CN114655401B - AUV liquid filling type cloth recycling device and method for underwater glider - Google Patents
AUV liquid filling type cloth recycling device and method for underwater glider Download PDFInfo
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- CN114655401B CN114655401B CN202210309444.8A CN202210309444A CN114655401B CN 114655401 B CN114655401 B CN 114655401B CN 202210309444 A CN202210309444 A CN 202210309444A CN 114655401 B CN114655401 B CN 114655401B
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- 239000007788 liquid Substances 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000004744 fabric Substances 0.000 title claims description 18
- 238000004064 recycling Methods 0.000 title claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 85
- 238000011084 recovery Methods 0.000 claims abstract description 52
- 238000007789 sealing Methods 0.000 claims abstract description 14
- 238000010521 absorption reaction Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 239000000696 magnetic material Substances 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 238000003475 lamination Methods 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 3
- 230000004927 fusion Effects 0.000 description 7
- 238000003466 welding Methods 0.000 description 7
- 230000014759 maintenance of location Effects 0.000 description 5
- 230000036961 partial effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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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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- Ocean & Marine Engineering (AREA)
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Abstract
The invention relates to an AUV liquid filling type deployment and recovery device and method for an underwater glider, belonging to the field of deployment and recovery of underwater vehicles; the device comprises a shape-preserving device, a clamping device and a positioning plate, wherein the shape-preserving device is fixed on a glider body through the positioning plate, and the clamping device is used for fixing the recovered AUV; the shape-retaining device comprises a rigid outer shell, a flexible inner shell and a water-and-water-absorbing device, wherein the inner surface of the rigid outer shell is consistent with the half-body outer profile of the AUV separated by the cross section of the central shaft and is used for positioning the AUV before release and retaining the shape after release; the edge of the flexible inner shell is connected with the edge of the rigid outer shell in a sealing way, the molded surface of the flexible inner shell is consistent with the other half of the molded surface of the AUV, and the AUV is formed by filling liquid with the rigid outer shell, so that the shape of the underwater glider is kept; the water-absorbing and water-filling device is used for filling water into or draining water from a cavity formed by the rigid outer shell and the flexible inner shell. The tail protection device provided by the invention can effectively avoid the change of the overall hydrodynamic parameters of the glider due to the complex model structure of the AUV tail.
Description
Technical Field
The invention belongs to the field of underwater vehicle deployment and recovery, and particularly relates to an AUV liquid filling type deployment and recovery device and method for an underwater glider.
Background
With the increasing demands of the nation for development and utilization of ocean resources and deep sea safety problems, unmanned long-time operation of underwater robots becomes a popular technology. The underwater glider is used as a novel underwater robot, and can be widely used in underwater continuous operation for several months due to the advantages of low energy consumption, high efficiency, strong cruising ability and the like. An underwater unmanned and unmanned robot (AUV) is a new generation of underwater robots, has the advantages of large moving range, good maneuverability, safety, intellectualization and the like, and becomes an important tool for completing various underwater tasks. However, most of the robots are unsuitable for long-time underwater operation due to the defects of low cruising ability and the like of the small and medium underwater robots. The AUV recovery device needs to be recovered regularly, so that the operations of energy source supplement, information interaction, part overhaul and the like are performed, and the important problems of how to recover the AUV and how to design the recovery device to improve the recovery efficiency and ensure the navigation safety are solved.
In recent years, in order to improve the gliding efficiency and hydrodynamic performance of underwater gliders, more and more wing body fusion gliders are in public view. Unlike earlier gyrorotor type underwater gliders, wing body fusion type underwater gliders are mostly flat with less/thinner inner space. CN202110260463.1 proposes an AUV deployment and retraction device suspended in a wing body fusion underwater glider, and this retraction method occupies a larger internal space of the glider, and changes the appearance and water tightness of the glider during deployment and retraction, thereby causing the hydrodynamic parameter of the glider to change and affecting the maneuverability of the glider.
In the prior art, the underwater glider is used for carrying a small AUV to dive, and is used as an underwater 'cruising' workstation of the AUV, but the internal space of the underwater glider is limited, and an AUV recovery device with a complex structure or a large volume cannot be installed; therefore, in order to save the inner space of the glider and realize the shape retention of the body after the recovery or release of the AUV and reduce the variation of hydrodynamic parameters, the invention provides a shape retention type distribution recovery device attached to the glider body.
Disclosure of Invention
The technical problems to be solved are as follows:
in order to avoid the defects of the prior art, the invention provides an AUV liquid filling type distribution and recovery device for an underwater glider, wherein the recovery device is designed into a carrying form externally attached to a glider body, a recovery shell structure combining a rigid outer shell and a flexible inner shell is adopted, and the AUV is released and the shape-preserving function after release is realized through liquid filling.
The technical scheme of the invention is as follows: AUV liquid filling type cloth recycling device for underwater glider is characterized in that: the device comprises a shape-preserving device, a clamping device and a positioning plate, wherein the shape-preserving device is fixed on a glider body through the positioning plate, and the clamping device is arranged on the positioning plate and used for fixing the recovered AUV;
the shape-preserving device comprises a rigid outer shell, a flexible inner shell and a water and water absorbing and filling device, wherein the inner surface of the rigid outer shell is consistent with the half-body shape surface of the AUV separated by the cross section of the central shaft and is used for positioning the AUV before release and preserving shape after release; the edge of the flexible inner shell is connected with the edge of the rigid outer shell in a sealing way, the molded surface of the flexible inner shell is consistent with the other half of the molded surface of the AUV, and the AUV is formed by filling liquid and the rigid outer shell, so that the shape of the underwater glider is kept; the water absorption and filling device is used for filling water into or draining water from a cavity formed by the rigid outer shell and the flexible inner shell.
The invention further adopts the technical scheme that: the positioning plate is provided with a positioning hole consistent with the AUV in shape, and the circumferential edge of the positioning hole is fixed outside the glider body; the lower edge of the rigid shell is fixed on the inner wall of the positioning hole of the positioning plate to form an integrated structure, and the shell part of the rigid shell is embedded in the glider body; the flexible inner shell is in sealing connection with the lower edge of the rigid outer shell and the inner wall of the positioning hole, and the flexible inner shell expands after the cavity is filled with water to replace the outer molded surface of the AUV.
The invention further adopts the technical scheme that: the semi-circular baffle is fixed at the front end of the positioning hole of the positioning plate, the sensing element is arranged on the semi-circular baffle, the AUV head is contacted with the semi-circular baffle under the action of the AUV head sensing element when the AUV head is recovered, and the positioning of the AUV head is realized.
The invention further adopts the technical scheme that: the water sucking and filling device comprises a motor, a turbine, a right water pipe and a left water pipe, wherein the right water pipe is in sealing connection with a connecting hole of the rigid shell, and the left water pipe extends out of the glider; the turbine is driven by the motor to rotate positively and negatively, and water filling and water draining are realized in a cavity formed by the rigid outer shell and the flexible inner shell through the right water pipe and the left water pipe.
The invention further adopts the technical scheme that: the clamping device comprises a clamping ring, a fixed block, a clamping device motor and a motor protection shell, wherein the fixed block is arranged on the outer side end surface of the fixed plate, and the clamping device motor is arranged on the fixed block through the motor protection shell;
the clamping ring is of a semicircular structure, one end of the clamping ring is connected with an output shaft of a motor of the clamping device, and the clamping ring is driven to rotate by the motor of the clamping device; the other end of the clamping ring rotates to be in contact with the fixing plate, and the inner ring surface of the clamping ring compresses the peripheral surface of the AUV, so that the fixing of the recovered AUV is completed.
The invention further adopts the technical scheme that: one end of the clamping ring is connected with an output shaft of a motor of the clamping device in a gear inner meshing way, and the other end of the clamping ring is provided with an electromagnetic part of the clamping ring; an electromagnetic block is arranged on the fixed plate at a position corresponding to the clamping ring, and the electromagnetic block and the electromagnetic part of the clamping ring form an electromagnetic buckle together, and the electromagnetic buckle is tightly attached to complete the clamping function after being electrified.
The invention further adopts the technical scheme that: the AUV tail protection device is arranged at the rear end of the fixing plate and is opposite to the recovered AUV tail; the AUV tail protection device is of a folding structure, and when the AUV tail protection device is used, the motor drives the folding protection cover to rotate until the AUV tail protection device is unfolded, so that the AUV tail is covered.
The invention further adopts the technical scheme that: the AUV tail protection device comprises a semicircular fixing block, a folding protection cover, a tail protection device motor and an electromagnetic strip; the semicircular fixing block and the tail protection device motor are fixed on the fixing plate, an output shaft of the tail protection device motor is arranged opposite to the circle center of the semicircular fixing block, and a semicircular sliding groove is formed in the outer edge of the semicircular fixing block along the circumferential direction;
the folding protective cover comprises a flexible shell, an elastic rib plate and a rigid rib plate; the flexible shell is made of a foldable flexible material, one end of the flexible shell is fixed on the fixed plate, and a plurality of elastic rib plates are uniformly distributed on the shell along the expanding direction and serve as supporting pieces; one end of each rigid rib plate is hinged to the center of the semicircular fixed block, and the other end of each rigid rib plate is correspondingly connected with each elastic rib plate; the rigid rib plate connected to the outermost elastic rib plate is connected with the motor output shaft of the tail protection device, and the motor of the tail protection device drives the rigid rib plate to rotate around the center of the semicircular fixed block, so that the elastic rib plate and the flexible shell slide along the sliding groove, and the opening and closing functions of the AUV tail protection device are completed;
the elastic rib plate at the outermost side adopts magnetic materials and forms an electromagnetic buckle with an electromagnetic strip fixed on the fixed plate, when the motor of the tail protection device drives the folding protection cover to be unfolded, the elastic rib plate at the outermost side is contacted with the electromagnetic strip on the fixed plate, and the sealing function is tightly attached after the electric connection is performed.
An AUV (autonomous Underwater vehicle) distributing method for an AUV liquid filling type distributing and recovering device of an underwater glider is characterized by comprising the following specific steps:
step 1: when the glider reaches a designated position, the system receives a command and supplies power to the AUV liquid filling type cloth recycling device through a power supply;
step 2: the clamping device and the tail protection device are respectively controlled by a motor to be in an open state;
step 3: the water sucking and filling device is started, and water is filled into a cavity formed by the rigid outer shell and the flexible inner shell through an external water pipe, so that the flexible inner shell is gradually opened, and the AUV is pushed out of the glider to finish distribution;
step 4: after the AUV is released, continuing to fill water into a cavity formed by the rigid outer shell and the flexible inner shell until the flexible inner shell is completely unfolded to form a molded surface consistent with the AUV, and closing the water suction and filling device;
step 5: closing the clamping device and the tail protection device respectively, and placing the AUV cloth recovery device to finish the shape retention function; the shape of the whole glider is equivalent to that of the glider before and after the AUV is released, so that the hydrodynamic coefficient is prevented from greatly fluctuating.
An AUV recovery method for an AUV liquid filling type cloth recovery device of an underwater glider is characterized by comprising the following specific steps:
step 1: when the AUV reaches the vicinity of the glider, the system receives a command and supplies power to the AUV liquid filling type cloth recovery device through a power supply;
step 2: the clamping device and the tail protection device are respectively controlled by a motor to be in an open state;
step 3: the water sucking and filling device is started, water in a cavity formed by the rigid outer shell and the flexible inner shell is discharged through the external water pipe, the flexible inner shell is gradually retracted until the rigid outer shell is retracted to be in a concave state, and the water sucking and filling device is closed;
step 4: the AUV moves to the lower part of the AUV liquid filling type distribution and recovery device in a self-navigation way, under the action of the AUV head sensing element, the AUV head is contacted with a semicircular baffle plate on a fixed plate, and then the outer peripheral surface of the AUV head is attached to the retracted flexible inner shell;
step 5: and closing the clamping device and the tail protection device respectively, and finally, putting the AUV into the recovery device to complete AUV recovery.
Advantageous effects
The invention has the beneficial effects that: the invention provides a protected AUV (autonomous Underwater vehicle) cloth recovery device suitable for carrying an AUV in a wing body fusion type underwater glider, wherein the AUV cloth recovery device with an embedded structure is adopted, a rigid outer shell positioned in a machine body realizes the positioning after the recovery of the AUV, a flexible inner shell positioned outside the machine body is retracted into the rigid outer shell after being discharged by a water absorption and filling device, and the recovered AUV is protected from collision in the rigid outer shell; this structure has effectively reduced the occupation to glider inner space.
The cavity formed by the rigid outer shell and the flexible inner shell is filled with water through a water absorption and filling device, and the AUV can be provided with thrust when being released, and can be deduced from the glider body without other driving components; after the cavity is filled with water, the outer profile of the flexible inner shell is consistent with the AUV, so that the shape-preserving function of the underwater glider after the AUV is released is realized.
The AUV recovered by the recovery device is carried outside the glider, and the tail of the AUV is exposed in water, so that the recovered AUV tail is protected by adopting the folding AUV tail protection device, and the AUV can be released by opening the device only by driving a motor when the AUV is released.
The invention provides a carrying form for attaching the AUV outside the body, which can effectively save the internal space of the underwater glider; the shape preserving function provided by the invention can effectively avoid the integral hydrodynamic parameter mutation of the glider after the AUV is released/recovered, so that the glider can maintain a good motion state before and after the AUV is released/recovered; the tail protection device provided by the invention can effectively avoid the change of the overall hydrodynamic parameters of the glider due to the complex model structure of the AUV tail.
Drawings
FIG. 1 is a schematic diagram of a wing-body fusion glider and AUV deployment and recovery device;
FIG. 2 is a schematic perspective view of an AUV deployment and recovery device;
FIG. 3 is a partial schematic view of a conformal device;
FIG. 4 is a schematic view in partial section of a water-absorbing and filling device;
FIG. 5 is a partial schematic view of a clamping device;
FIG. 6 is a partial schematic view of the tail protector and locating plate;
FIG. 7 is a schematic diagram of the AUV release process of the AUV deployment recovery device;
FIG. 8 is a schematic diagram of the AUV deployment recovery device after release of the AUV;
reference numerals illustrate: 1-wing body fusion glider, 2-AUV cloth recovery device, 3-AUV, 4-water absorbing and filling device, 5-shape preserving device, 6-locating plate, 7-semicircular baffle, 8-clamping device, 9-AUV tail protecting device, 10-rigid outer shell, 11-flexible inner shell, 12-connecting hole, 13-water absorbing and filling device motor, 14-rubber ring, 15-turbine, 16-right water pipe, 17-left water pipe, 18-clamping ring, 19-fixed block, 20-clamping device motor, 21-motor protecting shell, 22-flexible outer shell, 23-elastic rib plate, 24-chute, 25-semicircular fixed block, 26-rigid rib plate, 27-tail protecting device motor, 28-electromagnetic strip, 29-clamping ring electromagnetic part, 30-electromagnetic block and 31-power supply.
Detailed Description
The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1 and 2, the invention relates to an AUV liquid filling type cloth recovery device for an underwater glider, which comprises a shape-preserving device 5, a clamping device 8 and a positioning plate 6, wherein the shape-preserving device 5 is fixed on a glider body through the positioning plate 6, and the clamping device 8 is arranged on the positioning plate 6 and used for fixing the recovered AUV;
the shape-retaining device 5 comprises a rigid outer shell 10, a flexible inner shell 11 and a water-absorbing and water-filling device 4, wherein the inner surface of the rigid outer shell 10 is consistent with the half-body profile of the AUV separated by the cross section of the central shaft and is used for positioning the AUV before release and retaining the shape after release; the edge of the flexible inner shell 11 is connected with the edge of the rigid outer shell in a sealing way, the molded surface of the flexible inner shell is consistent with the other half of the molded surface of the AUV, and the AUV is formed by filling liquid and the rigid outer shell, so that the shape of the underwater glider is kept; the water absorption and filling device is used for filling water into or draining water from a cavity formed by the rigid outer shell and the flexible inner shell.
Examples:
referring to fig. 1 to 7, the AUV deployment and recovery device of the present embodiment is composed of a shape-retaining device 5, a positioning plate 6, a semicircular baffle 7, a clamping device 8, an AUV tail protection device 9, and a power supply 31. The positioning plate 6 is fixedly arranged on the outer airframe of the wing body fusion glider 1, is to be welded and fixed, and has the inner shell shape equivalent to the AUV3 shape to play a role in positioning; the semicircular baffle 7 is fixedly arranged at the front end of the positioning plate, is connected by welding, has a circular radius equal to the radius of the head of the AUV3, and is in inductive contact with the head of the AUV3 when the AUV is recovered, so as to play a role in positioning; the shape-preserving device 5 is positioned in the glider 1 and is connected with the positioning plate 6 by welding; the clamping device 8 is positioned outside the glider 1 and is connected with the positioning plate 6 by bolts; the AUV tail protection device 9 is positioned outside the glider 1 and is connected with the positioning plate 6 by welding.
The shape-preserving device 5 comprises a rigid outer shell 10, a flexible inner shell 11 and a water absorbing and filling device 4. The appearance of the rigid shell 10 is consistent with the appearance of the upper half of the AUV3, the rigid shell plays a role in positioning before and a role in shape retention after the AUV is released, and the rigid shell is fixedly arranged above the positioning plate 6 in the glider 1 in a welding mode; the flexible inner shell 11 is consistent with the shape of the lower half of the AUV3, is connected with the edge cut-off surface of the rigid outer shell 10 in a sealing way, and fills liquid into a cavity formed by the rigid outer shell 10 and the flexible inner shell 11 through the water absorbing and filling device 4 after the AUV is released, so that the shape similar to the AUV3 is formed, and the shape keeping function is realized.
The water sucking and filling device 4 comprises a water sucking and filling device motor 13, a rubber ring 14, a turbine 15, a right water pipe 16 and a left water pipe 17, wherein the right water pipe 16 is connected with the rigid shell 10 through a connecting hole 12, and a connecting port is sealed by the rubber ring. The left water pipe 17 is connected with the outside of the glider 1, and water in the external environment of the glider is selected to be sucked/filled for saving the internal space of the glider; the motor 13 of the water-and-water-absorbing and filling device provides driving force for the water-and-filling device 4, and the forward and reverse rotation of the turbine 15 is realized by utilizing the forward and reverse rotation function of the motor to provide water-and-filling service, so that the conformal function of the AUV release recovery device is completed.
The clamping device 8 comprises a clamping ring 18, a fixed block 19, a clamping device motor 20, a motor protection shell 21, a clamping ring electromagnetic part 29 and an electromagnetic block 30. The fixed block 19 is connected with the positioning plate 6 by bolts, and the motor protection shell 21 is connected with the fixed block 19 by welding; the motor 20 of the clamping device is positioned in the motor protection shell 21, an output shaft of the motor is connected with the clamping ring 18 in a gear inner meshing way, and the motor rotates to drive the clamping ring 18 to rotate so as to complete the opening and closing functions of the clamping device; the electromagnetic part 29 of the clamping ring is positioned at the front end of the clamping ring 18, adopts magnetic materials to form an electromagnetic buckle function together with the electromagnetic block 30, and is tightly attached to complete the clamping function after being electrified.
The AUV tail protection device 9 comprises a flexible shell 22, an elastic rib plate 23, a sliding groove 24, a semicircular fixing block 25, a rigid rib plate 26, a tail protection device motor 27 and an electromagnetic strip 28. The flexible shell 22 is made of flexible materials, and the right end section is fixedly connected with the positioning plate 6 by welding; the elastic rib plates 23 are uniformly distributed on the inner surface of the flexible shell 22 to support and act. The semicircular fixing block 25 is fixedly arranged at the tail part of the positioning plate 6 in a welding mode; the sliding groove 24 is located on the front end surface of the circular fixing block 25, and its weight is slightly smaller than and concentric with the circular fixing block 25, and both of them play a role in positioning the AUV tail protection device 9. The rigid rib plate 26 is correspondingly connected with the elastic rib plate 23, to be welded, and the motor 27 of the tail protection device rotates clockwise/anticlockwise to drive the rigid rib plate 26 to rotate clockwise/anticlockwise around the central axis of the AUV3, so that the elastic rib plate 23 is driven to slide along the sliding groove 24 to complete the opening and closing functions of the tail protection device. Wherein, the outermost rib plate of the elastic rib plate 23 is made of magnetic material and forms an electromagnetic buckle function together with the electromagnetic strip 28, and the electromagnetic buckle function is tightly attached to the electromagnetic strip after being electrified to complete the sealing function.
The power supply 31 is arranged in the glider and supplies power to the water sucking and filling device motor 13, the clamping device motor 20, the tail protecting device motor 27, the electromagnetic strip 28 and the electromagnetic block 30.
There are two modes in this embodiment: AUV (autonomous Underwater vehicle) distribution mode and AUV recovery mode
AUV (autonomous Underwater vehicle) layout mode
Referring to fig. 1 to 8, when the glider reaches a designated position, the system receives a command, and the power supply arches the water-absorbing and water-filling device motor 13, the clamping device motor 20 and the tail protection device motor 27; the magnetic stripe 28 and the electromagnet block 30 are powered down. The motor 20 of the clamping device rotates reversely to drive the clamping ring 18 to rotate clockwise, and the clamping device is opened; the motor 27 of the tail protection device is reversely rotated to drive the elastic rib plate 23 to slide anticlockwise along the sliding chute 24, and the tail protection device is opened; the motor 13 of the water sucking and filling device rotates to drive the turbine 15 to rotate clockwise, water is sucked into the water sucking and filling device 4 through the left water pipe 17, then enters into a gap between the rigid outer shell 10 and the flexible inner shell 11 through the right water pipe 16, so that the flexible inner shell 11 is gradually opened to push the AUV3 to move outwards of the glider 1, and the AUV3 is self-propelled to release the glider as shown in fig. 7.
When the AUV3 is released, the gap between the rigid outer shell 10 and the flexible inner shell 11 is filled with water, and the flexible inner shell 11 is spread to a shape similar to the AUV 3. The clamping device motor 20 rotates positively to drive the clamping ring 18 to rotate anticlockwise, and the clamping device is closed; the energizing of the electromagnet blocks 30 in close proximity to the clamp ring electromagnet portions 29 ensures that the clamp ring 18 is no longer rotating. The motor 27 of the tail protection device rotates forward to drive the elastic rib plate 23 to slide clockwise along the sliding groove 24, and the tail protection device is closed; the electromagnetic strip 28 is electrified to be attached to the outermost rib plate of the elastic rib plate 23 to finish sealing. The AUV cloth recovery device 2 finishes the shape retention function, and as shown in fig. 8, the shape of the glider is quite equal to that of the AUV before and after release, so that the hydrodynamic coefficient is prevented from greatly fluctuating.
AUV recovery mode
Referring to fig. 1 to 7, when AUV3 reaches the vicinity of glider 1, the system receives a command, and the power supply arches up water-and-water device motor 13, clamping device motor 20, tail protection device motor 27; the magnetic stripe 28 and the electromagnet block 30 are powered down. The motor 20 of the clamping device rotates reversely to drive the clamping ring 18 to rotate clockwise, and the clamping device is opened; the motor 27 of the tail protection device is reversely rotated to drive the elastic rib plate 23 to slide anticlockwise along the sliding chute 24, and the tail protection device is opened; the motor 13 of the water sucking and filling device reversely rotates to drive the turbine 15 to rotate anticlockwise, water in the gap between the rigid outer shell 10 and the flexible inner shell 11 is discharged from the water sucking and filling device 4 through the right water pipe 16, and the flexible inner shell 11 is in a concave state again.
AUV3 moves from the navigation to the lower part of AUV cloth recovery device 2, and AUV3 head front end moves upwards after contacting with semicircular baffle 7 until AUV surface is attached with flexible inner shell 11. The clamping device motor 20 rotates positively to drive the clamping ring 18 to rotate anticlockwise, and the clamping device is closed; the electromagnet block 30 is energized to tightly fit the clamping ring electromagnet portion 29 to perform the clamping function. The motor 27 of the tail protection device rotates forward to drive the elastic rib plate 23 to slide clockwise along the sliding groove 24, and the tail protection device is closed; the sealing function is completed by electrifying the electromagnetic strip 28 and attaching the outermost rib plate of the elastic rib plate 23 as shown in figure 1.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (9)
1. AUV liquid filling type cloth recycling device for underwater glider is characterized in that: the device comprises a shape-preserving device, a clamping device and a positioning plate, wherein the shape-preserving device is fixed on a glider body through the positioning plate, and the clamping device is arranged on the positioning plate and used for fixing the recovered AUV;
the shape-preserving device comprises a rigid outer shell, a flexible inner shell and a water and water absorbing and filling device, wherein the inner surface of the rigid outer shell is consistent with the half-body shape surface of the AUV separated by the cross section of the central shaft and is used for positioning the AUV before release and preserving shape after release; the edge of the flexible inner shell is connected with the edge of the rigid outer shell in a sealing way, the molded surface of the flexible inner shell is consistent with the molded surface of the other half of the AUV, and the AUV is formed with the rigid outer shell in a water filling way, so that the shape of the underwater glider is kept; the water absorption and filling device is used for filling water into or draining water from a cavity formed by the rigid outer shell and the flexible inner shell;
the positioning plate is provided with a positioning hole consistent with the AUV in shape, and the circumferential edge of the positioning plate is fixed outside the glider body; the lower edge of the rigid shell is fixed on the inner wall of the positioning hole of the positioning plate to form an integrated structure, and the shell part of the rigid shell is embedded in the glider body; the flexible inner shell is in sealing connection with the lower edge of the rigid outer shell and the inner wall of the positioning hole, and the flexible inner shell expands after the cavity is filled with water to replace the outer molded surface of the AUV.
2. The AUV liquid-filled deployment-recovery apparatus for an underwater glider of claim 1, wherein: the semi-circular baffle is fixed at the front end of the positioning hole of the positioning plate, the sensing element is arranged on the semi-circular baffle, the AUV head is contacted with the semi-circular baffle under the action of the AUV head sensing element when the AUV head is recovered, and the positioning of the AUV head is realized.
3. The AUV liquid-filled deployment-recovery apparatus for an underwater glider of claim 1, wherein: the water sucking and filling device comprises a motor, a turbine, a right water pipe and a left water pipe, wherein the right water pipe is in sealing connection with a connecting hole of the rigid shell, and the left water pipe extends out of the glider; the turbine is driven by the motor to rotate positively and negatively, and water filling and water draining are realized in a cavity formed by the rigid outer shell and the flexible inner shell through the right water pipe and the left water pipe.
4. The AUV liquid-filled deployment-recovery apparatus for an underwater glider of claim 1, wherein: the clamping device comprises a clamping ring, a fixed block, a clamping device motor and a motor protection shell, wherein the fixed block is arranged on the outer side end surface of the positioning plate, and the clamping device motor is arranged on the fixed block through the motor protection shell;
the clamping ring is of a semicircular structure, one end of the clamping ring is connected with an output shaft of a motor of the clamping device, and the clamping ring is driven to rotate by the motor of the clamping device; the other end of the clamping ring rotates to be in contact with the positioning plate, and the inner ring surface of the clamping ring compresses the peripheral surface of the AUV, so that the AUV is fixed after recovery.
5. The AUV liquid-filled deployment-recovery apparatus for an underwater glider of claim 4 wherein: one end of the clamping ring is in meshed connection with an output shaft of a motor of the clamping device through a gear, and the other end of the clamping ring is provided with an electromagnetic part of the clamping ring; and an electromagnetic block is arranged on the positioning plate at a position corresponding to the electromagnetic part of the clamping ring, and the electromagnetic block and the electromagnetic part of the clamping ring jointly form an electromagnetic buckle, so that the clamping function is completed through lamination after electrification.
6. The AUV liquid-filled deployment-recovery apparatus for an underwater glider of claim 1, wherein: an AUV tail protection device is arranged at the rear end of the positioning plate, and the position of the AUV tail protection device is opposite to the recovered AUV tail; the AUV tail protection device is of a folding structure, and when the AUV tail protection device is used, the motor of the tail protection device drives the folding protection cover to rotate until the AUV tail protection device is unfolded, so that the AUV tail is covered.
7. The AUV liquid-filled deployment-recovery apparatus for an underwater glider of claim 6, wherein: the AUV tail protection device comprises a semicircular fixing block, a folding protection cover, a tail protection device motor and an electromagnetic strip; the semicircular fixing block and the tail protection device motor are fixed on the positioning plate, an output shaft of the tail protection device motor is arranged opposite to the circle center of the semicircular fixing block, and a semicircular sliding groove is formed in the outer edge of the semicircular fixing block along the circumferential direction;
the folding protective cover comprises a flexible shell, an elastic rib plate and a rigid rib plate; the flexible shell is made of a foldable flexible material, one end of the flexible shell is fixed on the positioning plate, and a plurality of elastic rib plates are uniformly distributed on the flexible shell along the expanding direction and serve as supporting pieces; one end of each rigid rib plate is hinged to the center of the semicircular fixed block, and the other end of each rigid rib plate is correspondingly connected with each elastic rib plate; the rigid rib plate connected to the outermost elastic rib plate is connected with the motor output shaft of the tail protection device, and the motor of the tail protection device drives the rigid rib plate to rotate around the center of the semicircular fixed block, so that the elastic rib plate and the flexible shell are driven to slide along the sliding groove, and the opening and closing functions of the AUV tail protection device are completed;
the elastic rib plate at the outermost side is made of magnetic materials and forms an electromagnetic buckle with an electromagnetic strip fixed on the positioning plate, when the motor of the tail protection device drives the folding protection cover to be unfolded, the elastic rib plate at the outermost side is in contact with the electromagnetic strip on the positioning plate, and the sealing function is completed after the elastic rib plate is electrified.
8. An AUV deployment method using the AUV liquid-filled deployment and recovery apparatus for an underwater glider according to claim 6 or 7, characterized by the specific steps of:
step 1: when the glider reaches a designated position, the system receives a command and supplies power to the AUV liquid filling type cloth recycling device through a power supply;
step 2: the clamping device and the tail protection device are respectively controlled to be in an open state by a clamping device motor and a tail protection device motor;
step 3: the water sucking and filling device is started, and water is filled into a cavity formed by the rigid outer shell and the flexible inner shell through an external water pipe, so that the flexible inner shell is gradually opened, and the AUV is pushed out of the glider to finish distribution;
step 4: after the AUV is released, continuing to fill water into a cavity formed by the rigid outer shell and the flexible inner shell until the flexible inner shell is completely unfolded to form a molded surface consistent with the AUV, and closing the water suction and filling device;
step 5: the clamping device and the tail protection device are respectively closed, and the cloth recovery device finishes the shape-preserving function.
9. An AUV recovery method using the AUV liquid-filled type deployment recovery apparatus for an underwater glider according to claim 6 or 7, characterized by the specific steps of:
step 1: when the AUV reaches the vicinity of the glider, the system receives a command and supplies power to the AUV liquid filling type cloth recovery device through a power supply;
step 2: the clamping device and the tail protection device are respectively controlled to be in an open state by a clamping device motor and a tail protection device motor;
step 3: the water sucking and filling device is started, water in a cavity formed by the rigid outer shell and the flexible inner shell is discharged through the external water pipe, the flexible inner shell is gradually retracted until the rigid outer shell is retracted to be in a concave state, and the water sucking and filling device is closed;
step 4: the AUV moves to the lower part of the AUV liquid filling type distribution and recovery device in a self-navigation way, and under the action of an AUV head sensing element, the AUV enters the AUV liquid filling type distribution and recovery device, and the outer peripheral surface of the AUV is attached to the retracted flexible inner shell;
step 5: and closing the clamping device and the tail protection device respectively, and finally, completing AUV recovery by the cloth recovery device.
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