CN114056496A

CN114056496A - AUV (autonomous underwater vehicle) retraction device and ship

Info

Publication number: CN114056496A
Application number: CN202111506406.3A
Authority: CN
Inventors: 韩强; 陈斌; 丁标; 谢群; 田彧; 黄娟; 胡士博
Original assignee: Shanghai Merchant Ship Design and Research Institute of CSSC No 604 Research Institute
Current assignee: Shanghai Merchant Ship Design and Research Institute of CSSC No 604 Research Institute
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2022-02-18

Abstract

The invention provides an AUV (autonomous underwater vehicle) retracting device and a ship, and relates to the technical field of underwater robot deployment and recovery, wherein the AUV retracting device comprises: the device comprises a driving module and a supporting module; the support module comprises a first support frame and a support frame, the support frame is arranged on the first support frame, and the AUV is arranged on the support frame; the driving module is connected with the hoisting equipment, is connected with the first supporting frame and drives the first supporting frame to ascend or descend; when the driving module drives the first supporting frame to descend, the first supporting frame can be submerged below the sea surface. The AUV retracting device is lifted to the sea surface by using the hoisting equipment on the ship, and then the support module loaded with the AUV is driven by the driving module to sink below the sea surface, so that the space of a ship deck is not occupied, and meanwhile, the equipment and the AUV are operated in a remote control mode in the whole process, so that manpower and material resources are saved.

Description

AUV (autonomous underwater vehicle) retraction device and ship

Technical Field

The invention relates to the technical field of underwater robot deployment and recovery, in particular to an AUV (autonomous underwater vehicle) retraction device and a ship.

Background

The AUV is a cable-free underwater robot, can navigate underwater independently, has the advantages of large range of motion, good maneuverability, safety, intellectualization and the like, and is an important tool for completing various underwater tasks. Since the AUV is equipped with many high-precision underwater acoustic devices, it is very expensive, and the acoustic components may be damaged by a slight collision, which results in high maintenance cost. The reliable and safe marine retraction device is very important for AUV operation, and is an important guarantee for completing underwater operation.

In the prior art, the AUV is laid through the cooperation of shipborne deck support equipment, and generally comprises a winch, an A frame, a folding boom and the like, wherein the winch is responsible for laying and recovering the AUV, the A frame is used for swinging equipment out of a ship from the inside of the ship, and the equipment can be used for laying and recovering the AUV, but the equipment excessively occupies the space of the deck and consumes much labor and time.

Disclosure of Invention

The invention aims to solve the following problems: the existing AUV retracting device occupies the deck space and consumes manpower and material resources.

(II) technical scheme

In order to solve the technical problem, an embodiment of the invention provides an AUV retraction device for a ship, where the ship is provided with a hoisting apparatus, and the AUV retraction device includes: the device comprises a driving module and a supporting module;

the support module comprises a first support frame and a support frame, the support frame is arranged on the first support frame, and the AUV is arranged on the support frame;

the driving module is connected with the hoisting equipment, is connected with the first supporting frame and drives the first supporting frame to ascend or descend;

when the driving module drives the first supporting frame to descend, the first supporting frame can be submerged below the sea surface.

According to an embodiment of the present invention, further, the support frame includes a first support bar and a second support bar;

one end of the first supporting rod is connected with one end of the second supporting rod to form the supporting frame in a V-shaped structure;

the first supporting frame is provided with a plurality of supporting frames, and all the supporting frames are arranged at intervals along the length direction of the AUV.

According to an embodiment of the present invention, further, a protective pad is further disposed between the first support rod and the AUV and between the second support rod and the AUV.

According to an embodiment of the present invention, further, the density of the first supporting frame and the supporting frame is greater than that of the seawater;

or;

the supporting module further comprises a balancing weight, the balancing weight is connected with the first supporting frame, and the balancing weight is used for enabling the first supporting frame to be submerged below the sea surface.

According to an embodiment of the present invention, further, the system further comprises a recycling positioning module;

the recovery positioning module is positioned between the driving module and the supporting module and used for providing identification and positioning for AUV recovery;

and when the supporting module is sunk below the sea surface, the recovery positioning module floats on the sea surface.

According to an embodiment of the present invention, further, the recycling positioning module includes a second supporting frame;

one end of the second support frame is provided with a notch structure so that the AUV can enter the second support frame.

According to an embodiment of the present invention, further, an air bag is distributed on an inner edge of the second support frame, and an inflation member is disposed on the second support frame;

the inflatable member is connected with the airbag;

when the AUV is positioned in the second support frame, the inflating piece inflates the air bag.

According to an embodiment of the present invention, further, the driving module includes a third supporting frame, a winch, and a connecting cable;

the hoisting equipment is connected with the third support frame through a lifting rope;

the winch is arranged on the third supporting frame, one end of the connecting cable is wound on the winch, and the other end of the connecting cable is connected with the first supporting frame.

According to an embodiment of the invention, further, a connecting hole is arranged on the first supporting frame, and one end of the connecting cable, which is far away from the winch, is connected with the connecting hole;

and the second support frame is provided with a through hole which corresponds to the connecting hole, and the through hole is sleeved on the connecting cable.

In another aspect, an embodiment of the present invention provides a ship, including the AUV retraction device according to any of the above embodiments.

The invention has the beneficial effects that:

the utility model provides an AUV receiving and releasing device for boats and ships, be equipped with hoisting equipment on the boats and ships, AUV receiving and releasing device includes: the device comprises a driving module and a supporting module; the support module comprises a first support frame and a support frame, the support frame is arranged on the first support frame, and the AUV is arranged on the support frame; the driving module is connected with the hoisting equipment, is connected with the first supporting frame and drives the first supporting frame to ascend or descend; when the driving module drives the first supporting frame to descend, the first supporting frame can be submerged below the sea surface.

According to the hoisting equipment on the ship, the AUV retracting device is hoisted to the sea surface, then the support module loaded with the AUV is driven by the driving module to sink below the sea surface, the space of a deck of the ship is not occupied, and meanwhile, the equipment and the AUV are operated in a remote control mode in the whole process, so that manpower and material resources are saved.

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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view of an overall structure of an AUV retraction device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a driving module according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a recycling positioning module according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a support module according to an embodiment of the present invention;

FIG. 5 is a side view of a support module provided by an embodiment of the present invention;

fig. 6 is a schematic structural view of an AUV retraction device lifted by a hoisting apparatus according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of the AUV located in the recovery positioning device according to the embodiment of the present invention;

FIG. 8 is a schematic view of an AUV provided by an embodiment of the present invention on deck;

FIG. 9 is a schematic diagram of an AUV recovery process provided by an embodiment of the present invention;

fig. 10 is a schematic diagram of an AUV recovery process according to an embodiment of the present invention.

Icon: 100-a ship; 110-a hoisting device;

200-a drive module; 210-a third support frame; 211-eye plate; 212-a hanging hole; 220-a winch; 230-connecting cable;

300-a support module; 310-a first support frame; 311-connecting hole; 312 — a first column; 313-a second upright; 320-a support frame; 321-a first support rod; 322-a second support bar; 330-protective pad;

400-a recovery positioning module; 410-a second support frame; 411-a gap; 412-a via; 420-air bag; 500-AUV.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

It should be noted that, in the description of the present invention, the terms "connected" and "mounted" should be interpreted broadly, for example, they may be fixedly connected, detachably connected, or integrally connected; can be directly connected or connected through an intermediate medium; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 10, an embodiment of the present invention provides an AUV retraction device for a ship 100, where the ship 100 is provided with a hoisting apparatus 110, and the AUV retraction device includes: a driving module 200 and a support module 300; the support module 300 comprises a first support frame 310 and a support frame 320, wherein the support frame 320 is arranged on the first support frame 310, and the AUV500 is arranged on the support frame 320; the driving module 200 is connected to the lifting device 110, and the driving module 200 is connected to the first support frame 310 and drives the first support frame 310 to ascend or descend; when the driving module 200 drives the first support frame 310 to descend, the first support frame 310 can be submerged below the sea surface.

In this embodiment, the AUV500, i.e., a cableless underwater robot, also becomes an autonomous underwater vehicle. The method can be used for laying pipelines, submarine investigation, data collection, drilling support, submarine construction, underwater equipment maintenance and repair and the like, and can also be used for reconnaissance, mine laying, mine sweeping, rescue and lifesaving and the like.

In this embodiment, the support module 300 is used to provide support for the AUV500, and meanwhile, after the AUV500 is recovered, it can also be used as a base for storage.

In this embodiment, the hoisting device 110 on the vessel 100 is used to hoist the AUV retraction device to the sea surface, and then the driving module 200 drives the support module 300 loaded with the AUV500 to sink below the sea surface, so that the space of the deck of the vessel 100 is not occupied, and meanwhile, the equipment and the AUV500 are remotely operated in the whole process, thereby saving manpower and material resources.

In this embodiment, the first support frame 310 is submerged below the sea surface, so that the AUV500 can operate normally.

As shown in fig. 1, 4 and 5, the supporting frame 320 includes a first supporting rod 321 and a second supporting rod 322; one end of the first supporting rod 321 is connected to one end of the second supporting rod 322 to form the supporting frame 320 in a V-shaped structure; the first support frame 310 is provided with a plurality of support frames 320, and all the support frames 320 are arranged at intervals along the length direction of the AUV 500.

In this embodiment, the first support rod 321 is connected to the second support rod 322, and has an included angle, so as to form the support frame 320 having a V-shaped structure, all of the support frame 320 is disposed at intervals along the length direction of the AUV500, so that the AUV500 can be placed on the support frame 320, and the AUV500 is prevented from sliding. And compared with other structures such as a U-shaped structure and the like, the V-shaped structure can adapt to AUV500 with more sizes and has strong adaptability.

In practical use, the first supporting frame 310 is a square frame, and a plurality of sets of upright posts extend outwards from one side of the first supporting frame 310, wherein one set of upright posts includes a first upright post 312 and a second upright post 313 which are oppositely arranged, and the first upright post 312 and the second upright post 313 are respectively arranged on opposite sides of the first supporting frame 310. One end of the first supporting rod 321 away from the second supporting rod 322 is connected to the first upright 312, and one end of the second supporting rod 322 away from the first supporting rod 321 is connected to the second upright 313. And each support frame 320 is correspondingly provided with a group of upright posts.

Meanwhile, in this embodiment, it is also required that the joint of the first support rod 321 and the second support rod 322 is higher than the first support frame 310.

In this embodiment, the supporting frame 320 is raised by arranging a plurality of sets of pillars, so that the AUV500 does not collide with the first supporting frame 310 when the AUV500 is arranged or recovered from the supporting module 300, and the AUV500 is prevented from being damaged.

As shown in fig. 1, 4 and 5, in this embodiment, it is preferable that a protective pad 330 is further disposed between the first support rod 321 and the AUV500 and between the second support rod 322 and the AUV500, and when the AUV500 contacts the support frame 320, the protective pad 330 can perform an action to prevent a hard collision.

In this embodiment, it is preferable that the protection pad 330 is a rubber pad.

It is understood that in this embodiment, the protection pad 330 may also be a sponge pad, an air cushion, or the like.

In this embodiment, in order to enable the support module 300 to be submerged below the sea surface, the first support frame 310 and the support frame 320 are supported by a material having a density greater than that of seawater; or a counterweight is disposed on the first supporting frame 310, so that the first supporting frame 310 can be submerged below the sea surface.

In this embodiment, it is preferable that the first supporting frame 310 is made of steel, so that the first supporting frame 310 can be normally submerged under the sea surface.

In this embodiment, the supporting module 300 is submerged below the sea surface, and besides the AUV500 can be normally deployed or recovered, a "gravity anchoring and stabilizing" system can be established, and the entire AUV retraction device is anchored on the sea by using the gravity of the first supporting frame 310, so as to provide sufficient stability for the AUV retraction device.

As shown in fig. 1 and 3, the AUV retraction device further includes a recovery positioning module 400; the recycling positioning module 400 is located between the driving module 200 and the supporting module 300, and is used for providing identification and positioning for recycling the AUV 500; and when the support module 300 is submerged below the sea surface, the recovery positioning module 400 floats on the sea surface.

Specifically, as shown in fig. 1 and 3, the recycling positioning module 400 includes a second supporting frame 410; one end of the second support frame 410 is provided with a gap 411 structure, so that the AUV500 can enter the second support frame 410.

In this embodiment, the second support frame 410 is located between the first support frame 310 and the third support frame 210. In the process of recovering the AUV500, since the second support frame 410 is located on the sea surface, an operator drives the AUV500 to enter the second support frame 410 through the opening 411, so as to complete the positioning of the AUV500, the rear drive module 200 drives the first support frame 310 to move upwards, and finally the first support frame 310 carries the AUV500 to move upwards, so that the recovery operation of the AUV500 is finally completed.

As shown in fig. 1 and 3, an airbag 420 is distributed on an inner edge of the second support frame 410, and an inflating member is disposed on the second support frame 410; the inflation piece is connected with the airbag 420; when the AUV500 is positioned within the second support frame 410, the inflation member inflates the airbag 420.

In this embodiment, when the AUV500 does not enter the second support frame 410, the airbag 420 is in an uninflated state to make room for the AUV500 to enter, and when the AUV500 enters the second support frame 410, the inflator starts to inflate the airbag 420, so as to provide dual protection to the AUV 500.

In practical use, the second support frame 410 is made of a lightweight high-strength floating body material and is molded by a grinding tool.

As shown in fig. 2, the driving module 200 includes a third supporting frame 210, a winch 220, and a connecting cable 230; the lifting device 110 is connected to the third support frame 210 through a lifting rope; the winch 220 is disposed on the third support frame 210, and one end of the connection cable 230 is wound around the winch 220, and the other end thereof is connected to the first support frame 310.

In this embodiment, specifically, the third supporting frame 210 is a square frame, and at least two winches 220 are placed on the third supporting frame 210. Four connecting cables 230 are provided between the third support frame 210 and the first support frame 310 to ensure the stability of the first support frame 310.

In this embodiment, the third supporting frame 210 is provided with a hanging hole 212 for connecting with a hanging rope.

In this embodiment, an eye plate 211 is further disposed on the third support frame 210, and a stable lock is disposed in the eye plate 211, so that the stability of the AUV retraction device during lifting can be ensured by pulling and dragging the stable lock, and the occurrence of transitional rotation or swing is avoided.

In this embodiment, the winch 220 retracts the connecting cable 230 to lift the first support frame 310.

As shown in fig. 2, a connection hole 311 is formed in the first support frame 310, and one end of the connection cable 230, which is far away from the winch 220, is connected to the connection hole 311; the second support frame 410 is provided with a through hole 412 corresponding to the connection hole 311, and the through hole 412 is sleeved on the connection cable 230.

In practical use, the first support frame 310 is provided with four connecting holes 311 to ensure the stability of the first support frame 310, and the second support frame 410 is provided with a through hole 412 coaxial with the connecting holes 311 for being sleeved on a connecting lock.

In actual use, as shown in fig. 6, the initial state of the AUV retraction device is shown.

Wherein the apparatus lifts the AUV500, and at this time, the first support frame 310, the second support frame 410, and the third support frame 210 are connected. By activating the laying button, the winch 220 in the uppermost third support frame 210 starts to be activated, the connecting cable 230 is laid down, the support module 300 still moves in the sea surface direction, and the retrieving and positioning module 400 is located above the support module 300 and moves in the sea surface direction together with the support module 300.

With the winch 220 continuously connected to the cable 230, the support module 300 eventually carries the AUV500 to sink below the sea surface, and the retrieval positioning module 400 floats on the sea surface under the buoyancy. The operator disengages from the AUV500 by remote control to complete the deployment of the AUV 500.

Meanwhile, under the action of water surface tension, the second support frame 410 of the recovery positioning module 400 can also ensure the stability of the connecting cable 230.

As shown in fig. 7 to 10, when the AUV500 is recovered, the operator controls the AUV500 to enter the second support frame 410 through the gap 411, and meanwhile, since the second support frame 410 is made of a lightweight high-strength floating body material, even if the AUV500 collides with the second support frame 410, the electronic components in the AUV500 are not damaged.

After the AUV500 enters the second support frame 410, the airbag 420 starts to inflate, fixing the AUV500 and protecting the AUV 500.

After the inflation is completed, the winch 220 starts to retract the connecting cable 230, the support module 300 starts to float to the water surface, and the AUV500 falls onto the support frame 320 under the action of gravity.

Finally, the winch 220 drives the support module 300 and the recovery positioning module 400 to move upwards, and finally, the support module and the recovery positioning module are restored to the initial state. As shown in fig. 8, the AUV retraction device is lifted to the deck by the equipment.

The AUV retracting device provided by the embodiment has relatively low cost and high economy; the structure is simple, and the manufacture and the production are easy; the driving module 200, the recycling positioning module 400 and the supporting module 300 can be finally integrated into a whole under the action of the winch 220, so that the driving module, the recycling positioning module and the supporting module are convenient to store; the preparation work of the AUV500 retraction operation can be rapidly completed without adding additional equipment, and the retraction operation of the AUV500 can be realized by using the existing hoisting equipment 110 on the ship; the AUV500 is fully protected, and the damage of collision and impact to the AUV500 in the folding and unfolding processes is avoided; the operation is simple.

The embodiment of the invention also provides a ship comprising the AUV retracting and releasing device in any one of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An AUV retraction device for a vessel (100), the vessel (100) being provided with a hoisting apparatus (110), characterized in that the AUV retraction device comprises: a drive module (200) and a support module (300);

the supporting module (300) comprises a first supporting frame (310) and a supporting frame (320), the supporting frame (320) is arranged on the first supporting frame (310), and the AUV (500) is arranged on the supporting frame (320);

the driving module (200) is connected with the hoisting equipment (110), and the driving module (200) is connected with the first supporting frame (310) and drives the first supporting frame (310) to ascend or descend;

when the driving module (200) drives the first supporting frame (310) to descend, the first supporting frame (310) can be submerged below the sea surface.

2. The AUV retracting device according to claim 1, wherein the support bracket (320) comprises a first support bar (321) and a second support bar (322);

one end of the first support rod (321) is connected with one end of the second support rod (322) to form the support frame (320) in a V-shaped structure;

the first supporting frame (310) is provided with a plurality of supporting frames (320), and all the supporting frames (320) are arranged at intervals along the length direction of the AUV (500).

3. The AUV retracting device according to claim 2, wherein a protective pad (330) is further arranged between the first support rod (321) and the AUV (500) and between the second support rod (322) and the AUV (500).

4. The AUV retraction device according to claim 3, wherein the density of the first support frame (310) and the support frame (320) is greater than the density of seawater;

or;

the supporting module (300) further comprises a balancing weight, the balancing weight is connected with the first supporting frame (310), and the balancing weight is used for enabling the first supporting frame (310) to sink below the sea surface.

5. The AUV retracting device according to claim 2, further comprising a retrieval positioning module (400);

the recycling positioning module (400) is positioned between the driving module (200) and the supporting module (300) and is used for providing identification and positioning for recycling of the AUV (500);

and when the support module (300) is submerged below the sea surface, the recovery positioning module (400) floats on the sea surface.

6. The AUV retracting device according to claim 5, wherein the retrieval positioning module (400) comprises a second support frame (410);

one end of the second support frame (410) is provided with a gap (411) structure so that the AUV (500) can enter the second support frame (410).

7. The AUV retracting device according to claim 6, wherein an air bag (420) is distributed on the inner edge of the second supporting frame (410), and an inflating piece is arranged on the second supporting frame (410);

the inflatable member is connected with the airbag (420);

the inflation member inflates the airbag (420) when the AUV (500) is positioned within the second support frame (410).

8. The AUV retracting device according to claim 6, wherein the driving module (200) comprises a third supporting frame (210), a winch (220) and a connecting cable (230);

the hoisting device (110) is connected with the third support frame (210) through a lifting rope;

the winch (220) is arranged on the third supporting frame (210), one end of the connecting cable (230) is wound on the winch (220), and the other end of the connecting cable is connected with the first supporting frame (310).

9. The AUV retracting device according to claim 8, wherein the first supporting frame (310) is provided with a connecting hole (311), and one end of the connecting cable (230) far away from the winch (220) is connected with the connecting hole (311);

the second supporting frame (410) is provided with a through hole (412) which is arranged corresponding to the connecting hole (311), and the connecting cable (230) is sleeved with the through hole (412).

10. A marine vessel comprising an AUV retraction device according to any of claims 1 to 9.