CN112429155B - Unmanned ship-based underwater detection device recovery system and method - Google Patents
Unmanned ship-based underwater detection device recovery system and method Download PDFInfo
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- CN112429155B CN112429155B CN202011115412.1A CN202011115412A CN112429155B CN 112429155 B CN112429155 B CN 112429155B CN 202011115412 A CN202011115412 A CN 202011115412A CN 112429155 B CN112429155 B CN 112429155B
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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
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
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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
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention relates to a recovery system and a recovery method for an underwater detection device based on an unmanned ship, wherein a telescopic rod is arranged at the bottom of the unmanned ship and can change in length along the vertical direction, a recovery cabin is arranged at the bottom of the telescopic rod, a collision sensor is arranged on the inner side wall of the recovery cabin, and the length of the telescopic rod is shortest when the telescopic rod is in the initial length. The recovery of the underwater detection device can be quickly and conveniently realized based on the unmanned boat, and the unmanned boat and the underwater detection device do not need to stop moving in the recovery process, so that the offshore detection and detector recovery work of offshore workers is further facilitated.
Description
Technical Field
The invention relates to the technical field of unmanned boats, in particular to an underwater detection device recovery system and method based on the unmanned boats.
Background
With the rapid development of the technology, unmanned boats are more and more widely applied. Various unmanned boats play an outstanding role in offshore work, and for example, the unmanned boats can perform various tasks such as underwater article searching, water quality detection, marine environment monitoring and the like according to needs. Sensing equipment such as radars, inertial navigation, sonar, GPS, ultrasound, cameras and the like are generally mounted on the unmanned ship, and functions such as environment perception, navigation obstacle avoidance, path planning, anti-inrush current disturbance control and the like can be realized.
By carrying out marine observation, data about various natural phenomena of the sea can be obtained, which is helpful for understanding the scientific principle and change rule thereof. In order to better realize ocean observation, some underwater detection devices are provided for detecting various data in the ocean underwater, and the underwater detection devices can move forward along a certain route and perform flow detection in a certain working range, so that the detection work of marine workers is greatly facilitated. However, the underwater detection device in the prior art does not have a good recovery method, and the underwater detection device cannot be quickly and effectively recovered when a fault occurs or the underwater detection device needs to be timely recovered due to other reasons.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a recovery system and a recovery method of an underwater detection device based on an unmanned ship, which can quickly and conveniently realize the recovery of the underwater detection device based on the unmanned ship.
In order to achieve the above object, the present invention has the following configurations:
the invention provides a recovery method of an underwater detection device based on an unmanned ship, wherein a telescopic rod is arranged at the bottom of the unmanned ship, the telescopic rod can change in length along the vertical direction, a recovery cabin is arranged at the bottom of the telescopic rod, a collision sensor is arranged on the inner side wall of the recovery cabin, and when the telescopic rod is at the initial length, the length of the telescopic rod is shortest;
the method comprises the following steps:
the method comprises the steps that a central server sends a recovery task of an underwater detection device to an unmanned ship, wherein the recovery task comprises a recovery task number, the volume of the underwater detection device, the detection depth of the underwater detection device, the motion path of the underwater detection device and the current position of the underwater detection device;
the unmanned boat receives the recovery task, and analyzes the recovery task to obtain the current position of the underwater detection device and the motion path of the underwater detection device;
the unmanned ship travels to the front of the movement direction of the underwater detection device;
the unmanned ship analyzes the recovery task to obtain the detection depth of the underwater detection device;
the unmanned ship controls the telescopic rod to extend downwards according to the detection depth of the underwater detection device until the recovery cabin is consistent with the detection depth of the underwater detection device;
after a collision sensor of a recovery cabin of the unmanned ship detects that the underwater detection device enters the recovery cabin, the unmanned ship controls the telescopic rod to shorten to the initial length;
and the unmanned ship sends recovery success information to the central server, wherein the recovery success information comprises the recovery task number and the current position data of the unmanned ship.
In some preferred embodiments, the central server sends the recovery task of the underwater detection device to the unmanned boat, and the method comprises the following steps:
the central server obtains the volume of the underwater detection device, searches for the unmanned ship with the recovery cabin of which the volume is larger than that of the underwater detection device, and sends the recovery task of the underwater detection device to the searched unmanned ship.
In some preferred embodiments, after the unmanned boat receives the recovery task, the method further comprises the following steps:
the unmanned ship judges whether other underwater detection devices exist in the recovery cabin of the unmanned ship or not;
if the recovery cabin of the unmanned ship does not have other underwater detection devices, the unmanned ship judges whether the volume of the recovery cabin of the unmanned ship is larger than that of the underwater detection device in the recovery task or not, if so, the unmanned ship accepts the recovery task, and otherwise, the unmanned ship refuses the recovery task.
In some preferred embodiments, after the unmanned boat determines whether other underwater detection devices exist in the recovery cabin of the unmanned boat, the method further includes the following steps:
if other underwater detection devices exist in the recovery cabin of the unmanned ship, the unmanned ship calculates the residual volume in the recovery cabin;
if the residual volume in the recovery cabin is larger than or equal to the volume of the underwater detection device in the recovery task multiplied by k, and k is a preset redundancy coefficient larger than 1, the unmanned ship receives the recovery task;
the unmanned boat refuses the recovery mission if the remaining volume in the recovery trunk is less than the volume of the underwater detection device in the recovery mission multiplied by k.
In some preferred embodiments, the unmanned vehicle travels forward of the direction of motion of the underwater detection device, comprising the steps of:
the unmanned boat advances to the front of the movement direction of the underwater detection device, the distance between the unmanned boat and the underwater detection device is larger than L, wherein L is t1 v1, t1 represents the time required for the telescopic rod of the unmanned boat to extend from the initial length to the position where the recovery cabin is consistent with the detection depth of the underwater detection device, and v1 represents the maximum movement speed of the underwater detection device.
In some preferred embodiments, an opening is arranged at the rear side of the recovery cabin, a cabin door is arranged at the opening, the unmanned boat controls the telescopic rod to extend downwards according to the detection depth of the underwater detection device, after the unmanned boat extends until the recovery cabin is consistent with the detection depth of the underwater detection device, the unmanned boat controls the cabin door to open, and the underwater detection device can enter the interior of the recovery cabin from the opening of the recovery cabin;
after the collision sensor of the recovery cabin of the unmanned ship detects that the underwater detection device enters the recovery cabin, the unmanned ship controls the cabin door to be closed, and then the unmanned ship controls the telescopic rod to be shortened to the initial length.
In some preferred embodiments, the method further comprises the steps of:
and after receiving the recovery success information, the central server transmits motion stopping information to the underwater detection device, and the underwater detection device is configured to stop moving after receiving the motion stopping information.
The embodiment of the invention also provides an underwater detection device recovery system based on the unmanned ship, which is applied to the underwater detection device recovery method based on the unmanned ship, the system comprises a central server and at least one unmanned ship, the central server is used for sending the recovery task of the underwater detection device to the unmanned ship, and the recovery task comprises a recovery task number, the volume of the underwater detection device, the detection depth of the underwater detection device, the motion path of the underwater detection device and the current position of the underwater detection device; the bottom of the unmanned ship is provided with a telescopic rod, the length of the telescopic rod can be changed along the vertical direction, the bottom of the telescopic rod is provided with a recovery cabin, the inner side wall of the recovery cabin is provided with a collision sensor, and when the telescopic rod is at the initial length, the length of the telescopic rod is the shortest;
the unmanned boat receives the recovery task and executes the following steps:
the unmanned ship analyzes the recovery task to obtain the current position of the underwater detection device and the motion path of the underwater detection device;
the unmanned ship travels to the front of the movement direction of the underwater detection device;
the unmanned ship analyzes the recovery task to obtain the detection depth of the underwater detection device;
the unmanned ship controls the telescopic rod to extend downwards according to the detection depth of the underwater detection device until the recovery cabin is consistent with the detection depth of the underwater detection device;
after a collision sensor of a recovery cabin of the unmanned ship detects that the underwater detection device enters the recovery cabin, the unmanned ship controls the telescopic rod to shorten to the initial length;
and the unmanned ship sends recovery success information to the central server, wherein the recovery success information comprises the recovery task number and the current position data of the unmanned ship.
In some preferred embodiments, when the central server sends the recovery task of the underwater detection device to an unmanned ship, obtaining the volume of the underwater detection device, searching for the unmanned ship having a recovery cabin with a volume larger than the volume of the underwater detection device, and sending the recovery task of the underwater detection device to the searched unmanned ship;
after receiving the recovery task, the unmanned aerial vehicle is further configured to execute the following steps:
the unmanned ship judges whether other underwater detection devices exist in the recovery cabin of the unmanned ship or not;
if the recovery cabin of the unmanned ship does not have other underwater detection devices, the unmanned ship judges whether the volume of the recovery cabin of the unmanned ship is larger than that of the underwater detection device in the recovery task or not, if so, the unmanned ship accepts the recovery task, and otherwise, the unmanned ship rejects the recovery task;
if other underwater detection devices exist in the recovery cabin of the unmanned ship, the unmanned ship calculates the residual volume in the recovery cabin;
if the residual volume in the recovery cabin is larger than or equal to the volume of the underwater detection device in the recovery task multiplied by k, and k is a preset redundancy coefficient larger than 1, the unmanned ship receives the recovery task;
the unmanned boat refuses the recovery mission if the remaining volume in the recovery trunk is less than the volume of the underwater detection device in the recovery mission multiplied by k.
In summary, compared with the prior art, the recovery of the underwater detection device can be rapidly and conveniently realized based on the unmanned boat, the unmanned boat and the underwater detection device do not need to stop moving in the recovery process, the offshore detection and the detector recovery work of offshore workers are further facilitated, the recovery cabin of the unmanned boat can automatically detect whether the underwater detection device is successfully received or not, the recovery task can be uniformly distributed through the central server in time after the recovery is successful, the unmanned boat can be rapidly executed, and the recovery cabin of the unmanned boat can adjust the recovery depth through the telescopic rod, so that the recovery of the underwater detection device under various scenes, various detection depths, various operation paths and operation speeds can be met, and the recovery device is suitable for large-scale popularization and application.
Drawings
FIG. 1 is a flow chart of a recovery method for an unmanned boat based underwater detection device according to an embodiment of the present invention;
fig. 2 is a schematic view of an unmanned surface vehicle recovery detection device according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In some instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
As shown in fig. 1, in order to solve the technical problems in the prior art, the invention provides a recovery method of an underwater detection device based on an unmanned ship, the underwater detection device in operation is recovered based on the unmanned ship and a central server, the underwater detection device operates at a certain depth underwater according to a set route, the central server is responsible for dispatching a recovery task of the underwater detection device to the unmanned ship, and the unmanned ship is responsible for executing the recovery task of the underwater detection device. Based on the above, the bottom of the unmanned ship is provided with a telescopic rod, the telescopic rod can change in length along the vertical direction, the bottom of the telescopic rod is provided with a recovery cabin, the inner side wall of the recovery cabin is provided with a collision sensor, and when the telescopic rod is at the initial length, the length of the telescopic rod is the shortest;
the recovery method of the underwater detection device based on the unmanned ship comprises the following steps:
the method comprises the steps that a central server sends a recovery task of an underwater detection device to an unmanned ship, wherein the recovery task comprises a recovery task number, the volume of the underwater detection device, the detection depth of the underwater detection device, the motion path of the underwater detection device and the current position of the underwater detection device;
the unmanned ship receives the recovery task, and analyzes the recovery task to obtain the current position of the underwater detection device and the motion path of the underwater detection device;
the unmanned ship travels to the front of the movement direction of the underwater detection device;
the unmanned ship analyzes the recovery task to obtain the detection depth of the underwater detection device;
the unmanned ship controls the telescopic rod to extend downwards according to the detection depth of the underwater detection device, the telescopic rod extends to the extent that the detection depth of the recovery cabin is consistent with that of the underwater detection device, the underwater detection device can enter the recovery cabin, the telescopic rod can comprise a first rod and a second rod, the first rod and the second rod can slide relatively, a sliding rail and a pulley are arranged between the first rod and the second rod, and the pulley can be driven by a servo motor to rotate, so that the relative positions of the first rod and the second rod are adjusted, and the length of the telescopic rod is extended or shortened;
after the collision sensor of the recovery cabin of the unmanned ship detects that the underwater detection device enters the recovery cabin, the unmanned ship controls the telescopic rod to shorten to the initial length, namely to recover the telescopic rod, so that the collision sensor can automatically detect whether the underwater detection device enters the recovery cabin, namely whether the underwater detection device is successfully recovered;
the unmanned ship sends recovery success information to the central server, the recovery success information comprises the recovery task number and current position data of the unmanned ship, and based on the recovery task number and the current position data of the unmanned ship, the unmanned ship can be further provided with a wireless communication module and a positioning module, the positioning module can be a GPS positioning module, the wireless communication module can be a GPRS communication module, a CDMA communication module or a 4G communication module, and communication with the central server in a long distance can be achieved.
In this embodiment, underwater exploration devices of different sizes may be provided, and the sizes of the recovery cabins of different unmanned boats may be different. In order to ensure that the recovery task can be normally completed, the central server sends the recovery task of the underwater detection device to the unmanned ship, and the method comprises the following steps:
the central server obtains the volume of the underwater detection device, searches for the unmanned ship with the recovery cabin of which the volume is larger than that of the underwater detection device, and sends the recovery task of the underwater detection device to the searched unmanned ship.
Further, if a plurality of unmanned boats capable of accommodating the underwater detection device are found, the unmanned boat with the volume of the recovery cabin closest to that of the underwater detection device can be selected, so that the waste of space is avoided, the unmanned boat closest to the underwater detection device can be selected, and the recovery task can be ensured to be executed quickly.
In this embodiment, after the unmanned boat receives the recovery task, the method further includes the following steps:
the unmanned ship judges whether other underwater detection devices exist in the recovery cabin of the unmanned ship or not;
if the recovery cabin of the unmanned boat does not have other underwater detection devices, the unmanned boat judges whether the volume of the recovery cabin of the unmanned boat is larger than that of the underwater detection device in the recovery task or not, if so, the unmanned boat accepts the recovery task, otherwise, the unmanned boat refuses the recovery task because the space of the unmanned boat is insufficient and cannot accommodate the underwater detection device.
In this embodiment, after the unmanned ship determines whether other underwater detection devices exist in its recovery cabin, the method further includes the following steps:
if other underwater detection devices exist in the recovery cabin of the unmanned ship, the unmanned ship calculates the residual volume in the recovery cabin;
if the residual volume in the recovery cabin is larger than or equal to the volume of the underwater detection device in the recovery task multiplied by k, and k is a preset redundancy coefficient larger than 1, the unmanned ship receives the recovery task; the value of k can be selected and set as required, considering that two or more underwater detection devices are placed in the recovery cabin with certain gaps, and therefore certain redundant space consideration is required;
and if the residual volume in the recovery cabin is smaller than the volume of the underwater detection device in the recovery task multiplied by k, the unmanned boat cannot accommodate the existing underwater detection device and a new underwater detection device at the same time, and the recovery task is rejected.
In this embodiment, the unmanned vehicle travels forward of the direction of motion of the underwater detection device, comprising the steps of:
the unmanned boat advances to the front of the movement direction of the underwater exploration device, the distance between the unmanned boat and the underwater exploration device is larger than L, wherein L is t1 v1, t1 represents the time required for the telescopic rod of the unmanned boat to extend from the initial length to the state that the recovery cabin is consistent with the exploration depth of the underwater exploration device, v1 represents the maximum movement speed of the underwater exploration device, thereby ensuring that the underwater exploration device is still behind the unmanned boat during the process that the telescopic rod of the unmanned boat extends from the initial length to the state that the recovery cabin is consistent with the exploration depth of the underwater exploration device, and in the process, the unmanned boat can keep the advancing speed and the advancing direction which are basically consistent with the underwater exploration device, so that certain redundant time can be provided for the underwater exploration device to enter the recovery cabin of the unmanned boat after the recovery cabin is placed down, the underwater detection device is prevented from colliding with the recovery cabin accidentally, and the underwater detection device is prevented from missing with an unmanned boat in the process and being incapable of entering the recovery cabin. The maximum movement speed can be a fixed value of the maximum movement speed of the underwater detection device stored in the controller of the unmanned ship in advance, the maximum movement speed of the underwater detection device is selected to calculate the distance L, the redundant time for waiting for the underwater detection device to enter after the recovery cabin of the unmanned ship is put down can be further increased, the underwater detection device is prevented from being suddenly accelerated to collide with the recovery cabin, and the underwater detection device is prevented from missing with the unmanned ship in the process and being incapable of entering the recovery cabin.
In this embodiment, an opening is formed in the rear side of the recovery cabin, a cabin door is arranged at the opening, the unmanned boat controls the telescopic rod to extend downwards according to the detection depth of the underwater detection device, the unmanned boat controls the cabin door to open after the unmanned boat extends to the position where the detection depth of the recovery cabin is consistent with that of the underwater detection device, and the underwater detection device can enter the recovery cabin from the opening of the recovery cabin.
After the collision sensor of the recovery cabin of the unmanned ship detects that the underwater detection device enters the recovery cabin, the unmanned ship controls the cabin door to be closed, and then the unmanned ship controls the telescopic rod to be shortened to the initial length. Through the control of the cabin door, the position stability of the underwater detection device after entering the recovery cabin can be kept, and the underwater detection device is prevented from accidentally falling out after entering the recovery cabin.
In this embodiment, the unmanned boat-based underwater detection device recovery method further includes the following steps:
and after receiving the recovery success information, the central server transmits motion stopping information to the underwater detection device, and the underwater detection device stops moving after receiving the motion stopping information, so that the recovery cabin or the underwater detection device is prevented from being broken down due to collision with the inner wall of the recovery cabin.
The embodiment of the invention also provides an unmanned ship-based underwater detection device recovery system, which is applied to the unmanned ship-based underwater detection device recovery method.
Fig. 2 is a schematic structural view of the unmanned surface vehicle in this embodiment. The bottom of unmanned ship T100 is provided with telescopic link T200, telescopic link T200 can take place length variation along the vertical direction, the bottom of telescopic link T200 is provided with retrieves cabin T300, the inside wall of retrieving cabin T300 is provided with collision sensor, when telescopic link T200 is in initial length, telescopic link T200's length is the shortest. When the unmanned surface vehicle T100 travels in front of the underwater detection device T400 and the telescopic rod T200 is extended until the depth of the recovery cabin T300 is the same as the depth of the underwater detection device T400, the underwater detection device T400 to be recovered can enter the recovery cabin T300 from the opening at the rear side of the recovery cabin T300.
Specifically, in the recovery system for the underwater exploration device based on the unmanned ship, after the unmanned ship receives the recovery task, the following steps are executed:
the unmanned ship analyzes the recovery task to obtain the current position of the underwater detection device and the motion path of the underwater detection device;
the unmanned ship travels to the front of the movement direction of the underwater detection device;
the unmanned ship analyzes the recovery task to obtain the detection depth of the underwater detection device;
the unmanned ship controls the telescopic rod to extend downwards according to the detection depth of the underwater detection device until the recovery cabin is consistent with the detection depth of the underwater detection device;
after a collision sensor of a recovery cabin of the unmanned ship detects that the underwater detection device enters the recovery cabin, the unmanned ship controls the telescopic rod to shorten to the initial length;
and the unmanned ship sends recovery success information to the central server, wherein the recovery success information comprises the recovery task number and the current position data of the unmanned ship.
In this embodiment, when the central server sends the recovery task of the underwater detection device to the unmanned ship, the volume of the underwater detection device is obtained, the unmanned ship with the recovery cabin having a volume larger than that of the underwater detection device is searched, and the recovery task of the underwater detection device is sent to the searched unmanned ship;
after receiving the recovery task, the unmanned aerial vehicle is further configured to execute the following steps:
the unmanned ship judges whether other underwater detection devices exist in the recovery cabin of the unmanned ship or not;
if the recovery cabin of the unmanned ship does not have other underwater detection devices, the unmanned ship judges whether the volume of the recovery cabin of the unmanned ship is larger than that of the underwater detection device in the recovery task or not, if so, the unmanned ship accepts the recovery task, and otherwise, the unmanned ship rejects the recovery task;
if other underwater detection devices exist in the recovery cabin of the unmanned ship, the unmanned ship calculates the residual volume in the recovery cabin;
if the residual volume in the recovery cabin is larger than or equal to the volume of the underwater detection device in the recovery task multiplied by k, and k is a preset redundancy coefficient larger than 1, the unmanned ship receives the recovery task;
the unmanned vehicle refuses the recovery mission if a remaining volume in the recovery trunk is less than a volume of the underwater detection device in the recovery mission multiplied by k.
In the recovery system of the unmanned-boat-based underwater detection device, the function implementation manner of each module can adopt the specific implementation manner of each step in the recovery method of the unmanned-boat-based underwater detection device, and is not described herein again.
In summary, compared with the prior art, the recovery of the underwater detection device can be rapidly and conveniently realized based on the unmanned boat, the unmanned boat and the underwater detection device do not need to stop moving in the recovery process, the offshore detection and the detector recovery work of offshore workers are further facilitated, the recovery cabin of the unmanned boat can automatically detect whether the underwater detection device is successfully received or not, the recovery task can be uniformly distributed through the central server in time after the recovery is successful, the unmanned boat can be rapidly executed, and the recovery cabin of the unmanned boat can adjust the recovery depth through the telescopic rod, so that the recovery of the underwater detection device under various scenes, various detection depths, various operation paths and operation speeds can be met, and the recovery device is suitable for large-scale popularization and application.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (5)
1. A recovery method of an underwater detection device based on an unmanned ship is characterized in that a telescopic rod is arranged at the bottom of the unmanned ship, the telescopic rod can change in length along the vertical direction, a recovery cabin is arranged at the bottom of the telescopic rod, a collision sensor is arranged on the inner side wall of the recovery cabin, and when the telescopic rod is at an initial length, the length of the telescopic rod is the shortest;
the method comprises the following steps:
the method comprises the steps that a central server sends a recovery task of an underwater detection device to an unmanned ship, wherein the recovery task comprises a recovery task number, the volume of the underwater detection device, the detection depth of the underwater detection device, the motion path of the underwater detection device and the current position of the underwater detection device;
the unmanned ship receives the recovery task, and analyzes the recovery task to obtain the current position of the underwater detection device and the motion path of the underwater detection device;
the unmanned ship travels to the front of the movement direction of the underwater detection device;
the unmanned ship analyzes the recovery task to obtain the detection depth of the underwater detection device;
the unmanned ship controls the telescopic rod to extend downwards according to the detection depth of the underwater detection device until the recovery cabin is consistent with the detection depth of the underwater detection device;
after a collision sensor of a recovery cabin of the unmanned ship detects that the underwater detection device enters the recovery cabin, the unmanned ship controls the telescopic rod to shorten to the initial length;
the unmanned ship sends recovery success information to the central server, wherein the recovery success information comprises the recovery task number and the current position data of the unmanned ship;
the central server sends the recovery task of the underwater detection device to the unmanned ship, and the method comprises the following steps:
the central server obtains the volume of the underwater detection device, searches for the unmanned ship with the recovery cabin of which the volume is larger than that of the underwater detection device, and sends the recovery task of the underwater detection device to the searched unmanned ship;
after the unmanned ship receives the recovery task, the method further comprises the following steps:
the unmanned ship judges whether other underwater detection devices exist in the recovery cabin of the unmanned ship or not;
if the recovery cabin of the unmanned ship does not have other underwater detection devices, the unmanned ship judges whether the volume of the recovery cabin of the unmanned ship is larger than that of the underwater detection device in the recovery task or not, if so, the unmanned ship accepts the recovery task, and otherwise, the unmanned ship rejects the recovery task;
after the unmanned ship judges whether other underwater detection devices exist in the recovery cabin of the unmanned ship, the method further comprises the following steps:
if other underwater detection devices exist in the recovery cabin of the unmanned ship, the unmanned ship calculates the residual volume in the recovery cabin;
if the residual volume in the recovery cabin is larger than or equal to the volume of the underwater detection device in the recovery task multiplied by k, and k is a preset redundancy coefficient larger than 1, the unmanned boat receives the recovery task;
the unmanned vehicle refuses the recovery mission if a remaining volume in the recovery trunk is less than a volume of the underwater detection device in the recovery mission multiplied by k.
2. The unmanned boat based underwater detection device recovery method of claim 1, wherein the unmanned boat travels ahead of the underwater detection device in the direction of motion, comprising the steps of:
the unmanned boat advances to the front of the movement direction of the underwater detection device, the distance between the unmanned boat and the underwater detection device is larger than L, wherein L is t1 v1, t1 represents the time required for the telescopic rod of the unmanned boat to extend from the initial length to the position where the recovery cabin is consistent with the detection depth of the underwater detection device, and v1 represents the maximum movement speed of the underwater detection device.
3. The recovery method of the underwater detection device based on the unmanned ship, according to claim 1, wherein an opening is arranged at the rear side of the recovery cabin, a cabin door is arranged at the opening, the unmanned ship controls the telescopic rod to extend downwards according to the detection depth of the underwater detection device, after the recovery cabin is extended to be consistent with the detection depth of the underwater detection device, the unmanned ship controls the cabin door to open, and the underwater detection device can enter the interior of the recovery cabin from the opening of the recovery cabin;
after the collision sensor of the recovery cabin of the unmanned ship detects that the underwater detection device enters the recovery cabin, the unmanned ship controls the cabin door to be closed, and then the unmanned ship controls the telescopic rod to be shortened to the initial length.
4. The unmanned boat based underwater detection device recovery method of claim 1, further comprising the steps of:
and after receiving the recovery success information, the central server transmits motion stopping information to the underwater detection device, and the underwater detection device is configured to stop moving after receiving the motion stopping information.
5. An unmanned-vessel-based underwater detection device recovery system, which is applied to the unmanned-vessel-based underwater detection device recovery method according to any one of claims 1 to 4, wherein the system comprises a central server and at least one unmanned vessel, the central server is used for sending a recovery task of an underwater detection device to the unmanned vessel, and the recovery task comprises a recovery task number, the volume of the underwater detection device, the detection depth of the underwater detection device, the motion path of the underwater detection device and the current position of the underwater detection device; the bottom of the unmanned ship is provided with a telescopic rod, the length of the telescopic rod can be changed along the vertical direction, the bottom of the telescopic rod is provided with a recovery cabin, the inner side wall of the recovery cabin is provided with a collision sensor, and when the telescopic rod is at the initial length, the length of the telescopic rod is the shortest;
the unmanned boat receives the recovery task and executes the following steps:
the unmanned ship analyzes the recovery task to obtain the current position of the underwater detection device and the motion path of the underwater detection device;
the unmanned ship travels to the front of the movement direction of the underwater detection device;
the unmanned ship analyzes the recovery task to obtain the detection depth of the underwater detection device;
the unmanned ship controls the telescopic rod to extend downwards according to the detection depth of the underwater detection device until the recovery cabin is consistent with the detection depth of the underwater detection device;
after a collision sensor of a recovery cabin of the unmanned ship detects that the underwater detection device enters the recovery cabin, the unmanned ship controls the telescopic rod to shorten to the initial length;
the unmanned ship sends recovery success information to the central server, wherein the recovery success information comprises the recovery task number and the current position data of the unmanned ship;
when the central server sends the recovery task of the underwater detection device to the unmanned ship, the volume of the underwater detection device is obtained, the unmanned ship with the recovery cabin of which the volume is larger than that of the underwater detection device is searched, and the recovery task of the underwater detection device is sent to the searched unmanned ship;
after receiving the recovery task, the unmanned boat is further configured to perform the following steps:
the unmanned ship judges whether other underwater detection devices exist in the recovery cabin of the unmanned ship or not;
if the recovery cabin of the unmanned ship does not have other underwater detection devices, the unmanned ship judges whether the volume of the recovery cabin of the unmanned ship is larger than that of the underwater detection device in the recovery task or not, if so, the unmanned ship accepts the recovery task, and otherwise, the unmanned ship rejects the recovery task;
if other underwater detection devices exist in the recovery cabin of the unmanned ship, the unmanned ship calculates the residual volume in the recovery cabin;
if the residual volume in the recovery cabin is larger than or equal to the volume of the underwater detection device in the recovery task multiplied by k, and k is a preset redundancy coefficient larger than 1, the unmanned ship receives the recovery task;
the unmanned boat refuses the recovery mission if the remaining volume in the recovery trunk is less than the volume of the underwater detection device in the recovery mission multiplied by k.
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