 puts the recovery device 6 into the water, while the electric winch 3 puts down the guide cable 4, and after the recovery device 6 enters the water, the recovery net mechanism 65 is opened, and the autonomous underwater vehicle 7 Leave the recovery device 6 under the action of gravity, and then open the cable clamp 72 to disengage the guide cable 4 to complete the laying.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the technical principles of the present invention, several improvements and modifications can be made. These improvements and modifications It should also be regarded as the protection scope of the present invention.

Claims (8)

1. an unmanned ship reclaims an autonomous underwater vehicle device based on a guide cable, it is characterized in that: comprise the surface unmanned ship, the recovery device that is carried on the surface unmanned ship, the autonomous underwater vehicle that is recycled or laid As well as guide the recovery control system; An underwater acoustic transducer is arranged at the bottom of the unmanned surface ship, which is used for underwater acoustic communication between the unmanned surface unmanned ship and the autonomous underwater vehicle. The cabin of the unmanned surface ship is provided with a hydraulic telescopic device connected to the recovery device. The hydraulic telescopic rod can realize the vertical movement of the recovery device; the deck of the unmanned surface ship is provided with a matching electric winch and an A-frame, and the electric winch and the A-frame are used in conjunction with retractable guide cable; The casing of the recovery device is a semi-enclosed cylindrical structure with an opening at the bottom. The casing is located at the top of the A-frame side with a hole for passing the guide cable downward, and the guide cable can freely move up and down in the hole. , a pair of recycling net mechanisms are installed inside the shell; The top of the bow of the autonomous underwater vehicle is provided with an arc-shaped guide arm and a mooring clamp, and the arc-shaped guiding arm is connected with the mooring clamp. When the guiding arm is opened, the mooring clamp is also opened, and the guiding arm The mooring clamp is closed when retracted; the mooring clamp is used to sheath the guide wire; The guidance and recovery control system includes an autonomous underwater vehicle control system, an unmanned ship control system, and a positioning guidance system integrated in the autonomous underwater vehicle, and the autonomous underwater vehicle control system receives information from the positioning guidance. The unmanned ship control system receives the position, sailing speed, heading and attitude from the autonomous underwater vehicle according to the data information measured by the retrieval system, carries out recovery path planning and motion control, and continuously adjusts its own position and attitude to approach the recovery device; information, plan the recovery operation path, and control the movement of the surface unmanned ship; A guide light is arranged on the guide cable, and a weight block is hung at the bottom end for tensioning the guide cable, and a sleeve is fixed above the weight block for pulling the autonomous underwater vehicle; The inside of the top of the shell of the recovery device is provided with an ultrasonic range finder to judge the relative position of the autonomous underwater vehicle in the recovery device. Two sealing cylinders are arranged at both ends of the outer casing, and a motor and a motor are arranged in the sealing cylinder. Supporting equipment, the sealing cylinder and the matching device are used to ensure the normal operation of the motor under water; the pair of recovery net mechanisms are shell-shaped grab-bucket-shaped mechanisms, the two end surfaces of the recovery net mechanism are fan-shaped, and the bottom is equipped with a shape It is a flexible metal mesh with a curved surface. One end of each recycling mesh mechanism is connected to a rotating shaft fixed on the casing, and the other end is connected to a motor shaft. The motor drives the recycling mesh mechanism to rotate through the motor shaft. Gears are provided, and the gears on the shaft mesh with each other. The arrangement of a pair of recovery net mechanisms, rotating shafts, motors, motor shafts, and gears is antisymmetric in the longitudinal plane of the recovery device. A pair of recovery net mechanisms can be opened and closed by the rotation of the motor. The autonomous underwater vehicle can be enclosed in the recovery device, the autonomous underwater vehicle is placed on the flexible metal mesh, and the autonomous underwater vehicle can freely enter and exit the recovery device when opened. 2 . The device for recovering an autonomous underwater vehicle based on a guiding cable for an unmanned ship according to claim 1 , wherein the arc-shaped guiding arm is retracted and hidden in the autonomous underwater during normal navigation. 3 . Inside the vehicle, during the recovery process, the steering gear is rotated to the open position in the direction of the horizontal plane, forming a V-shaped guidance area in front of the autonomous underwater vehicle; a mechanical sensor is provided on the mooring clamp, and the mechanical sensor is When the guide cable is sheathed in the mooring clamp and exerts a force on the mooring clamp, the mechanical sensor generates a pulse signal, which is transmitted to the guidance and recovery control system; the autonomous underwater vehicle is equipped with USBL ultra-short baseline array, Cameras, optical sensors and attitude sensors, the USBL ultra-short baseline array is used for underwater positioning of autonomous underwater vehicles, and the autonomous underwater vehicle calculates its own Relative to the plane position and depth of the surface unmanned ship, the camera is used for the autonomous underwater vehicle to transmit the recovered image to the surface unmanned ship when the autonomous underwater vehicle approaches the guide cable, and the surface unmanned ship transmits the image. To the shore station for the staff to monitor, the optical sensor is used when the autonomous underwater vehicle approaches the guide light of the guide cable, the optical sensor can obtain the light intensity information, and transmit the light intensity information to the guidance and recovery control system, the attitude The sensor is used to obtain attitude information during the driving process of the autonomous underwater vehicle. The autonomous underwater vehicle adjusts the propulsion device according to its own attitude and the relative position with the surface unmanned ship to realize remote navigation. Power-receiving coil and supporting battery, the power-receiving coil and supporting battery are used to magnetically couple with the power-receiving coil in the recovery tank after the autonomous underwater vehicle enters the recovery tank to realize wireless non-contact charging of the autonomous underwater vehicle . 3. A kind of unmanned ship recovery autonomous underwater vehicle device based on guide cable according to claim 2, it is characterized in that: described autonomous underwater vehicle control system receives from USBL ultra-short baseline array, optical sensor And the position and sensing data from the attitude sensor, carry out recovery path planning and motion control, and continuously adjust its own position and attitude to approach the guide cable; the mechanical sensor on the cable clamp transmits the sensing information to the autonomous underwater vehicle control system, control the steering gear to realize the opening and closing of the mooring clamp and the guide arm; the autonomous underwater vehicle control system transmits its own position, sailing speed, heading and attitude information to the unmanned ship control system through underwater acoustic communication; The unmanned ship control system is set inside the unmanned ship on the water surface, connected with the electric winch, and controls the winch to realize the retraction and release of the guide cable and the switch of the guide light; at the same time, the unmanned ship control system controls the hydraulic telescopic rod by controlling the Telescopic to realize the retraction and release of the recovery device, the ultrasonic range finder in the recovery device transmits the distance information to the unmanned ship control system, the unmanned ship control system determines whether the autonomous underwater vehicle enters the recovery device, and realizes the recovery network mechanism by controlling the motor The unmanned ship control system receives the position, sailing speed, heading and attitude information from the autonomous underwater vehicle through underwater acoustic communication, plans the recovery operation path, and controls the movement of the unmanned ship. 4. The device for recovering an autonomous underwater vehicle based on a guide cable for an unmanned ship according to claim 3, wherein the positioning and guidance system comprises an acoustic guidance and positioning unit and an optical guidance and positioning unit, wherein the The acoustic guidance and positioning unit includes the ultra-short baseline acoustic beacon carried by the autonomous underwater vehicle, the navigation attitude sensor, and the underwater acoustic transducer set at the bottom of the surface unmanned ship. The autonomous underwater vehicle communicates through underwater acoustics to 2 At a rate of ~4kbit/s, it can exchange information between its own navigation status and the surface unmanned ship, and realize long-range and medium-short-range navigation before recovery; the optical guidance and positioning unit includes guide lights and cameras installed on the guide cable. and vision sensors for accurate short-range navigation of autonomous underwater vehicles within 5-20m. 5 . An autonomous underwater vehicle device for recycling an unmanned ship based on a guide cable according to claim 1 , wherein the guide light is a waterproof LED light strip; both sides of the bottom of the casing are respectively wrapped There is a buffer pad made of flexible material to prevent the collision and damage of the autonomous underwater vehicle and the shell during the recovery process; the arc-shaped guide arm and the mooring clamp are connected by a gear mechanism. 6. A method for recovering an autonomous underwater vehicle based on a guide cable for an unmanned ship, utilizing the device according to claim 4, wherein the recovery process comprises the following steps: Step 1: After the autonomous underwater vehicle completes the task, it communicates with the surface unmanned ship, requires to start the recovery procedure, and starts to float at the same time. The navigation speed, heading, and attitude information are transmitted to the surface unmanned ship; after receiving the request, the surface unmanned ship plans a recovery operation path by comparing the relative positions of itself and the autonomous underwater vehicle. The recovery operation path is a straight line, and there is no water surface. The human ship will sail at the recovery cruising speed and heading angle according to the recovery path, and transmit the recovery path, the speed of the unmanned ship on the surface, and the heading angle to the autonomous underwater vehicle through hydroacoustic communication; at the same time, the electric winch on the deck will guide the Put down the cable, turn on the guide light on the guide cable, put the recovery device into the water through the hydraulic telescopic rod, and prepare to recover the autonomous underwater vehicle; the autonomous underwater vehicle determines the depth after receiving the recovery operation path sent by the surface unmanned ship Navigate underwater at 0~10m, and enter the mooring waiting area according to the track plan; Step 2: After the autonomous underwater vehicle enters the waiting position, the relative position of the surface unmanned ship and the autonomous underwater vehicle is re-determined through the acoustic guidance and positioning unit, the position is corrected, and the mooring route is re-planned. The steering gear opens the arc-shaped guide arm and the mooring clamp; the guiding arm forms a V shape at the front of the autonomous underwater vehicle, and the mooring clamp is opened; after completion, it starts to approach the guide wire, and the acoustic guidance and positioning unit is used for remote navigation and The optical guidance and positioning unit is used for short-range precise navigation. The autonomous underwater vehicle drives to the guide cable and continuously adjusts its attitude so that the guide cable enters the V-shaped opening of the guide arm. The optical sensor in the autonomous underwater vehicle is based on the guide light. The light intensity and the line of sight angle determine the distance and orientation of the guide cable; when the line of sight angle is in the middle, it is judged that the guide cable has entered the cable clamp. At this time, the guide arm is retracted and the cable clamp is also clamped. When the guide cable is covered by the quilt When the mooring clamp exerts force on the mooring clamp, the mechanical sensor generates a pulse signal, which guides the recovery control system to turn off the propeller of the autonomous underwater vehicle, and at the same time sends a signal to the surface unmanned vessel, indicating that the mooring has been completed; After receiving the signal, the surface unmanned ship starts to retract the cable, and the autonomous underwater vehicle is pulled by the sleeve under the guide cable and moves to the water surface; Step 3: After the autonomous underwater vehicle is lifted near the water surface, the autonomous underwater vehicle enters the recovery device under the tow of the guide cable, and the ultrasonic range finder on the top of the recovery device shell continuously measures the distance until it reaches the recovery device. It is judged that the autonomous underwater vehicle has entered the recovery device, the motors arranged at both ends of the recovery device drive the recovery net mechanism to rotate, the autonomous underwater vehicle is enclosed in the recovery device, and then the hydraulic telescopic rod is recovered, and the recovery device is lifted out of the water surface Income into the unmanned cabin on the water surface, and the recovery is completed. 7 . The method for recovering an autonomous underwater vehicle based on a guide cable for an unmanned ship according to claim 6 , wherein the deployment process comprises the following steps: the surface unmanned ship puts the recovery device into the water, 8 . At the same time, the electric winch puts down the guide cable, and after the recovery device enters the water, the recovery net mechanism is opened, and the autonomous underwater vehicle leaves the recovery device under the action of gravity, and then opens the cable clamp and disengages the guide cable to complete the deployment. 8 . The method for recovering an autonomous underwater vehicle based on a guide cable for an unmanned ship according to claim 6 , wherein in the step 1, the trajectory of the surface unmanned ship at a long distance in the planning of the recovery operation path. 9 . The planning is: at the beginning of the recovery process or the start of the re-recovery process, the motion state of the surface unmanned ship at the initial moment is obtained through each sensor system, and the target position and constraints are initialized, and the information is imported into the simplified model to represent the trajectory parameters. , use the A* algorithm to search for nodes, judge the airworthiness of the path that meets the energy and time constraints, and calculate the cost of the route, so as to form the trajectory planning parameter equation, and according to the set criteria, the shortest navigation trajectory is optimized. Finally, the obtained route is smoothed to obtain the desired motion state. During this process, the current flow field information and obstacle conditions need to be updated in real time to ensure the safety of the unmanned ship on the surface.