CN112407171A - Unmanned underwater vehicle deployment and recovery system and deployment and recovery method - Google Patents
Unmanned underwater vehicle deployment and recovery system and deployment and recovery method Download PDFInfo
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- CN112407171A CN112407171A CN202011575055.7A CN202011575055A CN112407171A CN 112407171 A CN112407171 A CN 112407171A CN 202011575055 A CN202011575055 A CN 202011575055A CN 112407171 A CN112407171 A CN 112407171A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/28—Arrangement of ship-based loading or unloading equipment for cargo or passengers of chutes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
Abstract
The invention belongs to the technical field of unmanned underwater vehicle deployment and recovery, and discloses an unmanned underwater vehicle deployment and recovery system and a deployment and recovery method, wherein the system mainly comprises an unmanned ship control module, a deployment and recovery device, a floating and submerging module, a power module and a ship service information processing module which are arranged on a semi-submersible unmanned ship, the ship service information processing module is connected with a navigation positioning module, a target recognition device and a sensor module, the system also comprises a remote monitoring module arranged on the ground, the deployment and recovery device comprises a locking device and an auxiliary clamping device matched with the locking device for use, the locking device can limit the horizontal displacement and rotation of the unmanned underwater vehicle, the auxiliary clamping device can limit the vertical sliding of the unmanned underwater vehicle, and the unmanned underwater vehicle has stronger anti-capsizing capability; the invention solves the problem that a device capable of automatically and rapidly laying and recovering the unmanned underwater vehicle is lacked when the semi-submersible ship is adopted to lay and recover the unmanned underwater vehicle in the prior art.
Description
Technical Field
The invention relates to the technical field of laying and recycling of unmanned underwater vehicles, in particular to a laying and recycling system and a laying and recycling method of an unmanned underwater vehicle.
Background
The unmanned underwater vehicle is taken as an important tool for ocean exploration and is more and more emphasized by countries in the world in recent years; the unmanned underwater vehicle is generally released into a task water area by a mother ship when the unmanned underwater vehicle executes a task, and is recovered after the task is executed; the deployment and recovery of unmanned underwater vehicles has been an important subject of research.
At present, an unmanned underwater vehicle deployment and recovery system based on a semi-submersible ship has the following defects:
1) manpower is needed to participate, manual deployment is usually performed during deployment and recovery, after a task is completed, the unmanned underwater vehicle floats out of the water surface, then manual salvage is performed, and the safety and the risk are low and high when operators operate;
2) a corresponding device for quickly locking the unmanned underwater vehicle is not available on the semi-submersible ship, the process of loosening and fixing the unmanned underwater vehicle on the semi-submersible ship is complicated, and the fixing effect is poor;
3) the semi-submersible ship has poor mobility, high requirements on sea conditions and low operation efficiency.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a deployment and recovery system and a deployment and recovery method of an unmanned underwater vehicle, which are based on a semi-submersible unmanned ship, can automatically deploy and recover and have high deployment and recovery efficiency.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a laying and recycling system of an unmanned underwater vehicle comprises an unmanned ship control module arranged in a semi-submersible unmanned ship control chamber, wherein the unmanned ship control module is connected with a laying and recycling device, a floating and diving module and a power module; the unmanned boat control module is also connected with a boat service information processing module, and the boat service information processing module is connected with a navigation positioning module, a target recognition device and a sensor module; still be equipped with the underwater vehicle control module in the unmanned underwater vehicle control room, ground is equipped with remote monitoring module, and underwater vehicle control module, unmanned ship control module and boat affair information processing module carry out real-time communication through communication module and remote monitoring module, still are equipped with human-computer interaction interface on the remote monitoring module, and the operating condition of each device is shown in real time to human-computer interaction interface, and the user can issue control command at human-computer interaction interface.
Furthermore, the distribution and recovery device comprises a pair of guide rails and a pair of cushion blocks which are arranged in parallel along the width direction of the semi-submersible unmanned ship, arc-shaped grooves matched with the unmanned underwater vehicle are arranged on the cushion blocks, and the guide rails and the cushion blocks are arranged on a deck of the semi-submersible unmanned ship; a pair of symmetrically arranged locking devices and a pair of symmetrically arranged auxiliary clamping devices are connected to any guide rail in a sliding manner, each locking device comprises a support which is connected with the guide rail in a sliding manner, the support is vertically arranged, a driving device is arranged at the bottom end of the support, a horizontally arranged blade supporting rod is arranged on the support, the blade supporting rod is cylindrical, and a locking blade is arranged at one end, away from the support, of the blade supporting rod; the vertical cross-section of locking blade is circular-arc, and the extrados of locking blade evagination is for having elastic metal level, and the intrados of the indent of locking blade is for the soft rubber layer with unmanned underwater vehicle complex, and the blade bracing piece sets up on the metal level of locking blade extrados, and the blade bracing piece passes through the bolt with locking blade or the mode of pegging graft can be dismantled and be connected.
Furthermore, the auxiliary clamping device comprises clamping plates symmetrically arranged at the upper side and the lower side of the locking blade, an upper clamping plate is positioned above the locking blade, a lower clamping plate is positioned below the locking blade, and the upper clamping plate and the lower clamping plate are both arranged perpendicular to the vertical surface; any clamping plate is rotatably connected with the bracket through a transmission shaft arranged at one end of the clamping plate, the transmission shaft is fixed on the clamping plate, and the bracket is provided with a bearing matched with the transmission shaft; the clamping plate is a rectangular plate, teeth are uniformly distributed at one end of the rectangular plate, which is far away from the transmission shaft, and a reinforcing frame shaped like a Chinese character 'ri' is arranged at one side of the rectangular plate, which is back to the locking blades; the clamping plate or the transmission shaft is connected with a power mechanism, the upper clamping plate and the lower clamping plate rotate around the transmission shaft in a vertical plane under the action of the power mechanism and synchronously approach or keep away from the locking blades, and the power mechanism is arranged on the rack.
Further, the power mechanism is connected with the transmission shaft; a pair of pressing plates perpendicular to the transmission shafts are fixed in the middle of any one of the transmission shafts, each pressing plate is of a long-strip-shaped plate-shaped structure, one end of each pressing plate is fixed on the corresponding transmission shaft, a long-strip-shaped transmission hole is formed in each pressing plate along the length direction of each pressing plate, a vertically-arranged T-shaped rod is connected into each transmission hole in a sliding mode, each T-shaped rod is composed of a transverse rod and a vertical rod which are perpendicular to each other, the vertical rods of the T-shaped rods are arranged between the two pressing plates, the transverse rods of the T-shaped rods are arranged; the power mechanism is a clamping hydraulic cylinder which is vertically arranged on the support, and the vertical rod of the T-shaped rod is fixed on the piston rod of the clamping hydraulic cylinder and is arranged in parallel with the piston rod.
Further, the power mechanism is connected with the clamping plate; the reinforcing frame is provided with a rectangular block, the rectangular block is provided with an inverted T-shaped groove, and a T-shaped rod which is horizontally arranged is connected in the inverted T-shaped groove in a sliding manner; the power mechanism is a clamping hydraulic cylinder, the clamping hydraulic cylinder is horizontally arranged on the support, and a piston rod of the clamping hydraulic cylinder is arranged in parallel with a vertical rod of the T-shaped rod.
Furthermore, any guide rail is a horizontally arranged long strip-shaped rectangular strip, an inverted T-shaped guide groove is formed in the rectangular strip along the length direction of the rectangular strip, any support comprises an inverted T-shaped sliding block connected with the guide groove in a sliding mode, the top end of the sliding block extends out of the guide rail and is connected with a bottom plate, a vertically arranged support rod is arranged on the bottom plate, the support rod is a hollow square tube, and a reinforcing rib is arranged on one side of the support rod; the clamping hydraulic cylinder, the blade supporting rod and the transmission shaft are all arranged on the supporting rod.
Furthermore, the driving device is a locking hydraulic cylinder arranged on the deck or a driving motor arranged on the bracket, a piston rod of the locking hydraulic cylinder is connected with the sliding block when the driving device is used for locking the hydraulic cylinder, and the extension direction of the piston rod is the same as the length direction of the guide rail; when the driving device is a driving motor, the driving motor is vertically arranged on the bottom plate, the guide rail is provided with racks matched with the driving motor, and the racks are vertically arranged and uniformly distributed on one side of the guide rail.
The unmanned underwater vehicle deployment and recovery method by utilizing the unmanned underwater vehicle deployment and recovery system comprises a deployment process and a recovery process;
the laying process comprises the following steps:
s1, an operator sends an instruction to a semi-submersible unmanned ship through a remote monitoring module to give longitude and latitude information of a task water area where the unmanned underwater vehicle is to submerge; the semi-submersible unmanned ship receives an instruction, a ship service information processing module of the semi-submersible unmanned ship plans a flight path according to the received instruction, and an unmanned ship control module controls the semi-submersible unmanned ship carrying the unmanned underwater vehicle to sail to a task area according to the flight path;
s2, automatically identifying whether the navigation positioning module of the semi-submersible unmanned ship reaches a task water area, adjusting the ballast water quantity of a hull of the semi-submersible unmanned ship by the semi-submersible unmanned ship control module through the floating and submerging module after the navigation positioning module reaches the task water area, enabling the semi-submersible unmanned ship to submerge to the water surface and submerge to the top end of the unmanned underwater vehicle, judging whether the semi-submersible unmanned ship reaches a set submerging depth through the sensor module, and when the semi-submersible unmanned ship reaches the set submerging depth, arranging the recovery device to act, assisting an upper clamping piece and a lower clamping piece of the clamping device to synchronously rotate and keeping away from the locking blade; the locking device moves synchronously and is far away from the unmanned underwater vehicle, so that the clamped unmanned underwater vehicle is loosened;
s3, an operator sends a corresponding control instruction to a submersible vehicle control module of the unmanned submersible vehicle through a human-computer interaction interface on the remote monitoring module, and the submersible vehicle control module controls the unmanned submersible vehicle to float upwards and then to leave the deck or controls the unmanned submersible vehicle to directly move forwards and leave the deck;
s4, controlling the unmanned underwater vehicle to submerge and execute a task by the underwater vehicle control module;
s5, floating the semi-submersible unmanned ship to a normal navigation depth, and waiting for a next step of instruction;
the recovery process comprises the following steps:
p1, the unmanned underwater vehicle floats to the water surface after completing an underwater operation task, and sends longitude and latitude information of the position to a remote monitoring module through a communication module, and the remote monitoring module forwards the longitude and latitude information of the position of the semi-submersible unmanned ship to the semi-submersible unmanned ship;
p2, after the semi-submersible unmanned ship receives the position information of the unmanned underwater vehicle, a ship service information processing module of the semi-submersible unmanned ship plans a ship route, and controls the semi-submersible unmanned ship to sail to a target position through an unmanned ship control module;
and P3, after the unmanned underwater vehicle reaches a position area where the unmanned underwater vehicle is located, the target recognition device carries out recognition verification on the unmanned underwater vehicle in the area, after the verification is passed, a control module of the semi-submersible unmanned ship controls the semi-submersible unmanned ship to submerge, and the submerging depth needs to meet the following requirements: the submergence depth is twice of the distance from the bottom of the submergence device to the water surface, but the submergence depth cannot exceed the maximum submergence depth of the semi-submersible unmanned ship;
p4, the unmanned underwater vehicle sails to the upper part of a deck of the semi-submersible unmanned ship and is accurately positioned in a distribution and recovery device of the semi-submersible unmanned ship; starting a laying and recovering device of the semi-submersible unmanned ship and locking the unmanned underwater vehicle;
p5. floating the semi-submersible unmanned ship to normal sailing depth to wait for the next instruction; and the remote monitoring module controls the semi-submersible unmanned ship to return or execute the next task.
Further, in step P4, the process of accurately positioning the unmanned underwater vehicle on the deployment and recovery device is as follows: the positioning device is arranged on a central axis of the distribution and recovery device, a must-pass point is arranged at the stern of the distribution and recovery device, the must-pass point is also arranged on the central axis of the distribution and recovery device, the positioning device transmits the position information of the distribution and recovery device to the boat business information processing module, the boat business information processing module forwards the position information to the remote monitoring module, and the remote monitoring module transmits the position information to the unmanned underwater vehicle; finally, the remote monitoring module sends a control instruction, and the remote control underwater vehicle firstly passes through a necessary point and then sails to a target position to reach the upper part of a deck of the semi-submersible unmanned ship; and the remote monitoring module monitors the picture information on the deck of the semi-submersible unmanned ship in real time and displays the picture information on a human-computer interaction interface in real time.
Further, in step P4, the process of locking the unmanned underwater vehicle is as follows: the inner layer of the locking blade, the positions where the clamping plates are matched with the locking blade are provided with pressure sensors, the pressure sensors transmit detected pressure data back to the remote monitoring module, and when the unmanned underwater vehicle is clamped by the blade, the remote monitoring module determines whether the unmanned underwater vehicle is clamped or not through the transmitted pressure data.
Compared with the prior art, the invention has the beneficial effects that:
(1) the automatic remote control can work in severe environment, and the working efficiency is high;
(2) a cloth laying and recovering device is designed; the distribution and recovery device comprises a locking device and an auxiliary clamping device, the locking device limits horizontal movement of the unmanned underwater vehicle on a deck of the semi-submersible unmanned vehicle, the auxiliary clamping device limits vertical sliding of the unmanned underwater vehicle, stability of the unmanned underwater vehicle on the semi-submersible unmanned vehicle is guaranteed under the condition of severe sea conditions, and the anti-overturning capacity is stronger; through the cooperation of the positioning device and the sensor module which are arranged on the laying and recovering device, the unmanned underwater vehicle can be automatically and accurately positioned in the laying and recovering device, the full-automatic laying and recovering of the unmanned underwater vehicle can be automatically completed, the working efficiency is greatly improved, and the risk of manual operation is reduced.
(3) The navigation positioning module can obtain information such as position, posture, speed and the like of the semi-submersible unmanned ship, so that the unmanned ship can be conveniently controlled; the sensor module can detect the target unmanned underwater vehicle and monitor the condition on a navigation route in real time; the remote monitoring module can remotely control the semi-submersible unmanned ship, and the control is safer and more convenient.
Drawings
FIG. 1 is a block diagram of the system components of the present invention;
FIG. 2 is a state diagram of the unmanned vehicle carried by the semi-submersible unmanned boat;
FIG. 3 is a state diagram of the semi-submersible unmanned vehicle without the unmanned underwater vehicle;
FIG. 4 is a schematic three-dimensional structure of the disposition and recovery device in example 1;
FIG. 5 is an enlarged view taken at A in FIG. 4;
FIG. 6 is a flow chart of deploying an unmanned underwater vehicle;
FIG. 7 is a flow chart of the recovery of an unmanned underwater vehicle;
FIG. 8 is a partial three-dimensional structural view of an auxiliary clamp device according to embodiment 3;
fig. 9 is a schematic three-dimensional structure diagram of the deployment and retrieval device in example 4.
In the figure: the semi-submersible unmanned ship comprises a semi-submersible unmanned ship 1, an unmanned submersible vehicle 2, a cushion block 3, a laying and recovering device 4, a guide rail 401, a sliding block 402, a bottom plate 403, a supporting rod 404, a lower clamping plate 405, a blade supporting rod 406, a reinforcing frame 407, an upper clamping plate 408, locking blades 409, a clamping hydraulic cylinder 410, a transmission shaft 411, a pressing plate 412, a T-shaped rod 413, reinforcing ribs 414, a driving motor 415, a rack 416 and a locking hydraulic cylinder 417.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention is further explained below with reference to the accompanying drawings.
Example 1
Referring to fig. 1-5, an unmanned underwater vehicle deployment and recovery system:
the unmanned ship control module is arranged in a control room of a semi-submersible unmanned ship 1, the unmanned ship control module is connected with a distribution recovery device 4, a floating and submerging module and a power module, the distribution recovery device 4 is arranged at the middle position on a deck of the semi-submersible unmanned ship 1, a positioning device is arranged on the distribution recovery device 4, and the positioning device is arranged at the middle position of the distribution recovery device 4; unmanned ship control module still is connected with ship affair information processing module, unmanned ship control module mainly used: 1) motion control of the semi-submersible unmanned ship 1, 2) floating and submerging control of the semi-submersible unmanned ship 1; 3) performing information interaction with the boat service information processing module; the boat affair information processing module is mainly used for: 1) receiving and forwarding data; 2) receiving and analyzing an instruction; 3) reporting the instruction; 4) planning a route of the semi-submersible unmanned ship 1; the housekeeping information processing module is connected with navigation positioning module, target recognition device and sensor module, and navigation positioning module mainly includes: gyroscopes, accelerometers; the gyroscope and the accelerometer are used for acquiring position, attitude and speed information of the semi-submersible unmanned ship 1 and providing real-time navigation data for the unmanned ship control module and the ground remote monitoring module; the sensor module mainly includes: radar and sonar, depth sensor, pressure sensor etc. radar and sonar's effect is: 1) detecting the unmanned underwater vehicle 2; 2) and monitoring the condition on the air route in real time.
Still including setting up the ware control module that submerges in unmanned ware 2 control chambers and setting up the remote monitoring module on ground, ware control module, unmanned ship control module and the boat affair information processing module of submerging carry out real-time communication through communication module and remote monitoring module, and communication module includes: an antenna and a data transmission radio station required by data link transmission, a data receiver arranged on the ground, a ground radio station, a ground antenna and the like; the remote monitoring module is also provided with a human-computer interaction interface, the human-computer interaction interface displays the running state of each device in real time, a user can issue a control instruction at the human-computer interaction interface, and the remote monitoring module has the main functions of: 1) displaying the self state, position, speed and attitude information of the semi-submersible unmanned ship 1, the position state of the unmanned submersible vehicle 2 and the return of the state of the deployed recovery device; 2) the remote control semi-submersible unmanned ship 1 sails to reach a specified position according to a specified sailing route; 3) the remote control semi-submersible unmanned ship 1 floats upwards and submerges; 4) remotely controlling a laying and recovering device on the semi-submersible unmanned ship 1; 4) guiding the semi-submersible unmanned ship 1 to return; 5) and storing system information.
The distribution and recovery device 4 comprises a pair of guide rails 401 arranged in parallel along the width direction of the semi-submersible unmanned ship 1 and a pair of cushion blocks 3, the cushion blocks 3 are rectangular blocks, arc-shaped grooves matched with the unmanned underwater vehicles 2 are formed in the cushion blocks 3, buffer belts are arranged in the arc-shaped grooves, and the guide rails 401 and the cushion blocks 3 are both arranged on a deck of the semi-submersible unmanned ship 1; any guide rail 401 is a horizontally arranged long rectangular strip, an inverted T-shaped guide groove is formed in the rectangular strip along the length direction of the rectangular strip, a vertically arranged rack 416 is arranged on one side of the rectangular strip, and the racks 416 are uniformly distributed in the length direction of the guide rail 401; a pair of symmetrically arranged locking devices is connected to any one guide rail 401 in a sliding mode, and the locking devices on the same guide rail 401 are symmetrically arranged on two sides of the guide rail 401 and synchronously slide towards the center of the guide rail 401 or two ends of the guide rail 401.
Any locking device comprises a support which is in sliding connection with a guide rail 401, the support is vertically arranged, a driving device is arranged at the bottom end of the support, any support comprises an inverted T-shaped sliding block 402 which is in sliding connection with a guide groove, the top end of the sliding block 402 extends out of the guide rail 401 and is connected with a bottom plate 403, the driving device is a driving motor 415 which is vertically arranged on the bottom plate 403, a gear which is matched with a rack 416 is arranged at the power output end of the driving motor 415, a vertically arranged support rod 404 is further arranged on the bottom plate 403, the support rod 404 is a hollow square tube, a reinforcing rib 414 is arranged on one side of the support rod 404, a horizontally arranged blade support rod 406 is arranged in the middle of the support rod 404, the blade support rod 406 is cylindrical; the vertical cross section of locking blade 409 is circular-arc, and the extrados of locking blade 409 evagination is for having elastic metal level, and the intrados of locking blade 409 indent is for the soft rubber layer with unmanned underwater vehicle 2 complex, is equipped with pressure sensor on the soft rubber layer, and blade bracing piece 406 sets up on the metal level of locking blade 409 extrados, and blade bracing piece 406 can be dismantled with locking blade 409 through bolt or the mode of pegging graft and be connected.
Any one bracket is provided with an auxiliary clamping device matched with the locking device for use, the auxiliary clamping device comprises clamping plates symmetrically arranged at the upper side and the lower side of the locking blade 409, an upper clamping plate 408 is arranged above the locking blade 409, a lower clamping plate 405 is arranged below the locking blade 409, and the upper clamping plate 408 and the lower clamping plate 405 are both arranged perpendicular to a vertical surface; any one of the clamping plates is rotatably connected with the bracket through a transmission shaft 411 arranged at one end of the clamping plate, the transmission shaft 411 is arranged perpendicular to the vertical surface, the transmission shaft 411 is fixed on the clamping plate, and a bearing matched with the transmission shaft 411 is arranged on the supporting rod 404; the splint are rectangular plates, the teeth are uniformly distributed at one end, far away from the transmission shaft 411, of each rectangular plate, a reinforcing frame 407 shaped like a Chinese character 'ri' is arranged on one side, back to the locking blades 409, of each rectangular plate, and the reinforcing frames 407 and the transmission shaft 411 are welded or integrally arranged.
A power mechanism is connected to the transmission shaft 411; a pair of pressing plates 412 perpendicular to the transmission shafts 411 are fixed in the middle of any one of the transmission shafts 411, each pressing plate 412 is of a long strip-shaped plate-shaped structure, one end of each pressing plate 412 is fixed on the corresponding transmission shaft 411, long strip-shaped transmission holes are formed in the corresponding pressing plate 412 along the length direction of the corresponding pressing plate 412, the transmission holes and the corresponding clamping plates are distributed on the two sides of the corresponding transmission shaft 411, a vertically arranged T-shaped rod 413 is connected into each transmission hole in a sliding mode, each T-shaped rod 413 is composed of a cross rod and a vertical rod which are perpendicular to each other, the vertical rod of each T-shaped rod 413 is arranged between the two pressing plates 412, the cross rod of; the power mechanism is a clamping hydraulic cylinder 410, the clamping hydraulic cylinder 410 is vertically arranged on the support, and a vertical rod of the T-shaped rod 413 is fixed on a piston rod of the clamping hydraulic cylinder 410 and is arranged in parallel with the piston rod.
Example 2
The method for deploying and recovering the unmanned underwater vehicle by using the system comprises a deploying process and a recovering process.
Referring to fig. 6, the deployment process includes the following steps:
s1, an operator sends an instruction to a semi-submersible unmanned ship 1 through a remote monitoring module to give longitude and latitude information of a task water area where an unmanned underwater vehicle 2 is to be submerged; the semi-submersible unmanned ship 1 receives a navigation instruction, a ship service information processing module of the semi-submersible unmanned ship 1 plans a ship route according to the received instruction, and the semi-submersible unmanned ship 1 loaded with the unmanned underwater vehicle 2 is navigated to a task area by the unmanned ship control module according to the ship route control.
S2, a navigation positioning module of the semi-submersible unmanned ship 1 automatically identifies whether the semi-submersible unmanned ship reaches a task water area, after the semi-submersible unmanned ship reaches the task water area, a floating and submerging instruction control module of the semi-submersible unmanned ship 1 adjusts the ballast water amount of a hull of the semi-submersible unmanned ship 1 through a floating and submerging module, so that the semi-submersible unmanned ship 1 submerges to the water surface and submerges the top end of the unmanned submersible ship 2, whether the semi-submersible unmanned ship reaches a set submerging depth is judged through a sensor module, when the set submerging depth is reached, a deployment and recovery instruction is used for controlling a deployment and recovery device 4 to act, an upper clamping piece and a lower clamping piece of an auxiliary clamping device synchronously; the locking device moves synchronously away from the unmanned underwater vehicle 2, so that the clamped unmanned underwater vehicle 2 is released.
And S3, an operator sends a floating and diving instruction to the underwater vehicle control module of the unmanned underwater vehicle 2 through a human-computer interaction interface on the remote monitoring module, and the underwater vehicle control module controls the unmanned underwater vehicle 2 to float upwards and then drive away from the deck, or controls the unmanned underwater vehicle 2 to directly move forwards and drive away from the deck.
And S4, controlling the unmanned underwater vehicle 2 to dive and execute a task by the underwater vehicle control module.
And S5, floating the semi-submersible unmanned ship 1 to a normal navigation depth, and waiting for a next step of instruction.
Referring to fig. 7, the recycling process includes the steps of:
and P1, the unmanned underwater vehicle 2 floats to the water surface after completing the underwater operation task, and sends the longitude and latitude information of the position to the remote monitoring module through the communication module, and the remote monitoring module forwards the longitude and latitude information of the position of the semi-submersible unmanned ship 1 to the semi-submersible unmanned ship 1.
And P2, after the semi-submersible unmanned ship 1 receives the position information of the unmanned underwater vehicle 2, the ship service information processing module of the semi-submersible unmanned ship 1 plans a ship route, and sends a navigation instruction to the unmanned ship control module to control the semi-submersible unmanned ship 1 to navigate to a target position.
And P3, after the unmanned underwater vehicle 2 reaches the position area where the unmanned underwater vehicle 2 is located, the target recognition device carries out recognition verification on the unmanned underwater vehicle 2 in the area, after the verification is passed, the control module of the semi-submersible unmanned ship 1 controls the semi-submersible unmanned ship 1 to dive, and the diving depth needs to meet the following requirements: the submergence depth is twice the distance from the bottom of the submergence device to the water surface, but the submergence depth cannot exceed the maximum submergence depth of the semi-submersible unmanned ship 1.
P4, the unmanned underwater vehicle 2 sails to the upper part of the deck of the semi-submersible unmanned ship 1 and is accurately positioned in the distribution and recovery device 4 of the semi-submersible unmanned ship 1; the deployment and recovery device 4 of the semi-submersible unmanned ship 1 receives the deployment and recovery command, and the deployment and recovery device acts to lock the unmanned underwater vehicle 2.
The process that the unmanned underwater vehicle 2 is accurately positioned at the laying and recovery device 4 is as follows: the positioning device is arranged on a central axis of the distribution and recovery device 4, a must-pass point is arranged at the stern of the distribution and recovery device 4, the must-pass point is also arranged on the central axis of the distribution and recovery device 4, the positioning device transmits the position information of the distribution and recovery device 4 to the boat affair information processing module, the boat affair information processing module forwards the position information to the remote monitoring module, and the remote monitoring module transmits the position information to the unmanned underwater vehicle 2; finally, the remote monitoring module sends a navigation instruction, and the remote control underwater vehicle firstly passes through a necessary point and then navigates to a target position to reach the upper part of the deck of the semi-submersible unmanned ship 1; the remote monitoring module monitors the picture information on the deck of the semi-submersible unmanned ship 1 in real time and displays the picture information on a human-computer interaction interface in real time.
The process of locking the unmanned underwater vehicle 2 comprises the following steps: the inner layer of the locking blade 409, the positions where the clamping plate and the locking blade 409 are matched are provided with pressure sensors, the pressure sensors transmit detected pressure data back to the remote monitoring module, and when the unmanned underwater vehicle 2 is clamped by the blades, the remote monitoring module determines whether the unmanned underwater vehicle 2 is clamped or not through the transmitted pressure data.
P5. the semi-submersible unmanned ship 1 floats to the normal sailing depth to wait for the next instruction; the remote monitoring module controls the semi-submersible unmanned ship 1 to return or execute the next task.
Example 3
Referring to fig. 8, a deployment and recovery system and a deployment and recovery method of an unmanned underwater vehicle are different from those of embodiment 1 only in that a power mechanism is connected with a clamping plate; a rectangular block is arranged on the reinforcing frame 407, an inverted T-shaped groove is arranged on the rectangular block, and a horizontally arranged T-shaped rod 413 is connected in the inverted T-shaped groove in a sliding manner; the power mechanism is a clamping hydraulic cylinder 410, the clamping hydraulic cylinder 410 is horizontally arranged on the support, a piston rod of the clamping hydraulic cylinder 410 is arranged in parallel with a vertical rod of the T-shaped rod 413, and the rest is the same as that of the embodiment 1.
Example 4
Referring to fig. 9, the deployment and recovery system and the deployment and recovery method of the unmanned underwater vehicle differ from embodiment 1 only in that the driving device is a locking hydraulic cylinder 417 disposed on the deck of the semi-submersible unmanned ship 1, a piston rod of the locking hydraulic cylinder 417 is connected to the slider 402, a telescopic direction of the piston rod is the same as a length direction of the guide rail, and the rest is the same as embodiment 1.
Claims (10)
1. The unmanned underwater vehicle deployment and recovery system is characterized by comprising an unmanned ship control module arranged in a semi-submersible unmanned ship control chamber, wherein the unmanned ship control module is connected with a deployment and recovery device, a floating and submersible module and a power module; the unmanned boat control module is also connected with a boat service information processing module, and the boat service information processing module is connected with a navigation positioning module, a target recognition device and a sensor module; the unmanned underwater vehicle control room is internally provided with an underwater vehicle control module, the ground is provided with a remote monitoring module, the underwater vehicle control module, the unmanned ship control module and the ship service information processing module are in real-time communication with the remote monitoring module through a communication module, and the remote monitoring module is also provided with a human-computer interaction interface.
2. The deployment and recovery system of the unmanned underwater vehicle as claimed in claim 1, wherein the deployment and recovery device comprises a pair of guide rails and a pair of cushion blocks which are arranged in parallel along the width direction of the semi-submersible unmanned vehicle, the cushion blocks are provided with arc-shaped grooves matched with the unmanned underwater vehicle, and the guide rails and the cushion blocks are both arranged on a deck of the semi-submersible unmanned vehicle; a pair of symmetrically arranged locking devices and auxiliary clamping devices are connected to any one of the guide rails in a sliding manner, each locking device comprises a support which is connected with the guide rail in a sliding manner, the support is vertically arranged, a driving device is arranged at the bottom end of the support, a horizontally arranged blade supporting rod is arranged on the support, and a locking blade is arranged at the other end of the blade supporting rod; the locking blade is arc-shaped, the outer cambered surface of the outer convex of the locking blade is an elastic metal layer, the inner cambered surface of the locking blade is a soft rubber layer matched with the unmanned underwater vehicle, and the blade supporting rod is arranged on the metal layer of the outer cambered surface of the locking blade.
3. The deployment and retrieval system for unmanned underwater vehicles according to claim 2, wherein the auxiliary clamping means comprises clamping plates symmetrically disposed at upper and lower sides of the locking blade; any one of the clamping plates is movably connected with the bracket through a transmission shaft arranged at one end of the clamping plate; the clamping plate is a rectangular plate, teeth are uniformly distributed at one end of the rectangular plate, which is far away from the transmission shaft, and a reinforcing frame shaped like a Chinese character 'ri' is arranged on one surface of the rectangular plate, which is back to the locking blades; the clamping plate or the transmission shaft is connected with a power mechanism, the clamping plate rotates around the transmission shaft in a vertical plane under the action of the power mechanism, and the power mechanism is arranged on the rack.
4. The deployment and retrieval system for unmanned underwater vehicles according to claim 3, wherein the power mechanism is connected with a transmission shaft; a pair of pressing plates are fixed on any one of the transmission shafts, each pressing plate is of a long-strip-shaped plate-shaped structure, one end of each pressing plate is fixed on the transmission shaft, long-strip-shaped transmission holes are formed in the pressing plates along the length direction of the pressing plates, a vertically arranged T-shaped rod is connected in each transmission hole in a sliding mode, a vertical rod of each T-shaped rod is arranged between the two pressing plates, and a cross rod of each T-shaped rod is arranged in each transmission hole; the power mechanism is a clamping hydraulic cylinder which is vertically arranged on the support, and the vertical rod of the T-shaped rod is fixed on the piston rod of the clamping hydraulic cylinder and is arranged in parallel with the piston rod.
5. The unmanned underwater vehicle deployment and retrieval system of claim 3, wherein the power mechanism is connected to a clamp plate; the reinforcing frame is provided with a rectangular block, the rectangular block is provided with an inverted T-shaped groove, and a T-shaped rod which is horizontally arranged is connected in the inverted T-shaped groove in a sliding manner; the power mechanism is a clamping hydraulic cylinder, the clamping hydraulic cylinder is horizontally arranged on the support, and a piston rod of the clamping hydraulic cylinder is arranged in parallel with a vertical rod of the T-shaped rod.
6. The unmanned underwater vehicle deployment and recovery system according to claim 4 or 5, wherein any one of the guide rails is a horizontally arranged rectangular strip, an inverted T-shaped guide groove is formed in the rectangular strip along the length direction of the rectangular strip, any one of the supports comprises an inverted T-shaped sliding block connected with the guide groove in a sliding manner, the top end of the sliding block extends out of the guide rail and is connected with a bottom plate, a vertically arranged support rod is arranged on the bottom plate, the support rod is a hollow square tube, and a reinforcing rib is arranged on one side of the support rod; the clamping hydraulic cylinder, the blade supporting rod and the transmission shaft are all arranged on the supporting rod.
7. The unmanned underwater vehicle deployment and retrieval system according to claim 6, wherein the driving device is a locking hydraulic cylinder arranged on the deck or a driving motor arranged on the support, when the driving device is the locking hydraulic cylinder, a piston rod of the locking hydraulic cylinder is connected with the sliding block, and when the driving device is the driving motor, a rack matched with the driving motor is arranged on the guide rail.
8. An unmanned underwater vehicle deployment and recovery method is carried out by using the unmanned underwater vehicle deployment and recovery system of claim 7, and is characterized by comprising a deployment process and a recovery process;
the laying process comprises the following steps:
s1, an operator sends an instruction to a semi-submersible unmanned ship through a remote monitoring module to give longitude and latitude information of a task water area where the unmanned underwater vehicle is to submerge; the semi-submersible unmanned ship receives an instruction, a ship service information processing module of the semi-submersible unmanned ship plans a flight path according to the received instruction, and an unmanned ship control module controls the semi-submersible unmanned ship carrying the unmanned underwater vehicle to sail to a task area according to the flight path;
s2, automatically identifying whether the navigation positioning module of the semi-submersible unmanned ship reaches a task water area, adjusting the ballast water quantity of a hull of the semi-submersible unmanned ship by the semi-submersible unmanned ship control module through a floating and submerging module after the navigation positioning module reaches the task water area, enabling the semi-submersible unmanned ship to submerge to the water surface and submerge to the top end of the unmanned underwater vehicle, judging whether the set submerging depth is reached through a sensor module, when the set submerging depth is reached, actuating a distribution and recovery device, and loosening a clamped unmanned underwater vehicle by a locking device and an auxiliary clamping device of the distribution and recovery device;
s3, an operator sends a corresponding control instruction to a submersible vehicle control module of the unmanned submersible vehicle through a human-computer interaction interface on the remote monitoring module, and the submersible vehicle control module controls the unmanned submersible vehicle to float upwards and to drive away from a deck or controls the unmanned submersible vehicle to directly move forwards and to drive away from the deck;
s4, controlling the unmanned underwater vehicle to submerge and execute a task by the underwater vehicle control module;
s5, floating the semi-submersible unmanned ship to a normal navigation depth, and waiting for a next step of instruction;
the recovery process comprises the following steps:
p1, the unmanned underwater vehicle floats to the water surface after completing an underwater operation task, and sends longitude and latitude information of the position to a remote monitoring module through a communication module, and the remote monitoring module forwards the longitude and latitude information of the position of the semi-submersible unmanned ship to the semi-submersible unmanned ship;
p2, after the semi-submersible unmanned ship receives the position information of the unmanned underwater vehicle, a ship service information processing module of the semi-submersible unmanned ship plans a ship route, and controls the semi-submersible unmanned ship to sail to a target position through an unmanned ship control module;
and P3, after the unmanned underwater vehicle reaches a position area where the unmanned underwater vehicle is located, identifying and verifying the unmanned underwater vehicle in the area by the target identification device, controlling the semi-submersible unmanned vehicle to submerge by a control module of the semi-submersible unmanned vehicle, wherein the submerging depth needs to meet the following requirements: the submergence depth is twice of the distance from the bottom of the submergence device to the water surface, but the submergence depth cannot exceed the maximum submergence depth of the semi-submersible unmanned ship;
p4, the unmanned underwater vehicle sails to the upper part of a deck of the semi-submersible unmanned ship and is accurately positioned in a distribution and recovery device of the semi-submersible unmanned ship; starting a laying and recovering device of the semi-submersible unmanned ship and locking the unmanned underwater vehicle;
p5. floating the semi-submersible unmanned ship to normal sailing depth to wait for the next instruction; and the remote monitoring module controls the semi-submersible unmanned ship to return or execute the next task.
9. The deployment and recovery method of the unmanned underwater vehicle as claimed in claim 8, wherein in step P4, the process of accurately positioning the unmanned underwater vehicle on the deployment and recovery device comprises: the positioning device is arranged on a central axis of the distribution and recovery device, a must-pass point is arranged at the stern, the positioning device transmits the position information of the distribution and recovery device to the boat business information processing module, the boat business information processing module forwards the position information to the remote monitoring module, and the remote monitoring module transmits the position information to the unmanned underwater vehicle; finally, the remote monitoring module sends a control instruction, and the remote control underwater vehicle firstly passes through a necessary point and then sails to a target position to reach the upper part of a deck of the semi-submersible unmanned ship; and the remote monitoring module monitors the picture information on the deck of the semi-submersible unmanned ship in real time and displays the picture information on a human-computer interaction interface in real time.
10. The deployment and retrieval method for the unmanned underwater vehicle as claimed in claim 9, wherein in step P4, the locking process for the unmanned underwater vehicle is as follows: and when the blade clamps the unmanned underwater vehicle, the remote monitoring module determines whether the unmanned underwater vehicle is clamped or not according to the returned pressure data.
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| CN113022832A (en) * | 2021-04-23 | 2021-06-25 | 王曰英 | Sea-air amphibious unmanned aircraft and deployment and recovery method |
| CN113401323A (en) * | 2021-07-19 | 2021-09-17 | 中国科学院沈阳自动化研究所 | Modular slideway clamping type recovery device for autonomously recovering underwater robot |
| CN113844605A (en) * | 2021-10-18 | 2021-12-28 | 中航通飞华南飞机工业有限公司 | Rescue method for semi-submersible type water comprehensive support platform of large amphibious aircraft |
| CN114074747A (en) * | 2021-12-30 | 2022-02-22 | 上海大学 | Novel unmanned underwater vehicle laying and recycling system and method |
| CN115042928A (en) * | 2022-07-08 | 2022-09-13 | 中国船舶工业集团公司第七0八研究所 | Semi-submersible mother ship capable of safely and quickly deploying cluster type unmanned submersible vehicle |
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| CN112947504B (en) * | 2021-03-15 | 2022-09-16 | 王曰英 | Autonomous recovery control system and control method for unmanned underwater vehicle |
| CN113022832A (en) * | 2021-04-23 | 2021-06-25 | 王曰英 | Sea-air amphibious unmanned aircraft and deployment and recovery method |
| CN113401323A (en) * | 2021-07-19 | 2021-09-17 | 中国科学院沈阳自动化研究所 | Modular slideway clamping type recovery device for autonomously recovering underwater robot |
| CN113844605A (en) * | 2021-10-18 | 2021-12-28 | 中航通飞华南飞机工业有限公司 | Rescue method for semi-submersible type water comprehensive support platform of large amphibious aircraft |
| CN114074747A (en) * | 2021-12-30 | 2022-02-22 | 上海大学 | Novel unmanned underwater vehicle laying and recycling system and method |
| CN114074747B (en) * | 2021-12-30 | 2022-09-30 | 上海大学 | Novel unmanned underwater vehicle deployment and recovery system and method |
| CN115042928A (en) * | 2022-07-08 | 2022-09-13 | 中国船舶工业集团公司第七0八研究所 | Semi-submersible mother ship capable of safely and quickly deploying cluster type unmanned submersible vehicle |
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