CN109367706B - A device and method for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface - Google Patents
A device and method for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface Download PDFInfo
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- 238000011084 recovery Methods 0.000 claims abstract description 155
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
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- 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
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- 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
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Abstract
本发明公开了一种无人船在水面主动捕获水下无人航行器的装置及方法，包括双体船型且船身中部设置有开口舱的水面无人船、用于捕获水下无人航行器的回收笼和集成在所述水面无人船船载计算机内的主动捕获控制系统；所述水面无人船的中部开口舱用于放置回收笼的，所述回收笼通过安装在船舱中的液压伸缩杆与水面无人船连接，所述液压伸缩杆与主动捕获控制系统相连接，并由所述主动捕获控制系统控制将回收笼放入水中或收入船舱内，且实现回收笼高度的精确调整。本发明的有益效果为：提供一种通过无人船及其回收装置及方法，无需水下无人航行器的配合即可进行强行回收，能够实现对未知来源、不可控的水下无人航行器的主动捕获，具有重要的军事应用价值。
The invention discloses a device and method for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, including a catamaran-shaped surface unmanned ship with an open cabin in the middle of the hull, which is used for capturing underwater unmanned navigation. The recovery cage of the surface unmanned ship and the active capture control system integrated in the onboard computer of the surface unmanned ship; the middle open compartment of the surface unmanned ship is used to place the recovery cage, and the recovery cage is installed in the cabin through the The hydraulic telescopic rod is connected to the surface unmanned ship, and the hydraulic telescopic rod is connected to the active capture control system, and the active capture control system controls the recovery cage to be put into the water or stored in the cabin, and the height of the recovery cage is accurately realized. Adjustment. The beneficial effects of the invention are as follows: to provide an unmanned ship and its recovery device and method, which can be forcibly recovered without the cooperation of an underwater unmanned vehicle, and can realize the unmanned underwater navigation of unknown origin and uncontrollable. The active capture of the device has important military application value.
Description
技术领域technical field
本发明涉及一种无人船在水面主动捕获水下无人航行器的装置及方法，属于海洋无人系统技术领域。The invention relates to a device and a method for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, belonging to the technical field of marine unmanned systems.
背景技术Background technique
作为一种先进的海洋探测平台，水下无人航行器已广泛应用于海洋科学考察、海底勘探、军事应用等多领域。水下无人航行器完成任务后，通常需要母船在海面对其进行回收，但受海上风浪及母船流场影响，水面回收水下无人航行器一直存在难以突破的技术瓶颈。As an advanced marine exploration platform, underwater unmanned vehicles have been widely used in marine scientific investigation, seabed exploration, military applications and other fields. After the underwater unmanned vehicle completes the task, the mother ship is usually required to recover it at sea. However, due to the influence of offshore wind and waves and the flow field of the mother ship, there has always been a technical bottleneck that is difficult to break through the water surface recovery of the underwater unmanned vehicle.
目前，水下无人航行器的回收主要有以下几种方式：At present, the recovery of underwater unmanned vehicles mainly includes the following methods:
1.水面起吊回收，一般需要工作人员乘坐机动艇靠近水下无人航行器完成与回收机构的对接，该方式受风浪影响大，海况恶劣时容易出现设备损坏和人员安全危险。1. Lifting and recycling on the water surface generally requires staff to take a motor boat close to the underwater unmanned vehicle to complete the docking with the recycling mechanism. This method is greatly affected by wind and waves, and equipment damage and personnel safety hazards are prone to occur when the sea conditions are bad.
2.母船采用升降滑道或水下接驳装置进行水下对接回收作业，但水下对接难度大、要求高，水下无人航行器需要与母船保持实时通讯，不断调整姿态瞄准对接装置，同时母船流场会影响水下无人航行器的运动，更增加了回收难度。2. The mother ship uses lift slides or underwater docking devices for underwater docking and recovery operations, but underwater docking is difficult and demanding. The underwater unmanned vehicle needs to maintain real-time communication with the mother ship, and constantly adjust the attitude to aim at the docking device. At the same time, the flow field of the mother ship will affect the movement of the underwater unmanned vehicle, which increases the difficulty of recovery.
3.通过牵引水下无人航行器抛出的牵引绳，使用专用的对接起吊装置进行对接和回收，该方式需要水下无人航行器采用特定的抛绳机构，局限性大，对水下无人航行器而言存在适用性问题。3. By pulling the traction rope thrown by the underwater unmanned vehicle, use a special docking hoisting device for docking and recovery. This method requires the underwater unmanned vehicle to use a specific rope throwing mechanism, which has great limitations and is not suitable for underwater vehicles. There are applicability issues for unmanned aerial vehicles.
重要的是，以上的主要回收方式都只针对己方可控的水下无人航行器进行回收，目前尚未出现针对未知来源、不可控的水下无人航行器的主动捕获回收装置及方法。尤其是考虑到水下无人航行器在军事上的应用越来越广泛，主动捕获敌方水下无人航行器目标具有重要的军事价值，亟需一种适用性高、回收难度小、安全可靠、能对不可控水下无人航行器进行捕获的水面回收装置及方法。What is important is that the above main recovery methods are only for the recovery of self-controllable underwater unmanned vehicles, and there is no active capture and recovery device and method for unknown sources and uncontrollable underwater unmanned vehicles. Especially considering that the underwater unmanned vehicle is more and more widely used in the military, the active capture of the enemy underwater unmanned vehicle target has important military value. A reliable surface recovery device and method capable of capturing uncontrollable underwater unmanned vehicles.
发明内容SUMMARY OF THE INVENTION
本发明所要解决的技术问题是克服现有技术的缺陷，提供一种通过无人船及其回收装置，在水面主动捕获不明水下无人航行器的装置及方法，无需水下无人航行器的配合即可进行强行回收，能够实现对未知来源、不可控的水下无人航行器的主动捕获，具有重要的军事应用价值。The technical problem to be solved by the present invention is to overcome the defects of the prior art, and provide a device and method for actively capturing an unknown underwater unmanned vehicle on the water surface through an unmanned ship and its recovery device, without the need for an underwater unmanned vehicle It can be forcibly recovered with the cooperation of the robot, which can realize the active capture of the unknown source and uncontrollable underwater unmanned vehicle, which has important military application value.
为了实现上述目标，本发明采用如下的技术方案：In order to achieve above-mentioned goal, the present invention adopts following technical scheme:
一种无人船在水面主动捕获水下无人航行器的装置，包括双体船型且船身中部设置有开口舱的水面无人船、用于捕获水下无人航行器的回收笼和集成在所述水面无人船船载计算机内的主动捕获控制系统；所述水面无人船的中部开口舱用于放置回收笼的，所述回收笼通过安装在船舱中的液压伸缩杆与水面无人船连接，所述液压伸缩杆与主动捕获控制系统相连接，并由所述主动捕获控制系统控制将回收笼放入水中或收入船舱内，且实现回收笼高度的精确调整；所述水面无人船的浮体内设置有前视声呐，用于对水面无人船的前方水域进行三维扫描成像，显示前方水域目标。A device for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, comprising a catamaran-shaped surface unmanned ship with an open cabin in the middle of the hull, a recovery cage for capturing the underwater unmanned vehicle, and an integrated The active capture control system in the onboard computer of the unmanned surface ship; the middle open compartment of the unmanned surface ship is used to place a recovery cage, and the recovery cage is connected to the surface unmanned aerial vehicle through a hydraulic telescopic rod installed in the cabin. The man-boat connection, the hydraulic telescopic rod is connected with the active capture control system, and the active capture control system controls to put the recovery cage into the water or into the cabin, and realize the precise adjustment of the height of the recovery cage; A forward-looking sonar is installed in the floating body of the human-vessel, which is used for 3D scanning and imaging of the waters in front of the unmanned surface ship to display the targets in the waters ahead.
上述的一种无人船在水面主动捕获水下无人航行器的装置，所述回收笼包括回收筒、分别设置在回收筒两侧边下部且对称设置的两个回收网、设置在回收筒外围的外部框架以及对称设置在外部框架前端部的导引门；所述回收筒为前端和底部都开口的半封闭筒状结构，其筒宽大于现有的水下无人航行器的直径，其筒末端封闭，其筒内末端依次设置有阻挡水下无人航行器前进的缓冲机构和驱动缓冲机构的缓冲机构电机；所述缓冲机构内部设置有水下摄像机，并配备探照灯，能够对回收笼内进行实时拍摄与传输，所述缓冲机构末端设置有第一触觉传感器，当水下无人航行器接触到缓冲机构时发送信号给主动捕获控制系统；回收筒顶端设置有触觉单元，所述触觉单元包括第二触觉传感器和弹簧，当水下无人航行器接触到触觉单元时发送信号给主动捕获控制系统；所述回收网成对设置，其网面为弧形，两端部设置各有一曲柄，所述曲柄的一端与固定在回收筒内的旋转轴相连接，所述旋转轴通过设置在回收筒上的回收网电机带动，能够使回收网绕曲柄的一端的自由转动，通过两个所述回收网的转动实现筒底的开合；所述曲柄另一端与气弹簧连接，所述气弹簧的另一端与回收筒连接。The above-mentioned device for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, the recovery cage includes a recovery cylinder, two recovery nets that are respectively arranged at the lower parts of both sides of the recovery cylinder and are symmetrically arranged, and are arranged in the recovery cylinder. A peripheral outer frame and a guide door symmetrically arranged at the front end of the outer frame; the recovery cylinder is a semi-closed cylinder structure with both the front end and the bottom open, and the cylinder width is larger than the diameter of the existing underwater unmanned vehicle, The end of the barrel is closed, and the inner end of the barrel is sequentially provided with a buffer mechanism that blocks the advancement of the underwater unmanned vehicle and a buffer mechanism motor that drives the buffer mechanism; the buffer mechanism is provided with an underwater camera and a searchlight, which can be used for recovery. Real-time shooting and transmission are performed in the cage, the end of the buffer mechanism is provided with a first tactile sensor, and when the underwater unmanned vehicle contacts the buffer mechanism, a signal is sent to the active capture control system; the top of the recovery cylinder is provided with a tactile unit, the The tactile unit includes a second tactile sensor and a spring, and when the underwater unmanned vehicle touches the tactile unit, a signal is sent to the active capture control system; the recovery nets are arranged in pairs, the net surface is arc-shaped, and each end is provided with There is a crank, one end of the crank is connected with the rotating shaft fixed in the recovery cylinder, and the rotating shaft is driven by the recycling net motor arranged on the recycling cylinder, so that the recycling net can freely rotate around one end of the crank, and through two The rotation of each of the recovery nets realizes the opening and closing of the bottom of the cylinder; the other end of the crank is connected with the gas spring, and the other end of the gas spring is connected with the recovery cylinder.
上述的一种无人船在水面主动捕获水下无人航行器的装置，所述外部框架分别与回收筒和液压伸缩杆相连接，外部框架前端部设置有由设置在外部框架上的导引门电机驱动且能够旋转的导引门，所述导引门下部安装有前视成像声呐，用以探测水下无人航行器与回收笼的相对位置。The above-mentioned device for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, the outer frame is respectively connected with a recovery cylinder and a hydraulic telescopic rod, and the front end of the outer frame is provided with a guide provided on the outer frame. A door motor-driven and rotatable guide door, a forward-looking imaging sonar is installed at the lower part of the guide door to detect the relative position of the underwater unmanned vehicle and the recovery cage.
上述的一种无人船在水面主动捕获水下无人航行器的装置，所述水面无人船的上甲板上设置有云台摄像机，能够360度旋转，并且将拍摄到的图像实时传输至主动捕获控制系统。The above-mentioned device for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, a pan-tilt camera is provided on the upper deck of the unmanned ship on the water surface, which can rotate 360 degrees and transmit the captured images in real time to Active capture control system.
上述的一种无人船在水面主动捕获水下无人航行器的装置，所述主动捕获控制系统还分别与回收网电机、导引门电机、触觉单元、前视声呐相连接；所述回收网电机、导引门电机分别与主动捕获控制系统相连，是为了实现回收网的开合与导引门的开关控制；回收笼内的触觉单元将传感信息传至主动捕获控制系统，用于确定水下无人航行器是否完全进入回收笼；所述主动捕获控制系统与前视声呐连接，将前视声呐测绘得到的图像进行收集与处理，发送至岸站上位机，通过比对内置图像库，确定是否为水下无人航行器，实现水下无人航行器的自主搜索；所述主动捕获控制系统与前视成像声呐连接，是为了获取水下无人航行器与回收笼的相对位置，通过控制液压伸缩杆去不断调整回收笼高度，便于水下无人航行器能够水平入回收笼；所述主动捕获控制系统与气弹簧连接，是为了实现回收网在开启和关闭状态的位置锁定；所述主动捕获控制系统与水下摄影机连接，是为了在水下无人航行器入笼后，水下摄像机将继续观察到的水下无人航行器在回收笼中的位置信息传输给主动捕获控制系统，主动捕获系统控制液压伸缩杆不断调整回收笼高度，直至水下无人航行器完全进入回收笼；所述第一触觉传感器与主动捕获控制系统连接，为了将水下无人航行器接触到缓冲机构的信息发送给主动捕获控制系统。The above-mentioned device for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, the active capture control system is also connected with a recovery net motor, a guide door motor, a haptic unit, and a forward-looking sonar; the recovery The net motor and the guide door motor are respectively connected with the active capture control system to realize the opening and closing of the recycling net and the switch control of the guide door; the tactile unit in the recycling cage transmits the sensing information to the active capture control system for Determine whether the underwater unmanned vehicle has completely entered the recovery cage; the active capture control system is connected to the forward-looking sonar, collects and processes the images obtained by the forward-looking sonar mapping, and sends them to the host computer at the shore station, and compares the built-in images library, determine whether it is an underwater unmanned vehicle, and realize the autonomous search of the underwater unmanned vehicle; the active capture control system is connected with the forward-looking imaging sonar to obtain the relative relationship between the underwater unmanned vehicle and the recovery cage. By controlling the hydraulic telescopic rod to continuously adjust the height of the recovery cage, it is convenient for the underwater unmanned vehicle to enter the recovery cage horizontally; the active capture control system is connected with the gas spring to realize the position of the recovery net in the open and closed states. Locking; the active capture control system is connected to the underwater camera, so that after the underwater unmanned vehicle enters the cage, the underwater camera will continue to observe the position information of the underwater unmanned vehicle in the recovery cage. Active capture control system, the active capture system controls the hydraulic telescopic rod to continuously adjust the height of the recovery cage until the underwater unmanned vehicle completely enters the recovery cage; the first tactile sensor is connected with the active capture control system, in order to connect the underwater unmanned navigation The information that the sensor contacts the buffer mechanism is sent to the active capture control system.
上述的一种无人船在水面主动捕获水下无人航行器的装置，所述外部框架为金属钢管制成，其下部包裹有柔性缓冲材料制成的缓冲垫，用于防止水下无人航行器与外部框架发生碰撞而损坏。The above-mentioned device for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, the outer frame is made of a metal steel pipe, and the lower part is wrapped with a buffer pad made of a flexible buffer material, which is used to prevent underwater unmanned vehicles. The craft collided with the outer frame and was damaged.
上述的一种无人船在水面主动捕获水下无人航行器的装置，所述回收网为金属材料构制成的网面。In the above-mentioned device for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, the recovery net is a net surface constructed of a metal material.
上述的一种无人船在水面主动捕获水下无人航行器的装置，所述缓冲机构为弹簧和柔性材料制成。In the above-mentioned device for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, the buffer mechanism is made of springs and flexible materials.
上述的一种无人船在水面主动捕获水下无人航行器的装置，所述导引门为船用高密度泡沫材料制成。In the above-mentioned device for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, the guide door is made of marine high-density foam material.
一种无人船在水面主动捕获水下无人航行器的方法，利用上述无人船在水面主动捕获不明水下无人航行器的装置，包括以下步骤：A method for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface, using the above-mentioned device for the unmanned ship to actively capture an unknown underwater unmanned vehicle on the water surface, comprising the following steps:
步骤A：水面无人船在水面航行，浮体内的前视声呐保持开启，扫描水面无人船前方水域，主动捕获控制系统通过对比图像库中水下无人航行器的图像，判断是否出现水下无人航行器，同时将扫描图像实时传输给岸站；当发现疑似水下无人航行器时，水面无人船发送警告给岸站，岸站工作人员通过观察前视声呐扫描图像与实时视频图像进行确定，若确定为水下无人航行器则发送指令给水面无人船，开启水面捕获过程；Step A: The unmanned surface ship sails on the water surface, the forward-looking sonar in the floating body is kept on, scans the water area in front of the unmanned surface ship, and the active capture control system compares the images of the underwater unmanned vehicle in the image database to determine whether there is water. Disembark the unmanned vehicle and transmit the scanned image to the shore station in real time; when a suspected underwater unmanned vehicle is found, the surface unmanned vessel sends a warning to the shore station, and the shore station staff observe the forward-looking sonar scan image and real-time The video image is determined, and if it is determined to be an underwater unmanned vehicle, an instruction is sent to the surface unmanned ship to start the surface capture process;
步骤B：水面无人船根据与水下无人航行器的相对位置自主规划回收路径，从后方追捕或迎面回收，水面无人船不断靠近水下无人航行器，在接近水下无人航行器后进一步修改航线，使得水下无人航行器尽量与水面无人船中心重合，同时水面无人船通过液压伸缩杆将回收笼放入水中；Step B: The surface unmanned ship autonomously plans the recovery path according to the relative position with the underwater unmanned vehicle, and pursues from the rear or recovers head-on. After the drone, the route is further modified so that the underwater unmanned vehicle is as close to the center of the surface unmanned ship as possible, and the surface unmanned ship puts the recovery cage into the water through the hydraulic telescopic rod;
步骤C：回收笼入水后，打开前端的导引门与回收网，同时开启前视成像声呐，获取水下无人航行器与回收笼的相对位置，经主动捕获控制系统处理，通过控制液压伸缩杆不断调整回收笼高度，便于水下无人航行器能够水平入回收笼；水面无人船持续靠近水下无人航行器，使水下无人航行器进入回收笼，水下无人航行器入笼后，通过水下摄像机继续观察水下无人航行器，不断调整回收笼直至其完全进入，当水下无人航行器同时触碰到安装在回收筒内的触觉单元时，判断水下无人航行器入笼成功，主动捕获控制系统关闭回收网与导引门，将水下无人航行器捕获至回收笼中；Step C: After the recovery cage enters the water, open the front guide door and the recovery net, and simultaneously turn on the forward-looking imaging sonar to obtain the relative position of the underwater unmanned vehicle and the recovery cage. The rod continuously adjusts the height of the recovery cage, so that the underwater unmanned vehicle can enter the recovery cage horizontally; After entering the cage, continue to observe the underwater unmanned vehicle through the underwater camera, and continuously adjust the recovery cage until it fully enters. When the underwater unmanned vehicle touches the haptic unit installed in the recovery cylinder at the same time, it will judge the underwater The unmanned vehicle is successfully entered into the cage, and the active capture control system closes the recovery net and guide door, and captures the underwater unmanned vehicle into the recovery cage;
步骤D：水面无人船将回收笼收入船身舱内，完成水下无人航行器捕获回收成功并返航。Step D: The surface unmanned ship puts the recovery cage into the hull cabin, completes the successful capture and recovery of the underwater unmanned vehicle, and returns home.
本发明所达到的有益效果：Beneficial effects achieved by the present invention:
(1)本发明无需对水下无人航行器做任何改动即可完成回收，可适用于多种尺寸型号水下无人航行器，相比于传统回收方式，具有广泛的适用性；(1) The present invention can complete the recovery without making any changes to the underwater unmanned vehicle, and can be applied to various sizes and models of underwater unmanned vehicles. Compared with the traditional recovery method, it has a wide range of applicability;
(2)本发明采用水面捕捞的回收方式，无人船直接行驶至水下无人航行器上方，通过回收笼将航行器捕获，无需复杂的水下对接和吊放作业，水下无人航行器与无人船也无需实时通讯，回收难度大大降低，极大地提升了回收成功率；(2) The present invention adopts the recovery method of surface fishing, the unmanned ship directly drives to the top of the underwater unmanned vehicle, and the vehicle is captured by the recovery cage, without complicated underwater docking and hoisting operations, and underwater unmanned navigation There is no need for real-time communication between the drone and the unmanned ship, and the difficulty of recovery is greatly reduced, which greatly improves the success rate of recovery;
(3)本发明采用双体船型，回收过程在无人船浮体中进行，减小了母船流场对水下无人航行器运动的影响；(3) The present invention adopts the catamaran type, and the recovery process is carried out in the floating body of the unmanned ship, which reduces the influence of the flow field of the mother ship on the movement of the underwater unmanned vehicle;
(4)本发明除可对己方可控的水下无人航行器进行回收外，也可捕获未知来源的不可控水下无人航行器，具有军事应用前景；(4) The present invention can not only recover the self-controllable underwater unmanned vehicle, but also capture the uncontrollable underwater unmanned vehicle of unknown origin, which has a military application prospect;
(5)本发明以水面无人船替代传统有人布放回收方式，避免人员下水，降低了布放和回收过程中的危险性，使得回收布放作业更高效、安全、便捷。(5) The present invention replaces the traditional manned deployment and recovery method with a surface unmanned boat, avoids personnel launching, reduces the danger in the deployment and recovery process, and makes the recovery and deployment operation more efficient, safe and convenient.
附图说明Description of drawings
图1为本发明整体结构示意图；Fig. 1 is the overall structure schematic diagram of the present invention;
图2为图1中回收笼2的结构示意图；Fig. 2 is the structural representation of recovery cage 2 in Fig. 1;
图3为图2中回收笼2的中纵剖面示意图；Fig. 3 is the middle longitudinal section schematic diagram of recovery cage 2 in Fig. 2;
图4为水面无人船1搜索水下无人航行器3的示意图；4 is a schematic diagram of the surface unmanned ship 1 searching for the underwater unmanned vehicle 3;
图5为水面无人船1捕获回收水下无人航行器3的示意图。FIG. 5 is a schematic diagram of capturing and recovering the underwater unmanned vehicle 3 by the surface unmanned ship 1 .
图中附图标记的含义：The meaning of the reference numbers in the figure:
1、水面无人船，11、上甲板，12、浮体，13、云台摄像机，14、液压伸缩杆，2、回收笼，21、回收筒，22、缓冲机构，23、水下摄像机，24、回收网电机，25、触觉单元，26、回收网，27、曲柄，28、气弹簧，29、外部框架，210、导引门电机，211、导引门，212、前视成像声呐，213、缓冲垫，3、水下无人航行器。1. Surface unmanned vessel, 11. Upper deck, 12. Floating body, 13. Pan-tilt camera, 14. Hydraulic telescopic rod, 2. Recovery cage, 21. Recovery cylinder, 22. Buffer mechanism, 23. Underwater camera, 24 , Recovery Net Motor, 25, Haptic Unit, 26, Recovery Net, 27, Crank, 28, Gas Spring, 29, Outer Frame, 210, Guide Door Motor, 211, Guide Door, 212, Forward Looking Imaging Sonar, 213 , Cushioning pad, 3. Underwater unmanned vehicle.
具体实施方式Detailed ways
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.
参见图1至图5，本发明的无人船在水面主动捕获水下无人航行器的装置，包括双体船型且船身中部设置有开口舱的水面无人船1、用于捕获水下无人航行器3的回收笼2和集成在水面无人船1船载计算机内的主动捕获控制系统；水面无人船1的中部开口舱用于放置回收笼2的，回收笼2通过安装在船舱中的液压伸缩杆14与水面无人船1连接，液压伸缩杆14与主动捕获控制系统相连接，并由主动捕获控制系统控制将回收笼2放入水中或收入船舱内，且实现回收笼2高度的精确调整；水面无人船1的浮体12内设置有前视声呐，用于对水面无人船1的前方水域进行三维扫描成像，显示前方水域目标。Referring to FIGS. 1 to 5 , the device of the present invention for an unmanned ship to actively capture an underwater unmanned vehicle on the water surface includes a surface unmanned ship 1 with a catamaran type and an open cabin in the middle of the hull, used for capturing underwater unmanned vehicles. The recovery cage 2 of the unmanned vehicle 3 and the active capture control system integrated in the onboard computer of the surface unmanned ship 1; The hydraulic telescopic rod 14 in the cabin is connected to the surface unmanned ship 1, and the hydraulic telescopic rod 14 is connected to the active capture control system, and the active capture control system controls to put the recovery cage 2 into the water or into the cabin, and realize the recovery cage 2. Precise adjustment of the height; a forward-looking sonar is arranged in the floating body 12 of the surface unmanned ship 1, which is used to perform three-dimensional scanning imaging of the water area in front of the surface unmanned ship 1, and display the water target in front.
进一步地，回收笼2包括回收筒21、分别设置在回收筒21两侧边下部且对称设置的两个回收网26、设置在回收筒21外围的外部框架29以及对称设置在外部框架29前端部的导引门211；回收筒21为前端和底部都开口的半封闭筒状结构，其筒宽大于现有的水下无人航行器3的直径，可使水下无人航行器3自由地从回收筒21的前端和底部进入筒内(本发明申请中的前、后(末)位置对应于图2中左、后)，其筒末端封闭，其筒内末端依次设置有阻挡水下无人航行器3前进的缓冲机构22和驱动缓冲机构22的缓冲机构电机；缓冲机构22内部设置有水下摄像机23，并配备探照灯，能够对回收笼2内进行实时拍摄与传输，缓冲机构22末端设置有第一触觉传感器，当水下无人航行器3接触到缓冲机构22时发送信号给主动捕获控制系统；回收筒21顶端设置有触觉单元25，触觉单元25包括第二触觉传感器和弹簧，当水下无人航行器3接触到触觉单元25时发送信号给主动捕获控制系统；回收网26成对设置，其网面为弧形，两端部设置各有一曲柄27，曲柄27的一端与固定在回收筒21内的旋转轴相连接，旋转轴通过设置在回收筒21上的回收网电机24带动，能够使回收网26绕曲柄27的一端的自由转动，通过两个回收网26的转动实现筒底的开合；曲柄27另一端与气弹簧28连接，气弹簧28的另一端与回收筒21连接，气弹簧28与释放机构连接，可以在行程中的任意位置停止，并具有较大锁紧力，可实现回收网26在开启和关闭状态的位置锁定，并在回收网26关闭后承受水下无人航行器3的重量。Further, the recycling cage 2 includes a recycling cylinder 21 , two recycling nets 26 which are respectively arranged at the lower part of the two sides of the recycling cylinder 21 and are symmetrically arranged, an outer frame 29 which is arranged on the periphery of the recycling cylinder 21 and is symmetrically arranged at the front end of the outer frame 29 . The guide door 211; the recovery cylinder 21 is a semi-closed cylindrical structure with an open front end and a bottom, and its cylinder width is larger than the diameter of the existing underwater unmanned vehicle 3, so that the underwater unmanned vehicle 3 can be freely From the front and bottom of the recovery cylinder 21 into the cylinder (the front and rear (end) positions in the application of the present invention correspond to the left and rear in FIG. 2 ), the end of the cylinder is closed, and the inner end of the cylinder is sequentially provided with water blocking The buffer mechanism 22 for advancing the human vehicle 3 and the buffer mechanism motor for driving the buffer mechanism 22; the buffer mechanism 22 is provided with an underwater camera 23 and is equipped with a searchlight, which can perform real-time photography and transmission in the recovery cage 2, and the end of the buffer mechanism 22 A first tactile sensor is provided, and when the underwater unmanned vehicle 3 contacts the buffer mechanism 22, a signal is sent to the active capture control system; the top of the recovery cylinder 21 is provided with a tactile unit 25, and the tactile unit 25 includes a second tactile sensor and a spring, When the underwater unmanned vehicle 3 touches the haptic unit 25, a signal is sent to the active capture control system; the recovery nets 26 are arranged in pairs, the net surface is arc-shaped, and a crank 27 is arranged at both ends, and one end of the crank 27 is connected to the The rotating shafts fixed in the recycling cylinder 21 are connected, and the rotating shaft is driven by the recycling net motor 24 arranged on the recycling cylinder 21, so that the recycling net 26 can freely rotate around one end of the crank 27, and through the rotation of the two recycling nets 26 The opening and closing of the bottom of the cylinder is realized; the other end of the crank 27 is connected with the gas spring 28, the other end of the gas spring 28 is connected with the recovery cylinder 21, and the gas spring 28 is connected with the release mechanism, which can be stopped at any position in the stroke, and has a large The locking force can realize the position locking of the recovery net 26 in the open and closed states, and bear the weight of the underwater unmanned vehicle 3 after the recovery net 26 is closed.
进一步地，外部框架29分别与回收筒21和液压伸缩杆14相连接，外部框架29前端部设置有由设置在外部框架29上的导引门电机210驱动且能够旋转的导引门211，回收笼2入水后导引门211开启，用以引导水下无人航行器3进入回收筒21，避免卡在回收笼2与浮体12间的空隙中；当回收网26闭合后导引门211随之关闭，以防水下无人航行器3从回收筒21内滑出；导引门211下部安装有前视成像声呐212，用以探测水下无人航行器3与回收笼2的相对位置。Further, the outer frame 29 is respectively connected with the recovery cylinder 21 and the hydraulic telescopic rod 14. The front end of the outer frame 29 is provided with a guide door 211 which is driven by a guide door motor 210 provided on the outer frame 29 and can be rotated. After the cage 2 enters the water, the guide door 211 is opened to guide the underwater unmanned vehicle 3 into the recovery cylinder 21, so as to avoid being stuck in the gap between the recovery cage 2 and the floating body 12; when the recovery net 26 is closed, the guide door 211 follows. The lower part of the guide door 211 is installed with a forward-looking imaging sonar 212 to detect the relative position of the underwater unmanned vehicle 3 and the recovery cage 2 .
进一步地，水面无人船1的上甲板11上设置有云台摄像机13，能够360度旋转，并且将拍摄到的图像实时传输至主动捕获控制系统，云台摄像机13在水面发现水下无人航行器3，引导水面无人船1航行，达到的回收状态为：水下无人航行器3与水面无人船1的中纵轴线一致，水下无人航行器3位于水面无人船1的双体之间。Further, a pan-tilt camera 13 is provided on the upper deck 11 of the unmanned surface ship 1, which can rotate 360 degrees and transmit the captured images to the active capture control system in real time. The vehicle 3 guides the surface unmanned ship 1 to sail, and reaches a recovery state: the underwater unmanned vehicle 3 is consistent with the central longitudinal axis of the surface unmanned ship 1, and the underwater unmanned vehicle 3 is located on the surface unmanned ship 1. between the twins.
进一步地，外部框架29为金属钢管制成，其下部包裹有柔性缓冲材料制成的缓冲垫213，用于防止水下无人航行器3与外部框架29发生碰撞而损坏。Further, the outer frame 29 is made of metal steel pipe, and the lower part of the outer frame 29 is wrapped with a buffer pad 213 made of a flexible buffer material to prevent the underwater unmanned vehicle 3 from being damaged due to collision with the outer frame 29 .
再进一步地，主动捕获控制系统还分别与还分别与回收网电机24、导引门电机210、触觉单元25、前视声呐、前视成像声呐212、水下摄影机23、气弹簧28、第一触觉传感器相连接；主动捕获控制系统为现有技术，；同时，对回收笼2内各传感器(例如，第一触觉传感器、第二触觉传感器)数据进行处理，并通过调节液压伸缩杆14、开合回收网26与导引门211进行响应，实现对回收笼2的自主控制，具体的为：主动捕获控制系统还分别与回收网电机24、导引门电机210、触觉单元25、前视声呐相连接；回收网电机24、导引门电机210分别与主动捕获控制系统相连，是为了实现回收网26的开合与导引门211的开关控制；回收笼2内的触觉单元25将传感信息传至主动捕获控制系统，用于确定水下无人航行器3是否完全进入回收笼2；主动捕获控制系统与前视声呐连接，将前视声呐测绘得到的图像进行收集与处理，发送至岸站上位机，通过比对内置图像库，确定是否为水下无人航行器3，实现水下无人航行器3的自主搜索；主动捕获控制系统与前视成像声呐连接，是为了获取水下无人航行器3与回收笼2的相对位置，通过控制液压伸缩杆14去不断调整回收笼2的高度，便于水下无人航行器3能够水平入回收笼2；主动捕获控制系统与气弹簧28连接，是为了实现回收网26在开启和关闭状态的位置锁定；主动捕获控制系统与水下摄影机23连接，是为了在水下无人航行器3入笼后，水下摄像机23将继续观察到的水下无人航行器3在回收笼2中的位置信息传输给主动捕获控制系统，主动捕获系统控制液压伸缩杆14不断调整回收笼2高度，直至水下无人航行器3完全进入回收笼2；第一触觉传感器与主动捕获控制系统连接，为了将水下无人航行器3接触到缓冲机构22的信息发送给主动捕获控制系统。Still further, the active capture control system is also connected to the recovery net motor 24, the guide door motor 210, the haptic unit 25, the forward-looking sonar, the forward-looking imaging sonar 212, the underwater camera 23, the gas spring 28, the first The tactile sensor is connected; the active capture control system is the prior art; at the same time, the data of each sensor (for example, the first tactile sensor, the second tactile sensor) in the recovery cage 2 is processed, and the hydraulic telescopic rod 14 is adjusted to open the The combined recovery net 26 and the guide door 211 respond to realize the autonomous control of the recovery cage 2. Specifically, the active capture control system also communicates with the recovery net motor 24, the guide door motor 210, the haptic unit 25, and the forward-looking sonar respectively. The recovery net motor 24 and the guide door motor 210 are respectively connected with the active capture control system, in order to realize the opening and closing of the recovery net 26 and the switching control of the guide door 211; the tactile unit 25 in the recovery cage 2 will sense the The information is transmitted to the active capture control system, which is used to determine whether the underwater unmanned vehicle 3 has completely entered the recovery cage 2; the active capture control system is connected to the forward-looking sonar, collects and processes the images obtained by the forward-looking sonar mapping, and sends it to The host computer on the shore station determines whether it is an underwater unmanned vehicle 3 by comparing the built-in image library, and realizes the autonomous search of the underwater unmanned vehicle 3; the active capture control system is connected with the forward-looking imaging sonar to obtain water The relative position of the lower unmanned vehicle 3 and the recovery cage 2, the height of the recovery cage 2 is continuously adjusted by controlling the hydraulic telescopic rod 14, so that the underwater unmanned vehicle 3 can enter the recovery cage 2 horizontally; The connection of the spring 28 is to realize the position locking of the recovery net 26 in the open and closed states; the active capture control system is connected to the underwater camera 23 for the purpose that after the underwater unmanned vehicle 3 enters the cage, the underwater camera 23 will continue to The observed position information of the underwater unmanned vehicle 3 in the recovery cage 2 is transmitted to the active capture control system, and the active capture system controls the hydraulic telescopic rod 14 to continuously adjust the height of the recovery cage 2 until the underwater unmanned vehicle 3 completely enters Recovery cage 2; the first tactile sensor is connected to the active capture control system, in order to send the information that the underwater unmanned vehicle 3 contacts the buffer mechanism 22 to the active capture control system.
优选地，回收网26为金属材料构制成的网面；缓冲机构22为弹簧和柔性材料制成；导引门211为船用高密度泡沫材料制成。Preferably, the recycling net 26 is made of a metal material; the buffer mechanism 22 is made of springs and flexible materials; the guide door 211 is made of marine high-density foam material.
一种无人船在水面主动捕获不明水下无人航行器的方法，利用本发明申请中的装置，包括以下步骤：A method for an unmanned ship to actively capture an unknown underwater unmanned vehicle on the water surface, using the device in the application of the present invention, comprising the following steps:
步骤A：水面无人船1在水面航行，浮体12内的前视声呐保持开启，扫描水面无人船1前方水域，主动捕获控制系统通过对比图像库中水下无人航行器3的图像，判断是否出现水下无人航行器3，同时将扫描图像实时传输给岸站；当发现疑似水下无人航行器3时，水面无人船1发送警告给岸站，岸站工作人员通过观察前视声呐扫描图像与实时视频图像进行确定，若确定为水下无人航行器3则发送指令给水面无人船1，开启水面捕获过程；Step A: The surface unmanned ship 1 is sailing on the water surface, the forward-looking sonar in the floating body 12 is kept on, the water area in front of the surface unmanned ship 1 is scanned, and the active capture control system compares the images of the underwater unmanned vehicle 3 in the image library, Determine whether the underwater unmanned vehicle 3 appears, and transmit the scanned image to the shore station in real time; when the suspected underwater unmanned vehicle 3 is found, the surface unmanned vehicle 1 sends a warning to the shore station, and the staff of the shore station observe the The forward-looking sonar scanning image and the real-time video image are determined, and if it is determined to be an underwater unmanned vehicle 3, an instruction is sent to the surface unmanned vessel 1 to start the surface capture process;
步骤B：水面无人船1根据与水下无人航行器3的相对位置自主规划回收路径，从后方追捕或迎面回收，水面无人船1不断靠近水下无人航行器3，在接近水下无人航行器3后进一步修改航线，使得水下无人航行器3尽量与水面无人船1中心重合，同时水面无人船1通过液压伸缩杆14将回收笼2放入水中；Step B: The surface unmanned vessel 1 autonomously plans a recovery path according to the relative position with the underwater unmanned vehicle 3, and pursues from the rear or recovers head-on. After getting off the unmanned vehicle 3, the route is further modified, so that the underwater unmanned vehicle 3 is as close as possible to the center of the surface unmanned ship 1, and the surface unmanned ship 1 puts the recovery cage 2 into the water through the hydraulic telescopic rod 14;
步骤C：回收笼2入水后，打开前端的导引门211与回收网26，同时开启前视成像声呐212，获取水下无人航行器3与回收笼2的相对位置，经主动捕获控制系统处理，通过控制液压伸缩杆14不断调整回收笼2高度，便于水下无人航行器3能够水平入回收笼2；水面无人船1持续靠近水下无人航行器3，使水下无人航行器3进入回收笼2，水下无人航行器3入笼后，通过水下摄像机23继续观察水下无人航行器3，不断调整回收笼2直至其完全进入，当水下无人航行器3同时触碰到安装在回收筒21内的触觉单元25时，判断水下无人航行器3入笼成功，主动捕获控制系统关闭回收网26与导引门211，将水下无人航行器3捕获至回收笼2中；Step C: After the recovery cage 2 enters the water, open the front-end guide door 211 and the recovery net 26, and simultaneously open the forward-looking imaging sonar 212 to obtain the relative position of the underwater unmanned vehicle 3 and the recovery cage 2, through the active capture control system Processing, by controlling the hydraulic telescopic rod 14 to continuously adjust the height of the recovery cage 2, it is convenient for the underwater unmanned vehicle 3 to enter the recovery cage 2 horizontally; The vehicle 3 enters the recovery cage 2. After the underwater unmanned vehicle 3 enters the cage, the underwater camera 23 continues to observe the underwater unmanned vehicle 3, and the recovery cage 2 is continuously adjusted until it enters completely. When the drone 3 touches the haptic unit 25 installed in the recovery cylinder 21 at the same time, it is judged that the underwater unmanned vehicle 3 is successfully entered into the cage, and the active capture control system closes the recovery net 26 and the guide door 211, and the underwater unmanned vehicle sails. The device 3 is captured in the recovery cage 2;
步骤D：水面无人船1将回收笼2收入船身舱内，完成水下无人航行器3捕获回收成功并返航。Step D: The surface unmanned vessel 1 puts the recovery cage 2 into the hull compartment, completes the successful capture and recovery of the underwater unmanned vehicle 3 and returns to sail.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the technical principle of the present invention, several improvements and modifications can also be made. These improvements and modifications It should also be regarded as the protection scope of the present invention.
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