CN112429155B - Recovering system and method of underwater detection device based on unmanned boat - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及无人艇技术领域，具体是指一种基于无人艇的水下探测装置回收系统及方法。The invention relates to the technical field of unmanned boats, in particular to an underwater detection device recovery system and method based on unmanned boats.
背景技术Background technique
随着技术的快速发展，无人艇得到了越来越广泛的应用。各种各样的无人艇在海上工作时起到了突出的作用，例如，无人艇可以根据需要执行水下物品寻找、水质探测、海洋环境监测等各种任务。无人艇上一般搭载有雷达、惯导、声呐、GPS、超声、摄像头等传感设备，可以实现环境感知、导航避障、路径规划、抗涌流扰动控制等功能。With the rapid development of technology, unmanned boats have been widely used. A variety of unmanned boats play a prominent role when working at sea. For example, unmanned boats can perform various tasks such as underwater object search, water quality detection, and marine environment monitoring as needed. Unmanned boats are generally equipped with radar, inertial navigation, sonar, GPS, ultrasound, cameras and other sensing equipment, which can realize functions such as environmental perception, navigation and obstacle avoidance, path planning, and anti-inrush current disturbance control.
进行海洋观测，可获取关于海洋的各种自然现象的数据，有助于理解其科学原理和变化规律。为了更好地实现海洋观测，出现了一些水下探测装置，在水下对海洋中各项数据进行探测，并且所述水下探测装置可以沿着一定的路线前行，在一定工作范围内流动探测，很大程度上方便了海上工作人员的探测工作。然而，现有技术中的水下探测装置尚没有很好的回收方法，水下探测装置在出现故障或因其他原因需要及时回收时，无法快速有效地进行回收。Carrying out ocean observations can obtain data on various natural phenomena of the ocean, which is helpful to understand its scientific principles and changing laws. In order to better realize ocean observation, some underwater detection devices have appeared to detect various data in the ocean underwater, and the underwater detection devices can move along a certain route and flow within a certain working range. Detection, to a large extent, facilitates the detection work of marine staff. However, there is no good recovery method for the underwater detection device in the prior art, and the underwater detection device cannot be recovered quickly and effectively when a failure occurs or the underwater detection device needs to be recovered in time for other reasons.
发明内容SUMMARY OF THE INVENTION
为了解决现有技术中的问题，本发明提供了一种基于无人艇的水下探测装置回收系统及方法，基于无人艇可以快速方便地实现水下探测装置的回收。In order to solve the problems in the prior art, the present invention provides an underwater detection device recovery system and method based on an unmanned boat, which can quickly and conveniently realize the recovery of the underwater detection device based on the unmanned boat.
为了实现上述目的，本发明具有如下构成：In order to achieve the above object, the present invention has the following constitutions:
本发明提供了一种基于无人艇的水下探测装置回收方法，所述无人艇的底部设置有伸缩杆，所述伸缩杆可沿垂直方向发生长度变化，所述伸缩杆的底部设置有回收舱，所述回收舱的内侧壁设置有碰撞传感器，所述伸缩杆处于初始长度时，所述伸缩杆的长度最短；The invention provides a method for recovering an underwater detection device based on an unmanned boat. The bottom of the unmanned boat is provided with a telescopic rod, the length of the telescopic rod can change in the vertical direction, and the bottom of the telescopic rod is provided with a telescopic rod. 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;
所述方法包括如下步骤：The method includes the following steps:
中心服务器将水下探测装置的回收任务发送至无人艇，所述回收任务包括回收任务编号、所述水下探测装置的体积、所述水下探测装置的探测深度、所述水下探测装置的运动路径和所述水下探测装置的当前位置；The central server sends the recovery task of the underwater detection device to the unmanned boat, and the recovery task includes the recovery task number, the volume of the underwater detection device, the detection depth of the underwater detection device, and the underwater detection device. The movement path and the current position of the underwater detection device;
所述无人艇接收到所述回收任务，从所述回收任务中解析得到所述水下探测装置的当前位置和所述水下探测装置的运动路径；The unmanned boat receives the recovery task, and analyzes the current position of the underwater detection device and the movement path of the underwater detection device from the recovery task;
所述无人艇行进至所述水下探测装置的运动方向前方；The unmanned boat travels to the front of the movement direction of the underwater detection device;
所述无人艇从所述回收任务中解析得到所述水下探测装置的探测深度；The unmanned boat analyzes the detection depth of the underwater detection device from the recovery task;
所述无人艇根据所述水下探测装置的探测深度控制所述伸缩杆向下伸长，伸长至所述回收舱与所述水下探测装置的探测深度一致；The unmanned boat controls the telescopic rod to extend downward 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;
所述无人艇的回收舱的碰撞传感器检测到所述水下探测装置进入所述回收舱之后，所述无人艇控制所述伸缩杆缩短至初始长度；After the collision sensor of the recovery cabin of the unmanned boat detects that the underwater detection device enters the recovery cabin, the unmanned boat controls the telescopic rod to shorten to the initial length;
所述无人艇发送回收成功信息至所述中心服务器，所述回收成功信息包括所述回收任务编号和所述无人艇当前的位置数据。The unmanned boat sends recovery success information to the central server, where the recovery success information includes the recovery task number and the current position data of the unmanned boat.
在一些优选的实施例中，所述中心服务器将水下探测装置的回收任务发送至无人艇，包括如下步骤：In some preferred embodiments, the central server sends the recovery task of the underwater detection device to the unmanned boat, including the following steps:
所述中心服务器获取所述水下探测装置的体积，查找具有的回收舱的体积大于所述水下探测装置的体积的无人艇，将所述水下探测装置的回收任务发送至查找到的无人艇。The central server obtains the volume of the underwater detection device, searches for an unmanned boat with a recovery cabin that is larger than the volume of the underwater detection device, and sends the recovery task of the underwater detection device to the found one. unmanned boat.
在一些优选的实施例中，所述无人艇接收到所述回收任务之后，还包括如下步骤：In some preferred embodiments, after the unmanned boat receives the recovery task, it further includes the following steps:
所述无人艇判断自身的回收舱中是否已存在其他水下探测装置；The unmanned boat judges whether other underwater detection devices already exist in its own recovery cabin;
如果所述无人艇的回收舱中未存在其他水下探测装置，则所述无人艇判断自身的回收舱的体积是否大于所述回收任务中的水下探测装置的体积，如果是，则所述无人艇接受所述回收任务，否则，所述无人艇拒绝所述回收任务。If there is no other underwater detection device in the recovery compartment of the unmanned boat, the unmanned boat determines whether the volume of the recovery compartment of the unmanned boat is larger than the volume of the underwater detection device in the recovery task, and if so, then The unmanned boat accepts the recovery task, otherwise, the unmanned boat rejects the recovery task.
在一些优选的实施例中，所述无人艇判断自身的回收舱中是否已存在其他水下探测装置之后，还包括如下步骤：In some preferred embodiments, after the unmanned boat judges whether other underwater detection devices already exist in its recovery cabin, it further includes the following steps:
如果所述无人艇的回收舱中已存在其他水下探测装置，则所述无人艇计算所述回收舱中的剩余体积；If other underwater detection devices already exist in the recovery compartment of the unmanned boat, the unmanned boat calculates the remaining volume in the recovery compartment;
如果所述回收舱中的剩余体积大于等于所述回收任务中的水下探测装置的体积乘以k，k为预设的大于1的冗余系数，则所述无人艇接受所述回收任务；If the remaining volume in the recovery cabin is greater than or equal to the volume of the underwater detection device in the recovery task multiplied by k, where k is a preset redundancy coefficient greater than 1, the unmanned boat accepts the recovery task ;
如果所述回收舱中的剩余体积小于所述回收任务中的水下探测装置的体积乘以k，则所述无人艇拒绝所述回收任务。If the remaining volume in the recovery cabin is less than the volume of the underwater detection device in the recovery mission multiplied by k, the unmanned boat rejects the recovery mission.
在一些优选的实施例中，所述无人艇行进至所述水下探测装置的运动方向前方，包括如下步骤：In some preferred embodiments, the unmanned boat travels to the front of the movement direction of the underwater detection device, including the following steps:
所述无人艇行进至所述水下探测装置的运动方向前方，且所述无人艇与所述水下探测装置的距离大于L，其中L＝t1*v1，t1表示所述无人艇的伸缩杆从所述初始长度伸长至所述回收舱与所述水下探测装置的探测深度一致所需的时间，v1表示所述水下探测装置的最大运动速度。The unmanned boat travels to the front of the moving direction of the underwater detection device, and the distance between the unmanned boat and the underwater detection device is greater than L, where L=t1*v1, t1 represents the unmanned boat The time required for the telescopic rod to extend from the initial length to the detection depth of the recovery cabin and the underwater detection device is consistent, and v1 represents the maximum movement speed of the underwater detection device.
在一些优选的实施例中，所述回收舱的后侧设置有开口，所述开口处设置有舱门，所述无人艇根据所述水下探测装置的探测深度控制所述伸缩杆向下伸长，伸长至所述回收舱与所述水下探测装置的探测深度一致之后，所述无人艇控制所述舱门打开，所述水下探测装置可从所述回收舱的开口处进入所述回收舱的内部；In some preferred embodiments, an opening is provided on the rear side of the recovery cabin, a hatch is provided at the opening, and the unmanned boat controls the telescopic rod downward according to the detection depth of the underwater detection device Extend, after extending until the recovery compartment is consistent with the detection depth of the underwater detection device, the unmanned boat controls the hatch door to open, and the underwater detection device can be opened from the opening of the recovery compartment into the interior of said recovery compartment;
所述无人艇的回收舱的碰撞传感器检测到所述水下探测装置进入所述回收舱之后，所述无人艇控制所述舱门关闭，然后所述无人艇控制所述伸缩杆缩短至初始长度。After the collision sensor of the recovery cabin of the unmanned boat detects that the underwater detection device enters the recovery cabin, the unmanned boat controls the hatch to close, and then the unmanned boat controls the telescopic rod to shorten. to the initial length.
在一些优选的实施例中，所述方法还包括如下步骤：In some preferred embodiments, the method further includes the following steps:
所述中心服务器接收到所述回收成功信息之后，所述中心服务器将停止运动信息至所述水下探测装置，所述水下探测装置配置为接收到所述停止运动信息之后，停止运动。After the central server receives the recovery success information, the central server sends the stop motion information to the underwater detection device, and the underwater detection device is configured to stop motion after receiving the stop motion information.
本发明实施例还提供一种基于无人艇的水下探测装置回收系统，应用于所述的基于无人艇的水下探测装置回收方法，所述系统包括中心服务器和至少一个无人艇，所述中心服务器用于将水下探测装置的回收任务发送至无人艇，所述回收任务包括回收任务编号、所述水下探测装置的体积、所述水下探测装置的探测深度、所述水下探测装置的运动路径和所述水下探测装置的当前位置；所述无人艇的底部设置有伸缩杆，所述伸缩杆可沿垂直方向发生长度变化，所述伸缩杆的底部设置有回收舱，所述回收舱的内侧壁设置有碰撞传感器，所述伸缩杆处于初始长度时，所述伸缩杆的长度最短；An embodiment of the present invention also provides an unmanned boat-based underwater detection device recovery system, which is applied to the unmanned boat-based underwater detection device recovery method. The system includes a central server and at least one unmanned boat, The central server is used to send the recovery task of the underwater detection device to the unmanned boat, and the recovery task includes the recovery task number, the volume of the underwater detection device, the detection depth of the underwater detection device, the The movement path of the underwater detection device and the current position of the underwater detection device; the bottom of the unmanned boat is provided with a telescopic rod, the length of the telescopic rod can change in the vertical direction, and 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;
所述无人艇接收到所述回收任务，执行如下步骤：The unmanned boat receives the recovery task and performs the following steps:
所述无人艇从所述回收任务中解析得到所述水下探测装置的当前位置和所述水下探测装置的运动路径；The unmanned boat obtains the current position of the underwater detection device and the movement path of the underwater detection device by analyzing the recovery task;
所述无人艇行进至所述水下探测装置的运动方向前方；The unmanned boat travels to the front of the movement direction of the underwater detection device;
所述无人艇从所述回收任务中解析得到所述水下探测装置的探测深度；The unmanned boat analyzes the detection depth of the underwater detection device from the recovery task;
所述无人艇根据所述水下探测装置的探测深度控制所述伸缩杆向下伸长，伸长至所述回收舱与所述水下探测装置的探测深度一致；The unmanned boat controls the telescopic rod to extend downward 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;
所述无人艇的回收舱的碰撞传感器检测到所述水下探测装置进入所述回收舱之后，所述无人艇控制所述伸缩杆缩短至初始长度；After the collision sensor of the recovery cabin of the unmanned boat detects that the underwater detection device enters the recovery cabin, the unmanned boat controls the telescopic rod to shorten to the initial length;
所述无人艇发送回收成功信息至所述中心服务器，所述回收成功信息包括所述回收任务编号和所述无人艇当前的位置数据。The unmanned boat sends recovery success information to the central server, where the recovery success information includes the recovery task number and the current position data of the unmanned boat.
在一些优选的实施例中，所述中心服务器将水下探测装置的回收任务发送至无人艇时，获取所述水下探测装置的体积，查找具有的回收舱的体积大于所述水下探测装置的体积的无人艇，将所述水下探测装置的回收任务发送至查找到的无人艇；In some preferred embodiments, when the central server sends the recovery task of the underwater detection device to the unmanned boat, it obtains the volume of the underwater detection device, and finds that the volume of the recovery cabin is larger than that of the underwater detection device. The unmanned boat of the size of the device, sending the recovery task of the underwater detection device to the found unmanned boat;
所述无人机接收到所述回收任务之后，还配置为执行如下步骤：After the UAV receives the recovery task, it is further configured to perform the following steps:
所述无人艇判断自身的回收舱中是否已存在其他水下探测装置；The unmanned boat judges whether other underwater detection devices already exist in its own recovery cabin;
如果所述无人艇的回收舱中未存在其他水下探测装置，则所述无人艇判断自身的回收舱的体积是否大于所述回收任务中的水下探测装置的体积，如果是，则所述无人艇接受所述回收任务，否则，所述无人艇拒绝所述回收任务；If there is no other underwater detection device in the recovery compartment of the unmanned boat, the unmanned boat determines whether the volume of the recovery compartment of the unmanned boat is larger than the volume of the underwater detection device in the recovery task, and if so, then The unmanned boat accepts the recovery task, otherwise, the unmanned boat rejects the recovery task;
如果所述无人艇的回收舱中已存在其他水下探测装置，则所述无人艇计算所述回收舱中的剩余体积；If other underwater detection devices already exist in the recovery compartment of the unmanned boat, the unmanned boat calculates the remaining volume in the recovery compartment;
如果所述回收舱中的剩余体积大于等于所述回收任务中的水下探测装置的体积乘以k，k为预设的大于1的冗余系数，则所述无人艇接受所述回收任务；If the remaining volume in the recovery cabin is greater than or equal to the volume of the underwater detection device in the recovery task multiplied by k, where k is a preset redundancy coefficient greater than 1, the unmanned boat accepts the recovery task ;
如果所述回收舱中的剩余体积小于所述回收任务中的水下探测装置的体积乘以k，则所述无人艇拒绝所述回收任务。If the remaining volume in the recovery cabin is less than the volume of the underwater detection device in the recovery mission multiplied by k, the unmanned boat rejects the recovery mission.
综上所述，与现有技术相比，本发明基于无人艇可以快速方便地实现水下探测装置的回收，在回收过程中，无人艇和水下探测装置均无需停止运动，进一步方便了海上工作人员的海上探测和探测器回收工作，无人艇的回收舱可以自动检测是否成功会收到水下探测装置，并且在回收成功之后可以及时通过中心服务器，通过中心服务器统一派发回收任务，无人艇快速执行，并且无人艇的回收舱可以通过伸缩杆调整回收深度，从而可以满足各种场景下、各种探测深度下、各种运行路径和运行速度下的水下探测装置的回收，适用于大规模推广应用。To sum up, compared with the prior art, the present invention can quickly and conveniently realize the recovery of the underwater detection device based on the unmanned boat. During the recovery process, neither the unmanned boat nor the underwater detection device need to stop moving, which is further convenient. For the marine detection and detector recovery work of the marine staff, the recovery cabin of the unmanned boat can automatically detect whether it will receive the underwater detection device successfully, and after the recovery is successful, it can pass through the central server in time, and uniformly distribute the recovery tasks through the central server. , the unmanned boat performs quickly, and the recovery cabin of the unmanned boat can adjust the recovery depth through the telescopic rod, so as to meet the requirements of the underwater detection device in various scenarios, various detection depths, various operating paths and operating speeds. Recycling, suitable for large-scale promotion and application.
附图说明Description of drawings
图1为本发明一实施例的基于无人艇的水下探测装置回收方法的流程图；1 is a flowchart of a method for recovering an underwater detection device based on an unmanned boat according to an embodiment of the present invention;
图2为本发明一实施例的无人艇回收探测装置的示意图。FIG. 2 is a schematic diagram of an unmanned boat recovery detection device according to an embodiment of the present invention.
具体实施方式Detailed ways
现在将参考附图更全面地描述示例实施方式。然而，示例实施方式能够以多种形式实施，且不应被理解为限于在此阐述的实施方式；相反，提供这些实施方式使得本发明将全面和完整，并将示例实施方式的构思全面地传达给本领域的技术人员。在图中相同的附图标记表示相同或类似的结构，因而将省略对它们的重复描述。Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various 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 repeated descriptions will be omitted.
所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施方式中。在下面的描述中，提供许多具体细节从而给出对本发明的实施方式的充分理解。然而，本领域技术人员应意识到，没有特定细节中的一个或更多，或者采用其它的方法、组元、材料等，也可以实践本发明的技术方案。在某些情况下，不详细示出或描述公知结构、材料或者操作以避免模糊本发明。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 in order to give a thorough understanding of embodiments of the present invention. However, those skilled in the art will appreciate that the technical solutions of the present invention may also be practiced without one or more of the specific details, or with other methods, components, materials, and the like. In some instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring the present invention.
如图1所示，为了解决现有技术中的技术问题，本发明提供了一种基于无人艇的水下探测装置回收方法，基于无人艇和中心服务器将正在运行中的水下探测装置进行回收，水下探测装置按照既定的路线在水下一定深度运行，中心服务器负责向无人艇派发水下探测装置回收任务，无人艇负责执行所述水下探测装置的回收任务。基于此，所述无人艇的底部设置有伸缩杆，所述伸缩杆可沿垂直方向发生长度变化，所述伸缩杆的底部设置有回收舱，所述回收舱的内侧壁设置有碰撞传感器，所述伸缩杆处于初始长度时，所述伸缩杆的长度最短；As shown in FIG. 1 , in order to solve the technical problems in the prior art, the present invention provides a method for recovering an underwater detection device based on an unmanned boat. For recovery, the underwater detection device operates at a certain depth underwater according to the established route. The central server is responsible for dispatching the recovery task of the underwater detection device to the unmanned boat, and the unmanned boat is responsible for performing the recovery task of the underwater detection device. Based on this, the bottom of the unmanned boat is provided with a telescopic rod, the length of the telescopic rod can change in the vertical direction, the bottom of the telescopic rod is provided with a recovery cabin, and the inner side wall of the recovery cabin is provided with a collision sensor, When the telescopic rod is at the initial length, the length of the telescopic rod is the shortest;
所述基于无人艇的水下探测装置回收方法包括如下步骤：The method for recovering the underwater detection device based on the unmanned boat comprises the following steps:
中心服务器将水下探测装置的回收任务发送至无人艇，所述回收任务包括回收任务编号、所述水下探测装置的体积、所述水下探测装置的探测深度、所述水下探测装置的运动路径和所述水下探测装置的当前位置；The central server sends the recovery task of the underwater detection device to the unmanned boat, and the recovery task includes the recovery task number, the volume of the underwater detection device, the detection depth of the underwater detection device, and the underwater detection device. The movement path and the current position of the underwater detection device;
所述无人艇接收到所述回收任务，从所述回收任务中解析得到所述水下探测装置的当前位置和所述水下探测装置的运动路径；The unmanned boat receives the recovery task, and analyzes the current position of the underwater detection device and the movement path of the underwater detection device from the recovery task;
所述无人艇行进至所述水下探测装置的运动方向前方；The unmanned boat travels to the front of the movement direction of the underwater detection device;
所述无人艇从所述回收任务中解析得到所述水下探测装置的探测深度；The unmanned boat analyzes the detection depth of the underwater detection device from the recovery task;
所述无人艇根据所述水下探测装置的探测深度控制所述伸缩杆向下伸长，伸长至所述回收舱与所述水下探测装置的探测深度一致，可以保证水下探测装置进入到所述回收舱中，所述伸缩杆可以包括第一杆和第二杆，第一杆和第二杆可以相对滑动，第一杆和第二杆之间设置有滑轨和滑轮，滑轮可以由伺服电机进行驱动转动，从而调整第一杆和第二杆的相对位置，使得伸缩杆的长度伸长或缩短；The unmanned boat controls the telescopic rod to extend downward according to the detection depth of the underwater detection device, and extends to the extent that the recovery cabin is consistent with the detection depth of the underwater detection device, which can ensure the underwater detection device. Entering into the recovery compartment, the telescopic rod may include a first rod and a second rod, the first rod and the second rod can slide relative to each other, and a sliding rail and a pulley are arranged between the first rod and the second rod, and the pulley It can be driven and rotated by a servo motor, so as to adjust the relative position of the first rod and the second rod, so that the length of the telescopic rod can be extended or shortened;
所述无人艇的回收舱的碰撞传感器检测到所述水下探测装置进入所述回收舱之后，所述无人艇控制所述伸缩杆缩短至初始长度，即收回伸缩杆，因此，本发明通过所述碰撞传感器可以自动检测所述水下探测装置是否进入到所述回收舱中，即是否回收水下探测装置成功；After the collision sensor of the recovery cabin of the unmanned boat detects that the underwater detection device enters the recovery cabin, the unmanned boat controls the telescopic rod to shorten to the initial length, that is, retracts the telescopic rod. Therefore, the present invention Whether the underwater detection device has entered the recovery cabin can be automatically detected by the collision sensor, that is, whether the recovery of the underwater detection device is successful;
所述无人艇发送回收成功信息至所述中心服务器，所述回收成功信息包括所述回收任务编号和所述无人艇当前的位置数据，基于此，所述无人艇还可以设置有无线通信模块和定位模块，所述定位模块可以为GPS定位模块，所述无线通信模块可以为GPRS通信模块、CDMA通信模块或4G通信模块，可以实现远距离与中心服务器通信。The unmanned boat sends recovery success information to the central server, and the recovery success information includes the recovery task number and the current position data of the unmanned boat. Based on this, the unmanned boat may also be provided with a wireless A communication module and a positioning module, the positioning module can be a GPS positioning module, and the wireless communication module can be a GPRS communication module, a CDMA communication module or a 4G communication module, which can communicate with the central server at a long distance.
在该实施例中，可以设置不同大小的水下探测装置，不同无人艇的回收舱的大小也可以不一样。为了保证回收任务能够正常完成，所述中心服务器将水下探测装置的回收任务发送至无人艇，包括如下步骤：In this embodiment, underwater detection devices of different sizes can be provided, and the sizes of the recovery cabins of different unmanned boats can also be different. In order to ensure that the recovery task can be completed normally, the central server sends the recovery task of the underwater detection device to the unmanned boat, including the following steps:
所述中心服务器获取所述水下探测装置的体积，查找具有的回收舱的体积大于所述水下探测装置的体积的无人艇，将所述水下探测装置的回收任务发送至查找到的无人艇。The central server obtains the volume of the underwater detection device, searches for an unmanned boat with a recovery cabin that is larger than the volume of the underwater detection device, and sends the recovery task of the underwater detection device to the found one. unmanned boat.
进一步地，如果查找到多个可以容纳所述水下探测装置的无人艇，则可以选择其回收舱的体积与水下探测装置的体积最接近的无人艇，避免空间浪费，也可以选择距离该水下探测装置最近的无人艇，保证回收任务快速执行。Further, if a plurality of unmanned boats that can accommodate the underwater detection device are found, the unmanned boat whose volume of the recovery cabin is the closest to the volume of the underwater detection device can be selected to avoid waste of space, or the The unmanned boat closest to the underwater detection device ensures the rapid execution of the recovery mission.
在该实施例中，所述无人艇接收到所述回收任务之后，还包括如下步骤：In this embodiment, after the unmanned boat receives the recovery task, it further includes the following steps:
所述无人艇判断自身的回收舱中是否已存在其他水下探测装置；The unmanned boat judges whether other underwater detection devices already exist in its own recovery cabin;
如果所述无人艇的回收舱中未存在其他水下探测装置，则所述无人艇判断自身的回收舱的体积是否大于所述回收任务中的水下探测装置的体积，如果是，则所述无人艇接受所述回收任务，否则，由于所述无人艇的空间不足，无法容纳所述水下探测装置，因此所述无人艇拒绝所述回收任务。If there is no other underwater detection device in the recovery compartment of the unmanned boat, the unmanned boat determines whether the volume of the recovery compartment of the unmanned boat is larger than the volume of the underwater detection device in the recovery task, and if so, then The unmanned boat accepts the recovery task, otherwise, the unmanned boat refuses the recovery task because the space of the unmanned boat is insufficient to accommodate the underwater detection device.
在该实施例中，所述无人艇判断自身的回收舱中是否已存在其他水下探测装置之后，还包括如下步骤：In this embodiment, after the unmanned boat judges whether other underwater detection devices already exist in its own recovery cabin, it also includes the following steps:
如果所述无人艇的回收舱中已存在其他水下探测装置，则所述无人艇计算所述回收舱中的剩余体积；If other underwater detection devices already exist in the recovery compartment of the unmanned boat, the unmanned boat calculates the remaining volume in the recovery compartment;
如果所述回收舱中的剩余体积大于等于所述回收任务中的水下探测装置的体积乘以k，k为预设的大于1的冗余系数，则所述无人艇接受所述回收任务；此处k的值可以根据需要选择和设定，考虑到两个或多个水下探测装置在回收舱中的放置是存在一定间隙的，因此需要有一定的冗余空间考虑；If the remaining volume in the recovery cabin is greater than or equal to the volume of the underwater detection device in the recovery task multiplied by k, where k is a preset redundancy coefficient greater than 1, the unmanned boat accepts the recovery task ; The value of k here can be selected and set according to the needs, considering that there is a certain gap in the placement of two or more underwater detection devices in the recovery cabin, so a certain redundant space needs to be considered;
如果所述回收舱中的剩余体积小于所述回收任务中的水下探测装置的体积乘以k，则所述无人艇无法同时容纳已有的水下探测装置和新的水下探测装置，则拒绝所述回收任务。If the remaining volume in the recovery cabin is less than the volume of the underwater detection device in the recovery mission multiplied by k, the unmanned boat cannot accommodate the existing underwater detection device and the new underwater detection device at the same time, Then the recycling task is rejected.
在该实施例中，所述无人艇行进至所述水下探测装置的运动方向前方，包括如下步骤：In this embodiment, the unmanned boat travels to the front of the moving direction of the underwater detection device, including the following steps:
所述无人艇行进至所述水下探测装置的运动方向前方，且所述无人艇与所述水下探测装置的距离大于L，其中L＝t1*v1，t1表示所述无人艇的伸缩杆从所述初始长度伸长至所述回收舱与所述水下探测装置的探测深度一致所需的时间，v1表示所述水下探测装置的最大运动速度，由此，可以保证所述无人艇的伸缩杆在从所述初始长度伸长至所述回收舱与所述水下探测装置的探测深度一致的过程中，水下探测装置仍然在所述无人艇的后面，并且在此过程中，所述无人艇可以保持与所述水下探测装置基本一致的前进速度和前进方向，从而可以在回收舱放下来之后，还有一定的冗余时间等待水下探测装置进入到无人艇的回收舱中，避免水下探测装置和回收舱发生意外的碰撞，并且避免水下探测装置在此过程中与无人艇错过而无法进入到回收舱中。此处最大运动速度可以是所述无人艇的控制器中预先存储的所述水下探测装置的最大运动速度的一个定值，此处选择所述水下探测装置的最大运动速度来进行距离L的计算，可以进一步增加所述无人艇的回收舱放下后等待所述水下探测装置进入的冗余时间，避免所述水下探测装置突然加速而与回收舱发生意外的碰撞，并且避免水下探测装置在此过程中与无人艇错过而无法进入到回收舱中。The unmanned boat travels to the front of the moving direction of the underwater detection device, and the distance between the unmanned boat and the underwater detection device is greater than L, where L=t1*v1, t1 represents the unmanned boat The time required for the telescopic rod to extend from the initial length to the detection depth of the recovery cabin and the underwater detection device is consistent, v1 represents the maximum movement speed of the underwater detection device, thus, it can be guaranteed that all During the process of extending the telescopic rod of the unmanned boat from the initial length to the detection depth of the recovery cabin and the underwater detection device, the underwater detection device is still behind the unmanned boat, and During this process, the unmanned boat can maintain a forward speed and forward direction that are basically the same as those of the underwater detection device, so that after the recovery cabin is put down, there is still a certain redundant time to wait for the underwater detection device to enter. Go to the recovery cabin of the unmanned boat to avoid accidental collision between the underwater detection device and the recovery cabin, and avoid the underwater detection device to miss the unmanned boat in the process and not be able to enter the recovery cabin. The maximum movement speed here can be a fixed value of the maximum movement speed of the underwater detection device pre-stored in the controller of the unmanned boat, and the maximum movement speed of the underwater detection device is selected here to carry out the distance. The calculation of L can further increase the redundant time for waiting for the entry of the underwater detection device after the recovery cabin of the unmanned boat is put down, avoid the sudden acceleration of the underwater detection device and the accidental collision with the recovery cabin, and avoid the accidental collision with the recovery cabin. In the process, the underwater detection device missed the unmanned boat and could not enter the recovery chamber.
在该实施例中，所述回收舱的后侧设置有开口，所述开口处设置有舱门，所述无人艇根据所述水下探测装置的探测深度控制所述伸缩杆向下伸长，伸长至所述回收舱与所述水下探测装置的探测深度一致之后，所述无人艇控制所述舱门打开，所述水下探测装置可从所述回收舱的开口处进入所述回收舱的内部。In this embodiment, an opening is provided on the rear side of the recovery cabin, a hatch is provided at the opening, and the unmanned boat controls the telescopic rod to extend downward according to the detection depth of the underwater detection device , after extending until the recovery cabin is consistent with the detection depth of the underwater detection device, the unmanned boat controls the hatch door to open, and the underwater detection device can enter the recovery cabin from the opening. inside the recovery chamber.
所述无人艇的回收舱的碰撞传感器检测到所述水下探测装置进入所述回收舱之后，所述无人艇控制所述舱门关闭，然后所述无人艇控制所述伸缩杆缩短至初始长度。通过所述舱门的控制，可以保持水下探测装置进入到回收舱后的位置稳定性，避免水下探测装置进入到回收舱后再意外掉出。After the collision sensor of the recovery cabin of the unmanned boat detects that the underwater detection device enters the recovery cabin, the unmanned boat controls the hatch to close, and then the unmanned boat controls the telescopic rod to shorten. to the initial length. Through the control of the hatch, the positional stability of the underwater detection device after entering the recovery chamber can be maintained, and the underwater detection device can be prevented from accidentally falling out after entering the recovery chamber.
在该实施例中，所述基于无人艇的水下探测装置回收方法还包括如下步骤：In this embodiment, the method for recovering the underwater detection device based on the unmanned boat further comprises the following steps:
所述中心服务器接收到所述回收成功信息之后，所述中心服务器将停止运动信息至所述水下探测装置，所述水下探测装置配置为接收到所述停止运动信息之后，停止运动，避免再与所述回收舱的内壁发生碰撞而导致所述回收舱或所述水下探测装置发生故障。After the central server receives the recovery success information, the central server will stop the movement information to the underwater detection device, and the underwater detection device is configured to stop the movement after receiving the stop movement information to avoid Then, it collides with the inner wall of the recovery compartment, causing the recovery compartment or the underwater detection device to malfunction.
本发明实施例还提供一种基于无人艇的水下探测装置回收系统，应用于所述的基于无人艇的水下探测装置回收方法，所述系统包括中心服务器和至少一个无人艇，所述中心服务器用于将水下探测装置的回收任务发送至无人艇，所述回收任务包括回收任务编号、所述水下探测装置的体积、所述水下探测装置的探测深度、所述水下探测装置的运动路径和所述水下探测装置的当前位置。An embodiment of the present invention also provides an unmanned boat-based underwater detection device recovery system, which is applied to the unmanned boat-based underwater detection device recovery method. The system includes a central server and at least one unmanned boat, The central server is used to send the recovery task of the underwater detection device to the unmanned boat, and the recovery task includes the recovery task number, the volume of the underwater detection device, the detection depth of the underwater detection device, the The movement path of the underwater detection device and the current position of the underwater detection device.
如图2所示，为该实施例中无人艇的结构示意图。所述无人艇T100的底部设置有伸缩杆T200，所述伸缩杆T200可沿垂直方向发生长度变化，所述伸缩杆T200的底部设置有回收舱T300，所述回收舱T300的内侧壁设置有碰撞传感器，所述伸缩杆T200处于初始长度时，所述伸缩杆T200的长度最短。在所述无人艇T100运行至所述水下探测装置T400的前方，且所述伸缩杆T200伸长至所述回收舱T300与所述水下探测装置T400的深度一致时，需要回收的水下探测装置T400可以从回收舱T300后侧的开口进入到回收舱T300中。As shown in FIG. 2 , it is a schematic diagram of the structure of the unmanned boat in this embodiment. The bottom of the unmanned boat T100 is provided with a telescopic rod T200, the length of the telescopic rod T200 can change in the vertical direction, the bottom of the telescopic rod T200 is provided with a recovery cabin T300, and the inner side wall of the recovery cabin T300 is provided with a In the collision sensor, when the telescopic rod T200 is at the initial length, the length of the telescopic rod T200 is the shortest. When the unmanned boat T100 runs to the front of the underwater detection device T400, and the telescopic rod T200 is extended until the depth of the recovery tank T300 is the same as that of the underwater detection device T400, the water that needs to be recovered The lower detection device T400 may enter into the recovery compartment T300 from an opening on the rear side of the recovery compartment T300.
具体地，在该基于无人艇的水下探测装置回收系统中，所述无人艇接收到所述回收任务之后，执行如下步骤：Specifically, in this unmanned boat-based underwater detection device recovery system, after the unmanned boat receives the recovery task, the following steps are performed:
所述无人艇从所述回收任务中解析得到所述水下探测装置的当前位置和所述水下探测装置的运动路径；The unmanned boat obtains the current position of the underwater detection device and the movement path of the underwater detection device by analyzing the recovery task;
所述无人艇行进至所述水下探测装置的运动方向前方；The unmanned boat travels to the front of the movement direction of the underwater detection device;
所述无人艇从所述回收任务中解析得到所述水下探测装置的探测深度；The unmanned boat analyzes the detection depth of the underwater detection device from the recovery task;
所述无人艇根据所述水下探测装置的探测深度控制所述伸缩杆向下伸长，伸长至所述回收舱与所述水下探测装置的探测深度一致；The unmanned boat controls the telescopic rod to extend downward 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;
所述无人艇的回收舱的碰撞传感器检测到所述水下探测装置进入所述回收舱之后，所述无人艇控制所述伸缩杆缩短至初始长度；After the collision sensor of the recovery cabin of the unmanned boat detects that the underwater detection device enters the recovery cabin, the unmanned boat controls the telescopic rod to shorten to the initial length;
所述无人艇发送回收成功信息至所述中心服务器，所述回收成功信息包括所述回收任务编号和所述无人艇当前的位置数据。The unmanned boat sends recovery success information to the central server, where the recovery success information includes the recovery task number and the current position data of the unmanned boat.
在该实施例中，所述中心服务器将水下探测装置的回收任务发送至无人艇时，获取所述水下探测装置的体积，查找具有的回收舱的体积大于所述水下探测装置的体积的无人艇，将所述水下探测装置的回收任务发送至查找到的无人艇；In this embodiment, when the central server sends the recovery task of the underwater detection device to the unmanned boat, it obtains the volume of the underwater detection device, and finds that the volume of the recovery cabin is larger than that of the underwater detection device. The unmanned boat of the size, sending the recovery task of the underwater detection device to the found unmanned boat;
所述无人机接收到所述回收任务之后，还配置为执行如下步骤：After the UAV receives the recovery task, it is further configured to perform the following steps:
所述无人艇判断自身的回收舱中是否已存在其他水下探测装置；The unmanned boat judges whether other underwater detection devices already exist in its own recovery cabin;
如果所述无人艇的回收舱中未存在其他水下探测装置，则所述无人艇判断自身的回收舱的体积是否大于所述回收任务中的水下探测装置的体积，如果是，则所述无人艇接受所述回收任务，否则，所述无人艇拒绝所述回收任务；If there is no other underwater detection device in the recovery compartment of the unmanned boat, the unmanned boat determines whether the volume of the recovery compartment of the unmanned boat is larger than the volume of the underwater detection device in the recovery task, and if so, then The unmanned boat accepts the recovery task, otherwise, the unmanned boat rejects the recovery task;
如果所述无人艇的回收舱中已存在其他水下探测装置，则所述无人艇计算所述回收舱中的剩余体积；If other underwater detection devices already exist in the recovery compartment of the unmanned boat, the unmanned boat calculates the remaining volume in the recovery compartment;
如果所述回收舱中的剩余体积大于等于所述回收任务中的水下探测装置的体积乘以k，k为预设的大于1的冗余系数，则所述无人艇接受所述回收任务；If the remaining volume in the recovery cabin is greater than or equal to the volume of the underwater detection device in the recovery task multiplied by k, where k is a preset redundancy coefficient greater than 1, the unmanned boat accepts the recovery task ;
如果所述回收舱中的剩余体积小于所述回收任务中的水下探测装置的体积乘以k，则所述无人艇拒绝所述回收任务。If the remaining volume in the recovery cabin is less than the volume of the underwater detection device in the recovery mission multiplied by k, the unmanned boat rejects the recovery mission.
本发明的基于无人艇的水下探测装置回收系统中，各个模块的功能实现方式可以采用所述基于无人艇的水下探测装置回收方法中各个步骤的具体实施方式，此处不予赘述。In the unmanned boat-based underwater detection device recovery system of the present invention, the functions of each module can be implemented using the specific implementations of each step in the unmanned boat-based underwater detection device recovery method, which will not be repeated here. .
综上所述，与现有技术相比，本发明基于无人艇可以快速方便地实现水下探测装置的回收，在回收过程中，无人艇和水下探测装置均无需停止运动，进一步方便了海上工作人员的海上探测和探测器回收工作，无人艇的回收舱可以自动检测是否成功会收到水下探测装置，并且在回收成功之后可以及时通过中心服务器，通过中心服务器统一派发回收任务，无人艇快速执行，并且无人艇的回收舱可以通过伸缩杆调整回收深度，从而可以满足各种场景下、各种探测深度下、各种运行路径和运行速度下的水下探测装置的回收，适用于大规模推广应用。To sum up, compared with the prior art, the present invention can quickly and conveniently realize the recovery of the underwater detection device based on the unmanned boat. During the recovery process, neither the unmanned boat nor the underwater detection device need to stop moving, which is further convenient. For the marine detection and detector recovery work of the marine staff, the recovery cabin of the unmanned boat can automatically detect whether it will receive the underwater detection device successfully, and after the recovery is successful, it can pass through the central server in time, and uniformly distribute the recovery tasks through the central server. , the unmanned boat performs quickly, and the recovery cabin of the unmanned boat can adjust the recovery depth through the telescopic rod, so as to meet the requirements of the underwater detection device in various scenarios, various detection depths, various operating paths and operating speeds. Recycling, suitable for large-scale promotion and application.
在此说明书中，本发明已参照其特定的实施例作了描述。但是，很显然仍可以作出各种修改和变换而不背离本发明的精神和范围。因此，说明书和附图应被认为是说明性的而非限制性的。In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be evident that various modifications and changes can still be made without departing from the spirit and scope of the invention. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense.
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