CN114620188B - Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship - Google Patents
Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship Download PDFInfo
- Publication number
- CN114620188B CN114620188B CN202210330157.5A CN202210330157A CN114620188B CN 114620188 B CN114620188 B CN 114620188B CN 202210330157 A CN202210330157 A CN 202210330157A CN 114620188 B CN114620188 B CN 114620188B
- Authority
- CN
- China
- Prior art keywords
- underwater vehicle
- recovery
- frame
- unmanned ship
- catamaran
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Abstract
The invention belongs to the technical field of recovery of unmanned underwater vehicles, and particularly discloses an autonomous recovery mechanism and a recovery method of an unmanned underwater vehicle based on a twin-hull unmanned ship; comprises a clamping recovery mechanism and an auxiliary recovery mechanism; the clamping recovery mechanism comprises a clamp matched with the underwater vehicle and a position adjusting device connected with the clamp; the invention provides an autonomous recovery mechanism and a recovery method of an unmanned underwater vehicle based on a catamaran, which can be recovered quickly and stably.
Description
Technical Field
The invention belongs to the technical field of recovery of unmanned underwater vehicles, and particularly relates to an autonomous recovery mechanism and a recovery method of an unmanned underwater vehicle based on a catamaran.
Background
The underwater unmanned underwater vehicle is used as a safe, efficient and flexible underwater vehicle, is widely applied to scenes such as marine hydrological detection, underwater task operation, underwater rescue, underwater topography mapping, underwater detection and detection, anti-submarine anti-torpedo and the like at present, and gradually improves the influence in the civil and military fields. However, the portable battery is limited, and cannot be used for completing a large-range or deep-sea task, in order to solve the problem, some researchers adopt a mother ship as a supply ship, and periodically salvage and recover unmanned underwater vehicles arranged in a certain sea area range, the salvage method is generally manually operated, and the underwater unmanned underwater vehicles are recovered by manually controlling a traction rope or a fishing cage. The method has low efficiency, high labor intensity and high danger coefficient, and is not suitable for severe sea conditions.
At present, fishing equipment based on a semi-automatic or automatic mechanical device exists, but the equipment is large in size, high in complexity, single in function, high in requirement on the pose of the underwater vehicle, and poor in recovery effect. Moreover, the marine environment is usually complex and changeable, and the difficulty of recovering the underwater vehicle is greatly improved due to the interference of wind, waves, gushes and other obstacles on the whole recovery system.
Disclosure of Invention
The invention aims to provide an autonomous recovery mechanism and a recovery method of an unmanned underwater vehicle based on a catamaran, which can be recovered quickly and stably.
Based on the purpose, the invention adopts the following technical scheme:
an unmanned underwater vehicle autonomous recovery mechanism based on a twin-hull unmanned ship comprises a clamping recovery mechanism and an auxiliary recovery mechanism; the clamping and recovering mechanism comprises a clamp holder matched with the underwater vehicle and a position adjusting device connected with the clamp holder.
Furthermore, the auxiliary recovery mechanism comprises a recovery frame arranged below the mechanical claw, the recovery frame comprises a pair of vertically arranged guard plates and a recovery bottom plate fixedly connected below the pair of guard plates, the recovery bottom plate is parallel to the guard plates and is of a V-shaped structure, the recovery frame further comprises a baffle fixedly connected at the rear end of the recovery bottom plate, the baffle is vertically arranged, and the baffle is perpendicular to the recovery bottom plate; the front end of the recovery frame is provided with a detection device matched with the underwater vehicle.
Furthermore, the recovery frame is also connected with a first lifting mechanism, the first lifting mechanism comprises a movable guide rail which is in sliding connection with the guard plate, and the movable guide rail is vertically arranged; the first lifting mechanism further comprises a chain with one end connected with the recovery frame, and the other end of the chain is connected with a rotary hydraulic pump.
Furthermore, the gripper comprises a support frame and a pair of mechanical claws connected to the support frame; each mechanical claw comprises a pair of clamping plates which are arranged in a crossed mode, the lower portion of each clamping plate is a clamping section, and one end, far away from the clamping section, of each clamping plate is hinged to the supporting frame; the middle part of every splint all articulates there is first connecting rod, and its articulated splint were kept away from to two first connecting rods one end articulates there is a connecting block, and the connecting block setting has linked firmly the straight line push rod of vertical setting in the top of splint, the last linear drive motor that is connected with of straight line push rod, and linear drive motor links firmly with the support frame.
Furthermore, the clamping sections of the two clamping plates are arranged in a crossed manner, each clamping plate comprises a rotating section which forms an included angle with the clamping section, and the rotating section is fixedly connected with the top end of the clamping section.
Further, the position adjusting device comprises an angle adjusting mechanism connected with the support frame, the angle adjusting mechanism is connected with a second lifting mechanism, and the second lifting mechanism is connected with a horizontal moving mechanism; the angle adjusting mechanism comprises a rotating shaft fixedly connected with the supporting frame, and the rotating shaft is vertically arranged; the rotating shaft is rotatably connected with a horizontal supporting plate, the rotating shaft is fixedly connected with a steering gear coaxial with the rotating shaft, the steering gear is meshed with a driving gear, the driving gear is connected with a first motor, and the first motor is fixedly connected with the supporting plate.
Furthermore, the second lifting mechanism comprises a traction rope, one end of the traction rope is fixedly connected with the supporting plate, the other end of the traction rope is connected with a reel, the reel is connected with a second motor, the second motor is connected with the horizontal moving mechanism, and the reel and the horizontal moving mechanism are both arranged above the supporting plate; the second lifting mechanism further comprises a telescopic parallel four-bar mechanism arranged between the supporting plate and the horizontal moving mechanism, connecting assemblies are arranged at the upper end and the lower end of the telescopic parallel four-bar mechanism, and each connecting assembly comprises a pair of fixed blocks and a pair of sliding blocks hinged with the parallel four-bar mechanism.
Further, the horizontal moving mechanism includes a transverse moving frame connected to the top end of the parallelogram linkage, and a longitudinal moving frame connected above the transverse moving frame.
Furthermore, the left and right sides of retrieving the frame all is provided with the frame of laying rather than parallel, and it all sets up in the top of retrieving the frame to lay the frame.
The unmanned underwater vehicle autonomous recovery method based on the catamaran comprises the following steps:
Compared with the prior art, the invention has the following beneficial effects:
in order to solve the problems of large limitation, complex recovery mechanism and the like of a traditional recovery method of the unmanned underwater vehicle, the invention provides a recovery mechanism and a recovery method of an autonomous recovery underwater vehicle based on a twin-hull unmanned ship. The whole process does not need human interference, and the recovery task of the underwater vehicle in a large-scale sea area and under a complex sea condition can be completed only by autonomously deciding pose information of the unmanned ship and a set recovery method. The risk to operators is reduced, and the recovery method has a more practical application background.
The recovery mechanism has high degree of freedom, can realize vertical, horizontal and rotary motion, has stronger flexibility and practicability compared with the traditional traction rope and a mechanical claw hook, is based on a mechanical structure during recovery, has higher stability and reliability, and can complete tasks more excellently under complex sea conditions.
The recovery frame is matched with the clamp holder, the recovery frame is large in opening, the underwater vehicle is easy to capture, and the recovery stability of the underwater vehicle is improved; the recovery bottom plate of the recovery frame is of a V-shaped structure, so that the position of the underwater vehicle can be adjusted under the action of gravity, the underwater vehicle can be conveniently clamped by the clamp, and the underwater vehicle can be conveniently placed into the placing frame. The guard plate of the recovery frame and the baffle at the rear end can prevent the underwater vehicle from running out of the recovery frame, and the recovery stability of the underwater vehicle is improved. The clamp holder is set into a front mechanical claw and a rear mechanical claw which can clamp the front end and the rear end of the underwater vehicle, so that the clamping stability is improved, and the underwater vehicle is stably conveyed to the placing frame. The telescopic parallel four-bar mechanism can effectively solve the problem of front-back swing of the mechanical claw in the lifting process caused by a single traction rope, and the moving stability of the mechanical claw is improved.
Drawings
FIG. 1 is a front view of a grip recovery mechanism according to embodiment 1 of the present invention;
FIG. 2 is an isometric view of example 1 of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a schematic view of a recycling box according to embodiment 1 of the present invention;
FIG. 5 is a schematic view of a gripper according to embodiment 1 of the present invention;
FIG. 6 is a schematic view showing a state of the chucking recovery mechanism according to embodiment 1 of the present invention;
FIG. 7 is a partial enlarged view A of FIG. 6;
FIG. 8 is a partial enlarged view B of FIG. 6;
FIG. 9 is a left side view of the grip recovery mechanism according to embodiment 1 of the present invention;
FIG. 10 is an enlarged view of a portion of FIG. 9;
FIG. 11 is a plan view of the grip recovering mechanism in embodiment 1 of the present invention;
FIG. 12 is an isometric view of a grip recovery mechanism of embodiment 1 of the invention;
FIG. 13 is a left side view of embodiment 1 of the present invention;
FIG. 14 is a front view of embodiment 1 of the present invention;
FIG. 15 is a top view of example 1 of the present invention;
FIG. 16 is a schematic view of a recovery vehicle according to embodiment 1 of the present invention;
FIG. 17 is a left side view of the underwater vehicle recovery apparatus according to embodiment 1 of the present invention;
FIG. 18 is a front view of the underwater vehicle recovery apparatus according to embodiment 1 of the present invention;
FIG. 19 is a schematic view of a grip recovery mechanism according to embodiment 1 of the present invention;
FIG. 20 is a schematic view of another angle of the clamping and retrieving mechanism in accordance with embodiment 1 of the present invention;
FIG. 21 is a schematic view showing the opening of the holder in accordance with embodiment 1 of the present invention;
FIG. 22 is a schematic view showing a gripping state of the gripper in embodiment 1 of the present invention;
FIG. 23 is a recovery flow chart of example 2 of the present invention shown in FIG. 1;
FIG. 24 is a recovery flow chart of example 2 of the present invention shown in FIG. 2;
FIG. 25 is a recovery flow chart of example 2 of the present invention shown in FIG. 3;
FIG. 26 is a recovery flow chart of example 2 of the present invention shown in FIG. 4;
FIG. 27 is a recovery flow chart of example 2 of the present invention shown in FIG. 5;
FIG. 28 is a recovery flow chart of example 2 of the present invention shown in FIG. 6;
FIG. 29 is a recovery flow chart of example 2 of the present invention shown in FIG. 7.
In the figure: the device comprises a longitudinal motor 1, a longitudinal guide rail 2, a longitudinal square tube profile 3, a longitudinal polish rod slide rail 4, a longitudinal polish rod slide block 5, a transverse motor 6, a longitudinal guide rail slide block 7, a transverse polish rod slide rail 8, a transverse polish rod slide block 9, a rotating shaft 10, a parallel rod 11, a pin shaft 12, a mounting frame 13, a front cover 14, a mechanical claw 15, a submergence vehicle 16, a first motor 17, a linear driving motor 18, long angle iron 19, a traction rope 21, a second motor 22, a transverse guide rail 23, a transverse frame square material 24, a transverse rotating shaft 26, a transverse slide block 27, a first reel mounting seat 28, a driving gear 29, an angle iron fixing seat 30, a second mounting seat 31, short angle iron 33, a double-body recovery ship 34, a lifting hanging wheel 35, a rotary hydraulic pump 36, a recovery frame 37, a locking chain 38, a propeller 39, a lifting slide block 40, a movable guide rail 41, a rotating shaft 42, a screw 43, a thrust bearing 44, a round nut 45, a sliding block 46, a clamping section 47, a connecting block 48, a linear push rod 49, a placing frame 50, a clamping plate 51, a first connecting rod 52, a protecting plate 53, a bottom plate 54 and a baffle plate 55.
Detailed Description
Example 1
An autonomous recovery mechanism of an unmanned underwater vehicle 16 based on a catamaran 34, as shown in fig. 1-22, comprises a clamping recovery mechanism and an auxiliary recovery mechanism; the clamping and recovering mechanism comprises a clamp matched with the underwater vehicle 16 and a position adjusting device connected with the clamp. The clamping and recovering mechanism mainly comprises a longitudinal moving frame, a transverse moving frame, a telescopic parallel four-bar mechanism and a clamp.
As shown in fig. 1 to 4, the auxiliary recovery mechanism includes a recovery frame 37 disposed below the gripper 15, the recovery frame 37 being installed inside the catamaran unmanned ship 34; the recycling frame 37 comprises a pair of vertically arranged guard plates 53 and a recycling bottom plate 54 fixedly connected below the pair of guard plates 53, the recycling bottom plate 54 is parallel to the guard plates 53, the recycling bottom plate 54 is of a V-shaped structure, the recycling frame 37 further comprises a baffle plate 55 fixedly connected at the rear end of the recycling bottom plate 54, the baffle plate 55 is vertically arranged, and the baffle plate 55 is perpendicular to the recycling bottom plate 54; the front end of the recovery frame 37 is provided with a detection device matched with the underwater vehicle 16. The front end of the recovery frame 37 is an entrance end of the underwater vehicle 16, and two sides of a guard plate 53 at the front end of the recovery frame 37 are respectively provided with a detection device for detecting whether the underwater vehicle 16 enters the recovery frame 37. The detection device comprises an ultrasonic sensor, when the underwater vehicle 16 enters, ultrasonic waves transmitted outwards by the ultrasonic sensor are reflected by the outer surface of the underwater vehicle 16 to cause phase angle change, and the ultrasonic sensor is used for detecting whether the underwater vehicle 16 enters or not.
As shown in fig. 2-3, the recovery frame 37 is further connected with a first lifting mechanism, the first lifting mechanism includes four movable guide rails 41 slidably connected with the guard plate 53, the movable guide rails 41 are vertically arranged, and the movable guide rails 41 are fixedly connected with the catamaran unmanned ship 34; four corners of the outer side of the recovery frame 37 are respectively and fixedly provided with a lifting slide block 40, and the lifting slide blocks 40 are all connected with a movable guide rail 41 in a sliding manner. The first lifting mechanism further comprises four chains 38, one ends of the chains 38 are connected with the recovery frame 37, one end of each chain 38 is fixedly connected with the lifting slide block 40, and the other end of each chain 38 is connected with the rotary hydraulic pump 36 by bypassing the lifting hanging wheel 35. The chain 38 can be extended or shortened by the rotary hydraulic pump 36, and the recovery frame 37 can be stably raised and lowered under the constraint of the movable guide rail 41.
As shown in fig. 1, 5-6 and 13, the holder comprises a support frame and a front cover 14 fixedly connected to the front end and the rear end of the support frame, each front cover 14 is a pair of vertically arranged and fixedly connected plate-shaped structures, and each front cover 14 is connected with a mechanical claw 15; each gripper 15 comprises a pair of crossed clamping plates 51, each clamping plate 51 is L-shaped, the lower part of each clamping plate 51 is a clamping section 47, and one end of each clamping plate 51, which is far away from the clamping section 47, is hinged with the front cover 14; every splint 51's middle part all articulates there is first connecting rod 52, and two first connecting rods 52 keep away from its articulated splint 51 one end and articulate and have a connecting block 48, and connecting block 48 sets up in splint 51's top, and splint 51's top has linked firmly the straight line push rod 49 of vertical setting, is connected with linear drive motor 18 on the straight line push rod 49, and linear drive motor 18 links firmly with the support frame. The clamp plate 51, the first connecting rod 52 and the linear push rod 49 form a crank-slider mechanism, the linear push rod 49 and the connecting block 48 move linearly, and the clamp plate 51 rotates around the hinge joint of the clamp plate 51 and the front cover 14. The gripper 15 is driven by a linear drive motor 18 to complete the gripping and placing. In addition, the entire gripper section can be rotated about the axis of rotation 42.
The clamping sections 47 of the two clamping plates 51 are arranged in a crossed manner, each clamping plate 51 comprises a rotating section which is arranged at an included angle with the clamping section 47, the rotating section is fixedly connected with the top end of the clamping section 47, and the rotating section and the clamping section 47 are of an integrated structure.
As shown in fig. 6 to 22, the position adjusting device includes an angle adjusting mechanism connected to the supporting frame, the angle adjusting mechanism is connected to a second lifting mechanism, and the second lifting mechanism is connected to a horizontal moving mechanism; the angle adjusting mechanism comprises a rotating shaft 42 fixedly connected with the supporting frame, and the rotating shaft 42 is vertically arranged; the rotating shaft 42 is rotatably connected with a horizontal supporting plate, the rotating shaft is fixedly connected with a steering gear coaxial with the rotating shaft, the steering gear is meshed with a driving gear 29, the driving gear 29 is connected with a first motor 17, and the first motor 17 is fixedly connected with the supporting plate. The top end of the rotating shaft 42 is provided with a round nut 45 which plays the roles of fastening and limiting the steering gear, the middle of the rotating shaft 42 is connected with a thrust bearing 44 which is coaxial with the rotating shaft, and the thrust bearing 44 is connected with the supporting plate to play the rotating function. The lower end surface of the rotating shaft 42 is provided with 4 threaded holes which are fixedly connected with a support frame through screws 43. A second mounting seat 31 fixedly connected with the rotating shaft 42 and the support frame is arranged between the rotating shaft and the support frame, and the second mounting seat 31 is arranged on the holder mounting seat. The gripper 15 can be rotated through a certain angle under the action of the steering gear to adapt to the submergible vehicles 16 with different postures in the recovery frame 37.
The second lifting mechanism comprises a traction rope 21, one end of the traction rope 21 is fixedly connected with the supporting plate, the other end of the traction rope 21 is connected with a reel 26, the reel 26 is connected with a second motor 22, the second motor 22 is connected with the horizontal moving mechanism, and the reel 26 and the horizontal moving mechanism are both arranged above the supporting plate; the second lifting mechanism further comprises a telescopic parallel four-bar mechanism arranged between the supporting plate and the horizontal moving mechanism, connecting assemblies are arranged at the upper end and the lower end of the telescopic parallel four-bar mechanism, and each connecting assembly comprises a pair of fixed blocks hinged with the telescopic parallel four-bar mechanism and a pair of sliding blocks 46. The support plate is fixedly connected with a mounting frame 13.
The horizontal moving mechanism comprises a transverse moving frame connected with the top end of the parallel four-bar mechanism and a longitudinal moving frame connected above the transverse moving frame.
The longitudinal moving frame comprises three horizontally arranged longitudinal square pipe profiles 3 fixedly connected to the double-body unmanned ship 34, and each longitudinal square pipe profile 3 is perpendicular to the length direction of the guard plate 53 (the length directions of the longitudinal square pipe profiles 3 are both left and right directions); the front longitudinal square tube section bar 3 and the rear longitudinal square tube section bar 3 are respectively fixedly connected with a longitudinal feed rod slide rail 4 parallel to the front longitudinal square tube section bar, and each longitudinal feed rod slide rail 4 is slidably connected with a longitudinal feed rod slide block 5; the middle longitudinal square tube section bar 3 is fixedly connected with a longitudinal guide rail 2 parallel to the middle longitudinal square tube section bar, and the longitudinal guide rail 2 is connected with a longitudinal guide rail sliding block 7 in a sliding way. The longitudinal feed bar sliding block 5 is fixedly connected with the longitudinal guide rail sliding block 7, one end of the longitudinal guide rail 2 is fixedly connected with the longitudinal motor 1, and the longitudinal motor 1 can drive the longitudinal guide rail sliding block 7 and the longitudinal feed bar sliding block 5 to move along the longitudinal guide rail 2. The longitudinal beam slide 4 is used to bear the weight of the mechanism and the underwater vehicle 16.
The transverse moving frame comprises two transverse frame square bars 24 (the length directions of the transverse frame square bars 24 are both front and back directions) which are perpendicular to the longitudinal square tube section 3, and the transverse frame square bars 24 are horizontally arranged below the longitudinal square tube section 3; the transverse frame square bars 24 are fixedly connected with the lower ends of the longitudinal light bar sliding block 5 and the longitudinal guide rail sliding block 7, transverse guide rails 23 parallel to the longitudinal frame square bars are arranged between the two transverse frame square bars 24, a transverse light bar guide rail 8 parallel to the transverse frame square bars is fixedly connected to each of the two transverse frame square bars 24, a transverse motor 6 fixedly connected to each of the two transverse frame square bars 24 is arranged between the two transverse frame square bars 24, and the transverse guide rails 23 are fixedly connected with the two transverse frame square bars 24. The transverse guide rail 23 is provided with a transverse sliding block 27 in a sliding way, the transverse lever guide rail 8 is provided with a transverse lever sliding block 9 in a sliding way, and a horizontal moving frame is fixedly connected below the transverse lever sliding block 9 and the transverse sliding block 27. The first motor 17 is fixedly connected with the middle of the horizontal moving frame, and the first motor 17 realizes the lifting of the mechanical claw 15 through the traction rope 21 on the reel 26.
The top end of the telescopic parallel four-bar mechanism is located in the middle of the moving frame, the telescopic parallel four-bar mechanism comprises three layers of crossed layers which are arranged up and down, each layer of crossed layer comprises two pairs of parallel bars 11 which are arranged in a crossed mode, each pair of two parallel bars 11 which are crossed mutually are hinged through a pin shaft 12, and two shared rotating shafts 10 are hinged between every two adjacent layers of crossed layers. The front part of the bottom end of the lowest layer of the cross layer is hinged with a long angle iron 19, the rear part is hinged with a short angle iron 33, the long angle iron 19 is fixedly connected with a sliding block 46, and the short angle iron 33 is fixedly connected with a fixed block. The front part of the top end of the top layer of the cross layer on the uppermost layer is hinged with a long angle iron 19, the rear part of the top layer of the cross layer is hinged with a short angle iron 33, the long angle iron 19 is fixedly connected with a sliding block 46, and the short angle iron 33 is fixedly connected with a fixed block. The long angle iron 19 and the short angle iron 33 are both installed on the angle iron fixing seat 30. The lower fixed block is fixedly connected with the mounting frame 13, and the sliding block 46 is in sliding connection with the mounting frame 13; the upper fixed block is fixedly connected with the moving frame, and the sliding block 46 is connected with the moving frame in a sliding manner. A first mounting seat 28 is fixedly mounted on the mounting frame 13, and a first motor 17 is fixedly mounted on the first mounting seat 28.
As shown in fig. 2, the left and right sides of the recovery frame 37 are both provided with placing frames 50 parallel to the recovery frame 37, the placing frames 50 are both arranged above the recovery frame 37, and the placing frames 50 are both fixedly connected with the catamaran unmanned ship 34.
The catamaran unmanned ship 34 can monitor the operation condition of the unmanned underwater vehicle 16 in a certain target sea area in real time, including real-time capture of task completion degree, battery lightening or equipment loss condition and the like, when the target underwater vehicle 16 completes a certain task or the battery is insufficient or the airborne equipment fails, a recovery signal can be sent to the catamaran unmanned ship 34, and after the catamaran unmanned ship 34 receives instruction information through a signal receiving end, a path and a mode for reaching a specified target area can be automatically decided. And monitoring the position information and the state information of the target underwater vehicle 16 in real time through GPS navigation and a sensor. Both the submersible vehicle 16 and the catamaran unmanned vehicle 34 are provided with communication means. The underwater vehicle 16 is provided with inertial navigation, a GPS, an acceleration sensor, a speed sensor and a draft measurement sensor, and is used for measuring each physical quantity. The underwater vehicle 16 is provided with a satellite navigation and communication module, the unmanned ship is also internally provided with a corresponding signal receiving device, the underwater vehicle 16 broadcasts the physical information of the underwater vehicle as a communication signal to the outside, and the recovery ship is provided with a signal receiving device for receiving the information of the underwater vehicle 16. A decision processor is provided on the catamaran unmanned ship 34. A propeller 39 is also arranged on the catamaran unmanned ship.
Example 2
The embodiment is an autonomous recovery method of the unmanned underwater vehicle 16 based on the catamaran unmanned ship 34 in embodiment 1, and the method comprises the following steps:
Step 2, recovering the preparation work of the underwater vehicle 16; as shown in fig. 24-25, when the catamaran unmanned ship 34 reaches a range 16200 m away from the underwater vehicle, the catamaran unmanned ship 34 sends an approaching arrival instruction to the underwater vehicle 16, at this time, the underwater vehicle 16 directly sends own pose information to the catamaran unmanned ship 34 through a signal sending device, the underwater vehicle 16 continuously adjusts the heading angle, the pitch angle, the roll angle, the speed, the acceleration, the angular velocity and the angular acceleration of the underwater vehicle 16 by controlling a power system at the tail part, so that the heading angles of the underwater vehicle 16 and the catamaran unmanned ship 34 are kept consistent as much as possible, and meanwhile, the underwater vehicle 16 keeps the speed unchanged and starts to gradually float up to a distance within 1 m from the water surface; after the catamaran unmanned ship 34 receives the pose information of the underwater vehicle 16, the underwater vehicle 16 is accelerated to be tracked by a track tracking technology (the track tracking method of the catamaran unmanned ship 34 adopts a conventional incremental PID method), and meanwhile, the catamaran unmanned ship 34 also continuously adjusts the heading angle of the ship body to enable the heading angle of the catamaran unmanned ship to be close to the same as the heading angle of the underwater vehicle 16; when the catamaran unmanned ship 34 reaches a distance of 1620 meters from the submersible vehicle, the catamaran unmanned ship 34 rotates the hydraulic pump 36 to lower the chain 38 according to the current hull speed and the distance from the submersible vehicle 16, and the recovery frame 37 is lowered to a depth of 1 meter below the water surface.
Claims (7)
1. An autonomous recovery mechanism of an unmanned underwater vehicle based on a twin-hull unmanned ship is characterized by comprising a clamping recovery mechanism and an auxiliary recovery mechanism; the clamping recovery mechanism comprises a clamp holder matched with the underwater vehicle and a position adjusting device connected with the clamp holder; the clamp holder comprises a support frame, the position adjusting device comprises an angle adjusting mechanism connected with the support frame, the angle adjusting mechanism is connected with a second lifting mechanism, and the second lifting mechanism is connected with a horizontal moving mechanism; the longitudinal moving frame comprises three horizontally arranged longitudinal square tube profiles fixedly connected on the double-body unmanned ship, two longitudinal square tube profiles are fixedly connected with a longitudinal feed bar sliding rail parallel to the longitudinal square tube profiles respectively, and each longitudinal feed bar sliding rail is connected with a longitudinal feed bar sliding block in a sliding manner; the transverse moving frame comprises two transverse frame square bars which are vertical to the longitudinal square tube section; the transverse frame square materials are fixedly connected with the lower ends of the longitudinal feed bar sliding block and the longitudinal guide rail sliding block, a transverse guide rail parallel to the transverse frame square materials is arranged between the two transverse frame square materials, a transverse sliding block is arranged on the transverse guide rail in a sliding mode, a horizontal moving frame is fixedly connected below the transverse sliding block, and the top end of the telescopic parallel four-bar mechanism is located in the middle of the moving frame; the horizontal moving mechanism comprises a transverse moving frame connected with the top end of the parallel four-bar mechanism and a longitudinal moving frame connected above the transverse moving frame; the auxiliary recovery mechanism comprises a recovery frame arranged below the mechanical claw, the recovery frame comprises a pair of vertically arranged guard plates and a recovery bottom plate fixedly connected below the pair of guard plates, the recovery bottom plate is parallel to the guard plates, the recovery bottom plate is of a V-shaped structure, the recovery frame further comprises a baffle fixedly connected to the rear end of the recovery bottom plate, the baffle is vertically arranged, and the baffle is perpendicular to the recovery bottom plate; the front end of the recovery frame is provided with a detection device matched with the underwater vehicle; the gripper comprises a support frame and a pair of mechanical claws connected to the support frame; each mechanical claw comprises a pair of clamping plates which are arranged in a crossed mode, the lower portion of each clamping plate is a clamping section, and one end, far away from the clamping section, of each clamping plate is hinged to the supporting frame; every the middle part of splint all articulates there is first connecting rod, two the one end that its articulated splint were kept away from to first connecting rod articulates there is a connecting block, the connecting block sets up the top at splint, the top of splint has linked firmly the linear push rod of vertical setting, the last linear drive motor that is connected with of linear push rod, linear drive motor links firmly with the support frame.
2. The unmanned underwater vehicle autonomous recovery mechanism based on catamaran unmanned ship of claim 1, wherein the recovery frame is further connected with a first lifting mechanism, the first lifting mechanism comprises a moving guide rail connected with the guard plate in a sliding manner, and the moving guide rail is arranged vertically; the first lifting mechanism further comprises a chain of which one end is connected with the recovery frame, and the other end of the chain is connected with a rotary hydraulic pump.
3. The unmanned underwater vehicle autonomous recovery mechanism based on catamaran unmanned ship of claim 2, wherein the clamping sections of the two clamping plates are arranged in a crossing manner, each clamping plate comprises a rotating section arranged at an angle with the clamping section, and the rotating section is fixedly connected with the top end of the clamping section.
4. The unmanned underwater vehicle autonomous recovery mechanism based on catamaran unmanned ship of claim 3, wherein the angle adjusting mechanism comprises a rotating shaft fixedly connected with the supporting frame, and the rotating shaft is vertically arranged; the utility model discloses a motor, including pivot, driving gear, first motor, backup pad, the pivot is connected with the horizontally backup pad in the rotation, link firmly rather than coaxial steering gear in the pivot, steering gear meshing is connected with drive gear, drive gear is connected with first motor, first motor links firmly with the backup pad.
5. The unmanned underwater vehicle autonomous recovery mechanism based on catamaran unmanned ship of claim 4, wherein the second lifting mechanism comprises a pulling rope with one end fixedly connected with the supporting plate, the other end of the pulling rope is connected with a reel, the reel is connected with a second motor, the second motor is connected with the horizontal movement mechanism, and the reel and the horizontal movement mechanism are both arranged above the supporting plate; the second elevating system still includes the scalable parallel four-bar linkage that sets up between backup pad and horizontal migration mechanism, both ends all are provided with coupling assembling, every about the scalable parallel four-bar linkage coupling assembling all include with parallel four-bar linkage articulated a pair of fixed block and a pair of sliding block.
6. The unmanned underwater vehicle self-recovery mechanism based on catamaran unmanned ship as claimed in claim 5, wherein said recovery frame is provided with a placing frame parallel to the left and right sides thereof, and said placing frame is provided above the recovery frame.
7. The autonomous recovery method of unmanned underwater vehicles based on catamaran unmanned vehicles according to any of claims 1 to 6, comprising the steps of:
step 1, moving a catamaran unmanned ship to a submersible vehicle; when the underwater vehicle is in a state of completing a certain task or the battery power is insufficient or the airborne equipment is in a fault state, the underwater vehicle sends a recovery signal to the catamaran unmanned ship; after receiving the instruction information through the signal receiving end, the catamaran automatically decides the path and the mode for reaching the specified target area; in the moving process of the double-body unmanned ship, the underwater vehicle measures the heading angle, the advancing linear speed, the linear acceleration, the angular speed and the angular acceleration of the underwater vehicle and the water amount in the ship body of the underwater vehicle in real time and transmits the measurement information to the double-body unmanned ship;
step 2, recovering the preparation work of the underwater vehicle; when the catamaran unmanned ship reaches a range of 200 meters away from the underwater vehicle, the catamaran unmanned ship sends an approaching arrival instruction to the underwater vehicle, and the underwater vehicle directly sends own position and attitude information to the catamaran unmanned ship through a signal sending device at the moment, and continuously adjusts the heading angle, the pitch angle, the roll angle, the speed, the acceleration, the angular speed and the angular acceleration of the underwater vehicle, so that the heading angles of the underwater vehicle and the catamaran unmanned ship are kept consistent, and the underwater vehicle keeps the speed unchanged and starts to gradually float up to a distance of 1 meter away from the water surface; after receiving the pose information of the underwater vehicle, the catamaran accelerates to track the underwater vehicle through a track tracking technology, and simultaneously adjusts the heading angle of the catamaran to be the same as the heading angle of the underwater vehicle; when the catamaran unmanned ship reaches a position within 20 meters of the underwater vehicle, rotating a hydraulic pump to lower a chain according to the current speed of the catamaran and the distance from the underwater vehicle, and lowering a recovery frame to a depth of 1 meter below the water surface;
step 3, collecting the underwater vehicle to a recovery frame; when the decision processor of the catamaran unmanned ship judges that the pose information of the current underwater vehicle and the pose information of the catamaran unmanned ship both meet the recovery condition, the catamaran unmanned ship starts to accelerate, and the underwater vehicle enters the recovery frame from the front end of the recovery frame; when the detection device detects that the underwater vehicle enters the recovery frame, the double-body unmanned ship starts to decelerate; when the underwater vehicle completely enters the recovery frame, the speed of the double-body unmanned ship is reduced to be consistent with that of the underwater vehicle; after the underwater vehicle completely enters the recovery frame for 3-5s, rotating the hydraulic pump recovery chain, pulling the recovery frame and the underwater vehicle to a position above the water surface, and enabling the underwater vehicle to be positioned in the recovery bottom plate under the action of gravity after leaving the water surface;
step 4, the clamper grabs the underwater vehicle; after the recovery frame leaves the water surface, the double-body unmanned ship controls the transverse moving frame and the longitudinal moving frame to drive the second lifting mechanism, the angle adjusting mechanism and the clamp holder to move, then the first motor drives the driving gear to rotate, the driving gear drives the steering gear to rotate, and the steering gear drives the clamp holder to rotate to the position right above the underwater vehicle; then the second motor drives the reel to rotate to lower the traction rope, and the clamp holder falls down; when the mechanical claw touches the underwater vehicle, the linear driving motor drives the linear push rod to move downwards, and the linear push rod drives the clamping plate to rotate towards the direction close to the underwater vehicle so as to grab the underwater vehicle;
step 5, placing the underwater vehicle on a placing frame; after the mechanical claw grabs the underwater vehicle, the first motor drives the driving gear and the steering gear to rotate and reset, and the steering gear drives the underwater vehicle to rotate to the direction parallel to the placing frame; then the second motor drives the reel to rotate to take up the traction rope and lift the mechanical claw until the mechanical claw rises to a set height; then the transverse moving frame and the longitudinal moving frame are controlled by the double-body unmanned ship to drive the clamp and the underwater vehicle to move right above the placing frame, the linear driving motor drives the linear push rod to move upwards, the linear push rod drives the clamp plate to rotate in the direction far away from the underwater vehicle, and the underwater vehicle is placed in the placing frame; and finally, resetting the transverse moving frame and the longitudinal moving frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210330157.5A CN114620188B (en) | 2022-03-31 | 2022-03-31 | Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210330157.5A CN114620188B (en) | 2022-03-31 | 2022-03-31 | Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114620188A CN114620188A (en) | 2022-06-14 |
| CN114620188B true CN114620188B (en) | 2023-03-14 |
Family
ID=81903470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210330157.5A Active CN114620188B (en) | 2022-03-31 | 2022-03-31 | Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114620188B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115610629B (en) * | 2022-11-15 | 2023-05-16 | 广东智能无人系统研究院(南沙) | ROV-based docking recovery device |
| CN115946825A (en) * | 2022-12-27 | 2023-04-11 | 沈阳辽海装备有限责任公司 | Recovery device for underwater glider |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101513735A (en) * | 2009-03-26 | 2009-08-26 | 上海大学 | Tuck net type manipulator of underwater robot |
| CN103171746A (en) * | 2011-12-26 | 2013-06-26 | 中国科学院沈阳自动化研究所 | Launching and recovery device for self-government underwater vehicle |
| CN106240772A (en) * | 2016-08-26 | 2016-12-21 | 中国海洋大学 | A kind of ship base underwater glider lays recovery system and lays accordingly and recovery method |
| CN207550461U (en) * | 2017-11-22 | 2018-06-29 | 国家海洋局第二海洋研究所 | A kind of new A UV accurately lays retracting device |
| CN110775200A (en) * | 2019-10-23 | 2020-02-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
| WO2020082821A1 (en) * | 2018-10-26 | 2020-04-30 | 河海大学 | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle |
| CN111301639A (en) * | 2020-03-16 | 2020-06-19 | 浙江海洋大学 | Recovery device and recovery method for underwater vehicle |
| CN114074747A (en) * | 2021-12-30 | 2022-02-22 | 上海大学 | Novel unmanned underwater vehicle laying and recycling system and method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212022927U (en) * | 2020-03-16 | 2020-11-27 | 浙江海洋大学 | Be applied to underwater vehicle recovery unit of unmanned ship |
-
2022
- 2022-03-31 CN CN202210330157.5A patent/CN114620188B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101513735A (en) * | 2009-03-26 | 2009-08-26 | 上海大学 | Tuck net type manipulator of underwater robot |
| CN103171746A (en) * | 2011-12-26 | 2013-06-26 | 中国科学院沈阳自动化研究所 | Launching and recovery device for self-government underwater vehicle |
| CN106240772A (en) * | 2016-08-26 | 2016-12-21 | 中国海洋大学 | A kind of ship base underwater glider lays recovery system and lays accordingly and recovery method |
| CN207550461U (en) * | 2017-11-22 | 2018-06-29 | 国家海洋局第二海洋研究所 | A kind of new A UV accurately lays retracting device |
| WO2020082821A1 (en) * | 2018-10-26 | 2020-04-30 | 河海大学 | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle |
| CN110775200A (en) * | 2019-10-23 | 2020-02-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
| CN111301639A (en) * | 2020-03-16 | 2020-06-19 | 浙江海洋大学 | Recovery device and recovery method for underwater vehicle |
| CN114074747A (en) * | 2021-12-30 | 2022-02-22 | 上海大学 | Novel unmanned underwater vehicle laying and recycling system and method |
Non-Patent Citations (1)
| Title |
|---|
| 水下机器人推力器布置及控制仿真研究;吴乃龙;《中国海洋大学学报》;20120415;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114620188A (en) | 2022-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114620188B (en) | Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship | |
| WO2020082821A1 (en) | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle | |
| CN106240772B (en) | A kind of ship base underwater glider lays recovery system and corresponding lays and recovery method | |
| CN107878670B (en) | Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge | |
| CA2931980C (en) | Subsurface mining vehicle and method for collecting mineral deposits from a sea bed at great depths and transporting said deposits to a floating vessel | |
| CN110040628B (en) | Submersible vehicle retracting and releasing method | |
| CN111877290A (en) | Intelligent water surface cleaning robot | |
| CN203958575U (en) | One is search and rescue robot under water | |
| CN110001895B (en) | Submersible vehicle winding and unwinding device | |
| CN114074747B (en) | Novel unmanned underwater vehicle deployment and recovery system and method | |
| CN111332411A (en) | Offshore recovery method for underwater robot | |
| US11565781B1 (en) | Hybrid-driven mooring chain cleaning and structural inspection underwater robot and working method thereof | |
| CN113401322B (en) | Multifunctional retractable cabin for modular underwater intelligent equipment platform | |
| CN205186488U (en) | But be applied to heave diving outfit of archipelagic sea | |
| CN210382322U (en) | Automatic catch robot of sea cucumber | |
| CN210416916U (en) | Unmanned ship sampling system | |
| CN116280035B (en) | Ocean mobile capturing device and working method thereof | |
| CN111572769A (en) | Coastline rubbish recovery robot | |
| CN111746757A (en) | Offshore floating body recovery device and method | |
| CN215883989U (en) | Underwater robot throwing and recycling device | |
| CN111516807A (en) | Lifting cabin and underwater material collecting system adopting same | |
| CN115042939A (en) | Submersible vehicle adopting winch towing cable and control method | |
| CN111139811B (en) | Ship lift chamber bottom obstacle cleaning device and method | |
| CN113186801A (en) | Intelligent unmanned combined floating bridge | |
| CN109577403B (en) | Propeller-driven left-right swinging cutter suction type dredging robot with rescue function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |