CN114735169A - Laying and recycling device and method suitable for polar AUV - Google Patents
Laying and recycling device and method suitable for polar AUV Download PDFInfo
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- CN114735169A CN114735169A CN202210393999.5A CN202210393999A CN114735169A CN 114735169 A CN114735169 A CN 114735169A CN 202210393999 A CN202210393999 A CN 202210393999A CN 114735169 A CN114735169 A CN 114735169A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/02—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which the lifting is done by hauling
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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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
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- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a deployment and recovery device and a deployment and recovery method suitable for an AUV (autonomous underwater vehicle) in a polar region, which comprise a hollow through cylinder body, wherein a lamp group is arranged at an opening at one end of the cylinder body, a plurality of groups of driving mechanisms and supporting stop rods are arrayed outside the cylinder body at the lamp group, one end of each supporting stop rod is connected with the driving mechanism, a sonar receiving and transmitting mechanism is arranged outside the other end of each supporting stop rod, a whole watertight deployment cover is arranged on each supporting stop rod, the supporting stop rods can open and close ports of the cylinder body under the action of the driving mechanisms, a plurality of groups of limiting mechanisms are arranged in parallel on the inner side wall of the cylinder body along the depth direction of the cylinder body, and an anti-collision mechanism is arranged in the middle of the inner side of an end cover. The watertight cloth cover structure that can open and close has reduced cloth and has put recovery unit's whole volume and fluid power unit and provide power or supplementary polar region AUV business turn over, improves cloth and put and recovery efficiency, fuses through with acoustics, optics and hydrodynamics principle, has improved security, success rate and the recovery efficiency that polar region AUV retrieved.
Description
Technical Field
The invention relates to the technical field of underwater robot deployment and recovery, in particular to a deployment and recovery device and a deployment and recovery method suitable for an AUV (autonomous underwater vehicle) in a polar region.
Background
In an arctic underwater environment, an Autonomous Underwater Vehicle (AUV) needs to be deployed and recovered underwater, and the AUV is used in the fields of marine scientific investigation, submarine exploration, underwater robot recovery and the like. The endurance capacity and underwater operation time of the AUV are limited by self-carried energy, after the AUV completes a certain task, the AUV needs to return to a deployment point for recovery by self-navigation, but the recovery point reached by the AUV is prone to deviation due to the complex electromagnetic underwater acoustic environment of the polar region, and a common solution in the traditional sea area is that when the AUV floats up, the location is sent to an AUV recovery ship through GPS communication, the recovery ship finds the AUV for recovery, but when the polar region ice layer covers the sea area, the AUV may impact the ice layer due to navigation misalignment, so that huge loss is caused.
The existing distribution and recovery device has low underwater docking success rate with the AUV, the docking and recovery process needs a long time, and the risk of damaging and losing the AUV exists. Meanwhile, the AUV needs to dig an opening suitable for the arrangement and recovery device on the ice surface, and the ice surface digging is complex, so that the digging time, the equipment and the labor cost are high.
The conventional butt joint mode is that a butt joint mechanism for capturing guide targets such as ropes, rods and the like is arranged at the bow of an AUV, the AUV moves along a guide device and completes butt joint, the carrying butt joint device is complex in structure, the adaptability of a butt joint platform under deep sea water is poor, the AUV needs to be greatly changed, and the sailing movement and the operation performance are influenced.
The other is a docking mode with cage boxes as docking targets, and the mode has strict requirements on maneuverability and motion control performance of the AUV due to ocean current disturbance and complex water flow conditions, the recovery failure rate is high, and the AUV is slightly deviated, so that the AUV collides with a recovery device, and the AUV body and the recovery device are damaged.
In addition, the AUV is landed on a docking platform by adopting the principle of airplane landing, a V-shaped positioning device on the docking platform is captured by two capturing arms under the AUV abdomen, and final positioning is completed by using a locking mechanism.
Disclosure of Invention
The applicant aims at the problems of high polar region ice surface excavation cost, high AUV recovery failure rate, damaged AUV and low recovery efficiency in the prior production technology, and provides a distribution and recovery device and a distribution and recovery method which are suitable for the polar region AUV, so that the distribution cost can be reduced, the underwater rapid distribution of the polar region AUV can be realized, the remote guidance and the close-range efficient butt joint recovery of the polar region AUV can be realized, and the sufficient success rate and the sufficient safety can be ensured.
The technical scheme adopted by the invention is as follows:
a distribution and recovery device suitable for polar AUV comprises a hollow through cylinder body, wherein a lamp group is arranged at an opening at one end of the cylinder body, and a plurality of groups of driving mechanisms are arranged outside the cylinder body at the lamp group along a circumferential array concentric with the inner wall of the cylinder body;
the device is characterized by further comprising supporting baffle rods, wherein one end of each supporting baffle rod is connected with the driving mechanism, a sonar transceiving mechanism is installed on the outer side of the other end of each supporting baffle rod, a whole piece of watertight cloth cover is installed on each supporting baffle rod, and the supporting baffle rods open and close the ports of the cylinder under the action of the driving mechanism;
when the watertight cloth cover is opened along with the action of the supporting stop lever, the watertight cloth cover encloses to form an annular conical surface structure with an outward opening, and when the watertight cloth cover is closed, the watertight cloth cover shrinks to form a cover-shaped structure matched with the port of the barrel body;
the other end of the cylinder body is closed to form an end cover, a fluid power mechanism is arranged on the end cover, and the fluid power mechanism is used for communicating the inner side and the outer side of the end cover;
the barrel inside wall is provided with multiunit stop gear along the barrel depth direction side by side, stop gear is including being located spacing post of the last spacing post on barrel inside wall middle part and upper portion and the spacing post of support of barrel inside wall lower part, the inboard middle part of end cover is provided with anticollision institution, the barrel outside is provided with the lug.
The further technical scheme is as follows:
the bottom support is arranged on the lower portion of the outer side wall of the barrel, a gyroscope is arranged on the upper portion of the outer side wall of the barrel along the middle portion of the depth direction of the barrel, and external fluid adjusting mechanisms are symmetrically arranged on the outer side wall of the barrel on one side of the end cover in the vertical direction.
The structure of the external fluid adjusting mechanism is as follows: the propeller mounting structure comprises a fixing frame arranged on the outer side wall of the cylinder body, and an external propeller is arranged on the fixing frame.
When the watertight cloth cover is opened, the supporting stop rod and the cylinder body form an included angle of 135 degrees in the radial direction.
The fluid power mechanism is a high-power propeller arranged on the end cover in an array mode.
The structure of supporting the limiting column is as follows: the anti-collision device comprises a fixed support arranged on the inner side wall of a cylinder body, wherein a supporting rod is arranged on the fixed support, a flexible rubber pad is arranged at the end part of the supporting rod, and the anti-collision mechanism and a supporting limiting column have the same structure; the upper limiting column has the structure that: the hydraulic cylinder is installed on the inner side wall of the cylinder body, the output end of the hydraulic cylinder is connected with a limiting rod, and the end portion of the limiting rod is provided with a flexible protection pad.
And pressure sensors are arranged on the upper limiting column, the supporting limiting column and the anti-collision mechanism.
A method for distributing and recovering an AUV suitable for polar regions,
the method comprises the following steps:
firstly, polar AUV distribution:
arranging the polar AUV above a supporting limiting column in the distribution and recovery device;
the upper limiting column acts to lock the polar AUV;
closing the watertight cloth cover;
the distribution and recovery device is placed into water through the excavated ice hole by a hoisting mechanism and reaches a preset depth;
opening the watertight cloth cover after the posture of the cloth and recovery device is stable;
opening the upper limiting column;
starting a fluid power mechanism, pushing the polar region AUV by water flow generated by the fluid power mechanism, and pushing the polar region AUV out of the distribution and recovery device;
II, polar AUV recovery step:
opening the watertight cloth cover or enabling the watertight cloth cover to continuously swing;
opening a sonar transceiving mechanism, establishing underwater acoustic communication with the polar AUV, and guiding the polar AUV to a camera of the polar AUV to identify the water area position of a light source emitted by a lamp group;
keeping the watertight cloth cover in an open state;
the lamp group is turned on, the position of a light source emitted by the lamp group is identified through a camera of the polar region AUV to feed back to a control system of the polar region AUV, and the polar region AUV adjusts the posture and is close to the distribution and recovery device to align with the opening of the cylinder;
opening the fluid power mechanism, and sucking the polar region AUV into the cloth recovery device;
closing a power mechanism of the polar AUV, wherein the polar AUV collides with the anti-collision mechanism and falls on the lifting limiting mechanism below the polar AUV;
the upper limiting column acts to lock the polar AUV;
closing the watertight cloth cover;
and the distribution and recovery device is lifted out of the water surface through the excavated ice cave by a hoisting mechanism.
Firstly, in the polar AUV distribution step:
the fluid power mechanism is started, and the power mechanism of the polar AUV is started at the same time;
pushing the polar AUV out of the distribution and recovery device, closing the watertight distribution cover, and hoisting the distribution and recovery device out of the water surface through the excavated ice cave by using a hoisting mechanism;
II, polar region AUV recovery step:
before the watertight cloth cover is opened, the method also comprises the following steps:
and (4) placing the distribution recovery device with the closed watertight distribution cover into water through the excavated ice hole by a hoisting mechanism, and reaching a preset depth.
The gyroscope and the external fluid adjusting mechanism are started while the fluid power mechanism is started, the gyroscope senses the posture of the laying and recycling device in real time, and the external fluid adjusting mechanism is controlled in an auxiliary mode to perform posture adjustment on the laying and recycling device.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, reduces the whole volume of the distribution and recovery device and improves the distribution and recovery efficiency by arranging the watertight distribution cover structure which can be opened and closed and providing power for the fluid power mechanism or assisting the polar AUV to enter and exit, overcomes the complex environmental influences of polar ocean current disturbance, electromagnetic interference and the like by fusing the acoustic, optical and hydrodynamic principles, and improves the safety, success rate and recovery efficiency of polar AUV recovery.
Meanwhile, the invention also has the following advantages:
(1) sonar receiving and dispatching mechanism sets up in the tip that supports the shelves pole, and sonar receiving and dispatching mechanism disperses the even and wide range of direction when watertight cloth cover open mode or swing, is favorable to establishing sonar communication with polar area AUV.
(2) The supporting stop rod is opened at a certain angle, so that the watertight cloth cover in an open state is enclosed into an annular conical surface structure with an outward opening to form a conical guide structure, and the guide effect of guiding the polar AUV into the cylinder is achieved.
(3) The changeable structure of stop gear and anticollision institution realizes the multiple load spatial arrangement of different specification polar AUV.
(4) The upper limiting column realizes the fixation of the polar AUV after recovery and prevents the polar AUV from shaking in the cylinder.
(5) The external fluid adjusting mechanism is combined with the gyroscope to adjust the posture of the distribution and recovery device, so that the distribution and recovery process of the polar AUV is more stable and rapid.
Drawings
Fig. 1 is a front view of the present invention (water-tight cloth cover open state).
Fig. 2 is a side view of fig. 1.
Fig. 3 is a front view of the invention (water tight cloth cover closed state, including polar AUV).
Fig. 4 is an enlarged view of a portion a in fig. 3.
Fig. 5 is a schematic view of the working state of the present invention.
FIG. 6 is a first state diagram of the polar AUV deployment of the present invention.
FIG. 7 is a second state diagram of the polar AUV deployment of the present invention.
FIG. 8 is a first state diagram for polar AUV recovery according to the present invention.
FIG. 9 is a second state diagram of the polar AUV recovery according to the present invention.
FIG. 10 is a third state diagram of the polar AUV recovery according to the present invention.
Wherein: 1. a sonar transceiving mechanism; 2. a supporting stop lever; 3. a drive mechanism; 4. a lamp group; 5. a limiting mechanism; 501. an upper limiting column; 502. supporting the limiting column; 5021. fixing a support; 5022. a support bar; 5023. a flexible rubber pad;
6. a cylinder body; 7. lifting lugs; 8. an anti-collision mechanism; 9. a fluid power mechanism; 10. an end cap; 11. a watertight cloth cover; 12. a hoisting mechanism; 13. AUV of polar region; 14. ice holes;
15. a bottom support; 16. a gyroscope; 17. an external fluid adjustment mechanism;
1701. an external propeller; 1702. a fixing frame.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-3, the deployment and recovery device suitable for polar AUV of this embodiment includes a hollow through cylinder 6, a lamp set 4 is disposed at an opening at one end of the cylinder 6, and a plurality of sets of driving mechanisms 3 are disposed outside the cylinder 6 at the lamp set 4 along a circumferential array concentric with an inner wall of the cylinder 6;
the device is characterized by further comprising supporting baffle rods 2, wherein one end of each supporting baffle rod 2 is connected with a driving mechanism 3, a sonar transceiving mechanism 1 is installed on the outer side of the other end of each supporting baffle rod 2, a whole piece of watertight cloth cover 11 is installed on each supporting baffle rod 2, and the supporting baffle rods 2 open and close ports of the cylinder body 6 under the action of the driving mechanisms 3;
when the watertight cloth cover 11 is opened along with the action of the supporting baffle rod 2, the watertight cloth cover 11 encloses to form an annular conical surface structure with an outward opening, and when the watertight cloth cover 11 is closed, the watertight cloth cover 11 contracts to form a cover-shaped structure matched with the port of the cylinder 6;
the other end of the cylinder 6 is closed to form an end cover 10, a fluid power mechanism 9 is arranged on the end cover 10, and the inner side and the outer side of the end cover 10 are communicated through the fluid power mechanism 9;
6 inside walls of barrel are provided with multiunit stop gear 5 along 6 depth direction of barrel side by side, and stop gear 5 is including being located 6 inside walls middle part of barrel and the spacing post 501 of last spacing post 501 and the support spacing post 502 of 6 inside walls lower parts of barrel on upper portion, and 10 inboard middle parts of end cover are provided with anticollision institution 8, and 6 outsides of barrel are provided with lug 7.
The driving mechanism 3 is used for driving the supporting baffle rod 2 to move so as to drive the watertight cloth cover 11 to realize opening and closing actions; the sonar receiving and dispatching mechanism 1 is arranged at the end part of the supporting stop rod 2, the sonar receiving and dispatching mechanism 1 has uniform divergence direction and wide range when the watertight cloth cover 11 is in an open state or swings, which is beneficial to establishing sonar communication with the polar region AUV13, the watertight cloth cover 11 in the open state also plays a role in guiding the polar region AUV13 to enter the cylinder body 6, the closed watertight cloth cover 11 structure can be opened, the whole volume of the arrangement and recovery device is reduced, and the problem of limited excavating capacity of the polar region ice layer is solved; the fluid power mechanism 9 generates suction and thrust to the polar region AUV13 by driving fluid inside and outside the cylinder 6 to flow, so as to provide power or assist the polar region AUV13 to enter and exit the distribution and recovery device, shorten the entering and exiting time and improve the distribution and recovery efficiency; the end part of the limiting mechanism 5 and the end part of the anti-collision mechanism 8 form a region for accommodating the polar AUV 13; the lifting lug 7 is made of low-temperature high-strength steel, and the ultimate tensile strength of the low-temperature high-strength steel is 1.5 times greater than the sum of the weight of the distribution and recovery device and the weight of the polar AUV 13.
The lower part of the outer side wall of the cylinder body 6 is provided with a bottom support 15, the upper part of the outer side wall of the cylinder body 6 is provided with a gyroscope 16 along the middle part of the depth direction of the cylinder body 6, and the outer side wall of the cylinder body 6 on one side of the end cover 10 is provided with external fluid adjusting mechanisms 17 in an up-and-down symmetrical mode. The bottom support 15 plays a supporting role when placing the distribution and recovery device, and the installation position of the gyroscope 16 and the gravity center of the distribution and recovery device are on the same vertical plane.
The external fluid adjusting mechanism 17 has the following structure: the device comprises a fixing frame 1702 arranged on the outer side wall of a cylinder 6, wherein an external propeller 1701 is arranged on the fixing frame 1702.
When the self weight, the dead weight of the polar AUV13 and the speed of the distribution and recovery device are not matched with those of the fluid power mechanism 9, the gyroscope 16 senses the posture of the distribution and recovery device in real time, the external fluid adjusting mechanism 17 is controlled in an auxiliary manner to adjust the posture of the distribution and recovery device, the change of the rear posture of the distribution and recovery device after the fluid power mechanism 9 is started to generate suction or thrust to the polar AUV13 is sensed, and a change signal is fed back to the control end of the shore base to control the rotating speed and the rotating direction of the external propeller 1701, so that the stable posture of the distribution and recovery device is guaranteed.
When the watertight cloth cover 11 is opened, the supporting baffle rod 2 and the cylinder 6 form an included angle of 135 degrees in the radial direction.
The supporting rod 2 is opened at a certain angle to enable the watertight cloth cover 11 in an open state to form an annular conical surface structure with an outward opening, so that a conical guide structure is formed.
The structure of the driving mechanism 3 is: the underwater motor is arranged on the base which is arranged outside the barrel 6, the underwater motor is connected with a speed reducer in a transmission manner, and the output end of the speed reducer is connected with the supporting gear rod 2.
The angle formed by the supporting baffle rod 2 and the end face of the opening of the cylinder 6 can be freely changed within the range of 0-135 degrees by adopting an underwater motor driving mode; the watertight cloth cover 11 is a flexible cloth having a certain flexibility, which is beneficial to supporting the swing of the stop lever 2.
The fluid power mechanism 9 is a high-power propeller arranged on the end cover 10 in an array. Particularly, the suction and thrust functions of the polar AUV13 are switched through forward and reverse rotation of the propeller, and the inlet and outlet speed of the polar AUV13 can be adjusted by adjusting the rotating speed of the propeller.
As shown in fig. 1 to 4, the supporting and limiting column 502 and the upper limiting column 501 together form a limiting mechanism 5, and the limiting mechanism 5 and the collision avoidance mechanism 8 are used for limiting and protecting when the polar AUV13 enters. By changing the size and the number of the supporting rod 5022 for supporting the limiting column 502 and the limiting rods of the upper limiting column 501, the arrangement of various load spaces of the AUV13 in polar regions with different specifications is realized.
The structure of the support spacing column 502 is: including installing in the fixing support 5021 of the 6 inside walls of barrel, be provided with bracing piece 5022 on the fixing support 5021, flexible rubber pad 5023 is installed to the tip of bracing piece 5022, and anticollision institution 8 is the same with supporting spacing post 502 structure. The fixed support 5021 is in threaded connection with the supporting rod 5022, the supporting rod 5022 is screwed clockwise to rise, the supporting rod 5022 is screwed anticlockwise to fall, and the supporting limit column 502 and the anti-collision mechanism 8 are finely adjusted through the screw thread.
The upper limiting column 501 has the structure: including installing in the pneumatic cylinder of 6 inside walls of barrel, the output of pneumatic cylinder is connected with the gag lever post, and the gag lever post tip is provided with flexible protection and fills up.
And pressure sensors are arranged on the upper limiting column 501, the supporting limiting column 502 and the anti-collision mechanism 8.
As shown in fig. 1-3, the lamp set 4 is a plurality of LED lamps arranged in an array along a circle concentric with the inner diameter of the barrel 6.
This embodiment I is suitable for the distribution and recovery method of polar AUV,
the method comprises the following steps:
firstly, a polar AUV13 distribution step, as shown in FIGS. 5-7:
arranging the polar AUV13 above the supporting and limiting column 502 in the distribution and recovery device;
the upper limit column 501 acts to lock the polar AUV 13;
closing the watertight cloth cover 11;
the distribution and recovery device is placed into water through the excavated ice cave 14 by a hoisting mechanism 12 and reaches a preset depth;
after the posture of the laying and recovering device is stable, the watertight cloth cover 11 is opened;
opening the upper restraint column 501;
the fluid power mechanism 9 is started, water flow generated by the fluid power mechanism 9 pushes the polar region AUV13 to push the polar region AUV13 out of the distribution and recovery device, whether the gyroscope 16 and the external fluid adjusting mechanism 17 are started or not when the fluid power mechanism 9 is started is selected according to actual conditions, the attitude of the distribution and recovery device is sensed in real time through the gyroscope 16, the external fluid adjusting mechanism 17 is controlled in an auxiliary mode to adjust the attitude of the distribution and recovery device, and the stable attitude of the distribution and recovery device in the distribution and recovery process of the polar region AUV13 is guaranteed;
secondly, polar AUV13 recovery steps, as shown in FIG. 5, FIG. 9-FIG. 10:
opening the watertight cloth cover 11 or making the watertight cloth cover 11 continuously swing;
the sonar transmitting and receiving mechanism 1 is opened, underwater acoustic communication is established with the polar AUV13, and the polar AUV13 is guided to a camera of the polar AUV13 to identify the position of a water area where the lamp group 4 emits light;
keeping the watertight cloth cover 11 in an open state;
the lamp group 4 is turned on, the position of a light source emitted by the lamp group 4 is identified through a camera of the polar region AUV13 to feed back to a control system of the polar region AUV13, and the polar region AUV13 adjusts the posture and approaches the distribution and recovery device to align with the opening of the cylinder 6;
opening the fluid power mechanism 9, sucking the polar region AUV13 into the cloth recycling device, selecting whether to start the gyroscope 16 and the external fluid adjusting mechanism 17 while starting the fluid power mechanism 9 according to actual conditions, sensing the posture of the cloth recycling device in real time through the gyroscope 16, and assisting to control the external fluid adjusting mechanism 17 to perform posture adjustment on the cloth recycling device so as to ensure stable posture of the cloth recycling device in the polar region AUV13 recycling process;
the power mechanism of the polar AUV13 is closed, and the polar AUV13 collides with the anti-collision mechanism 8 and falls on the lifting limiting mechanism 5 below the polar AUV 13;
the upper limiting column 501 acts to lock the polar AUV 13;
closing the watertight cloth cover 11;
the distribution and recovery device is lifted out of the water surface through the excavated ice cave 14 by a hoisting mechanism 12.
The second embodiment is suitable for the distribution and recovery method of polar AUV,
the method comprises the following steps:
firstly, polar AUV13 distribution step, as shown in fig. 5-7:
arranging the polar AUV13 above the supporting and limiting column 502 in the distribution and recovery device;
the upper limiting column 501 acts to lock the polar AUV 13;
closing the watertight cloth cover 11;
the distribution and recovery device is placed into water through the excavated ice cave 14 by a hoisting mechanism 12 and reaches a preset depth;
opening the watertight cloth cover 11 after the posture of the cloth and recovery device is stable;
opening the upper restraint column 501;
the fluid power mechanism 9 is started, the power mechanism of the polar region AUV13 is started, the polar region AUV13 is pushed in an auxiliary mode through water flow generated by the fluid power mechanism 9, the polar region AUV13 is pushed out of the distribution and recovery device, whether the gyroscope 16 and the external fluid adjusting mechanism 17 are started or not when the fluid power mechanism 9 is started is selected according to actual conditions, the posture of the distribution and recovery device is sensed in real time through the gyroscope 16, the external fluid adjusting mechanism 17 is controlled in an auxiliary mode to adjust the posture of the distribution and recovery device, and the stable posture of the distribution and recovery device in the distribution and recovery process of the polar region AUV13 is guaranteed;
pushing the polar AUV13 out of the distribution and recovery device, closing the watertight distribution cover 11, and hoisting the distribution and recovery device out of the water surface through the excavated ice cave 14 by using the hoisting mechanism 12;
secondly, polar AUV13 recovery steps, as shown in FIG. 5, FIG. 8-FIG. 10:
the cloth placing and recovering device of the closed watertight cloth cover 11 is placed into the water through the excavated ice cave 14 by a hoisting mechanism 12 and reaches a preset depth;
opening the watertight cloth cover 11 or making the watertight cloth cover 11 continuously swing;
the sonar transmitting and receiving mechanism 1 is opened, underwater acoustic communication is established with the polar AUV13, and the polar AUV13 is guided to a camera of the polar AUV13 to identify the position of a water area where the lamp group 4 emits light;
keeping the watertight cloth cover 11 in an open state;
the lamp group 4 is turned on, the position of a light source emitted by the lamp group 4 is identified through a camera of the polar region AUV13 to feed back to a control system of the polar region AUV13, and the polar region AUV13 adjusts the posture and approaches the distribution and recovery device to align with the opening of the cylinder 6;
opening the fluid power mechanism 9, sucking the polar region AUV13 into the cloth recycling device, selecting whether to start the gyroscope 16 and the external fluid adjusting mechanism 17 while starting the fluid power mechanism 9 according to actual conditions, sensing the posture of the cloth recycling device in real time through the gyroscope 16, and assisting to control the external fluid adjusting mechanism 17 to perform posture adjustment on the cloth recycling device so as to ensure stable posture of the cloth recycling device in the polar region AUV13 recycling process;
closing a power mechanism of the polar AUV13, and enabling the polar AUV13 to collide with the anti-collision mechanism 8 and fall on the lifting limiting mechanism 5 below the polar AUV 13;
the upper limit column 501 acts to lock the polar AUV 13;
closing the watertight cloth cover 11;
the distribution and recovery device is lifted out of the water surface through the excavated ice cave 14 by a hoisting mechanism 12.
The hoisting mechanism 12 can be a crane or an onshore winch, and hoists the lifting lugs 7 through ropes to hoist the cloth recovering device out of the water surface or into the water through the excavated ice cave 14.
When the polar AUV13 is distributed, the closable structure of the watertight cloth cover 11 overcomes the problem of limited polar ice layer cutting capacity, reduces the size of the ice cutting hole 14 and reduces cutting time and cost; when the polar AUV13 is recovered, the acoustic, optical and hydrodynamic principles are fused, so that the influence of complex environments such as ocean current disturbance, electromagnetic interference and the like of the polar region is overcome, and the safety, success rate and recovery efficiency of polar region AUV recovery are improved; the auxiliary polar region AUV13 of the fluid power mechanism 9 enters and exits, so that the entering and exiting time is shortened, and the distribution and recovery efficiency is improved; the attitude of the distribution and recovery device is adjusted by combining the external fluid adjusting mechanism 17 and the gyroscope 16, so that the distribution and recovery process of the polar AUV13 is more stable and quicker.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. A can be suitable for the cloth of polar region AUV puts recovery unit, its characterized in that: the lamp group driving mechanism comprises a hollow through cylinder body (6), a lamp group (4) is arranged at an opening at one end of the cylinder body (6), and a plurality of groups of driving mechanisms (3) are arranged outside the cylinder body (6) at the position of the lamp group (4) along a circumferential array concentric with the inner wall of the cylinder body (6);
the device is characterized by further comprising supporting stop rods (2), wherein one end of each supporting stop rod (2) is connected with the driving mechanism (3), a sonar transceiving mechanism (1) is installed on the outer side of the other end of each supporting stop rod (2), a whole piece of watertight cloth cover (11) is installed on each supporting stop rod (2), and the supporting stop rods (2) can open and close ports of the cylinder body (6) under the action of the driving mechanisms (3);
when the watertight cloth cover (11) is opened along with the action of the supporting stop lever (2), the watertight cloth cover (11) encloses to form an annular conical surface structure with an outward opening, and when the watertight cloth cover (11) is closed, the watertight cloth cover (11) shrinks to form a cover-shaped structure matched with the port of the barrel body (6);
the other end of the cylinder body (6) is closed to form an end cover (10), a fluid power mechanism (9) is arranged on the end cover (10), and the inner side and the outer side of the end cover (10) are communicated through the fluid power mechanism (9); barrel (6) inside wall is provided with multiunit stop gear (5) side by side along barrel (6) degree of depth direction, stop gear (5) are including being located barrel (6) inside wall middle part and the last spacing post (501) on upper portion and barrel (6) inside wall lower part support spacing post (502), end cover (10) inboard middle part is provided with anticollision institution (8), barrel (6) outside is provided with lug (7).
2. The deployment and recovery device of claim 1, wherein the deployment and recovery device is adapted to polar AUV, and comprises: the cylinder body (6) outer side wall lower part is provided with a bottom support (15), the cylinder body (6) outer side wall upper part is followed cylinder body (6) degree of depth direction middle part is provided with gyroscope (16), the cylinder body (6) outer side wall longitudinal symmetry of end cover (10) one side is provided with external fluid guiding mechanism (17).
3. The deployment and recovery device of claim 2, wherein the deployment and recovery device is adapted to polar AUV, and comprises: the structure of the external fluid adjusting mechanism (17) is as follows: the device comprises a fixing frame (1702) arranged on the outer side wall of the cylinder body (6), wherein an external propeller (1701) is arranged on the fixing frame (1702).
4. The deployment and recovery device of claim 1, wherein the deployment and recovery device is adapted to polar AUV, and comprises: when the watertight cloth cover (11) is opened, the supporting baffle rod (2) and the cylinder body (6) form an included angle of 135 degrees in the radial direction.
5. The deployment and recovery device of claim 1, which is suitable for polar AUV, wherein: the fluid power mechanism (9) is a high-power propeller arranged on the end cover (10) in an array mode.
6. The deployment and recovery device of claim 1, wherein the deployment and recovery device is adapted to polar AUV, and comprises: the structure for supporting the limiting column (502) is as follows: the anti-collision device comprises a fixed support (5021) arranged on the inner side wall of a cylinder body (6), wherein a supporting rod (5022) is arranged on the fixed support (5021), a flexible rubber pad (5023) is arranged at the end part of the supporting rod (5022), and the anti-collision mechanism (8) is identical to the supporting limiting column (502) in structure; the upper limiting column (501) is structurally characterized in that: the automatic cleaning device is characterized by comprising a hydraulic cylinder arranged on the inner side wall of the cylinder body (6), wherein the output end of the hydraulic cylinder is connected with a limiting rod, and the end part of the limiting rod is provided with a flexible protection pad.
7. The deployment and recovery device of claim 1, which is suitable for polar AUV, wherein: and pressure sensors are arranged on the upper limiting column (501), the supporting limiting column (502) and the anti-collision mechanism (8).
8. A distribution and recovery method suitable for polar AUV is characterized in that:
the method comprises the following steps:
firstly, a polar AUV (13) distribution step:
arranging the polar AUV (13) above a supporting and limiting column (502) in the cloth recovery device;
the upper limiting column (501) acts to lock the polar AUV (13);
closing the watertight cloth cover (11);
the distribution and recovery device is placed into water through a drilled ice cave (14) through a hoisting mechanism (12) and reaches a preset depth;
after the posture of the laying and recovering device is stable, the watertight cloth cover (11) is opened;
opening the upper limiting column (501);
starting the fluid power mechanism (9), pushing the polar AUV (13) by water flow generated by the fluid power mechanism (9), and pushing the polar AUV (13) out of the distribution and recovery device;
II, polar AUV (13) recovery step:
opening the watertight cloth cover (11) or making the watertight cloth cover (11) continuously swing;
the sonar transmitting and receiving mechanism (1) is opened, underwater acoustic communication is established with the polar AUV (13), and the polar AUV (13) is guided to a camera of the polar AUV (13) to identify the water area position of a light source emitted by the lamp group (4);
keeping the watertight cloth cover (11) in an open state;
the lamp group (4) is turned on, the position of a light source emitted by the lamp group (4) is identified through a camera of the polar AUV (13) to feed back to a control system of the polar AUV (13), and the polar AUV (13) adjusts the posture and is close to the distribution and recovery device to align with the opening of the cylinder (6);
opening the fluid power mechanism (9), and sucking the polar AUV (13) into the cloth recovery device;
the power mechanism of the polar AUV (13) is closed, and the polar AUV (13) collides with the anti-collision mechanism (8) and falls on the lifting limiting mechanism (5) below the polar AUV (13);
the upper limiting column (501) acts to lock the polar AUV (13);
closing the watertight cloth cover (11);
the distribution and recovery device is lifted out of the water surface through the excavated ice cave (14) by a hoisting mechanism (12).
9. The deployment and recovery method of the polar AUV according to claim 8, wherein:
firstly, a polar AUV (13) distribution step:
the fluid power mechanism (9) is started, and the power mechanism of the polar AUV (13) is started at the same time;
pushing out an AUV (13) of the polar region from the distribution and recovery device, closing a watertight distribution cover (11), and hoisting the distribution and recovery device out of the water surface through a drilled ice hole (14) by a hoisting mechanism (12);
II, polar AUV (13) recovery step:
before opening the watertight cloth cover (11), the method also comprises the following steps:
the cloth recovering device of the closed watertight cloth cover (11) is put into the water through the excavated ice cave (14) by a hoisting mechanism (12) and reaches a preset depth.
10. The deployment and recovery method of the polar AUV according to claim 8, wherein: the gyroscope (16) and the external fluid adjusting mechanism (17) are started while the fluid power mechanism (9) is started, the attitude of the laying and recycling device is sensed in real time through the gyroscope (16), and the external fluid adjusting mechanism (17) is controlled in an auxiliary mode to perform attitude adjustment on the laying and recycling device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210393999.5A CN114735169B (en) | 2022-04-15 | 2022-04-15 | Cloth-placement recovery device and cloth-placement recovery method applicable to polar AUV |
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| CN202210393999.5A CN114735169B (en) | 2022-04-15 | 2022-04-15 | Cloth-placement recovery device and cloth-placement recovery method applicable to polar AUV |
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