CN114620188B - Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship - Google Patents

Abstract

The invention belongs to the technical field of recovery of unmanned submersibles, and specifically discloses an autonomous recovery mechanism and a recovery method of an unmanned underwater vehicle based on a catamaran unmanned ship; it includes a clamping recovery mechanism and an auxiliary recovery mechanism; the clamping recovery mechanism includes a The gripper matched with the gripper also includes a position adjustment device connected with the gripper; the invention provides an autonomous recovery mechanism and recovery method for an unmanned underwater vehicle based on a catamaran unmanned ship that can be quickly and stably recovered.

Description

A self-recovery mechanism and recovery method for an unmanned underwater vehicle based on a catamaran unmanned ship

technical field

The invention belongs to the technical field of unmanned submersible vehicle recovery, and in particular relates to an autonomous recovery mechanism and recovery method of an unmanned submersible vehicle based on a catamaran unmanned ship.

Background technique

As a safe, efficient and flexible underwater vehicle, underwater unmanned submersibles are currently widely used in marine hydrographic inspection, underwater mission operations, underwater rescue, underwater terrain mapping, underwater detection and detection, and anti-submarine and anti-torpedo And other scenarios, the impact in the civilian and military fields is gradually increasing. However, due to the limited batteries it carries, it cannot be used to complete large-scale or deep-sea tasks. In order to solve this problem, some researchers use the mother ship as a supply ship to regularly salvage and recover unmanned submersibles arranged in a certain sea area. The salvage method is usually man-operated, and the underwater unmanned submersible is recovered by man-made control of the traction rope or fishing cage. This method is inefficient, labor-intensive, and has a high risk factor, so it is not suitable for harsh sea conditions.

At present, there are also salvage equipment based on semi-automated or automated mechanical devices, but these equipment are often large in size, high in complexity, and have a single function. They have high requirements for the posture and posture of the submarine, and the recovery effect is not good. Moreover, the marine environment is usually complex and changeable. Due to the interference of wind, waves, surges and other obstacles on the entire recovery system, it greatly increases the difficulty of recovering submersibles.

Contents of the invention

The object of the present invention is to provide an autonomous recovery mechanism and recovery method for an unmanned underwater vehicle based on a catamaran unmanned ship that can be quickly and stably recovered.

Based on above-mentioned purpose, the present invention adopts following technical scheme:

An autonomous recovery mechanism for an unmanned underwater vehicle based on a catamaran unmanned ship, including a clamping recovery mechanism and an auxiliary recovery mechanism; the clamping recovery mechanism includes a gripper matched with the submarine, and also includes a Position adjustment device.

Further, the auxiliary recovery mechanism includes a recovery frame arranged under the mechanical claw, the recovery frame includes a pair of vertical guard plates, and also includes a recovery bottom plate fixed under the pair of guard plates, the recovery bottom plate is connected to the guard plate Parallel, the recovery base plate is a V-shaped structure, and the recovery frame also includes a baffle plate fixed at the rear end of the recovery base plate, the baffle plate is vertically arranged, and the baffle plate and the recovery base plate are perpendicular; the front end of the recovery frame is provided with a detection device.

Further, the recovery frame is also connected with a first lifting mechanism, the first lifting mechanism includes a moving guide rail that is slidably connected with the guard plate, and the moving guide rail is vertically arranged; the first lifting mechanism also includes a chain that is connected to the recovery frame at one end, and the other end of the chain is Connected to a rotary hydraulic pump.

Further, the gripper includes a support frame, and also includes a pair of mechanical claws connected on the support frame; each mechanical claw includes a pair of cross-set clamping plates, and the lower part of each clamping plate is a clamping section, and each clamping plate The end away from the clamping section is hinged with the support frame; the middle part of each splint is hinged with a first connecting rod, and the ends of the two first connecting rods away from the hinged splint are hinged with a connecting block, and the connecting block is arranged on the splint. On the top, a vertically arranged linear push rod is fixedly connected to the top of the splint, and a linear drive motor is connected to the linear push rod, and the linear drive motor is fixedly connected to the support frame.

Further, the clamping sections of the two splints are intersected, and each clamping plate includes a rotating section arranged at an angle to the clamping section, and the rotating section is fixedly connected to the top end of the clamping section.

Further, the position adjusting device includes an angle adjustment mechanism connected with the support frame, the angle adjustment mechanism is connected with a second lifting mechanism, and the second lifting mechanism is connected with a horizontal movement mechanism; the angle adjustment mechanism includes a rotating shaft fixedly connected with the supporting frame, and the rotating shaft is vertical Straight setting; the rotating shaft is connected with a horizontal support plate for rotation, and the rotating shaft is fixedly connected with a steering gear coaxial with it.

Further, the second lifting mechanism includes a traction rope with one end fixedly connected to the support plate, the other end of the traction rope is connected with a reel, the reel is connected with a second motor, the second motor is connected with the horizontal movement mechanism, and the reel is connected with the horizontal movement mechanism. The mechanisms are all arranged above the support plate; the second lifting mechanism also includes a telescopic parallel four-bar mechanism arranged between the support plate and the horizontal movement mechanism, and the upper and lower ends of the telescopic parallel four-bar mechanism are provided with connecting components, each The connecting components all include a pair of fixed blocks and a pair of sliding blocks hinged to the parallel four-bar mechanism.

Further, the horizontal movement mechanism includes a transverse movement frame connected to the top of the parallel four-bar mechanism, and also includes a longitudinal movement frame connected above the transverse movement frame.

Further, the left and right sides of the recycling frame are provided with placement frames parallel thereto, and the placement frames are all arranged above the recycling frame.

The above-mentioned autonomous recovery method for the unmanned underwater vehicle based on the catamaran unmanned ship comprises the following steps:

Step 1, the catamaran unmanned ship moves to the submersible; when the submersible is in the state of completing a certain task or the battery power is low or the airborne equipment fails, the submersible sends a recovery signal to the catamaran unmanned ship; the catamaran unmanned ship After receiving the instruction information through the signal receiving end, it decides the path and way to reach the designated target area by itself; during the movement of the catamaran unmanned ship, the submersible measures its own heading angle, forward linear velocity, linear acceleration, angular velocity, and angular velocity in real time. Acceleration and water volume in the hull of the submersible and transmit the measured information to the unmanned catamaran.

Step 2, recovery of the submersible vehicle preparation work; when the catamaran unmanned ship arrives within 200 meters from the submersible, the catamaran unmanned ship sends an approaching instruction to the submersible, and the submersible directly sends the catamaran to the catamaran through the signal sending device. The unmanned ship sends its own position and attitude information, and continuously adjusts the heading angle, pitch angle, roll angle, speed, acceleration, angular velocity and angular acceleration of the submersible, so that the heading angle of the submersible and the catamaran unmanned ship are consistent , while the submersible keeps its speed constant and begins to gradually float up to within 1 meter of the water surface; after receiving the position and attitude information of the submersible, the unmanned catamaran accelerates to catch up with the submersible through trajectory tracking technology, and at the same time the unmanned catamaran Also constantly adjust the heading angle of the hull to make it the same as the heading angle of the submersible; when the unmanned catamaran arrives within 20 meters from the submersible, the unmanned catamaran rotates according to the current speed of the hull and the distance from the submersible. The hydraulic pump lowers the chain, and the recovery box drops to a depth of 1 meter below the water surface.

Step 3, collect the submersible into the recovery box; when the decision processor of the catamaran unmanned ship judges that the position and orientation information of the current submersible and the catamaran unmanned ship meet the recovery conditions, the catamaran unmanned ship starts to accelerate, and the submerged unmanned ship The unmanned catamaran enters the recovery frame from the front end of the recovery frame; when the detection device detects that the submersible enters the recovery frame, the unmanned catamaran starts to decelerate; The speed is the same; after the submersible fully enters the recovery frame for 3-5 seconds, the hydraulic pump is rotated to recover the chain, and the recovery frame and the submersible are pulled to a position above the water surface. After the submersible leaves the water surface, it is in the recovery bottom plate under the action of gravity.

Step 4, the gripper grabs the submersible; after the recovery frame leaves the water surface, the catamaran unmanned ship controls the lateral movement frame and the longitudinal movement frame to drive the second lifting mechanism, the angle adjustment mechanism and the gripper to move, and then the first motor drives The driving gear rotates, the driving gear drives the steering gear to rotate, and the steering gear drives the gripper to rotate directly above the submersible; then the second motor drives the reel to rotate and lower the traction rope, and the gripper falls; when the mechanical claw touches the submersible Finally, the linear drive motor drives the linear push rod to move down, and the linear push rod drives the splint to rotate in a direction close to the submersible to grab the submersible.

Step 5, put the submersible in the placement frame; after the mechanical claw grabs the submersible, the first motor drives the drive gear and the steering gear to rotate and reset, and the steering gear drives the submersible to rotate to a direction parallel to the placement frame; then the second motor drives The reel rotates to retract the traction rope and lifts the mechanical claw until the mechanical claw rises to the set height; then the catamaran unmanned ship controls the lateral movement frame and the longitudinal movement frame to drive the gripper and the submersible to move to the correct position of the placement frame. Above, the linear drive motor drives the linear push rod to move up, and the linear push rod drives the splint to rotate away from the submersible, and puts the submersible into the placement frame; finally, the lateral movement frame and the longitudinal movement frame are reset.

Compared with the prior art, the present invention has the following beneficial effects:

In order to solve the problems of traditional unmanned submersible vehicle recovery methods such as large limitations and complex recovery mechanisms, the present invention proposes a recovery mechanism and recovery method for autonomously recovering submersible vehicles based on catamaran unmanned ships. The proposed recovery method is innovative The advantage is that through the information interaction between the unmanned submersible vehicle and the catamaran unmanned ship, the catamaran unmanned ship is used to autonomously track the position and attitude of the submersible and recover it. The whole process does not require human intervention, and the underwater vehicle recovery task can be completed in a wide range of sea areas and under complex sea conditions only through the unmanned ship's independent decision-making position and attitude information and the set recovery method. The risk to the operator is reduced, and the recovery method has a more practical application background.

The proposed recovery mechanism has a high degree of freedom, and can realize up, down, left, right, and rotational movements. Compared with traditional traction ropes and mechanical claws, it has stronger flexibility and practicability. In addition, the proposed recovery mechanism is time-consuming Based on the mechanical structure, it has higher stability and reliability, and can complete tasks better under complex sea conditions.

The invention uses the recovery frame and the clamper to cooperate, and the recovery frame has a large opening, which is easy to capture the submersible and increases the stability of the recovery of the submersible; the recovery bottom plate of the recovery frame is set as a V-shaped structure, so that the submersible can be adjusted under the action of gravity The location is convenient for the gripper to pick up the submersible, and then it is convenient to put the submersible into the placement frame. The guard plate of the recovery frame and the baffle at the rear end can prevent the submersible from running out of the recovery frame, increasing the stability of the recovery of the submersible. The gripper is set to two mechanical claws at the front and rear to clamp the front and rear ends of the submersible, increasing the stability of the clamping, so that the submersible is stably transported to the placement frame. The retractable parallel four-bar mechanism can effectively solve the problem of the mechanical claw swinging back and forth during the lifting process caused by a single traction rope, and increase the stability of the mechanical claw movement.

Description of drawings

Fig. 1 is the front view of the clamping recovery mechanism of Embodiment 1 of the present invention;

Fig. 2 is the axonometric view of embodiment 1 of the present invention;

Figure 3 is a partially enlarged view of Figure 2;

Fig. 4 is the schematic diagram of the recovery frame of embodiment 1 of the present invention;

Fig. 5 is a schematic diagram of the mechanical claw of Embodiment 1 of the present invention;

Fig. 6 is a schematic diagram of a state of the clamping recovery mechanism in Embodiment 1 of the present invention;

Fig. 7 is a partial enlarged view A of Fig. 6;

Fig. 8 is a partial enlarged view B of Fig. 6;

Fig. 9 is a left view of the clamping recovery mechanism of Embodiment 1 of the present invention;

Figure 10 is a partially enlarged view of Figure 9;

Fig. 11 is a top view of the clamping recovery mechanism of Embodiment 1 of the present invention;

Fig. 12 is an axonometric view of the clamping recovery mechanism of Embodiment 1 of the present invention;

Fig. 13 is a left view of Embodiment 1 of the present invention;

Fig. 14 is the front view of Embodiment 1 of the present invention;

Figure 15 is a top view of Embodiment 1 of the present invention;

Fig. 16 is a schematic diagram of recovering a submersible in Embodiment 1 of the present invention;

Fig. 17 is the left side view of recovering the submersible in Embodiment 1 of the present invention;

Fig. 18 is the front view of recovering the submersible in Embodiment 1 of the present invention;

Fig. 19 is a schematic diagram of the clamping recovery mechanism of Embodiment 1 of the present invention;

Fig. 20 is a schematic diagram of another angle of the clamping recovery mechanism in Embodiment 1 of the present invention;

Fig. 21 is a schematic diagram of the opening of the clamper according to Embodiment 1 of the present invention;

Fig. 22 is a schematic diagram of the grasping state of the gripper in Embodiment 1 of the present invention;

Fig. 23 is recovery flowchart 1 of embodiment 2 of the present invention;

Fig. 24 is recovery flowchart 2 of embodiment 2 of the present invention;

Fig. 25 is the recycling flowchart 3 of Embodiment 2 of the present invention;

Fig. 26 is the recycling flowchart 4 of embodiment 2 of the present invention;

Fig. 27 is recovery flowchart 5 of embodiment 2 of the present invention;

Fig. 28 is the recycling flowchart 6 of Embodiment 2 of the present invention;

Fig. 29 is a recovery flow chart 7 of Embodiment 2 of the present invention.

In the figure: longitudinal motor 1, longitudinal guide rail 2, longitudinal square tube profile 3, longitudinal light bar slide rail 4, longitudinal light bar slider 5, horizontal motor 6, longitudinal guide rail slider 7, horizontal light bar slide rail 8, horizontal light bar Bar slider 9, rotating shaft 10, parallel rod 11, pin shaft 12, installation frame 13, front cover 14, mechanical claw 15, submersible 16, first motor 17, linear drive motor 18, long angle iron 19, traction rope 21. The second motor 22, the transverse guide rail 23, the transverse frame square material 24, the reel 26, the transverse slider 27, the first mounting seat 28, the driving gear 29, the angle iron fixing seat 30, the second mounting seat 31, the short angle Iron 33, catamaran recovery ship 34, hoisting wheel 35, rotary hydraulic pump 36, recovery frame 37, chain 38, propeller 39, lifting slider 40, moving guide rail 41, rotating shaft 42, screw 43, thrust bearing 44, round nut 45. Sliding block 46, clamping section 47, connecting block 48, linear push rod 49, placement frame 50, splint 51, first connecting rod 52, guard plate 53, recovery bottom plate 54, baffle plate 55.

Detailed ways

Example 1

An autonomous recovery mechanism for unmanned underwater vehicle 16 based on catamaran unmanned ship 34, as shown in Figure 1-22, includes a clamping recovery mechanism and an auxiliary recovery mechanism; The holder also includes a position adjustment device connected with the holder. The clamping recovery mechanism mainly includes a longitudinal moving frame, a lateral moving frame, a telescopic parallel four-bar mechanism and a gripper.

As shown in Figures 1-4, the auxiliary recovery mechanism includes a recovery frame 37 arranged below the mechanical claw 15, and the recovery frame 37 is installed on the inner side of the catamaran unmanned ship 34; the recovery frame 37 includes a pair of vertical guard plates 53 , and also includes a recovery base plate 54 fixedly connected below a pair of guard plates 53, the recovery base plate 54 is parallel to the guard plate 53, the recovery base plate 54 is a V-shaped structure, and the recovery frame 37 is also included in the rear end of the recovery base plate 54. The baffle plate 55, the baffle plate 55 is vertically arranged, and the baffle plate 55 is perpendicular to the recovery base plate 54; The front end of recovery frame 37 is the entry end of submersible vehicle 16 , and a detection device is respectively installed on both sides of the front end guard plate 53 of recovery frame 37 for detecting whether submersible vehicle 16 enters recovery frame 37 . The detection device includes an ultrasonic sensor. When the submersible 16 enters, the ultrasonic waves transmitted by the ultrasonic sensor are reflected by the outer surface of the submersible 16, causing the phase angle to change. The ultrasonic sensor uses this to detect whether the submersible 16 has entered.

As shown in Figure 2-3, recovery frame 37 is also connected with the first elevating mechanism, and the first elevating mechanism comprises four moving guide rails 41 that are slidingly connected with guard plate 53, and moving guide rails 41 are all vertically arranged, and moving guide rails 41 are all connected with The catamaran unmanned ship 34 is fixedly connected; the four corners outside the recovery frame 37 are respectively fixedly equipped with lifting sliders 40, and the lifting sliders 40 are all slidably connected with the moving guide rails 41. The first lifting mechanism also includes four chains 38 that one end is connected with the recovery frame 37, and one end of each chain 38 is fixedly connected with the lifting slider 40, and the other end of each chain 38 is connected with a rotating hydraulic system around the hoisting wheel 35. pump36. The chain 38 can be extended or shortened under the drive of the rotary hydraulic pump 36 , and the recovery frame 37 can rise and fall relatively stably under the constraint of the moving guide rail 41 .

As shown in Fig. 1, Fig. 5-6 and Fig. 13, the holder includes a support frame, and also includes a support frame, front and rear ends of the support frame are fixedly connected with front covers 14, and each front cover 14 is a pair Vertically arranged and fixedly connected plate structure, each front cover 14 is connected with a mechanical claw 15; each mechanical claw 15 includes a pair of cross-set splints 51, each splint 51 is L-shaped, each The bottom of each clamping plate 51 is clamping section 47, and one end of each clamping plate 51 away from clamping section 47 is all hinged with front cover 14; One end of the rod 52 away from its hinged clamping plate 51 is hinged with a connecting block 48, the connecting block 48 is arranged on the top of the clamping plate 51, and the top of the clamping plate 51 is fixedly connected with a vertically arranged linear push rod 49, which is connected with The linear drive motor 18 is fixedly connected with the support frame. Clamping plate 51 and first connecting rod 52, linear push rod 49 form slider crank mechanism, and linear push rod 49 and connecting piece 48 are straight line movement, and clamping plate 51 rotates around itself and front cover 14 hinges. The mechanical claw 15 can be grasped and placed under the drive of the linear drive motor 18 . In addition, the entire holder part can be rotated about the rotation axis 42 .

The clamping sections 47 of the two clamping plates 51 are intersected, and each clamping plate 51 includes a rotating section that is arranged at an angle with the clamping section 47. for an integrated structure.

As shown in Figure 6-22, the position adjustment device includes an angle adjustment mechanism connected with the support frame, the angle adjustment mechanism is connected with a second lifting mechanism, and the second lifting mechanism is connected with a horizontal movement mechanism; the angle adjustment mechanism includes a The rotating shaft 42 is vertically arranged; the rotating shaft 42 is connected with a horizontal support plate, and the rotating shaft is fixedly connected with a steering gear coaxial with it, and the steering gear is meshed with a driving gear 29, and the driving gear 29 is connected with a first motor 17. The first motor 17 is fixedly connected to the support plate. The top of the rotating shaft 42 is equipped with a round nut 45, which plays the role of fastening and limiting the steering gear. A thrust bearing 44 coaxial with it is connected in the middle of the rotating shaft 42, and the thrust bearing 44 is connected with the support plate to play a rotating function. There are 4 threaded holes on the lower end surface of the rotating shaft 42, and the screws 43 are used for fixing with the support frame. A second mounting seat 31 fixedly connected to both of the rotating shaft 42 and the support frame is provided, and the holder is mounted on the second mounting seat 31 . The mechanical claw 15 can rotate a certain angle under the effect of the steering gear, so as to adapt to the submersibles 16 of different attitudes in the recovery frame 37 .

The second elevating mechanism comprises a traction rope 21 that one end is connected with the support plate, and the other end of the traction rope 21 is connected with a reel 26, and the reel 26 is connected with a second motor 22, and the second motor 22 is connected with the horizontal movement mechanism, and the reel 26 and the horizontal movement mechanism are all arranged above the support plate; the second elevating mechanism also includes a telescopic parallel four-bar mechanism arranged between the support plate and the horizontal movement mechanism, and the upper and lower ends of the telescopic parallel four-bar mechanism are provided with connection Assemblies, each connecting assembly includes a pair of fixed blocks and a pair of sliding blocks 46 hinged to the telescopic parallel four-bar mechanism. An installation frame 13 is fixedly connected to the support plate.

The horizontal movement mechanism includes a transverse movement frame connected to the top of the parallel four-bar mechanism, and also includes a longitudinal movement frame connected above the transverse movement frame.

The longitudinal mobile frame comprises three horizontally arranged vertical square tube profiles 3 fixedly connected on the catamaran unmanned ship 34, and each vertical square tube profile 3 is perpendicular to the length direction of the guard plate 53 (longitudinal square tube profile 3 length direction Both are in the left and right directions); the front and rear two longitudinal square tube profiles 3 are respectively fixedly connected with a longitudinal light bar slide rail 4 parallel to it, and each longitudinal light bar slide rail 4 is slidably connected with a longitudinal light bar slider 5; The longitudinal square tube profile 3 in the middle is fixedly connected with a longitudinal guide rail 2 parallel to it, and the longitudinal guide rail 2 is slidably connected with a longitudinal guide rail slider 7 . The longitudinal light bar slider 5 and the longitudinal guide rail slider 7 are fixedly connected, and one end of the longitudinal guide rail 2 is fixedly connected with a longitudinal motor 1, and the longitudinal motor 1 can drive the longitudinal guide rail slider 7 and the longitudinal light bar slider 5 along the longitudinal guide rail 2 move. Longitudinal light bar slide rail 4 is used for bearing the weight of mechanism and submersible 16.

The laterally moving frame includes two horizontal frame squares 24 perpendicular to the longitudinal square tube profiles 3 (the length direction of the horizontal frame squares 24 is the front-to-back direction), and the horizontal frame squares 24 are horizontally arranged below the longitudinal square tube profiles 3; The square material 24 is fixedly connected with the lower ends of the longitudinal light bar slider 5 and the longitudinal guide rail slider 7, and a horizontal guide rail 23 parallel to it is arranged between the two transverse frame square materials 24, and the two transverse frame square materials 24 are fixedly connected respectively. There is a transverse light bar guide rail 8 parallel to it, a transverse motor 6 fixedly connected to it is arranged between two transverse frame square materials 24 , and the transverse guide rail 23 is fixedly connected with the two transverse frame square materials 24 . Horizontal slide block 27 is slidably installed on the horizontal guide rail 23 , horizontal light bar slider 9 is slidably installed on the horizontal light bar guide rail 8 , and a horizontal mobile frame is fixedly connected with the horizontal light bar slide block 9 and the horizontal slide block 27 below. The first motor 17 is fixedly connected in the middle of the horizontally moving frame, and the first motor 17 realizes the lifting of the mechanical claw 15 through the traction rope 21 on the reel 26 .

The top of the telescopic parallel four-bar mechanism is located in the middle of the moving frame. The telescopic parallel four-bar mechanism includes three layers of intersecting layers arranged up and down. Each intersecting layer includes two pairs of parallel bars 11 intersected. Two parallel rods 11 are hinged by pin shafts 12, and two shared rotating shafts 10 are hinged between adjacent two intersecting layers. Long angle iron 19 is hinged at the front part of the cross layer bottom of the lowest floor, and short angle iron 33 is hinged at the rear, and long angle iron 19 is connected with sliding block 46, and short angle iron 33 is connected with fixed block. Long angle iron 19 is hinged at the front part of the cross layer top of the top floor, and short angle iron 33 is hinged at the rear portion, and long angle iron 19 is connected with sliding block 46, and short angle iron 33 is fixedly connected with fixed block. The long angle iron 19 and the short angle iron 33 are all installed on the angle iron fixing seat 30 . The fixed block below is fixedly connected with the installation frame 13, and the sliding block 46 is slidably connected with the installation frame 13; the fixed block above is fixedly connected with the mobile frame, and the sliding block 46 is slidably connected with the mobile frame. A first mounting base 28 is fixedly mounted on the mounting frame 13 , and a first motor 17 is fixedly mounted on the first mounting base 28 .

As shown in FIG. 2 , the left and right sides of the recovery frame 37 are provided with placement frames 50 parallel thereto. The placement frames 50 are all arranged above the recovery frame 37 .

The twin-hull unmanned ship 34 can monitor the operation of the unmanned submersible 16 in a certain target sea area in real time, including real-time capture of its task completion, battery lighting or equipment loss, etc. When the target submersible 16 is completing a certain task or When the battery power is low or the airborne equipment fails, a recovery signal can be sent to the catamaran unmanned ship 34. After receiving the instruction information through the signal receiving terminal, the catamaran unmanned ship 34 can decide the route and method to reach the designated target area by itself. The location information and status information of the target submersible 16 are monitored in real time through GPS navigation and sensors. Both the underwater vehicle 16 and the catamaran unmanned ship 34 are provided with communication devices. The submersible 16 is equipped with inertial navigation, GPS, acceleration sensor, speed sensor, draft measurement sensor, and is used for various physical quantity measurements. The submersible 16 has a satellite navigation and communication module, and there is a corresponding signal receiving device inside the unmanned ship. The submersible 16 broadcasts its own physical information as a communication signal, and the recovery ship has a signal receiving device for receiving information from the submersible 16. . The catamaran unmanned ship 34 is provided with a decision processor. The catamaran unmanned ship is also provided with propeller 39.

Example 2

The present embodiment adopts the self-recovery method of the unmanned underwater vehicle 16 based on the catamaran unmanned ship 34 of embodiment 1, comprising the following steps:

Step 1, the catamaran unmanned ship 34 moves to the submersible 16; The ship 34 sends a recovery signal; after the catamaran unmanned ship 34 receives the command information through the signal receiving end, it decides the path and way to reach the designated target area; during the movement of the catamaran unmanned ship 34, the submersible 16 measures its own Heading angle, forward linear velocity, linear acceleration, angular velocity, angular acceleration and the water volume in the hull of the submersible 16 (monitoring the floating and sinking of the submersible 16) and transmit the measurement information to the catamaran unmanned ship 34. When the submersible 16 is in the state to be recovered, the signal will be broadcast to the surroundings through the communication device. Use the positioning device on the ship to locate the submersible 16, and determine the position of the submersible 16 relative to the catamaran unmanned ship 34. After the onboard computer obtains the relative position, it immediately controls the recovery ship to go to the target area of the submersible 16 to be recovered according to the path tracking algorithm deployed in the onboard computer.

Step 2, recovering the underwater vehicle 16 and preparing for work; as shown in Figure 24-25, when the catamaran unmanned ship 34 arrives within a range of 16,200 meters from the submarine, the catamaran unmanned ship 34 sends an approaching instruction to the submarine 16, At this time, the submersible 16 directly sends its own position and attitude information to the catamaran unmanned ship 34 through the signal sending device, and the submersible 16 continuously adjusts the heading angle, pitch angle, roll angle, and speed of the submersible 16 by controlling the power system at the tail. , acceleration, angular velocity and angular acceleration, make the heading angle of the submersible 16 and the catamaran unmanned ship 34 consistent as much as possible, while the submersible 16 keeps the speed constant and begins to gradually rise to within 1 meter from the water surface; After receiving the pose information of the submersible 16, the manned ship 34 accelerates to catch up with the submersible 16 through trajectory tracking technology (here, the trajectory tracking method of the catamaran unmanned vessel 34 adopts the conventional incremental PID method), while the twin-hull unmanned The ship 34 also constantly adjusts the heading angle of the hull so that it is nearly the same as the course angle of the submersible 16; The distance of the submersible 16, the rotary hydraulic pump 36 lowers the chain 38, and the recovery frame 37 descends to a depth of 1 meter below the water surface.

Step 3, the submersible 16 is received into the recovery box 37; as shown in Figure 26, when the decision processor of the catamaran unmanned ship 34 judges that the current pose information of the submersible 16 and the catamaran unmanned ship 34 all meet the recovery conditions Finally, the catamaran unmanned ship 34 starts to accelerate, and the submersible 16 enters the recovery frame 37 by the front end of the recovery frame 37; when the detection device detects that the submersible 16 enters the recovery frame 37, the catamaran unmanned ship 34 starts to slow down; When the device 16 fully enters the recovery frame 37, the catamaran unmanned ship 34 decelerates to the same speed as the submersible 16; after the submersible 16 completely enters the recovery frame 373-5s, the rotary hydraulic pump 36 recovers the chain 38, and the recovery frame 37 and The submersible 16 is pulled to the position above the water surface, and since the lower part of the recovery frame 37 is a V-shaped structure, the submersible 16 is in the recovery base plate 54 under the action of gravity after leaving the water surface.

Step 4, the gripper grabs the submersible 16; as shown in Figure 27, after the recovery frame 37 leaves the water surface, the catamaran unmanned ship 34 controls the longitudinal motor 1 to drive the horizontal moving frame to move, and the horizontal motor 6 drives the moving frame to drive the second The lifting mechanism, the angle adjustment mechanism and the clamper move, and then the first motor 17 drives the drive gear 29 to rotate, the drive gear 29 drives the steering gear to rotate, and the steering gear drives the clamper to rotate to directly above the submersible 16; then the second motor 22 drives the reel 26 to rotate and lowers the traction rope 21, and the gripper falls; when the mechanical claw 15 touches the submersible 16, the linear drive motor 18 drives the linear push rod 49 to move down, and the linear push rod 49 drives the splint 51 to approach the submersible The direction of the device 16 is rotated to grab the submersible 16.

Step 5, put the submersible 16 into the placement frame 50; as shown in Figure 28-29, after the mechanical claw 15 grabs the submersible 16, the first motor 17 drives the driving gear 29 and the steering gear to rotate and reset, and the steering gear drives the submersible 16 rotates to a direction parallel to the placement frame 50; then the second motor 22 drives the reel 26 to rotate, retract the traction rope 21, and lift the mechanical claw 15 until the mechanical claw 15 rises to a set height; then the catamaran unmanned ship 34 Control the longitudinal motor 1 and the transverse motor 6 to drive the gripper and the submersible 16 to move directly above the placement frame 50, the linear drive motor 18 drives the linear push rod 49 to move upward, and the linear push rod 49 drives the splint 51 to move away from the submersible 16 The direction of rotation is rotated, and submersible 16 is put into the setting frame 50; Finally, the lateral movement frame and the longitudinal movement frame are reset.

Claims (7)

1. A self-recovery mechanism for unmanned submersibles based on catamaran unmanned ships, characterized in that it includes a clamping recovery mechanism and an auxiliary recovery mechanism; the clamping recovery mechanism includes a gripper that cooperates with the submersible, It also includes a position adjustment device connected with the holder; the holder includes a support frame, and the position adjustment device includes an angle adjustment mechanism connected with the support frame, the angle adjustment mechanism is connected with a second lifting mechanism, and the second lifting mechanism It is connected with a horizontal movement mechanism; the longitudinal movement frame includes three horizontally arranged longitudinal square tube profiles fixed on the catamaran unmanned ship, and two longitudinal square tube profiles are respectively fixed with a longitudinal smooth bar slide rail parallel to it, Each vertical light bar slide rail is slidably connected with a vertical light bar slider; the horizontal moving frame includes two horizontal frame squares perpendicular to the longitudinal square tube profile; The lower end of the block is fixedly connected, and a horizontal guide rail parallel to it is set between the two horizontal frame squares. A horizontal slider is slidably installed on the horizontal guide rail. A horizontal mobile frame is fixed below the horizontal slider. The top of the mechanism is located in the middle of the moving frame; the horizontal moving mechanism includes a horizontal moving frame connected to the top of the parallel four-bar mechanism, and also includes a vertical moving frame connected above the horizontal moving frame; The recovery frame arranged below, the recovery frame includes a pair of vertical guard plates, and also includes a recovery bottom plate fixed under the pair of guard plates, the recovery bottom plate is parallel to the guard plate, and the recovery bottom plate is V-shaped structure, the recovery frame also includes a baffle plate fixed at the rear end of the recovery base plate, the baffle plate is vertically arranged, and the baffle plate and the recovery base plate are perpendicular; the front end of the recovery frame is provided with a The detection device matched with the device; the holder includes a support frame, and also includes a pair of mechanical claws connected on the support frame; each of the mechanical claws includes a pair of cross-set splints, and each of the splints The lower part is a clamping section, and the end of each splint away from the clamping section is hinged to the support frame; the middle part of each splint is hinged with a first connecting rod, and the two first connecting rods are hinged away from it. One end of the splint is hinged with a connecting block, the connecting block is arranged above the splint, a vertical linear push rod is fixedly connected above the splint, and a linear drive motor is connected to the linear push rod. The linear drive motor is fixedly connected with the support frame. 2. The autonomous recovery mechanism for unmanned submersibles based on catamaran unmanned ships as claimed in claim 1, wherein the recovery frame is also connected with a first lifting mechanism, and the first lifting mechanism includes a guard plate Slidingly connected moving guide rails, the moving guide rails are vertically arranged; the first lifting mechanism also includes a chain connected to the recovery frame at one end, and a rotary hydraulic pump connected to the other end of the chain. 3. The self-recovery mechanism for the unmanned submersible based on the catamaran unmanned ship as claimed in claim 2, wherein the clamping sections of the two splints are intersected, and each of the splints includes a clamping plate. The rotating segment is arranged at an included angle, and the rotating segment is fixedly connected with the top end of the clamping segment. 4. the self-recovering mechanism of the unmanned underwater vehicle based on the catamaran unmanned ship as claimed in claim 3, is characterized in that, described angle adjustment mechanism comprises the rotating shaft that is connected with support frame, and described rotating shaft is vertically arranged; A horizontal support plate is rotatably connected to the rotating shaft, and a steering gear coaxial with it is fixedly connected to the rotating shaft. The steering gear is meshed with a driving gear, and the driving gear is connected to a first motor. The first motor Fastened to the support plate. 5. The self-recovering mechanism of the unmanned underwater vehicle based on the catamaran unmanned ship as claimed in claim 4, wherein the second lifting mechanism includes a traction rope with one end connected to the support plate, and the traction rope of the traction rope The other end is connected with a reel, and the reel is connected with a second motor, and the second motor is connected with a horizontal movement mechanism, and both the reel and the horizontal movement mechanism are arranged above the supporting plate; the second lifting mechanism It also includes a telescopic parallel four-bar mechanism arranged between the support plate and the horizontal movement mechanism, the upper and lower ends of the telescopic parallel four-bar mechanism are provided with connecting components, and each of the connecting components includes a A hinged pair of fixed blocks and a pair of sliding blocks. 6. The self-recovering mechanism of the unmanned submersible based on the catamaran unmanned ship as claimed in claim 5, wherein the left and right sides of the recovery frame are all provided with a placement frame parallel to it, and the placement frames are both Set above the recycling box. 7. The self-recovering method of the unmanned underwater vehicle based on the catamaran unmanned ship as described in any one of claims 1-6, it is characterized in that, comprising the following steps: Step 1, the catamaran unmanned ship moves to the submersible; when the submersible is in the state of completing a certain task or the battery power is low or the airborne equipment fails, the submersible sends a recovery signal to the catamaran unmanned ship; the catamaran unmanned ship After receiving the instruction information through the signal receiving end, it decides the path and way to reach the designated target area by itself; during the movement of the catamaran unmanned ship, the submersible measures its own heading angle, forward linear velocity, linear acceleration, angular velocity, and angular velocity in real time. Acceleration and water volume in the hull of the submersible and transmit the measured information to the unmanned catamaran; Step 2, recovery of the submersible vehicle preparation work; when the catamaran unmanned ship arrives within 200 meters from the submersible, the catamaran unmanned ship sends an approaching instruction to the submersible, and the submersible directly sends the catamaran to the catamaran through the signal sending device. The unmanned ship sends its own position and attitude information, and continuously adjusts the heading angle, pitch angle, roll angle, speed, acceleration, angular velocity and angular acceleration of the submersible, so that the heading angle of the submersible and the catamaran unmanned ship are consistent , while the submersible keeps its speed constant and begins to gradually float up to within 1 meter of the water surface; after receiving the position and attitude information of the submersible, the unmanned catamaran accelerates to catch up with the submersible through trajectory tracking technology, and at the same time the unmanned catamaran Also constantly adjust the heading angle of the hull to make it the same as the heading angle of the submersible; when the unmanned catamaran arrives within 20 meters from the submersible, the unmanned catamaran rotates according to the current speed of the hull and the distance from the submersible. The hydraulic pump lowers the chain, and the recovery box drops to a depth of 1 meter below the water surface; Step 3, collect the submersible into the recovery box; when the decision processor of the catamaran unmanned ship judges that the position and orientation information of the current submersible and the catamaran unmanned ship meet the recovery conditions, the catamaran unmanned ship starts to accelerate, and the submerged unmanned ship The unmanned catamaran enters the recovery frame from the front end of the recovery frame; when the detection device detects that the submersible enters the recovery frame, the unmanned catamaran starts to decelerate; The speed is the same; after the submersible fully enters the recovery frame for 3-5 seconds, the hydraulic pump is rotated to recover the chain, and the recovery frame and the submersible are pulled to a position above the water surface, and the submersible is in the recovery bottom plate under the action of gravity after leaving the water surface; Step 4, the gripper grabs the submersible; after the recovery frame leaves the water surface, the catamaran unmanned ship controls the lateral movement frame and the longitudinal movement frame to drive the second lifting mechanism, the angle adjustment mechanism and the gripper to move, and then the first motor drives The driving gear rotates, the driving gear drives the steering gear to rotate, and the steering gear drives the gripper to rotate directly above the submersible; then the second motor drives the reel to rotate and lower the traction rope, and the gripper falls; when the mechanical claw touches the submersible Finally, the linear drive motor drives the linear push rod to move down, and the linear push rod drives the splint to rotate in the direction close to the submersible to grab the submersible; Step 5, put the submersible in the placement frame; after the mechanical claw grabs the submersible, the first motor drives the drive gear and the steering gear to rotate and reset, and the steering gear drives the submersible to rotate to a direction parallel to the placement frame; then the second motor drives The reel rotates to retract the traction rope and lifts the mechanical claw until the mechanical claw rises to the set height; then the catamaran unmanned ship controls the lateral movement frame and the longitudinal movement frame to drive the gripper and the submersible to move to the correct position of the placement frame. Above, the linear drive motor drives the linear push rod to move up, and the linear push rod drives the splint to rotate away from the submersible, and puts the submersible into the placement frame; finally, the lateral movement frame and the longitudinal movement frame are reset.

Images