CN113772061A - Underwater unmanned vehicle recovery device and operation method - Google Patents
Underwater unmanned vehicle recovery device and operation method Download PDFInfo
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- CN113772061A CN113772061A CN202111179704.6A CN202111179704A CN113772061A CN 113772061 A CN113772061 A CN 113772061A CN 202111179704 A CN202111179704 A CN 202111179704A CN 113772061 A CN113772061 A CN 113772061A
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- 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
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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
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- 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
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- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to an underwater unmanned vehicle recovery device and an operation method thereof, wherein the underwater unmanned vehicle recovery device comprises a base, an AUV to be recovered is positioned above the base, and a docking module and a position adjusting module are simultaneously arranged on the base and the AUV; an electrical appliance module is arranged on the upper surface of the base; a locking module is arranged at the belly position of the AUV; the docking module comprises a docking rod mounted on the base and a catcher on the AUV; the underwater AUV recovery device is compact and reasonable in structure and convenient to operate, can conveniently complete the recovery work of AUV in any heading direction through the mutual matching work of the base, the butt joint module, the position adjusting module, the locking module and the electric module, is not limited by a butt joint angle, and greatly improves the underwater AUV recovery success rate.
Description
Technical Field
The invention relates to the technical field of underwater unmanned aircrafts, in particular to a recovery device of an underwater unmanned aircraft and an operation method.
Background
The ocean is a valuable wealth and expandable space for the sustainable development of human society, abundant biological resources and mineral resources are stored in the ocean, and all countries in the world quicken the pace of entering the ocean, exploring the ocean and developing the ocean. Under the hot tide of unmanned and intelligent, an Underwater unmanned Vehicle (AUV) receives wide attention and plays an increasingly important role in the aspect of sustainable utilization of ocean resources. The AUV works with energy, the working time is limited, and underwater recovery charging, data transmission, task downloading and the like are needed.
In the aspect of underwater recovery, the current typical underwater recovery mode comprises:
1) and (3) capture type butt joint recovery: the AUV utilizes the head catching device to catch guide targets such as ropes, rods and the like on the docking device, and then moves along the guide device to complete docking and recovery.
2) Contained butt recovery: the docking device guides the AUV by adopting a structure form such as a guide cover or a cage box, so that the AUV enters a docking pipe or a docking cage box to complete docking recovery.
3) Platform type butt joint recovery: and the AUV lands on the docking platform in an airplane landing mode, and is locked and docked to complete recovery.
Although the docking recovery method can complete the recovery of the AUV, the docking recovery method has a limited working range, and the docking recovery can be realized only when the docking angle between the AUV and the docking recovery device is kept within a certain range. At present, the AUV is mostly operated in a mode of combining a propeller and a rudder wing, the course adjusting capacity under the condition of weak maneuvering is limited, the AUV is influenced by anisotropic ocean currents, and after the AUV approaches an opposite-joint recovery device, the condition that the butt joint angle between the AUV and the opposite-joint recovery device exceeds the working range of the opposite-joint recovery device is easy to occur, so that the butt joint recovery failure is caused, and the success rate of butt joint recovery is reduced.
Disclosure of Invention
The underwater unmanned vehicle recovery device and the operation method thereof are provided for overcoming the defects in the prior art, so that the recovery of the AUV in any heading can be realized, the limit of a butt joint angle is avoided, and the underwater recovery success rate of the AUV is improved.
The technical scheme adopted by the invention is as follows:
an underwater unmanned vehicle recovery device comprises a base,
the AUV to be recovered is positioned above the base, and the base and the AUV are simultaneously provided with a butt joint module and a position adjusting module;
an electrical appliance module is arranged on the upper surface of the base;
a locking module is arranged at the belly position of the AUV;
the docking module comprises a docking rod mounted on the base and a catcher on the AUV;
the mounting structure of the position adjusting module is as follows: the upper surface of the base is provided with a motor, an output end of the motor is provided with an output shaft, the top surface of the output shaft is provided with a butt joint rod through an end plate, the output shaft is also provided with a rotating arm, the head of the rotating arm is provided with a horizontal telescopic rod, the head of the horizontal telescopic rod is provided with a vertical oil cylinder, the top of the vertical oil cylinder is provided with a vertical telescopic rod, the top end of the vertical telescopic rod is provided with a locking head, the outer wall surface of the vertical oil cylinder is symmetrically provided with a search sonar bracket, and search sonars are arranged on the search sonar bracket; further comprising a pair of search beacons installed within the AUV;
the mounting structure of the locking module is as follows: the locking device comprises a locking limit switch arranged on the top surface of a built-in guide cover, locking oil cylinders respectively arranged at two ends of the built-in guide cover, and locking blocks arranged at the output ends of the locking oil cylinders through locking push rods;
the mounting structure of the electrical appliance module is as follows: the device comprises a battery box arranged on a base, wherein a charging contact disc is arranged at the top of the battery box and corresponds to a charging contact head at the bottom of an AUV (autonomous Underwater vehicle) device; the battery box is also provided with a control cabin and a hydraulic power source.
The further technical scheme is as follows:
the catcher is arranged at the bow of the AUV, and two abutting sonar devices are symmetrically arranged above and below the catcher.
The structure of the catcher is as follows: the device comprises a framework, a limiting mechanism and a capturing limiting switch, wherein the framework is provided with a V-shaped opening, the bottom of the V-shaped opening is provided with a U-shaped groove, the bottom of the U-shaped groove is provided with the capturing limiting switch, and the limiting mechanisms are symmetrically arranged at the left and right parts of the joint of the V-shaped opening and the U-shaped groove;
the limiting mechanism comprises a shell, a limiting rod and a spring, wherein the top of the limiting rod is hemispherical, moves along the axial direction of the shell and is kept at a limiting position through the spring.
The structure of the butt joint rod is as follows: the device comprises a cylindrical rod fixed with an end plate, wherein the cylindrical rod is coaxial with an output shaft of a motor, the cylindrical rod is provided with a butt joint beacon up and down, and the inner sides of the two butt joint beacons are provided with limit rings.
The built-in guide cover adopts a horn-shaped opening, the middle section is cylindrical, and the top is hemispherical.
The locking oil cylinder and the locking push rod are provided with two sets and are symmetrically arranged about a middle cross section of the built-in guide cover.
The top of locking head is provided with locking head limit switch, locking head limit switch and the locking limit switch cooperation of built-in guide housing.
The search beacons are symmetrically arranged relative to the middle transverse section of the built-in guide cover, the distance between the two search beacons is consistent with the distance between the two search sonars, and the search sonars correspond to the search beacons one by one.
An operation method of an underwater unmanned vehicle recovery device comprises the following operation steps:
the first step is as follows: after the AUV receives the recovery instruction, position information of the docking rod is acquired through the docking sonar, the relative position between the AUV and the docking rod is determined, the AUV approaches the docking rod through the propelling and operating device, and in the approaching process, the relative position information between the AUV and the docking rod is updated in real time through the docking sonar, so that the AUV is guided to gradually approach the docking rod;
the second step is that: the AUV captures the cylindrical rod of the butt joint rod through the catcher by utilizing the self forward impulse without adjusting the heading under the guidance of the butt joint sonar, and the cylindrical rod enters the U-shaped groove of the catcher and is contacted with the U-shaped groove capture limit switch to trigger the AUV to transmit a signal to a control system in the control cabin to finish primary butt joint;
the third step: after receiving the signal transmitted by the AUV, the control system acquires the position information of the search beacon through the search sonar;
the fourth step: determining the relative position between the AUV and the vertical telescopic rod in the horizontal plane according to the position information of the search beacon, and controlling the rotation of the rotating arm and the expansion and contraction of the horizontal telescopic rod by the control system to adjust the position of the vertical telescopic rod in the horizontal plane so that the vertical telescopic rod is positioned right below the AUV built-in guide cover;
the fifth step: the control system controls the vertical telescopic rod to move towards the AUV built-in guide cover 9;
and a sixth step: when a locking head limit switch at the top of the locking head is in contact with a locking limit switch at the top of the AUV built-in guide cover, the locking limit switch at the top of the AUV built-in guide cover controls a locking oil cylinder to drive a locking push rod to drive a locking block to hold the vertical telescopic rod tightly, meanwhile, the locking head limit switch at the top of the locking head controls the vertical telescopic rod to stop moving, and the rotating arm drives the AUV to rotate in a horizontal plane to an initial position of the rotating arm;
the seventh step: the control system controls the vertical telescopic rod to drive the AUV to move downwards;
eighth step: when the charging contact of the AUV is contacted with the charging contact disc to form a charging loop to start charging the AUV, the vertical telescopic rod stops moving;
the ninth step: and finishing the butt joint recovery of the AUV, continuously charging the AUV and performing information interaction.
The invention has the following beneficial effects:
the underwater AUV recovery device is compact and reasonable in structure and convenient to operate, can conveniently complete the recovery work of AUV in any heading direction through the mutual matching work of the base, the butt joint module, the position adjusting module, the locking module and the electric module, is not limited by a butt joint angle, and greatly improves the underwater AUV recovery success rate.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is an AUV bow trap of the present invention.
Fig. 4 is a schematic structural view of the limiting mechanism of the present invention.
Fig. 5 is a schematic structural diagram of the locking mechanism of the present invention.
Wherein: 1. a base; 2. a motor; 3. an end plate; 4. a docking rod; 401. a cylindrical rod; 5. a catcher; 6. docking a sonar; 7. searching for a beacon; 8. locking the oil cylinder; 9. a guide cover is arranged inside; 10. locking the push rod; 11. locking a limit switch; 12. a rotating arm; 13. a horizontal telescopic rod; 14. a vertical cylinder; 15. searching a sonar bracket; 16. a locking head; 17. a vertical telescopic rod; 18. searching sonar; 19. a control cabin; 20. a hydraulic power source; 21. a battery box; 22. a charging contact pad; 23. a charging contact; 24. a locking block;
201. an output shaft;
402. docking the beacon; 403. a limiting ring;
501. a framework; 502. a limiting mechanism; 503. a capture limit switch;
50201. a limiting rod; 50202. a housing; 50203. a spring;
1601. locking head limit switch.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-5, the underwater unmanned vehicle recovery device of the embodiment comprises a base 1,
the AUV to be recovered is positioned above the base 1, and the base 1 and the AUV are simultaneously provided with a butt joint module and a position adjusting module;
an electrical appliance module is arranged on the upper surface of the base 1;
a locking module is arranged at the belly position of the AUV;
the docking module comprises a docking rod 4 mounted on the base 1 and a catcher 5 on the AUV;
the mounting structure of the position adjusting module is as follows: the upper surface of the base 1 is provided with a motor 2, the output end of the motor 2 is provided with an output shaft 201, the top surface of the output shaft 201 is provided with a butt joint rod 4 through an end plate 3, the output shaft 201 is also provided with a rotating arm 12, the head of the rotating arm 12 is provided with a horizontal telescopic rod 13, the head of the horizontal telescopic rod 13 is provided with a vertical oil cylinder 14, the top of the vertical oil cylinder 14 is provided with a vertical telescopic rod 17, the top end of the vertical telescopic rod 17 is provided with a locking head 16, the outer wall surface of the vertical oil cylinder 14 is symmetrically provided with search sonar brackets 15, and the search sonar brackets 15 are provided with search sonars 18; also included is a pair of search beacons 7 installed within the AUV;
the mounting structure of the locking module is as follows: the locking device comprises a locking limit switch 11 arranged on the top surface of a built-in guide cover 9, locking oil cylinders 8 respectively arranged at two ends of the built-in guide cover 9, and locking blocks 24 arranged at the output ends of the locking oil cylinders 8 through locking push rods 10;
the mounting structure of the electrical appliance module is as follows: the device comprises a battery box 21 arranged on a base 1, wherein a charging contact disc 22 is arranged at the top of the battery box 21 and corresponds to a charging contact head 23 at the bottom of an AUV; the battery box 21 is also provided with a control cabin 19 and a hydraulic power source 20.
The catcher 5 is arranged at the bow of the AUV, and two docking sonars 6 are symmetrically arranged above and below the catcher 5.
The structure of the catcher 5 is: the device comprises a framework 501, a limiting mechanism 502 and a capturing limiting switch 503, wherein the framework 501 is provided with a V-shaped opening, the bottom of the V-shaped opening is provided with a U-shaped groove, the bottom of the U-shaped groove is provided with the capturing limiting switch 503, and the limiting mechanisms 502 are symmetrically arranged at the connecting part of the V-shaped opening and the U-shaped groove in the left-right direction;
the limiting mechanism 502 comprises a shell 50202, a limiting rod 50201 and a spring 50203, wherein the top of the limiting rod 50201 is hemispherical and moves axially along the shell 50202 and is kept in a limiting position through the spring 50203.
The structure of the butt joint rod 4 is as follows: the device comprises a cylindrical rod 401 fixed with an end plate 3, wherein the cylindrical rod 401 and an output shaft 201 of a motor 2 are coaxial, the cylindrical rod 401 is respectively provided with a docking beacon 402 up and down, and the inner sides of the two docking beacons 402 are provided with limit rings 403.
The built-in guide cover 9 adopts a horn-shaped opening, the middle section is cylindrical, and the top is hemispherical.
Two sets of locking oil cylinders 8 and locking push rods 10 are arranged and are symmetrically arranged about the middle cross section of the built-in guide cover 9.
The top of locking head 16 is provided with locking head limit switch 1601, and locking head limit switch 1601 cooperates with the locking limit switch 11 of built-in guide housing 9.
The search beacons 7 are symmetrically arranged about the middle transverse section of the built-in guide housing 9, the distance between the two search beacons 7 is the same as the distance between the two search sonars 18, and the search sonars 18 correspond to the search beacons 7 one by one.
The operation method of the underwater unmanned vehicle recovery device comprises the following operation steps:
the first step is as follows: after the AUV receives the recovery instruction, the position information of the docking rod 4 is acquired through the docking sonar 6, the relative position between the AUV and the docking rod 4 is determined, the AUV approaches the docking rod 4 through the propelling and operating device, and in the approaching process, the relative position information between the AUV and the docking rod 4 is updated in real time through the docking sonar 6 to guide the AUV to gradually approach the docking rod 4;
the second step is that: the AUV captures the cylindrical rod 401 of the butt joint rod 4 through the catcher 5 by utilizing the self forward impulse without adjusting the heading under the guidance of the butt joint sonar 6, and enables the cylindrical rod 401 to enter the U-shaped groove of the catcher 5 and to contact with the U-shaped groove capture limit switch 503 to trigger the AUV to transmit a signal to a control system in the control cabin 19 to finish primary butt joint;
the third step: after receiving the signal transmitted by the AUV, the control system acquires the position information of the search beacon 7 through the search sonar 18;
the fourth step: determining the relative position between the AUV and the vertical telescopic rod 17 in the horizontal plane according to the position information of the search beacon 7, and controlling the rotation of the rotating arm 12 and the expansion and contraction of the horizontal telescopic rod 13 by the control system to adjust the position of the vertical telescopic rod 17 in the horizontal plane, so that the vertical telescopic rod 17 is positioned right below the AUV built-in guide cover 9;
the fifth step: the control system controls the vertical telescopic rod 17 to move towards the AUV built-in guide cover 9;
and a sixth step: when the locking head limit switch 1601 at the top of the locking head 16 is in contact with the locking limit switch 11 at the top of the AUV built-in guide cover 9, the locking limit switch 11 at the top of the AUV built-in guide cover 9 controls the locking oil cylinder 8 to drive the locking push rod 10 to drive the locking block 24 to hold the vertical telescopic rod 17 tightly, meanwhile, the locking head limit switch 1601 at the top of the locking head 16 controls the vertical telescopic rod 17 to stop moving, and the rotating arm 12 drives the AUV to rotate in the horizontal plane to the initial position of the rotating arm 12;
the seventh step: the control system controls the vertical telescopic rod 17 to drive the AUV to move downwards;
eighth step: when the charging contact 23 of the AUV is in contact with the charging contact plate 22 to form a charging loop to start charging the AUV, the vertical telescopic rod 17 stops moving;
the ninth step: and finishing the butt joint recovery of the AUV, continuously charging the AUV and performing information interaction.
The specific structure and function of the invention are as follows:
the device mainly comprises a base 1, a butt joint module, a position adjusting module, a locking module and an electric module.
The docking module comprises two parts of a docking rod 4 and a catcher 5,
wherein the catcher 5 is arranged at the bow of the AUV.
The docking rod 4 comprises a cylindrical rod 401, a docking beacon 402 and a stop collar 403,
the cylindrical rod 401 is fixed on the top end plate 3 of the motor 2 in the position adjusting module, the cylindrical rod 401 and the output shaft 201 of the motor 2 are coaxial, the cylindrical rod 401 is respectively provided with a docking beacon 402 up and down, and the inner sides of the two docking beacons 402 are provided with limit rings 403.
The catcher 5 is arranged at the bow of the AUV, meanwhile, two docking sonars 6 are symmetrically arranged above and below the catcher 5, the distance between the two docking sonars 6 is consistent with the distance between the two docking beacons 402, the docking sonars 6 correspond to the docking beacons 402 one by one, and the AUV can determine the position of the docking rod 4 through the docking sonars 6 and the docking beacons 402 and guide the AUV to approach.
The catcher 5 comprises a framework 501, a limiting mechanism 502 and a catching limiting switch 503, wherein the framework 501 is provided with a V-shaped opening, the bottom of the opening is provided with a U-shaped groove, the bottom of the U-shaped groove is provided with the catching limiting switch 503, and the limiting mechanisms 502 are symmetrically arranged at the left and right positions of the joint of the V-shaped opening and the U-shaped groove.
The limiting mechanism 502 comprises a shell 50202, a limiting rod 50201 and a spring 50203, wherein the top of the limiting rod 50201 is hemispherical and can axially move along the shell 50202 and be kept at a limiting position under the action of the spring 50203.
In the butt joint process, the butt joint rod 4 transmits the advancing impact force of the AUV to the hemispherical top of the limit rod 50201, a component force is generated in the axial direction of the limit rod 50201, the limit rod 50201 axially contracts towards the inside of the shell 50202 under the action of the component force, the spring 50203 is compressed at the same time until the limit rod 50201 enters the U-shaped groove of the framework 501, and the limit rod 50201 is restored to the initial position under the action of the spring 50203.
The position adjusting module comprises a motor 2, a rotating arm 12, a horizontal telescopic rod 13, a vertical oil cylinder 14, a vertical telescopic rod 17, a search sonar 18, a search sonar bracket 15, a search beacon 7 and a locking head 16.
Wherein the search beacon 7 is disposed in the abdomen of the AUV. The motor 2 is fixed on the base 1, is respectively connected with the battery box 21 and the control cabin 19 through cables, and the top end of the motor is provided with an output shaft 201; one end of the rotating arm 12 is connected with an output shaft 201 of the motor 2, and the rotating arm 12 can rotate 360 degrees under the action of the motor 2; the horizontal telescopic rod 13 realizes the extension and retraction of the horizontal telescopic rod in the rotating arm 12 through a control system; the vertical oil cylinder 14 is connected with one end of the horizontal telescopic rod 13, and the horizontal telescopic rod 13 can drive the vertical oil cylinder 14 to axially move along the horizontal telescopic rod 13; the top end of the vertical telescopic rod 17 is provided with a locking head 16, the top of the locking head 16 is provided with a locking head limit switch 1601, and the vertical telescopic rod 17 can stretch along the axial direction of the vertical oil cylinder 14 through a control system; the search sonars 18 are symmetrically arranged along the axis of the horizontal telescopic rod 13 and are connected with the vertical oil cylinder 14 into a whole through the search sonar brackets 15, the search beacons 7 are symmetrically arranged on the middle cross section of the built-in guide cover 9 in the locking module, the distance between the two search beacons 7 is consistent with the distance between the two search sonars 18, and the search sonars 18 correspond to the search beacons 7 one by one.
The locking module is arranged on the belly of the AUV and comprises a built-in guide cover 9, a locking oil cylinder 8, a locking push rod 10, a locking block 24 and a locking limit switch 11.
The built-in guide cover 9 adopts a horn-shaped opening, the middle section is cylindrical, and the top is hemispherical; two sets of locking oil cylinders 8 and two sets of locking push rods 10 are arranged, the locking blocks 24 are symmetrically arranged about the transverse section of the built-in guide cover 9, one end of each locking push rod 10 is connected with the locking block 24, the locking oil cylinders 8 enable the locking push rods 10 to drive the locking blocks 24 to stretch and retract under the control of a control system, the vertical telescopic rods 17 are tightly held, horizontal relative movement between the vertical telescopic rods 17 and the AUV is limited, and vertical relative movement between the vertical telescopic rods 17 and the AUV is limited through the locking heads 16; the locking limit switch 11 is arranged at the top of the built-in guide cover 9 and is matched with the locking head limit switch 1601 at the top of the locking head 16 for use.
The electric module comprises a battery box 21, a charging contact disc 22, a charging contact head 23, a control cabin 19 and a hydraulic power source 20, wherein the charging contact head 23 is arranged on the belly of the AUV. The battery box 21 is arranged on the base 1 and used for supplying power to the device and charging AUV; the top of the battery box 21 is provided with a charging contact disc 22 which can be contacted with a charging contact head 23 to charge the AUV; a control system is arranged in the control cabin 19 to realize the control of the whole system; the hydraulic power source 20 is connected with the vertical oil cylinder 14 and the rotating arm 12 through oil pipes, is connected with the control cabin 19 through a cable, and provides hydraulic power for the hydraulic actuating mechanism through the control of the control system.
In the actual operation process:
after the AUV receives the recovery instruction, the position information of the two docking beacons 402 is obtained through the docking sonar 6, the relative position between the AUV and the docking rod 4 is determined according to the position information of the docking beacons 402, the AUV approaches the docking rod 4 through the propelling and operating device, and in the approaching process, the relative position information between the AUV and the docking rod 4 is updated in real time through the docking sonar 6 to guide the AUV to gradually approach the docking rod 4;
the AUV captures the cylindrical rod 401 through the catcher 5 by utilizing the self forward impulse without adjusting the heading under the guidance of the docking sonar 6, and enables the cylindrical rod 401 to enter a U-shaped groove of the catcher 5 and to contact with a U-shaped groove capture limit switch 503 to trigger the AUV to transmit a signal to a control system in the control cabin 19 to finish primary docking;
after receiving the signal transmitted by the AUV, the control system acquires the position information of the search beacon 7 through the search sonar 18, determines the relative position between the AUV and the vertical telescopic rod 17 in the horizontal plane according to the position information of the search beacon 7, controls the rotation of the rotating arm 12 and the extension and retraction of the horizontal telescopic rod 13 to adjust the position of the vertical telescopic rod 17 in the horizontal plane, and enables the vertical telescopic rod 17 to be positioned under the AUV built-in guide cover 9;
the control system controls the vertical telescopic rod 17 to move towards the inside of the AUV built-in guide cover 9, when a locking head limit switch 1601 at the top of the locking head 16 is in contact with a locking limit switch 11 at the top of the AUV built-in guide cover 9, the locking limit switch 11 at the top of the AUV built-in guide cover 9 controls a locking oil cylinder 8 to drive a locking push rod 10 to drive a locking block 24 to hold the vertical telescopic rod 17 tightly, meanwhile, the locking head limit switch 1601 at the top of the locking head 16 controls the vertical telescopic rod 17 to stop moving, and the rotating arm 12 drives the AUV to rotate in the horizontal plane to the initial position of the rotating arm 12;
the control system controls the vertical telescopic rod 17 to drive the AUV to move downwards, when a charging contact 23 of the AUV is in contact with the charging contact disc 22 to form a charging loop to start charging the AUV, the vertical telescopic rod 17 stops moving to complete butt joint and recovery of the AUV, and the AUV is continuously charged and performs information interaction.
The method is simple and convenient to operate, has good working reliability, and greatly improves the success rate of underwater AUV recovery.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (9)
1. The utility model provides an unmanned navigation ware recovery unit under water which characterized in that: comprises a base (1),
the AUV to be recovered is positioned above the base (1), and the base (1) and the AUV are simultaneously provided with a butt joint module and a position adjusting module;
an electrical appliance module is arranged on the upper surface of the base (1);
a locking module is arranged at the belly position of the AUV;
the butt joint module comprises a butt joint rod (4) arranged on the base (1) and a catcher (5) arranged on the AUV;
the mounting structure of the position adjusting module is as follows: the upper surface of the base (1) is provided with a motor (2), an output end of the motor (2) is provided with an output shaft (201), the top surface of the output shaft (201) is provided with a butt joint rod (4) through an end plate (3), the output shaft (201) is also provided with a rotating arm (12), the head of the rotating arm (12) is provided with a horizontal telescopic rod (13), the head of the horizontal telescopic rod (13) is provided with a vertical oil cylinder (14), the top of the vertical oil cylinder (14) is provided with a vertical telescopic rod (17), the top end of the vertical telescopic rod (17) is provided with a locking head (16), the outer wall surface of the vertical oil cylinder (14) is symmetrically provided with search sonar brackets (15), and the search sonar brackets (18) are arranged on the search sonar brackets (15); further comprising a pair of search beacons (7) installed within the AUV;
the mounting structure of the locking module is as follows: the locking device comprises a locking limit switch (11) arranged on the top surface of a built-in guide cover (9), locking oil cylinders (8) are respectively arranged at two ends of the built-in guide cover (9), and locking blocks (24) are arranged at the output ends of the locking oil cylinders (8) through locking push rods (10);
the mounting structure of the electrical appliance module is as follows: the device comprises a battery box (21) arranged on a base (1), wherein a charging contact disc (22) is arranged at the top of the battery box (21) and corresponds to a charging contact head (23) at the bottom of the AUV; the battery box (21) is also provided with a control cabin (19) and a hydraulic power source (20).
2. The underwater unmanned vehicle recovery device of claim 1, wherein: the catcher (5) is arranged at the bow of the AUV, and two abutting sonar devices (6) are symmetrically arranged above and below the catcher (5).
3. The underwater unmanned vehicle recovery device of claim 1 or 2, wherein: the structure of the catcher (5) is as follows: the device comprises a framework (501), a limiting mechanism (502) and a capturing limiting switch (503), wherein the framework (501) is provided with a V-shaped opening, the bottom of the V-shaped opening is provided with a U-shaped groove, the bottom of the U-shaped groove is provided with the capturing limiting switch (503), and the limiting mechanisms (502) are symmetrically arranged at the connecting part of the V-shaped opening and the U-shaped groove in the left-right direction;
the limiting mechanism (502) comprises a shell (50202), a limiting rod (50201) and a spring (50203), wherein the top of the limiting rod (50201) is hemispherical, axially moves along the shell (50202), and is kept at a limiting position through the spring (50203).
4. The underwater unmanned vehicle recovery device of claim 1, wherein: the butt joint rod (4) has the structure that: the device comprises a cylindrical rod (401) fixed with an end plate (3), wherein the cylindrical rod (401) and an output shaft (201) of a motor (2) are coaxial, the cylindrical rod (401) is respectively provided with a docking beacon (402) up and down, and the inner sides of the two docking beacons (402) are provided with limit rings (403).
5. The underwater unmanned vehicle recovery device of claim 1, wherein: the built-in guide cover (9) adopts a horn-shaped opening, the middle section is cylindrical, and the top is hemispherical.
6. The underwater unmanned vehicle recovery device of claim 1, wherein: the locking oil cylinders (8) and the locking push rods (10) are arranged in two sets and are symmetrically arranged about the middle cross section of the built-in guide cover (9).
7. The underwater unmanned vehicle recovery device of claim 1, wherein: the top of locking head (16) is provided with locking head limit switch (1601), and locking head limit switch (1601) cooperates with locking limit switch (11) of built-in guide housing (9).
8. The underwater unmanned vehicle recovery device of claim 1, wherein: the search beacons (7) are symmetrically arranged about the middle transverse section of the built-in guide cover (9), the distance between the two search beacons (7) is consistent with the distance between the two search sonars (18), and the search sonars (18) correspond to the search beacons (7) one by one.
9. A method of operation using the unmanned underwater vehicle recovery device of claim 1, characterized in that: the method comprises the following operation steps:
the first step is as follows: after the AUV receives the recovery instruction, the position information of the docking rod (4) is acquired through the docking sonar (6), the relative position between the AUV and the docking rod (4) is determined, the AUV approaches the docking rod (4) through the propelling and operating device, and in the approaching process, the relative position information between the AUV and the docking rod (4) is updated in real time through the docking sonar (6) to guide the AUV to gradually approach the docking rod (4);
the second step is that: the AUV captures a cylindrical rod (401) of the butt joint rod (4) through the catcher (5) by utilizing self forward impulse without adjusting the heading under the guidance of the butt joint sonar (6), and enables the cylindrical rod (401) to enter a U-shaped groove of the catcher (5) and to contact with a U-shaped groove capturing limit switch (503) to trigger the AUV to transmit a signal to a control system in the control cabin (19) to complete primary butt joint;
the third step: after receiving the signal transmitted by the AUV, the control system acquires the position information of the search beacon (7) through the search sonar (18);
the fourth step: determining the relative position between the AUV and the vertical telescopic rod (17) in the horizontal plane according to the position information of the search beacon (7), and controlling the rotation of the rotating arm (12) and the expansion and contraction of the horizontal telescopic rod (13) by the control system to adjust the position of the vertical telescopic rod (17) in the horizontal plane, so that the vertical telescopic rod (17) is positioned right below the AUV built-in guide cover (9);
the fifth step: the control system controls the vertical telescopic rod (17) to move towards the AUV built-in guide cover 9;
and a sixth step: when a locking head limit switch (1601) at the top of a locking head (16) is in contact with a locking limit switch (11) at the top of an AUV built-in guide cover (9), the locking limit switch (11) at the top of the AUV built-in guide cover (9) controls a locking oil cylinder (8) to drive a locking push rod (10) to drive a locking block (24) to hold a vertical telescopic rod (17) tightly, meanwhile, the locking head limit switch (1601) at the top of the locking head (16) controls the vertical telescopic rod (17) to stop moving, and a rotating arm (12) drives the AUV to rotate in a horizontal plane to an initial position of the rotating arm (12);
the seventh step: the control system controls the vertical telescopic rod (17) to drive the AUV to move downwards;
eighth step: when a charging contact head (23) of the AUV is in contact with a charging contact disc (22) to form a charging loop to start charging the AUV, the vertical telescopic rod (17) stops moving;
the ninth step: and finishing the butt joint recovery of the AUV, continuously charging the AUV and performing information interaction.
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