CN111409793B - Capture system and method for recovering underwater robot by using water surface robot - Google Patents
Capture system and method for recovering underwater robot by using water surface robot Download PDFInfo
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- CN111409793B CN111409793B CN201910011016.5A CN201910011016A CN111409793B CN 111409793 B CN111409793 B CN 111409793B CN 201910011016 A CN201910011016 A CN 201910011016A CN 111409793 B CN111409793 B CN 111409793B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention relates to the technical field of underwater robot recovery, in particular to a capture system and a capture method for recovering an underwater robot by using a water surface robot, which comprises an AUV main body, a USV main body, a V-shaped wing, an acousto-optic guide module and a bearing cable, wherein the USV main body is provided with an acousto-optic communication machine and a winch, one end of the bearing cable is wound on the winch, the other end of the bearing cable is connected with the V-shaped wing, the V-shaped wing is provided with an acousto-optic guide module with an ultra-short base line transducer and a guide lamp, the bow part of the AUV main body is provided with an ultra-short communication beacon, a light guide camera, a capturing mechanism and a locking mechanism, the front end of the bow part of the AUV main body is provided with a recovery bearing assembly, the bearing cable is captured by the capturing mechanism to enter the recovery bearing assembly and is locked by the locking mechanism, the front end of the AUV main body is provided with a correlation sensor, the locking mechanism is provided with an in-place monitoring switch, and the recovery bearing component is provided with a pressure sensor. The underwater robot capturing device adopts an acousto-optic combined guiding mode, improves the capturing success rate of the underwater robot, can realize dynamic capturing and recovery, and has strong adaptability.
Description
Technical Field
The invention relates to the technical field of underwater robot recovery, in particular to a capture system and a capture method for recovering an underwater robot by using a water surface robot.
Background
With the increasing maturity of underwater robot (AUV) technology, the AUV plays more and more important roles in the aspects of marine oil, underwater rescue, military reconnaissance, seabed salvage, marine scientific investigation and the like, but the AUV recovery is still a big problem at present. Traditional AUV retrieves the mode and retrieves and utilizes the static base in seabed to retrieve etc. including utilizing artifical mother ship to hang to put and retrieve, wherein artifical mother ship hangs to put to retrieve and has great operating risk, and the static base in seabed retrieves the mode and often needs arrange in advance and retrieve interfacing apparatus, retrieves interfacing apparatus comparatively complicacy to retrieve interfacing apparatus and receive the influence of ocean attachment easily. The water surface robot (USV) is also widely applied in the fields of offshore oil, underwater rescue and the like, and if the USV can be used for dynamically recovering the AUV, the risk of artificially recovering the AUV can be reduced, and the influence of ocean currents on the recovery process can be reduced.
Disclosure of Invention
The invention aims to provide a capturing system and a capturing method for recovering an underwater robot by using a water surface robot, which adopt an acousto-optic combined guide mode to greatly improve the capturing success rate of the underwater robot, realize dynamic capturing and recovery by using the water surface robot, have strong adaptability and greatly improve the working range of an AUV (autonomous underwater vehicle).
The purpose of the invention is realized by the following technical scheme:
a capture system for recovering underwater robots by using water surface robots comprises an AUV main body, an USV main body, V-shaped wings, an acousto-optic guide module and a bearing cable, wherein an acousto-optic communication machine and a winch are arranged on the USV main body, one end of the bearing cable is wound on the winch, the other end of the bearing cable is connected with the V-shaped wings, an acousto-optic guide module is arranged on the V-shaped wings, the acousto-optic guide module is provided with an ultra-short baseline transducer and a guide lamp, an ultra-short communication beacon and a lamplight guide camera are arranged at the bow part of the AUV main body, a capture mechanism and a locking mechanism are arranged at the bow part of the AUV main body, a recovery bearing assembly is arranged at the front end of the bow part of the AUV main body, the bearing cable is captured by the capture mechanism to enter the recovery bearing assembly and is locked by the locking mechanism, an correlation sensor is arranged at the front end of the AUV main body, the locking mechanism is triggered to start and lock through the correlation sensor, the locking mechanism is provided with an in-place monitoring switch, and the recovery bearing component is provided with a pressure sensor.
Be equipped with in the AUV main part bow and catch actuating mechanism, catch actuating mechanism including catching the push rod and catching drive arrangement, and catch the push rod and remove through catching the drive arrangement drive, catch the mechanism and include two symmetries setting and rotatable catches the claw, the latter half of every catches the claw and all is equipped with and catches the claw spout, catch the push rod and be concave type and the rod end of both sides and all be equipped with and catch the slider, catch the slider and remove along the catch claw spout that corresponds on the side catch the claw.
The capturing driving mechanism comprises a capturing driving device, a capturing lead screw and nut mechanism and a capturing push rod, the capturing lead screw and nut mechanism comprises a capturing lead screw and a capturing nut, the capturing lead screw is driven to rotate by the capturing driving device, and the capturing nut is sleeved on the capturing lead screw and fixedly connected with the capturing push rod.
The locking mechanism is characterized in that a locking driving mechanism is arranged in the bow of the AUV main body and comprises a locking push rod and a locking driving device, the locking push rod is driven to move through the locking driving device, the locking mechanism comprises two symmetrically arranged and rotatable locking claws, the rear half part of each locking claw is provided with a locking claw sliding groove, the rod end of the locking push rod, which is concave and is arranged on two sides, is provided with a locking sliding block, the locking sliding block moves along the locking claw sliding grooves on the locking claws on the corresponding side, and the locking claws are provided with in-place monitoring switches.
The locking driving mechanism comprises a locking driving device, a locking screw nut mechanism and a locking push rod, the locking screw nut mechanism comprises a locking screw and a locking nut, the locking screw is driven to rotate by the locking driving device, and the locking nut is sleeved on the locking screw and fixedly connected with the locking push rod.
AUV main part bow includes switching section and recovery section, and the switching section rear end links firmly with AUV main part front end through sealed flange, and the switching section front end passes through end flange and retrieves the section rear end and links firmly, be equipped with the ultrashort communication beacon in the switching section, the recovery section is equipped with catches backup pad, locking backup pad and retrieves the load subassembly, and locking mechanical system locates in the locking backup pad, catches the mechanism and locates in catching the backup pad.
Catch the backup pad upside and be equipped with the floating material, locking backup pad downside is equipped with down the floating material, retrieves the bearing subassembly and locates between catching backup pad and the locking backup pad, just retrieve bearing subassembly both sides and be equipped with first side floating material and second side floating material respectively be equipped with light guide camera in the lower floating material, in the sensor transmitting terminal of correlation type sensor locates first side floating material, the sensor receiving terminal of correlation type sensor locates in the second side floating material.
The recycling bearing assembly comprises a supporting seat and a connecting seat, the rear end of the connecting seat is fixedly arranged on the end face flange, an embedding block is arranged at the front end of the connecting seat, an embedding groove matched with the embedding block is formed in the rear end of the supporting seat, limiting rabbets are arranged on two sides of the rear end of the supporting seat, a limiting screw is arranged in each limiting rabbet, the limiting screws are fixedly arranged on the locking supporting plates, a groove is formed in the front end of the supporting seat, spherical through holes are formed in groove walls on two sides of the groove, and a pressure sensor is arranged in the inner spherical surface of each spherical through hole.
The acousto-optic guide module comprises an ultra-short baseline transducer, a guide cover and guide lamps, wherein the guide lamps are uniformly distributed on the edge of the guide cover along the circumferential direction, and the ultra-short baseline transducer is arranged on a guide cover seat at the front end of the guide cover.
A method of capturing according to the capture system for underwater robot recovery using a surface robot, comprising the steps of:
firstly, carrying out GPS positioning on the USV main body and the AUV main body, and controlling the AUV main body to move close to the USV main body;
when the AUV main body approaches to enter an ultra-short baseline acoustic guide range, an underwater acoustic communication machine on the USV main body and an ultra-short baseline transducer on the V-shaped wing start and determine the position of the V-shaped wing relative to the USV main body, then the ultra-short baseline transducer sends a signal to an ultra-short communication beacon on the AUV main body, and the AUV main body is guided to approach the V-shaped wing through acoustics;
when the AUV body further approaches to enter an optical guidance range, a guidance lamp on the V-shaped wing and a light guidance camera on the AUV body are turned on, the AUV body tracks the light of the guidance lamp to be close to the V-shaped wing by using the light guidance camera, in the optical guidance process, a capturing mechanism and a locking mechanism on the AUV body are started to be turned on, and a correlation type sensor at the front end of the AUV body is also turned on;
fourthly, when the AUV main body further approaches to enter an optical guide blind area, autonomous navigation is started, the capturing mechanism is used for capturing the bearing cable, the bearing cable enters the recovery bearing assembly after being captured by the capturing mechanism, and the correlation type sensor is blocked and triggered, so that the locking mechanism starts to lock the bearing cable;
fifthly, the locking mechanism judges whether the bearing cable is locked or not through the in-place monitoring switch, if the locking is successful, the AUV main body stops moving, the winch is ready to lift, if the AUV main body is not locked, the AUV main body exits from the optical guide blind area and enters the optical guide range again, and the third step and the fourth step are repeated;
and sixthly, after the locking is successful, starting the winch to recover the AUV main body, if the unhooking condition occurs in the hoisting process of the winch, detecting pressure by a pressure sensor in the recovery bearing assembly disappears, sending a signal to prompt failure, releasing the bearing cable by a locking mechanism on the AUV main body, starting the AUV main body, retreating into the ultra-short baseline acoustic guidance range, and repeating the second step to the fifth step.
The invention has the advantages and positive effects that:
1. the invention adopts an acousto-optic combined guide mode, ensures the accurate capture of the bearing cable and greatly improves the capture success rate of the underwater robot.
2. According to the invention, the capturing mechanism and the locking mechanism are arranged in the bow part of the AUV main body, the force-bearing cable is captured by the capturing mechanism firstly, and then locked by the locking mechanism, so that the capturing is accurate and the reliability is high.
3. The invention realizes dynamic capture and recovery by using the water surface robot, has strong adaptability and greatly improves the working range of the AUV.
Drawings
Figure 1 is a schematic view of the present invention,
figure 2 is a schematic perspective view of the stem of the AUV of figure 1,
figure 3 is a schematic view of the internal structure of the stem of the AUV of figure 1,
figure 4 is a schematic view of the captive screw nut arrangement and the locking screw nut arrangement of figure 3,
figure 5 is a front view of the recovery section of figure 3,
figure 6 is a view B-B of figure 5,
figure 7 is an exploded view of the recovery end of figure 5,
figure 8 is a top view of the recovery bearing assembly on the locking support plate of figure 5,
figure 9 is a left side view of the recovery bearing assembly on the locking support plate of figure 8,
fig 10 is a perspective view of the recovered messenger assembly of fig 9,
figure 11 is a schematic view of the locking mechanism of figure 3,
figure 12 is a cross-sectional view of the locking mechanism of figure 11,
figure 13 is a schematic view of the V-shaped wing of figure 1,
figure 14 is a schematic view of the optical directory module of figure 1,
fig. 15 is a schematic flow chart of the present invention.
Wherein, 1 is AUV main body, 2 is switching section, 201 is ultrashort communication beacon, 202 is support beam, 3 is recovery section, 301 is upper floating material, 302 is lower floating material, 303 is first side floating material, 304 is second side floating material, 305 is capture support plate, 306 is locking support plate, 307 is support seat, 3071 is slotted, 3072 is spherical through hole, 308 is sensor emitting end, 309 is light guide camera, 310 is connecting seat, 3101 is embedding block, 311 is sensor receiving end, 312 is bolt and nut assembly, 313 is limit screw, 4 is capture driving device, 401 is capture driving shaft, 5 is locking driving device, 501 is locking driving shaft, 6 is locking lead screw and nut mechanism, 601 is locking lead screw, 602 is locking nut, 603 is locking lead screw and nut mechanism, 604 is second coupling, 7 is lead screw and nut mechanism, 701 is capture lead screw and 702 is capture nut, 703 is a capturing push rod, 704 is a first coupler, 8 is a locking mechanism, 801 is a locking claw, 802 is a locking claw sliding groove, 803 is a locking sliding block, 804 is a locking rotating shaft, 9 is a capturing mechanism, 901 is a capturing claw, 10 is a sealing flange, 101 is a watertight connector, 11 is an end flange, 12 is a V-shaped wing, 1201 is a towing suspension loop, 1202 is a buoyancy wing plate, 13 is an acousto-optic guide module, 1301 is an ultra-short baseline transducer, 1302 is a transducer base, 1303 is a fixing plate, 1304 is a guide cover seat, 1305 is a guide cover, 1306 is a guide lamp, 14 is a communication satellite, 15 is a recovery ball, 16 is a bearing cable, 17 is a USV main body, 18 is an underwater acoustic communicator, 19 is a winch and 20 is a GPS positioning module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 15, the invention includes an AUV body 1, a USV body 17, a V-shaped wing 12, an acousto-optic guide module 13 and a bearing cable 16, wherein the USV body 17 is provided with an underwater acoustic communication machine 18 and a winch 19, one end of the bearing cable 16 is wound on the winch 19, the other end is connected with the V-shaped wing 12, the V-shaped wing 12 is provided with the acousto-optic guide module 13, the acousto-optic guide module 13 is provided with an ultra-short baseline transducer 1301 and a guide lamp 1306, as shown in fig. 3, the bow of the AUV body 1 is provided with an ultra-short communication beacon 201 and a light guide camera 309, as shown in fig. 3 to 9, a capture driving mechanism, a locking driving mechanism, a capture mechanism 9 and a locking mechanism 8 are provided in the bow of the AUV body 1, the capture driving mechanism includes a capture push rod 703 and a capture driving device 4, and the capture push rod 703 is driven by the capture driving, the locking driving mechanism comprises a locking push rod 603 and a locking driving device 5, the locking push rod 603 moves under the driving of the locking driving device 5, the capturing mechanism 9 is provided with two capturing claws 901, the two capturing claws 901 are driven to open and close through the capturing push rod 703, the locking mechanism 8 is provided with two locking claws 801, the two locking claws 801 are driven to open and close through the locking push rod 603, the front end of the front part of the AUV main body 1 is provided with a recovery bearing component for accommodating the bearing cable 16, the bearing cable 16 moves along the capturing claws 901 to enter the recovery bearing component and is closed and constrained through the locking claws 801, the front end of the AUV main body 1 is provided with an opposite-shooting type sensor, the opposite-shooting type sensor is blocked and triggered through the bearing cable 16, and the locking claws 801 are closed. The underwater acoustic communicator 18, the ultra-short baseline transducer 1301, the ultra-short communication beacon 201 and the light guide camera 309 are all known in the art and are commercially available products.
As shown in fig. 2 to 12, the stem of the AUV main body 1 includes a switching section 2 and a recovery section 3, the rear end of the switching section 2 is fixedly connected with the front end of the AUV main body 1 through a sealing flange 10, a capture driving device 4 and a locking driving device 5 are both arranged on the sealing flange 10, the front end of the switching section 2 is fixedly connected with the rear end of the recovery section 3 through an end face flange 11, a capture push rod 703 and a locking push rod 603 penetrate through the end face flange 11 and then extend into the recovery section 3, and a capture mechanism 9 and a locking mechanism 8 are arranged in the recovery section 3.
As shown in fig. 2 to 4, the capturing driving mechanism includes a capturing driving device 4, a capturing lead screw and nut mechanism 7, and a capturing push rod 703, the capturing lead screw and nut mechanism 7 is disposed in the recovery section 2 and includes a capturing lead screw 701 and a capturing nut 702, the capturing lead screw 701 is driven to rotate by the capturing driving device 4, and the capturing nut 702 is sleeved on the capturing lead screw 701 and is fixedly connected with the capturing push rod 703.
As shown in fig. 2 to 4, the locking driving mechanism includes a locking driving device 5, a locking screw nut mechanism 6 and a locking push rod 603, the locking screw nut mechanism 6 is disposed in the recovery section 2 and includes a locking screw 601 and a locking nut 602, the locking screw 601 is driven to rotate by the locking driving device 5, and the locking nut 602 is sleeved on the locking screw 601 and is fixedly connected with the locking push rod 603.
The capturing driving device 4 and the locking driving device 5 are arranged on one side, close to the AUV main body 1, of the sealing flange 10, the capturing driving shaft 401 at the front end of the capturing driving device 4 and the locking driving shaft 501 at the front end of the locking driving device 5 penetrate through the sealing flange 10 and then extend into the adapter section 2, as shown in fig. 4, the capturing driving shaft 401 is connected with a capturing screw 701 in the capturing screw nut mechanism 7 through a first coupler 704, the locking driving shaft 501 is connected with a locking screw 601 in the locking screw nut mechanism 6 through a second coupler 604, and sealing rings are arranged on the capturing driving shaft 401 and the locking driving shaft 501 to guarantee sealing.
As shown in fig. 5 to 7, the recycling section 3 includes a capturing support plate 305, a locking support plate 306, a recycling force-bearing component and a plurality of buoyancy materials, wherein the upper side of the capturing support plate 305 is provided with an upper buoyancy material 301, the lower side of the locking support plate 306 is provided with a lower buoyancy material 302, the recycling force-bearing component is arranged between the capturing support plate 305 and the locking support plate 306, the two sides of the recycling force-bearing component are respectively provided with a first side buoyancy material 303 and a second side buoyancy material 304, a light guide camera 309 is arranged in the lower buoyancy material 302, correlation type sensors are arranged in the first side buoyancy material 303 and the second side buoyancy material 304, a sensor emitting end 308 is arranged in the first side buoyancy material 303, and a sensor receiving end 311 is arranged in the second side buoyancy material 304. In the present embodiment, the opposite-type infrared sensor is a commercially available one, which is a known technology in the art, and the opening angle of the light guide camera 309 used in the present embodiment is 60 hx 45V, and the effective operating distance in water with an attenuation coefficient of 7 is 15 m.
As shown in fig. 2, an ultra-short communication beacon 201 is disposed on the adapter section 2, a plurality of support beams 202 are disposed in the adapter section 2 to connect the sealing flange 10 and the end face flange 11, and a plurality of watertight connectors 101 are disposed on the sealing flange 10 to respectively connect the ultra-short communication beacon 201, the light guide camera 309, and the correlation sensor. The watertight connector 101 is well known in the art.
As shown in fig. 5 to 6 and fig. 8 to 10, the recovery bearing component is mounted on the locking support plate 306, the recovery bearing component includes a support seat 307 and a connection seat 310, the rear end of the connection seat 310 is fixedly mounted on the end face flange 11 through a bolt and nut component 312, as shown in fig. 9, a T-shaped engagement block 3101 is arranged at the front end of the connection seat 310, an engagement groove matched with the engagement block 3101 is arranged at the rear end of the support seat 307, the support seat 307 is connected with the connection seat 310 through the engagement of the engagement block 3101 and the engagement groove, as shown in fig. 8, limit stops are arranged on both sides of the rear end of the support seat 307, a limit screw 313 is arranged in each limit stop, and the limit screw 313 is fixedly mounted on the locking support plate 306.
As shown in fig. 10, a slot 3071 is arranged at the front end of the support seat 307, spherical through holes 3072 are arranged on the two side walls of the slot 3071, infrared rays emitted by the correlation sensor penetrate through the spherical through holes 3072, a recovery ball 15 is arranged on the bearing cable 16, the bearing cable 16 blocks the infrared rays and triggers the correlation sensor to send a signal after entering the slot 3071, and the recovery ball 15 is contacted and attached with the spherical surface in the spherical through hole 3072 to form low-pair contact during recovery, so that the stress in the AUV recovery process is optimized, and the recovery bearing component bears the weight of the whole AUV during recovery. In this embodiment, the material of the recovery force-bearing component is stainless steel. In addition, a pressure sensor is arranged in the spherical surface on the inner side of the spherical through hole 3072, and if the winch 19 is unhooked in the hoisting process, the pressure sensor can send a signal to prompt that the recovery fails, and the AUV main body 1 catches the bearing cable 16 again and locks the hoisting again. The pressure sensor is well known in the art and is a commercially available product.
The locking mechanism 8 and the capturing mechanism 9 are provided between the lock support plate 306 and the capturing support plate 305 of the recycling section 3, and the locking mechanism 8 is provided on the lock support plate 306 and the capturing mechanism 9 is provided on the capturing support plate 305. As shown in fig. 11 to 12, the locking mechanism 8 includes two symmetrically arranged locking claws 801, rear ends of the two locking claws 801 are hinged to the locking support plate 306 through locking rotating shafts 804, a locking claw sliding groove 802 is formed in a rear half portion of each locking claw 801, the locking push rod 603 is concave, a connecting rod portion in the middle of the locking push rod 603 is fixedly connected with a locking nut 602 in the locking screw nut mechanism 6, locking sliders 803 are arranged at rod ends on two sides of the locking push rod 603, the locking sliders 803 move along the locking claw sliding grooves 802 on the locking claws 801 on the corresponding side, and when the locking push rod 603 moves, the corresponding locking claw 801 is driven to rotate around the locking rotating shafts 804 by the movement of the locking sliders 803 along the corresponding locking claw sliding grooves 802, so that the two locking claws 801 are opened and closed. The locking claw 801 is provided with an in-place monitoring switch for judging whether the locking claw 801 locks the bearing cable 16, and the in-place monitoring switch is a commercially available product and is a technology known in the art.
The action principle of the capturing mechanism 9 is the same as that of the locking mechanism 8, the capturing mechanism 9 includes two capturing claws 901 which are symmetrically arranged, the rear ends of the two capturing claws 901 are respectively hinged to the capturing support plate 305 through a capturing rotating shaft, a capturing claw sliding groove is formed in the rear half portion of each capturing claw 901, the capturing push rod 703 is concave, a connecting rod portion in the middle of the capturing push rod 703 is fixedly connected with a capturing screw 702 in the capturing screw nut mechanism 7, capturing sliders are arranged at rod ends on two sides of the capturing push rod 703, the capturing sliders move along the capturing claw sliding grooves on the capturing claws 901 on the corresponding sides, and when the capturing push rod 703 moves, the capturing sliders move along the corresponding capturing claw sliding grooves to drive the corresponding capturing claws 901 to rotate around the capturing rotating shaft, so that the two capturing claws 901 are opened and closed.
As shown in fig. 13, a towing suspension loop 1201 and a buoyancy wing plate 1202 are arranged on the V-shaped wing 12, and the messenger cable 16 is fixedly connected to the towing suspension loop 1201.
As shown in fig. 14, the acousto-optic guide module 13 includes an ultra-short baseline transducer 1301, a guide cover 1305, and guide lamps 1306, wherein a plurality of guide lamps 1306 are uniformly distributed along a circumferential direction at an edge of the guide cover 1305, a fixing plate 1303 is provided on a guide cover seat 1304 at a front end of the guide cover 1305, a transducer base 1302 is provided on the fixing plate 1303, and the ultra-short baseline transducer 1301 is mounted on the transducer base 1302.
The working principle of the invention is as follows:
as shown in fig. 15, when the present invention works, the communication satellite 14 determines the positions of the USV main body 17 and the AUV main body 1 through the GPS positioning module 20 on the USV main body 17 and the GPS positioning module on the AUV main body 1, which are well known in the art, and controls the AUV main body 1 to approach the USV main body 17 after positioning.
When the distance between the AUV main body 1 and the USV main body 17 is 0.01-3 km, ultra-short baseline acoustic guidance is started, at the moment, the underwater acoustic communication machine 18 on the USV main body 17 and the ultra-short baseline transducer 1301 on the V-shaped wing 12 are started to cooperate to determine the position of the V-shaped wing 12 relative to the USV main body 17, and the ultra-short baseline transducer 1301 sends a signal to the ultra-short communication beacon 201 on the AUV main body 1 to guide the AUV main body 1 to approach the V-shaped wing 12 acoustically.
When the distance between the AUV main body 1 and the V-shaped wing 12 is 4.5-15 m, optical guidance is adopted, at this time, the guide lamp 1306 on the V-shaped wing 12 and the light guide camera 309 on the AUV main body 1 are opened, the AUV main body 1 tracks the light of the guide lamp 1306 to be close to the V-shaped wing 12 by using the light guide camera 309, in the optical guidance process, the capture claw 901 of the capture mechanism 9 on the AUV main body 1 and the locking claw 801 of the locking mechanism 8 are both opened, and the correlation type sensor at the front end of the AUV main body 1 is also opened.
Finally, the distance of 4.5m is an optical guide blind area, autonomous navigation is carried out by means of an AUV, after the bearing cable 16 is captured by two opened capturing claws 901, the bearing cable 16 moves along any capturing claw 901 and enters a groove 3071 at the front end of a recovery bearing assembly between the tail ends of the two capturing claws 901, after the bearing cable 16 enters the groove 3071, infrared rays are blocked, an opposite type sensor is triggered to send a signal to start a locking driving device 5, the two locking claws 801 are closed to lock the bearing cable 16, at the moment, the front end of the recovery bearing assembly is attached to a recovery ball 15 on the bearing cable 16 to form a restraint closure, an in-position monitoring switch is arranged on the locking claw 801 to judge whether the locking claw 801 locks the bearing cable 16, if the locking is successful, the AUV main body 1 stops moving and is ready to be lifted, if the locking is not locked, the capturing fails, and the AUV main body 1 exits the optical guide blind area and then enters the optical guide stage to continue positioning, until the locking claw 801 is locked successfully.
During hoisting, a winch 19 on the USV main body 17 starts to recover the bearing cable 16 so as to recover the AUV main body 1, a pressure sensor is arranged in the spherical surface of the inner side of the spherical through hole 3072 of the groove 3071 at the front end of the recovery bearing assembly, if the unhooking condition occurs during the hoisting process of the winch 19, the pressure sensor sends a signal to prompt the recovery failure, the AUV main body 1 starts to release the bearing cable 16, and the acoustic guidance, the optical guidance and the capturing process are repeated until the bearing cable 16 is captured again and the hoisting is locked again.
Claims (8)
1. The utility model provides an utilize surface of water robot to retrieve capture system of underwater robot which characterized in that: including AUV main part (1), USV main part (17), V type wing (12), reputation guide module (13) and bearing cable (16), be equipped with reputation communication machine (18) and winch (19) on USV main part (17), and bearing cable (16) one end around arranging in on winch (19), the other end with V type wing (12) link to each other, be equipped with reputation guide module (13) on V type wing (12), just reputation guide module (13) are equipped with ultrashort baseline transducer (1301) and pilot lamp (1306), and AUV main part (1) bow is equipped with ultrashort communication beacon (201) and light guide camera (309), in addition AUV main part (1) bow is equipped with catches mechanism (9) and locking mechanism (8), and AUV main part (1) bow front end is equipped with retrieves the bearing subassembly, and bearing cable (16) catch through catching mechanism (9) and get into retrieving the bearing subassembly, the AUV is locked by a locking mechanism (8), an opposite emission type sensor is arranged at the front end of the AUV main body (1), the opposite emission type sensor is blocked and triggered by a bearing cable (16), the locking mechanism (8) is triggered to start locking by the opposite emission type sensor, the locking mechanism (8) is provided with an in-place monitoring switch, and the recovery bearing component is provided with a pressure sensor;
a capturing driving mechanism is arranged in the bow of the AUV main body (1), the capturing driving mechanism comprises a capturing push rod (703) and a capturing driving device (4), the capturing push rod (703) is driven to move through the capturing driving device (4), the capturing mechanism (9) comprises two capturing claws (901) which are symmetrically arranged and can rotate, a capturing claw sliding groove is formed in the rear half part of each capturing claw (901), the capturing push rod (703) is concave, capturing sliding blocks are arranged at rod ends of two sides of the capturing push rod (703), and the capturing sliding blocks move along the capturing claw sliding grooves on the capturing claws (901) on the corresponding side;
be equipped with locking actuating mechanism in AUV main part (1) bow, locking actuating mechanism includes locking push rod (603) and locking drive arrangement (5), and locking push rod (603) remove through locking drive arrangement (5) drive, locking mechanism (8) include that two symmetries set up and rotatable locking claw (801), and the latter half of every locking claw (801) all is equipped with locking claw spout (802), the rod end that locking push rod (603) are concave type and both sides all is equipped with locking slider (803), locking slider (803) remove along locking claw spout (802) on corresponding side locking claw (801), be equipped with the monitor switch that targets in place on locking claw (801).
2. The capture system for underwater robot recovery using a surface robot of claim 1, wherein: the capturing driving mechanism comprises a capturing driving device (4), a capturing lead screw and nut mechanism (7) and a capturing push rod (703), the capturing lead screw and nut mechanism (7) comprises a capturing lead screw (701) and a capturing nut (702), the capturing lead screw (701) is driven to rotate through the capturing driving device (4), and the capturing nut (702) is sleeved on the capturing lead screw (701) and fixedly connected with the capturing push rod (703).
3. The capture system for underwater robot recovery using a surface robot of claim 1, wherein: the locking driving mechanism comprises a locking driving device (5), a locking screw nut mechanism (6) and a locking push rod (603), the locking screw nut mechanism (6) comprises a locking screw (601) and a locking nut (602), the locking screw (601) is driven to rotate by the locking driving device (5), and the locking nut (602) is sleeved on the locking screw (601) and is fixedly connected with the locking push rod (603).
4. The capture system for underwater robot recovery using a surface robot of claim 1, wherein: AUV main part (1) bow includes changeover portion (2) and retrieves section (3), and changeover portion (2) rear end links firmly with AUV main part (1) front end through sealing flange (10), and changeover portion (2) front end passes through end flange (11) and retrieves section (3) rear end and links firmly, be equipped with ultrashort communication beacon (201) on changeover portion (2), retrieve section (3) and be equipped with and catch backup pad (305), locking backup pad (306) and retrieve the load subassembly, and locking mechanism (8) locate on locking backup pad (306), catch mechanism (9) and locate on catching backup pad (305).
5. The capture system for underwater robot recovery using a surface robot of claim 4, wherein: catch backup pad (305) upside and be equipped with buoyancy material (301), locking backup pad (306) downside is equipped with buoyancy material (302) down, retrieves the bearing subassembly and locates and catch between backup pad (305) and the locking backup pad (306), just retrieve bearing subassembly both sides and be equipped with first side buoyancy material (303) and second side buoyancy material (304) respectively be equipped with light guide camera (309) in buoyancy material (302) down, in first side buoyancy material (303) was located in sensor transmitting terminal (308) of correlation type sensor, in second side buoyancy material (304) was located in sensor receiving terminal (311) of correlation type sensor.
6. The capture system for underwater robot recovery using a surface robot of claim 4, wherein: the recycling bearing component comprises a supporting seat (307) and a connecting seat (310), the rear end of the connecting seat (310) is fixedly arranged on the end face flange (11), an embedded block (3101) is arranged at the front end of the connecting seat (310), an embedded groove matched with the embedded block (3101) is arranged at the rear end of the supporting seat (307), limiting stop mouths are arranged on two sides of the rear end of the supporting seat (307), a limiting screw (313) is arranged in each limiting stop mouth, the limiting screw (313) is fixedly arranged on the locking supporting plate (306), a slot (3071) is arranged at the front end of the supporting seat (307), spherical through holes (3072) are arranged on two side slot walls of the slot (3071), and a pressure sensor is arranged in the inner spherical surface of each spherical through hole (3072).
7. The capture system for underwater robot recovery using a surface robot of claim 1, wherein: the acousto-optic guide module (13) comprises an ultra-short baseline transducer (1301), a guide cover (1305) and guide lamps (1306), wherein the guide lamps (1306) are uniformly distributed on the edge of the guide cover (1305) along the circumferential direction, and the ultra-short baseline transducer (1301) is arranged on a guide cover seat (1304) at the front end of the guide cover (1305).
8. A method of capturing with a capture system for underwater robot recovery with a surface robot as claimed in claim 1, characterized by:
firstly, GPS positioning is carried out on the USV main body (17) and the AUV main body (1), and the AUV main body (1) is controlled to move close to the USV main body (17);
when the AUV main body (1) approaches to enter an ultra-short baseline acoustic guide range, an underwater acoustic communication machine (18) on the USV main body (17) and an ultra-short baseline transducer (1301) on the V-shaped wing (12) start and determine the position of the V-shaped wing (12) relative to the USV main body (17), then the ultra-short baseline transducer (1301) sends a signal to an ultra-short communication beacon (201) on the AUV main body (1), and the AUV main body (1) is guided to approach the V-shaped wing (12) through acoustics;
thirdly, when the AUV body (1) further approaches to enter an optical guidance range, a guidance lamp (1306) on the V-shaped wing (12) and a light guidance camera (309) on the AUV body (1) are turned on, the AUV body (1) tracks the light of the guidance lamp (1306) to be close to the V-shaped wing (12) by using the light guidance camera (309), in the optical guidance process, a capture mechanism (9) and a locking mechanism (8) on the AUV body (1) are started to be turned on, and a correlation type sensor at the front end of the AUV body (1) is also turned on;
fourthly, when the AUV main body (1) further approaches to enter an optical guide blind area, autonomous navigation is started, the capturing mechanism (9) is used for capturing the bearing cable (16), the bearing cable (16) enters the recovery bearing assembly after being captured by the capturing mechanism (9), and the correlation type sensor is blocked and triggered, so that the locking mechanism (8) starts to lock the bearing cable (16);
fifthly, the locking mechanism (8) judges whether the bearing cable (16) is locked or not through the in-place monitoring switch, if the locking is successful, the AUV main body (1) stops moving, the winch (19) is ready to lift, if the AUV main body is not locked, the AUV main body (1) exits from the optical guide blind area and enters the optical guide range again, and the third step and the fourth step are repeated;
and sixthly, after locking is successful, starting the winch (19) to recover the AUV main body (1), if unhooking occurs in the hoisting process of the winch (19), detecting pressure by a pressure sensor in the recovery bearing assembly disappears and sending a signal to prompt failure, releasing the bearing cable (16) by a locking mechanism (8) on the AUV main body (1), starting the AUV main body (1) and retreating into the ultra-short baseline acoustic guidance range, and repeating the second step to the fifth step.
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