CN113148019B - Recovery system and recovery method for autonomous underwater robot for autonomous recovery on water surface - Google Patents
Recovery system and recovery method for autonomous underwater robot for autonomous recovery on water surface Download PDFInfo
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- CN113148019B CN113148019B CN202110525092.5A CN202110525092A CN113148019B CN 113148019 B CN113148019 B CN 113148019B CN 202110525092 A CN202110525092 A CN 202110525092A CN 113148019 B CN113148019 B CN 113148019B
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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
- B63B23/00—Equipment for handling lifeboats or the like
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- B63B23/48—Use of lowering or hoisting gear using winches for boat handling
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Abstract
The invention relates to the technical field of recovery of autonomous underwater robots, and discloses a recovery system and a recovery method for autonomously recovering an autonomous underwater robot on a water surface. The recovery system of the autonomous underwater robot for autonomously recovering water surface comprises an unmanned aerial vehicle, a winch arranged on a boat and a butt joint part arranged on the autonomous underwater robot; the unmanned aerial vehicle is used for driving the mooring rope to be connected with the butt joint part in an automatic detachable mode, and the butt joint part is used for being connected with the mooring rope driven by the unmanned aerial vehicle in an automatic detachable mode; the problem of among the correlation technique autonomic underwater robot recovery efficiency low is solved.
Description
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 surface ship to autonomously recover an AUV 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 and continuous operation of the autonomous underwater robot. At present, the most common method for recovering the AUV is to hang a cable rope by a worker on a boat or hang the cable rope and the AUV by using a cable gun so as to realize the recovery of the AUV, but the recovery mode has the problems of high cost, low efficiency, poor autonomy, high casualty risk and the like, and 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 a recovery system and a recovery method for autonomously recovering an AUV on a water surface, and aims to realize efficient autonomous recovery of the AUV.
In order to achieve the above object, the present invention provides a recovery system for autonomously recovering an AUV by using a UAV assisted by a surface ship, the recovery system for autonomously recovering an AUV on a water surface comprising:
the UAV is arranged on the boat, and the butt joint component is arranged on the AUV;
the winch is used for recovering and releasing the cable;
the UAV is used for driving the cable to form automatic detachable connection with the butt joint part;
the butt joint component is used for forming an automatic detachable connection with the cable driven by the UAV.
Optionally, the docking component comprises a steering engine and a docking rod;
the steering engine is used for driving the butt joint rod to rotate when the AUV finishes underwater operation and floats to the water surface, so that the butt joint rod and a horizontal axis where the AUV body is located form a preset angle;
the steering engine is further used for driving the butt joint rod to rotate when the UAV drives the mooring rope to be connected with the butt joint component in an automatic detachable mode, so that the butt joint rod is parallel to a horizontal axis where the AUV body is located.
Optionally, the docking component further comprises a recovery rod limiting component;
the recovery rod limiting component is used for limiting the cable on a horizontal axis plane where the butt joint rod and the AUV body are located;
the steering wheel is also used for driving the first end of the butt joint rod and the recovery rod limiting component to form an automatic detachable connection, wherein the second end of the butt joint rod is hinged to the AUV.
Optionally, the recovery system for autonomously recovering the AUV on the water surface further includes a cable holding member disposed on the UAV;
the cable clamping component is used for clamping the cable.
Optionally, the recovery system for autonomously recovering the AUV on the water surface further includes a UAV apron disposed on the boat and located on one side of the winch;
the UAV parking apron is used for parking the UAV before the AUV finishes underwater operation and parking the UAV after the AUV is towed to the boat.
Optionally, the recovery system for autonomously recovering the AUV on the water surface further includes a support frame disposed on the boat and located on one side of the UAV apron;
the support frame is used for supporting and guiding the cable when the winch recovers and releases the cable.
Optionally, the recovery system for autonomously recovering the AUV on the water surface further includes a recovery frame arranged on the boat and located on one side of the support frame;
the recovery frame is used for towing the AUV to the boat when the AUV is close to the boat.
Optionally, the UAV landing pad includes an righting slide, and a cable-gripping slot;
the righting skateboard is used for the UAV to drive away from or back to the UAV parking apron;
the cable holding groove is used for disengaging the cable holding part from the cable holding groove when the UAV drives away from the UAV parking apron and enabling the cable holding part to return to the cable holding groove when the UAV drives back to the UAV parking apron.
Optionally, the UAV landing apron further comprises a cable limiting component;
the cable limiting part is used for limiting the cable to be separated from the cable clamping groove when the winch releases the cable, and limiting the cable to return to the cable clamping groove when the winch recovers the cable.
In addition, in order to achieve the above object, the present invention further provides a recovery method for UAV assisted surface craft to autonomously recover AUV, which is applied to the recovery system of the above surface autonomous recovery autonomous underwater robot, and the recovery method for surface autonomous recovery AUV includes:
releasing the cable by using a winch on the boat;
the UAV drives the cable to form an automatic detachable connection with the butt joint part of the AUV;
and recovering the cable by using the winch on the boat to pull the AUV to the boat, so as to realize the recovery of the AUV.
According to the technical scheme provided by the invention, the recovery system for autonomously recovering the AUV on the water surface comprises a UAV, a winch arranged on a boat and a butt joint component arranged on the AUV; the UAV is used for driving the mooring rope to form automatic detachable connection with the butt joint part, and the butt joint part is used for forming automatic detachable connection with the mooring rope driven by the UAV; the problem of AUV recovery efficiency is low among the correlation technique is solved.
In the technical scheme provided by the invention, the winch on the boat can recover and release the cable, so that when the cable is released, the UAV drives the cable to form automatic detachable connection with the butt joint part on the AUV, and then the winch is used for recovering the cable to pull the AUV to the boat so as to realize the automatic recovery of the AUV; wherein:
the UAV has better flexibility and maneuverability, so the requirements on the position and the butt joint orientation of the boat and the UAV are lower, and the recovery efficiency and the recovery success rate of the AUV are improved; moreover, the movement speed of the UAV can be adjusted, so that the recovery efficiency of the AUV can be further improved when the movement speed of the UAV is adjusted to be high; meanwhile, the UAV and the boat have strong wind and wave resistance, so that the AUV can be efficiently and stably recovered under complex sea conditions, and the recovery success rate of the AUV can be further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a first schematic diagram of a recovery system for autonomously recovering an AUV on a water surface according to a first embodiment of the present invention;
FIG. 2 is a second schematic diagram of the recovery system for autonomously recovering AUV on water surface according to the first embodiment of the present invention;
FIG. 3 is a third schematic view of a recovery system for autonomously recovering AUV on water surface according to a first embodiment of the present invention;
fig. 4 is a fourth schematic view of the recovery system for autonomously recovering the AUV on the water surface according to the first embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a second embodiment of the AUV of the present invention;
FIG. 6 is a schematic diagram of a second embodiment of the UAV of the present invention;
FIG. 7 is a schematic structural diagram of a third embodiment of the UAV apron of the present invention;
fig. 8 is a schematic flow diagram of a recovery method for autonomously recovering an AUV on a water surface according to a first embodiment of the present invention.
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 understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a recovery system for autonomously recovering an AUV on a water surface according to a first embodiment of the present invention, where the recovery system for autonomously recovering an AUV on a water surface includes:
UAV7, winch 2 disposed on boat 1, and docking component 8-1 disposed on AUV 8; wherein:
a winch 2 for retrieving and releasing the cable 6;
an UAV7 for bringing the cable 6 into an automatically detachable connection with the docking component 8-1;
docking component 8-1 for self-removably attaching to cable 6 carried by UAV 7.
The UAV7 in this embodiment is a fast-developing aircraft, has the advantages of low cost, multiple functions, convenient use and the like, and is widely applied to multiple fields of scientific research, industry, logistics transportation, agriculture, military and the like. The UAV in this embodiment may be a UAV of multiple types and multiple sizes such as a multi-rotor, a fixed wing, a vertical take-off and landing, and a bionic flapping wing, and has the advantages of good maneuverability, autonomy, hovering operation capability, and the like. It should be noted that, in practical applications, other devices like an unmanned aerial vehicle may also be used to implement the recovery of the AUV, and the present invention is not limited to the UAV illustrated in the present invention.
The boat 1 in the embodiment may be a manned boat, an unmanned boat, or a boat of any form, and can be flexibly adjusted according to specific application scenarios in practical application. The AUV8 in the embodiment can be an underwater unmanned operation device such as an autonomous AUV, has the advantages of strong maneuverability, good concealment, high intelligence and the like, and is widely applied to a plurality of fields such as marine oil, underwater rescue, military reconnaissance, seabed salvage, marine scientific investigation and the like. After the autonomous AUV task is completed, operations such as energy supply, data uploading, equipment maintenance and the like need to be realized by recovery.
That is, in this embodiment, when recovering the AUV8, the winch 2 on the boat 1 releases the cable 6 first, and then the UAV7 drives the cable 6 to form an automatically detachable connection with the docking component 8-1 of the AUV8, and further, the winch 2 on the boat 1 recovers the cable 6, wherein the process of recovering the cable 6 is a process of pulling the AUV8 to the boat 1 through the cable 6, so as to achieve the autonomous recovery of the AUV 8.
In some examples, the recovery system for autonomous recovery of the AUV from the water surface further comprises a UAV apron 3 provided on the boat 1, on the side of the winch 2; wherein UAV apron 3 is adapted to dock UAV7 before AUV8 completes underwater operations and to dock UAV7 after AUV8 is towed to boat 1.
That is, in this embodiment, when UAV7 is not used, UAV7 can be parked on UAV apron 3, which not only solves the problem that UAV7 is parked everywhere, but also can recover AUV8 completing underwater operation at any time, which is more convenient and more flexible.
In some examples, the recovery system for autonomous recovery of the AUV from the water surface further comprises a support frame 4 provided on the boat 1 on the side of the UAV apron 3; wherein, the support frame 4 is used for supporting and guiding the cable 6 when the winch 2 recovers and releases the cable 6.
It will be appreciated that, since the cable 6 is likely to be messy during release and retrieval, a significant amount of manpower and material is wasted if it is trimmed by a worker. Therefore, in the present embodiment, the support frame 4 provided in the boat 1 can support and guide the cables 6, thereby realizing unmanned operation and improving work efficiency.
In some examples, the recovery system for autonomously recovering the AUV from the water surface further includes a recovery frame 5 provided on the boat 1 on one side of the support frame 4; wherein, the recovery frame 5 is used for towing the AUV8 to the boat when the AUV8 approaches the boat 1.
It will be appreciated that, in the process of towing AUV8 to boat 1 by recovering line 6, since AUV8 is at the surface and boat 1 itself has a certain height, there is a certain height difference between them, and if AUV8 at the surface is towed to boat 1 directly by recovering line 6, the height difference causes a problem of difficulty in towing and may also cause a problem of damage to boat 1 and AUV 8. Therefore, the AUV8 can be pulled onto the boat 1 by means of the recovery frame 5 provided on the boat 1 in the present embodiment; specifically, it may be that during releasing the cable 6, the recovery frame 5 is placed obliquely at the end of the boat 1 facing the AUV8, that is, the end of the recovery frame 5 is placed on the boat 1, and the end contacts the water surface, so as to form a state similar to a slide, wherein it should be clear that the end of the recovery frame 5 placed on the boat 1 is also automatically detachably connected with the cable 6, so as to pull the AUV8 at the water surface to the boat 1 through the recovery frame 5 and the cable 6.
Referring to fig. 1, to release the cable 6 from the winch 2, the UAV7 drives the cable 6 to the AUV 8;
FIG. 2 is a schematic view of the UAV7 driving the cable 6 to form an automatically detachable connection with the docking component 8-1;
referring to fig. 3, a schematic view of winch 2 recovering cable 6 to tow AUV8 to boat 1;
fig. 4 shows a schematic view of the AUV8 successfully towed to the boat 1.
In the embodiment, the UAV is used for recycling the AUV, and due to the good flexibility and maneuverability of the UAV, the requirements on the position and the butt joint orientation of the boat and the UAV are low, so that the recycling efficiency and the recycling success rate of the AUV are improved; moreover, the movement speed of the UAV can be adjusted, so that the recovery efficiency of the AUV can be further improved when the movement speed of the UAV is adjusted to be high; meanwhile, the UAV and the boat have strong wind and wave resistance, so that the AUV can be efficiently and stably recovered under complex sea conditions, and the recovery success rate of the AUV can be further improved. Therefore, the recovery system for recovering the AUV from the water surface independently in the embodiment is simple and practical, strong in adaptability, strong in anti-wave flow interference capacity and capable of realizing efficient and independent stable recovery of the AUV.
Based on the first embodiment, the invention provides a second embodiment of the recovery system for autonomously recovering the AUV on the water surface; fig. 5 is a schematic structural diagram of the docking component 8-1 disposed on the AUV 8.
In the embodiment, the butt joint component 8-1 arranged on the AUV8 comprises a steering engine 8-4 and a butt joint rod 8-2; wherein:
the steering engine 8-4 is used for driving the butt joint rod 8-2 to rotate when the AUV8 finishes underwater operation and floats to the water surface, so that the butt joint rod 8-2 and a horizontal axis where the AUV8 is located form a preset angle;
the steering engine 8-4 is also used for driving the butt joint rod 8-2 to rotate when the UAV7 drives the cable 6 to form an automatic detachable connection with the butt joint component 8-1, so that the butt joint rod 8-2 is parallel to the horizontal axis of the AUV8 fuselage.
It can be understood that as shown in fig. 5, when the AUV8 finishes underwater operation and floats to the water surface, the steering engine 8-4 drives the docking rod 8-2 to be perpendicular to the horizontal axis where the AUV8 fuselage is located, that is, the steering engine 8-4 drives the docking rod 8-2 to rotate so that the horizontal axis where the docking rod 8-2 and the AUV8 fuselage are located forms 90 degrees; in practical application, the preset angle can be flexibly adjusted as long as the preset angle that the UAV can automatically detachably connect the mooring rope 6 and the butt-joint rod 8-2 is formed.
Further, when the UAV7 drives the cable 6 to form an automatic detachable connection with the docking component 8-1, the steering engine 8-4 drives the docking rod 8-2 to rotate, so that the docking rod 8-2 is parallel to the horizontal axis of the AUV8 body, and further the AUV7 can be more stably pulled to the boat 1 when the winch 2 recovers the cable 6.
It should be noted that other devices may be used for driving the docking rod to rotate in this embodiment, and the docking rod is not limited to the steering engine, and may be flexibly adjusted in practical applications.
In this embodiment, the docking component 8-1 may further include a recovery rod limiting component 8-5; wherein:
the recovery rod limiting component 8-5 is used for limiting the cable 6 on a horizontal axis plane where the butt joint rod 8-2 and the AUV8 are located;
the steering engine 8-4 is also used for driving the first end of the butt joint rod 8-2 to form automatic detachable connection with the recovery rod limiting component 8-5, wherein the second end of the butt joint rod 8-2 is hinged on the AUV 8.
That is, in this embodiment, after completing underwater operation, the AUV8 floats to the water surface, the steering engine 8-4 drives the docking rod 8-2 to rotate 90 degrees, and the docking rod is perpendicular to the horizontal axis of the AUV8 to wait for recovery; when the boat 1 arrives at the area near the AUV8, the winch 2 releases the cable 6, and the UAV7 drives the cable 6 to take off from the boat 1; the UAV7 is navigated and positioned to reach the area around the AUV8 and fly for more than one circle, the UAV7 winds and simultaneously lays the cable 6 to the water surface, the cable 6 surrounds the AUV8 and forms a closed loop, the UAV7 starts to drive away from the AUV8 after the cable 6 winds and forms the closed loop around the AUV8 to shrink a cable loop, most of the cable loop is under the water when the AUV8 floats, the butt joint rod 8-2 is in a vertical state on the water surface, the cable loop is finally shrunk to just wind the butt joint rod 8-2, the AUV8 resets the butt joint rod 8-2 through the driving of the steering engine 8-4, namely, the butt joint rod 8-2 rotates to be parallel to the horizontal axis of the AUV8, the gap between the butt joint rod 8-2 and the AUV8 is slightly larger than the diameter of the cable 6, the diameter of the cable clamping part 6-1 of the cable 6 is clamped on the horizontal axis where the butt joint rod 8-2 and the AUV8 are located, thereby towing AUV8 to boat 1 for recovery of AUV 8.
Referring to fig. 5 again, in the embodiment, the middle part of the AUV8 is hinged to an L-shaped docking rod 8-2, and the docking rod 8-2 can be driven by a steering engine 8-4 to rotate by a preset angle; the head of the AUV8 is provided with a recovery rod limiting component 8-5 of the butt joint rod 8-2, and the recovery rod limiting component can limit and fix the butt joint rod 8-2 when the butt joint rod 8-2 tilts to be parallel to the horizontal axis of the AUV 8; the head of the AUV8 is also provided with a head cover plate 8-3, and the head cover plate 8-3 is provided with a notch suitable for the butt joint rod 8-2 to pass through when rotating.
Referring to fig. 6, in this embodiment, the cable fastening part 6-1 is spherical, and its outer dimension is larger than the cable diameter and the gap between the butt-joint rod 8-2 and the horizontal axis plane where the AUV8 fuselage is located, and in practical applications, the shape of the cable fastening part 6-1 can be flexibly adjusted.
Referring to fig. 6 again, the recovery system for autonomous recovery of AUV from water surface in the present embodiment further includes a cable holding member 7-1 disposed on the UAV; wherein the cable holding member 7-1 is used for holding the cable 6. That is, in this embodiment, the cable clamping component 7-1 on the UAV7 clamps the cable 6, and then when the UAV7 moves, the cable 6 clamped by the cable clamping component 7-1 is driven to form an automatically detachable connection with the docking component 8-1, wherein the cable clamping component 7-1 may be in the form shown in fig. 6, and may also be in other forms such as magnetic, and in practical applications, the cable clamping component may be flexibly adjusted according to specific application scenarios.
It is noted that the winch 2 in this embodiment may be any type of winch as long as it is capable of retrieving and releasing the cable.
It is noted that the cable 6 in this embodiment may be a cable in the form of a flexible tube, a net, etc., as long as the UAV7 is capable of being carried by the cable gripping member 7-1 and automatically and removably attached to the AUV8 in a manner to retrieve the AUV.
It should be noted that in this embodiment, the docking component 8-1 is implemented by the docking rod 8-2 with the head portion of the AUV8 being tiltable, but the docking component is not limited to the docking rod 8-2 with the head portion of the AUV8 being tiltable, and may be in various forms such as a hook, a claw, an umbrella, etc.; the installation position of the butt joint rod 8-2 can be any position of the body such as the head and the tail of the AUV8, the butt joint rod 8-2 can be driven by the steering engine 8-4 to tilt, stretch, fold and the like, and the butt joint component 8-1 can be any one as long as the butt joint component can be automatically detachably connected with the cable 6 carried by the UAV 7.
In some examples, the docking component 8-1 may be only a fixed component, and accordingly, the cable 6 may be configured as a cable with various forms of hook, claw, umbrella, etc. to achieve the automatic detachable connection of the two components, and in practical applications, the cable may be flexibly adjusted according to specific application scenarios.
In the embodiment, the requirements on the positions and the butt joint orientations of the boat, the UAV and the AUV in the recovery process can be obviously reduced by gradually tightening and winding the cable on the butt joint rod from the periphery, the connection efficiency and the connection success rate of the cable and the AUV in the recovery process are greatly improved, and the recovery efficiency and the recovery success rate are improved; in addition, because for the surface of water recovery of closely, and UAV velocity of motion is very fast, can shorten the recovery required time by a wide margin, boats and ships and UAV all have stronger anti-storm ability among this recovery system, can effectively realize the high-efficient autonomic stable recovery of AUV under the complicated sea condition.
Based on the above embodiments, the third embodiment of the recovery system for autonomously recovering the AUV on the water surface is provided; fig. 7 is a schematic structural view of the UAV airport apron 3 provided on the boat 1.
In this embodiment, the UAV apron 3 includes an righting slide 3-1 and a cable retaining slot 3-2; wherein:
an righting slide 3-1 for the UAV7 to sail away from or back to the UAV apron 3;
a cable retaining groove 3-2 for disengaging the cable retaining member 7-1 from the cable retaining groove 3-2 when the UAV7 is navigating away from the UAV apron 3, and for returning the cable retaining member 7-1 to the cable retaining groove 3-2 when the UAV7 is navigating back to the UAV apron 3.
In this embodiment, the UAV landing apron 3 may further include a cable stop component 3-3; wherein:
and a cable stopper 3-3 for releasing the cable 6 from the cable holding groove 3-2 by the winch 2 and returning the cable 6 to the cable holding groove 3-2 by the winch 2 when the cable 6 is recovered.
It will be appreciated that the UAV apron 3 is sized larger than the UAV7 profile and is provided with an orthostatic skateboard 3-1 so that the UAV7 can be steered away from or back to the UAV apron 3 via the orthostatic skateboard 3-1, as shown in fig. 7. Wherein the cable retaining member 7-1 is retained in the cable retaining groove 3-2 when the UAV7 is parked at the UAV apron 3, the cable retaining member 7-1 is disengaged from the cable retaining groove 3-2 when the UAV7 is departing from the UAV apron 3, and the cable retaining member 7-1 is repositioned into the cable retaining groove 3-2 when the UAV7 is driving back to the UAV apron 3. Wherein the UAV7 is disengaged from the cable retaining groove 3-2 by the cable stop 3-3 when exiting the UAV apron 3, i.e., when releasing the cable 6, and the UAV7 is repositioned to the cable retaining groove 3-2 by the cable stop 3-3 when exiting the UAV apron 3, i.e., when retrieving the cable 6.
In this embodiment, through the UAV air park that sets up on the ship, not only solved the problem that the UAV does not have the department and berths, but also can retrieve the completion underwater operation AUV at any time, it is more convenient, the flexibility is higher.
In addition, referring to fig. 8, an embodiment of the present invention further provides a recovery method for autonomously recovering an AUV on a water surface, in addition to the recovery system for autonomously recovering an AUV on a water surface, where the recovery method for autonomously recovering an AUV on a water surface includes:
s90: releasing the cable by using a winch on the boat;
s91: the UAV drives the mooring rope to form automatic detachable connection with the butt joint part of the AUV;
s92: and (4) recovering the cable by using a winch on the boat to pull the AUV to the boat, so as to realize the recovery of the AUV.
The recovery method for autonomously recovering the AUV on the water surface adopts all technical schemes of the recovery system embodiments for autonomously recovering the AUV on the water surface, so that all beneficial effects brought by the technical schemes of the embodiments are at least achieved, and detailed description is omitted.
It will be apparent to those skilled in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software (which may be implemented in computer program code executable by a computing device), firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A recovery system for autonomously recovering an autonomous underwater robot on a water surface, comprising:
the system comprises an unmanned aerial vehicle, a winch arranged on a boat and a butt joint component arranged on an autonomous underwater robot;
the winch is used for recovering and releasing the cable;
the unmanned aerial vehicle is used for driving the mooring rope to form automatic detachable connection with the butt joint part;
the butt joint component is used for forming automatic detachable connection with the mooring rope driven by the unmanned aerial vehicle;
the butt joint component comprises a steering engine and a butt joint rod;
the steering engine is used for driving the butt joint rod to rotate when the autonomous underwater robot finishes underwater operation and floats to the water surface, so that the butt joint rod and a horizontal axis where the body of the autonomous underwater robot is located form a preset angle.
2. The recovery system for autonomously recovering the autonomous underwater vehicle on the water surface as claimed in claim 1, wherein the steering engine is further configured to drive the docking rod to rotate when the unmanned aerial vehicle drives the cable to form an automatically detachable connection with the docking component, so that the docking rod is parallel to a horizontal axis where the body of the autonomous underwater vehicle is located.
3. A recovery system for autonomously recovering an autonomous underwater vehicle on a water surface according to claim 2, wherein said docking means further comprises a recovery rod restricting means;
the recovery rod limiting component is used for limiting the mooring rope on a horizontal axis plane where the butt joint rod and the autonomous underwater robot body are located;
the steering engine is also used for driving the first end of the butt joint rod and the recovery rod limiting component to form automatic detachable connection, wherein the second end of the butt joint rod is hinged to the autonomous underwater robot.
4. A recovery system for a surface autonomous recovery autonomous underwater vehicle as claimed in any one of claims 1 to 3, wherein said recovery system for a surface autonomous recovery autonomous underwater vehicle further comprises a cable gripping member provided on said drone;
the cable clamping component is used for clamping the cable.
5. The recovery system for surface autonomous recovery of an autonomous underwater vehicle of claim 4, further comprising a drone apron on the boat on one side of the winch;
the unmanned aerial vehicle parking apron is used for parking the unmanned aerial vehicle before the autonomous underwater robot finishes underwater operation, and parking the unmanned aerial vehicle after the autonomous underwater robot is pulled to the boat.
6. The recovery system for autonomously recovering an autonomous underwater vehicle on a water surface of claim 5, further comprising a support frame provided on the boat on a side of the apron of the unmanned aerial vehicle;
the support frame is used for supporting and guiding the cable when the winch recovers and releases the cable.
7. The recovery system for autonomously recovering an autonomous underwater vehicle on a water surface according to claim 6, further comprising a recovery frame provided on said boat at a side of said supporting frame;
the recovery frame is used for towing the autonomous underwater robot to the boat when the autonomous underwater robot is close to the boat.
8. The system of claim 5, wherein the unmanned tarmac includes a true slide and a cable retaining groove;
the righting slide plate is used for enabling the unmanned aerial vehicle to drive away from or back to the unmanned aerial vehicle parking apron;
the cable clamping groove is used for separating the cable clamping part from the cable clamping groove when the unmanned aerial vehicle drives away from the unmanned aerial vehicle parking apron, and the cable clamping part returns to the cable clamping groove when the unmanned aerial vehicle drives back to the unmanned aerial vehicle parking apron.
9. The system of claim 8, wherein the unmanned tarmac further comprises a cable stop feature;
the cable limiting part is used for limiting the cable to be separated from the cable clamping groove when the winch releases the cable, and limiting the cable to return to the cable clamping groove when the winch recovers the cable.
10. A recovery method of a surface autonomous recovery autonomous underwater vehicle, applied to the recovery system of the surface autonomous recovery autonomous underwater vehicle according to any one of claims 1 to 9, the recovery method of the surface autonomous recovery autonomous underwater vehicle comprising the steps of:
releasing the cable by using a winch on the boat;
the unmanned aerial vehicle drives the mooring rope to form automatic detachable connection with the butt joint part of the autonomous underwater robot;
and recovering the mooring rope by using the winch on the boat so as to pull the autonomous underwater robot to the boat and realize the recovery of the autonomous underwater robot.
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