CN113086137A - Autonomous Underwater Vehicle (AUV) water surface recovery system and recovery method - Google Patents

Autonomous Underwater Vehicle (AUV) water surface recovery system and recovery method Download PDF

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Publication number
CN113086137A
CN113086137A CN202110408523.XA CN202110408523A CN113086137A CN 113086137 A CN113086137 A CN 113086137A CN 202110408523 A CN202110408523 A CN 202110408523A CN 113086137 A CN113086137 A CN 113086137A
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Prior art keywords
recovery
auv
water surface
autonomous
uav
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CN202110408523.XA
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Chinese (zh)
Inventor
张爱东
陆海博
杨玉亮
梅涛
李胜全
王超
邓豪
杨仁友
王武坤
李拥祺
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Peng Cheng Laboratory
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Peng Cheng Laboratory
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Priority to CN202110408523.XA priority Critical patent/CN113086137A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • 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
    • B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
    • 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
    • B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
    • B63B27/143—Ramps
    • 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
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/60—Tethered aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/50—Foldable or collapsible UAVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/50—Launching from storage containers, e.g. from submarine missile tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/92—Portable platforms
    • B64U70/93—Portable platforms for use on a land or nautical vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/80—Transport or storage specially adapted for UAVs by vehicles
    • B64U80/84—Waterborne vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
    • B63B2021/007—Remotely controlled subsea assistance tools, or related methods for handling of anchors or mooring lines, e.g. using remotely operated underwater vehicles for connecting mooring lines to anchors
    • 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
    • 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
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an AUV (autonomous underwater vehicle) water surface autonomous recovery system and method, wherein the autonomous recovery system and method comprise an AUV and an UAV (unmanned aerial vehicle), the AUV is provided with a storage cabin, and the storage cabin is provided with a cabin door and a push-out mechanism; the UAV is located in the storage cabin, the UAV is connected with the storage cabin through a recovery cable, and the push-out mechanism is used for pushing the UAV out of the storage cabin after the cabin door is opened. The AUV water surface autonomous recovery system and the recovery method do not need underwater/water surface accurate positioning and butt joint, and the UAV has better flexibility and maneuverability and can effectively ensure higher recovery success rate and recovery efficiency.

Description

Autonomous Underwater Vehicle (AUV) water surface recovery system and recovery method
Technical Field
The invention relates to the technical field of Autonomous Underwater Vehicle (AUV) recovery, in particular to a recovery system and a recovery method for assisting a boat to autonomously recover an AUV on the water surface by using an Unmanned Aerial Vehicle (UAV).
Background
AUV is an important underwater unmanned operation device, has the advantages of strong maneuverability, good concealment, high intelligence and the like, and is more and more widely applied to the fields of marine petroleum, underwater rescue, military reconnaissance, seabed salvage, marine scientific investigation and the like. Because the operations such as energy supply, data uploading, equipment maintenance and the like need to be realized by recovery after the AUV operation task is completed, the recovery technology of the AUV is a key technology for realizing the safe continuous operation of the AUV. At present, the most common method for recovering the AUV is still to realize AUV recovery by manually hanging a cable rope by an operator on a boat or connecting the recovered cable rope with the AUV by using a cable gun, and the recovery mode has the problems of low efficiency, low success rate, poor autonomy, high casualty risk and the like. The operation efficiency and the development and application of the AUV in the field of ocean engineering are severely restricted.
Therefore, how to overcome the key problems of high difficulty, long time consumption and low success rate of AUV recovery and realizing the high-efficiency autonomous recovery of AUV is an urgent problem to be solved.
Disclosure of Invention
The invention mainly aims to provide an autonomous recovery system and an autonomous recovery method for an AUV (autonomous underwater vehicle) water surface, and aims to realize efficient autonomous recovery of the AUV.
In order to achieve the above object, the present invention provides an autonomous recovery system for an AUV water surface, comprising:
the AUV is provided with a storage cabin, and the storage cabin is provided with a cabin door and a push-out mechanism; and
and the UAV is positioned in the storage cabin, the UAV is connected with the storage cabin through a recovery cable, and the push-out mechanism is used for pushing the UAV out of the storage cabin after the cabin door is opened.
In one embodiment, the hatch is rotatably coupled to the storage compartment.
In one embodiment, the storage compartment is provided with an opening which is open downwards, and the compartment door comprises two sub-doors which are respectively rotated in opposite directions to open the opening.
In one embodiment, the door is arcuate in shape.
In one embodiment, the UAV is provided with a clamping mechanism for clamping or releasing the retractable cable.
In an embodiment, the surface autonomous recovery system further comprises:
and a landing platform is arranged on the recovery boat for the UAV to land.
In one embodiment, a winch mechanism is provided on the recovery boat for pulling the recovery line to recover the AUV onto the recovery boat.
In an embodiment, the winch mechanism is provided with a docking mechanism for connecting with the recovery cable.
In an embodiment, a righting mechanism is disposed on the recovery boat, and the righting mechanism is located on the landing platform and is used for adjusting the UAV to a target position.
In one embodiment, the recovery boat is further provided with a recovery frame having a chute for guiding and storing the AUV.
In an embodiment, the recovery skid is movably mounted to the recovery boat.
In an embodiment, the UAV has a folded state and an extended state, the UAV being in the folded state when the UAV is located within the storage compartment.
The invention also provides an AUV water surface autonomous recovery method, which is applied to the AUV water surface autonomous recovery system and comprises the following steps:
controlling the UAV carrying the recovery cable to be deployed underwater from a storage cabin of the AUV;
after the UAV floats to the water surface, the UAV is controlled to take off and land on a landing platform of a recovery boat;
controlling the recovery rope to be connected with a winch mechanism on the recovery boat;
controlling the winch mechanism to pull the retrieval line to retrieve the AUV onto the retrieval boat.
The AUV water surface autonomous recovery system provided by the invention utilizes the UAV carried by the AUV to assist the recovery boat to autonomously recover the AUV, so as to solve the key problems of high AUV recovery difficulty, long time consumption, low recovery success rate, low recovery efficiency and the like in the actual marine complex environment. In the recovery process, the UAV carries the recovery cable to leave the storage cabin, floats to the water surface, takes off from the water surface and lands on the recovery boat independently, and the recovery cable is connected with a recovery device on the recovery boat, so that the AUV is recovered independently. The water surface autonomous recovery system does not need underwater/water surface accurate positioning and docking, and the UAV has better flexibility and maneuverability and can effectively ensure higher recovery success rate and recovery efficiency. Meanwhile, the water surface autonomous recovery system is simple and practical, strong in adaptability, strong in anti-wave and anti-current interference capability and suitable for efficient autonomous stable recovery of the AUV under relatively complex sea conditions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of an autonomous water surface recovery system according to the present invention;
FIG. 2 is an internal detail view of the AUV of FIG. 1;
FIG. 3 is a first recovery state diagram of the autonomous surface recovery system of the present invention, wherein the UAV is being propelled out of the storage compartment;
FIG. 4 is a second recovery state diagram of the autonomous surface recovery system of the present invention, wherein the UAV is airborne with a recovery cable;
FIG. 5 is a third recovery state diagram of the surface autonomous recovery system of the present invention in which the AUV is recovered to a recovery boat;
FIG. 6 is a schematic diagram of an embodiment of the UAV of FIG. 1;
FIG. 7 is a schematic view of the UAV of FIG. 6 in a deployed state;
fig. 8 is a schematic view of the UAV of fig. 6 in a folded state.
The reference numbers illustrate:
Figure BDA0003020700240000031
Figure BDA0003020700240000041
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be noted that if the description of "first", "second", etc. is provided in the embodiment of the present invention, the description of "first", "second", etc. is only for descriptive purposes and is not to be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B" including either scheme A, or scheme B, or a scheme in which both A and B are satisfied.
In the existing autonomous AUV recovery technology, the requirement on the butt joint precision of the AUV and a recovery mechanism is high, the consumed time is long, the success rate is low, under the interference of wind, wave and current in the complex environment of the actual ocean, the motion control precision of the AUV and the recovery mechanism can not meet the requirement on high butt joint precision far away, and the situation that the AUV can not be successfully butted with the recovery mechanism on the water surface or underwater can not be easily caused, so that the butt joint success rate of the AUV and the recovery mechanism can not be guaranteed, the consumed time of the recovery process is long, and particularly in the environment with poor water quality conditions, the underwater butt joint success rate. The existing water surface or underwater autonomous recovery technology is only suitable for recovery operation under the condition of less wind wave flow interference and ideal water area.
In view of the above, the invention provides an autonomous water surface recovery system with high recovery success rate and high recovery efficiency.
Referring to fig. 1 to 5, the autonomous water surface recovery system provided by the present invention includes an AUV100 and a UAV200, wherein the AUV100 is provided with a storage cabin 110, and the storage cabin 110 is provided with a cabin door 120 and a push-out mechanism 130; the UAV200 is located in the storage compartment 110, the UAV200 is connected to the storage compartment 110 by a retractable cable 220, and the push-out mechanism 130 is configured to push the UAV200 out of the storage compartment 110 after the hatch 120 is opened.
In the embodiment of the present invention, the AUV100 is provided with a storage compartment 110 for storing the UAV200, and the storage compartment 110 may be provided at the head, the middle or the tail of the AUV100, which is not particularly limited. The storage compartment 110 is provided with an opening from which the UAV200 can exit the storage compartment 110. It is understood that the door 120 is installed to the opening to open or close the opening. There are many ways in which the door 120 may be mounted to the opening, for example, the door 120 may be rotatably mounted to the opening, i.e., the door 120 may be rotatably connected to the storage compartment 110; alternatively, the door 120 is slidably mounted to the opening, that is, the door 120 is slidably connected to the storage compartment 110, and is not limited herein. The door 120 may be curved such that the door 120 conforms to the outer contour of the AUV100 when the door 120 is closed. In addition, the door 120 is disposed in an arc shape, which can reduce airflow resistance of the door 120 during opening. Of course, the door 120 may also be configured in a flat plate shape.
The UAV is an aircraft which is rapidly developed in recent years, has the advantages of low cost, multiple functions, convenience in use and the like, is widely applied to multiple fields of scientific research, industry, logistics transportation, agriculture, military and the like, is the most widely applied multi-rotor UAV at present, and has good maneuverability, autonomy and hovering operation capacity. But the UAV is not limited to a multi-rotor UAV, and may be various UAV types such as a fixed wing UAV, a vertical takeoff and landing UAV, a bionic flapping wing UAV, and the like. It is within the scope of the invention for UAV200 to be able to assist recovery craft 300 in recovering AUV 100. In the embodiment of the present invention, an amphibious UAV will be described in detail as an example, but the present invention is not limited thereto. The UAV200 is connected to the storage compartment 110 by a retrieval cable 220, and the retrieval cable 220 may also be a flexible tube or a net of cables. The UAV200 can carry the recovery cable 220 out of the storage compartment 110 after the hatch 120 is opened. When the UAV200 is landed on a recovery boat 300 carrying the recovery cable 220, the recovery cable 220 may be detached from the UAV200 to facilitate fixedly attaching the recovery cable 220 to a recovery device. Of course, the retractable cable 220 and the UAV200 may not be separated, and is not particularly limited.
In an embodiment of the invention, the push-out mechanism 130 is used to push the UAV200 out of the storage compartment 110 after the door 120 is opened. The structure of the ejecting mechanism 130 is various, for example, the ejecting mechanism 130 includes a telescopic rod and a driving member for driving the telescopic rod to move. The drive member can drive the telescoping rod to move to push the UAV200 out of the storage compartment 110. As another example, the ejection mechanism 130 includes an ejection device configured to eject the UAV200 out of the storage compartment 110. As another example, the push-out mechanism 130 includes a spraying device configured to spray the UAV200 out of the storage compartment 110. Here, it should be noted that the pushing mechanism 130 may lay the UAV200 under water, or launch or jet the UAV200 into the air.
The water surface autonomous recovery system provided by the invention utilizes the UAV carried by the AUV to assist the recovery boat to autonomously recover the AUV, so as to solve the key problems of high AUV recovery difficulty, long time consumption, low recovery success rate, low recovery efficiency and the like in the actual marine complex environment. During the recovery process, the UAV200 carries the recovery cable 220 to leave the storage cabin 110, floats to the water surface, takes off from the water surface and lands on the recovery boat 300 autonomously, and connects the recovery cable 220 with a recovery device on the recovery boat 300, thereby realizing the autonomous recovery of the AUV. The water surface autonomous recovery system does not need underwater/water surface accurate positioning and docking, and the UAV has better flexibility and maneuverability and can effectively ensure higher recovery success rate and recovery efficiency. Meanwhile, the water surface autonomous recovery system is simple and practical, strong in adaptability, strong in anti-wave and anti-current interference capability and suitable for efficient autonomous stable recovery of the AUV under relatively complex sea conditions.
Referring to fig. 1 and 2, in one embodiment, the storage compartment 110 is provided with an opening facing downward. The hatch door 120 includes two sub-doors 121, and the two sub-doors 121 are rotated in opposite directions to open the opening, respectively. For example, one of the sub-doors 121 is rotated to the left to open the opening, and the other sub-door 121 is rotated to the right to open the opening. In this way, two sub-doors 121 are arranged, so that the sub-doors 121 can be quickly rotated to be opened. It is understood that two driving mechanisms are further disposed in the storage compartment 110, and the two driving mechanisms respectively drive the two sub-doors 121 to rotate. In other embodiments, the storage compartment 110 may also have an opening facing upward. Here, the position of the opening is also not particularly limited.
Referring to fig. 7, in one embodiment, the UAV200 is provided with a clamping mechanism 210, and the clamping mechanism 210 is used for clamping or releasing the retractable cable 220. The gripping mechanism 210 grips the retrieval cable 220 when the UAV200 is in the storage compartment 110, such that the UAV200 exits the storage compartment 110 carrying the retrieval cable 220 with it and landing on a retrieval boat 300 carrying the retrieval cable 220 with it. After the UAV200 lands on the recovery boat 300, the clamping mechanism 210 releases the recovery cable 220, so that the recovery cable 220 is separated from the UAV200, and a recovery device on the recovery boat 300 is convenient to connect and fix the recovery cable 220 to tighten and recover the AUV 100. The structure of the clamping mechanism 210 is also many, for example, the clamping mechanism 210 may be an electric push rod, a linear motor, a slider-crank mechanism, or a manipulator, as long as the function of clamping and recovering the cable can be realized, and is not limited in detail herein.
Referring to fig. 3, fig. 4 and fig. 5, on the basis of the above embodiments, the water surface autonomous recovery system further includes a recovery boat 300, and a landing platform 310 is disposed on the recovery boat 300 for the UAV200 to land.
After the AUV100 finishes underwater operation, the vessel floats to the water surface and is connected with the recovery boat 300 through wireless communication, so that the self-position information is sent to the recovery boat 300, and the recovery boat 300 can arrive at the vicinity of the AUV 100. At this time, the door 120 of the storage cabin 110 is opened, so that the AUV100 leaves the storage cabin 110, and the UAV200 is deployed underwater; the UAV200 carries the recovery cable 220 to automatically float to the water surface and then fly from the water surface; the UAV200 is then positioned by visual navigation to autonomously land on a landing platform 310 of a recovery boat 300, at which time a recovery device on the recovery boat 300 secures the recovery cable 220 and the AUV100 is recovered on the recovery boat 300 by tightening the recovery cable 220. After the recovery mission is completed, the hangar on the recovery boat 300 recovers and loads the UAV200 into the storage compartment 110 of the AUV100 in preparation for the next recovery mission. The water surface autonomous recovery system does not need underwater/water surface accurate positioning and butt joint, the UAV200 has good flexibility and maneuverability, high recovery success rate and recovery efficiency can be effectively guaranteed, and the water surface autonomous recovery system and method are simple and practical, strong in adaptability, strong in anti-storm current interference capability and suitable for efficient autonomous stable recovery of the AUV100 under relatively complex sea conditions.
Referring to fig. 3, 4 and 5, in one embodiment, the recovery device includes a winch mechanism 320 disposed on the recovery boat 300, wherein the winch mechanism 320 is used for pulling the recovery cable 220 to recover the AUV100 to the recovery boat 300.
After the UAV200 carries the recovery cable 220 to the landing platform 310 of the recovery boat 300, the clamping mechanism 210 on the UAV200 releases the recovery cable 220 to separate the recovery cable 220 from the UAV 200. At this time, the retrieval cable 220 may be coupled and fixed to the winch mechanism 320 through a docking mechanism, and the retrieval cable 220 is pulled by the winch mechanism 320 to retrieve the AUV onto the retrieval boat 300. The docking mechanism may be, but is not limited to, an electromagnetic attraction mechanism, when the electromagnetic attraction mechanism is powered on, the retractable cable 220 is fixedly connected to the winch mechanism 320, and when the electromagnetic attraction mechanism is powered off, the retractable cable 220 is disconnected from the UAV 130. Of course, the winch mechanism 320 may be automatically connected to the retrieval cable 220 in other ways.
Optionally, a righting mechanism is disposed on the recovery boat 300, and the righting mechanism is located on the landing platform 310 to adjust the UAV200 to a target position. It will be appreciated that the target position may be a centrally determined position of the landing platform 310. In general, the size of the landing platform 310 is larger than the outline size of the UAV200, so the UAV200 may not be located exactly in the middle of the landing platform 310 when it is autonomously landed on the landing platform 310. Therefore, the righting mechanism needs to be provided to adjust the UAV200 to a centrally determined position of the landing platform 310. The centering mechanism can refer to the prior art, and is not described in detail herein.
Referring to fig. 3, 4 and 5, in order to facilitate the recycling of the AUV100 to the recycling boat 300, in an embodiment, the recycling boat 300 further has a recycling rack 330, and the recycling rack 330 has a chute 331, and the chute 331 is used to guide and store the AUV 100.
In this embodiment, the recycling rack 330 has a long strip structure, and the shape of the sliding groove 331 and the shape of the AUV100 are designed in a copying manner. On the one hand, the AUV100 can slide into the sliding groove 331, and on the other hand, the AUV100 can be stored. Optionally, the recovery skid 330 is movably mounted to the recovery boat 300. That is, the recovery cradle 330 can slide and tilt on the recovery boat 300.
In the above embodiments, the recovery boat 300 may be a manned boat or an unmanned boat, and any method that assists the recovery boat 300, the mobile platform or other near-surface aircraft to recover the AUV on the water surface through the UAV200 is within the protection scope of the present invention.
In addition, referring to fig. 6, 7 and 8, on the basis of the above embodiments, in order to enable the UAV200 to be completely accommodated in the storage cabin 110 of the UAV200 and make the overall volume of the AUV100 smaller, the UAV200 may be designed as a foldable UAV 200. Specifically, the foldable UAV200 has a folded state and an extended state, the UAV200 being in the folded state when the UAV200 is located within the storage compartment 110 so as to enable the UAV200 to be fully stowed within the storage compartment 110. When the UAV200 is positioned within the storage compartment 110, the UAV200 is in an extended state to facilitate takeoff of the UAV 200. In this embodiment, the foldable UAV200 is folded and stowed by rotating the rotor arm into the fuselage, but the foldable UAV is not limited to this folding scheme, and may also be folded and stowed by rotating, extending, retracting, umbrella-folding, multi-section folding, and other ways of the rotor arm, and any design scheme that stows the UAV200 into the storage compartment 110 of the AUV100 by folding is within the scope of the present invention.
Referring to fig. 3, 4 and 5, in the autonomous water surface recovery system according to the present invention, after the recovered AUV100 completes underwater operation, it floats to the water surface and is connected to the recovery boat 300 through wireless communication, so that the position information of the recovery boat 300 is transmitted to the recovery boat 300, and the recovery boat 300 reaches the vicinity of the AUV 100. At this time, the cabin door 120 of the storage cabin 110 is opened, the ejection mechanism 130 pushes the UAV200 out of the storage cabin 110, and the UAV200 carries the recovery cable 220 to float to the water surface by virtue of its own buoyancy and then deploys a plurality of rotor arms to fly from the water surface; subsequently, the UAV200 is positioned by visual navigation to autonomously land on the landing platform 310 of the recovery boat 300, and the docking mechanism on the recovery boat 300 fixes the recovery cable 220, and the AUV100 is recovered to the recovery boat 300 by pulling the recovery cable 220. After the recovery mission is completed, the hangar on the recovery boat 300 recovers and loads the UAV200 into the storage compartment 110 of the AUV100 in preparation for the next recovery mission.
The water surface autonomous recovery system fully utilizes the characteristics of maneuverability and flexibility of the UAV200, the UAV200 carries the recovery cable 220 to be arranged underwater from the storage cabin 110 of the AUV100 and float to the water surface in the recovery process, the recovery cable 220 takes off from the water surface and lands on the landing platform 310 of the recovery boat 300 autonomously, connection between the recovery cable 220 and a docking mechanism on the recovery boat 300 is realized, and autonomous recovery of the AUV100 is further realized. The recovery system has lower requirements on the positions and the butt joint orientation of the AUV100 and the recovery boat 300, and can greatly improve the success rate and the connection efficiency of the recovery cable 220 and the AUV100 in the recovery process.
Because this recovery scheme is for the surface of water recovery closely, and UAV200 velocity of motion is very fast, will retrieve the mode that docking mechanism is connected on cable 220 and the recovery boat 300 simple and reliable through the mode that UAV200 is descending independently the ship, can shorten the recovery required time by a wide margin, UAV200 and recovery boat 300 all have stronger anti-storm ability in this surface of water autonomous recovery system, can effectively realize the high-efficient stable recovery of AUV100 under the complicated sea condition.
UAV200 among this surface of water autonomous recovery system can realize the modularized design, and expansibility is good, carries out simple design adjustment through the modularization cabin to carrying UAV200, can realize the boats and ships to multiple not unidimensional and model AUV 100's autonomic recovery. The water surface autonomous recovery system is simple and practical in design and implementation operation, good in expansibility and strong in anti-interference capability, and is suitable for autonomous stable recovery of AUV100 in a complex interference environment under various scenes.
The invention also provides an AUV water surface autonomous recovery method which can be applied to the AUV water surface autonomous recovery system. The autonomous recovery method of the AUV water surface comprises the following steps:
step S10, controlling the UAV carrying the recovery rope to be deployed underwater from the storage cabin of the AUV;
step S20, after the UAV floats up to the water surface, the UAV is controlled to take off and land on a landing platform of a recovery boat;
step S30, controlling the recovery rope to be connected with a winch mechanism on the recovery boat;
and step S40, controlling the winch mechanism to pull the recovery cable so as to recover the AUV to the recovery boat.
In the autonomous recovery method of the AUV on the water surface, after the AUV100 to be recovered finishes underwater operation, the AUV floats to the water surface, and the position of the AUV100 is sent to the recovery boat 300 through wireless communication, so that the recovery boat 300 reaches the position near the AUV 100; at this time, the AUV100 lays the carried UAV200 underwater from the storage compartment 110 near the bow; the UAV100 takes off from the water surface after automatically floating to the water surface with the recovery cable 220; UAV100 is then positioned by visual navigation, landing platform 310 of recovery boat 300 from the main boat, docking mechanism on recovery boat 310 connects recovery cable 220 with winch mechanism on recovery boat 300, and recovery cable 220 pulls the AUV100 back onto recovery boat 300. After the recovery mission is completed, the hangar on the recovery boat 300 recovers and loads the UAV200 into the storage compartment 110 of the AUV100 for the next recovery.
The AUV water surface autonomous recovery method does not need underwater/water surface accurate positioning and butt joint, the UAV200 has better flexibility and maneuverability, higher recovery success rate and recovery efficiency can be effectively ensured, and the AUV water surface autonomous recovery method is simple and practical, strong in adaptability, strong in anti-wave current interference capability and suitable for efficient autonomous stable recovery of the AUV100 under relatively complex sea conditions.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (13)

1. An autonomous recovery system for an AUV water surface, comprising:
the AUV is provided with a storage cabin, and the storage cabin is provided with a cabin door and a push-out mechanism; and
and the UAV is positioned in the storage cabin, the UAV is connected with the storage cabin through a recovery cable, and the push-out mechanism is used for pushing the UAV out of the storage cabin after the cabin door is opened.
2. The autonomous AUV water surface recovery system of claim 1 wherein the hatch is rotatably coupled to the storage compartment.
3. The autonomous AUV water surface recovery system of claim 2 wherein the storage compartment has a downwardly opening, and the hatch comprises two sub-doors that rotate in opposite directions to open the opening.
4. The autonomous AUV water surface recovery system of claim 2 wherein the hatch is arcuate.
5. The autonomous AUV water surface recovery system of claim 1 wherein the UAV is provided with a clamping mechanism for clamping or releasing the recovery line.
6. The AUV water surface autonomous recovery system of any one of claims 1 to 5, further comprising:
and a landing platform is arranged on the recovery boat for the UAV to land.
7. The autonomous AUV surface recovery system of claim 6 wherein a winch mechanism is provided on the recovery boat for pulling the recovery line to recover the AUV onto the recovery boat.
8. The autonomous AUV water surface recovery system of claim 7 wherein the winch mechanism is provided with a docking mechanism for connecting with the recovery cable.
9. The autonomous AUV water surface recovery system of claim 6 wherein a righting mechanism is provided on the recovery boat, the righting mechanism being located on the landing platform for adjusting the UAV to a target position.
10. The autonomous AUV water surface recovery system of claim 6 wherein the recovery boat is further provided with a recovery bay having a chute for guiding and storing the AUV.
11. The autonomous AUV water surface recovery system of claim 10 wherein the recovery frame is movably mounted to the recovery boat.
12. The autonomous AUV water surface recovery system of claim 1 wherein the UAV has a collapsed state and an extended state, the UAV being in the collapsed state when the UAV is within the storage compartment.
13. An AUV water surface autonomous recovery method, applied to the AUV water surface autonomous recovery system according to any one of claims 1 to 12, comprising the following steps:
controlling the UAV carrying the recovery cable to be deployed underwater from a storage cabin of the AUV;
after the UAV floats to the water surface, the UAV is controlled to take off and land on a landing platform of a recovery boat;
controlling the recovery rope to be connected with a winch mechanism on the recovery boat;
controlling the winch mechanism to pull the retrieval line to retrieve the AUV onto the retrieval boat.
CN202110408523.XA 2021-04-14 2021-04-14 Autonomous Underwater Vehicle (AUV) water surface recovery system and recovery method Pending CN113086137A (en)

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Application publication date: 20210709