CN-122009397-A - A mechanism that is used for unmanned ship of surface of water to independently cloth and retrieve microminiature AUV

CN122009397ACN 122009397 ACN122009397 ACN 122009397ACN-122009397-A

Abstract

The invention discloses a mechanism for autonomously arranging and recovering a microminiature AUV (autonomous Underwater vehicle) of a water surface unmanned ship, belonging to the field of unmanned underwater operation. The mechanism comprises an unmanned ship platform and a recovery device, wherein the recovery device is provided with an optical guiding device, an elastic band, a binocular camera, a long rod, a buckle, a flexible net and a gear rack lifting mechanism. After the AUV enters the recovery device through the visual recognition optical guide device, the binocular camera detects the gesture and the height of the AUV, the motor drives the gear to move along the rack to drive the long rod to move downwards, the AUV is elastically fixed through the elastic band, the self-adaptive compaction is realized through torque limitation, and the AUV body is prevented from being damaged. The unmanned ship platform adopts a catamaran structure to improve stability, and is provided with a solar energy and lithium battery hybrid power supply system. The invention has low requirement on docking precision, the flexible material of the inner wall avoids collision damage, and the invention is applicable to recovery and deployment of AUV with any shape with the size smaller than the storage bin, effectively improves the AUV operation efficiency and reduces the deployment recovery risk.

Inventors

MA XIN
ZHANG BIFAN

Assignees

北京航空航天大学

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (10)

1. A mechanism for independently distributing and recovering a microminiature AUV (autonomous Underwater vehicle) on a water surface is characterized by comprising an unmanned ship platform and a recovery device, wherein the recovery device is installed on the unmanned ship platform in a lifting manner, when the recovery device is in a descending position, the AUV is recovered, the AUV is fixed in the recovery device after entering the recovery device, and then the recovery device is lifted up to enable the recovery device to be located in the unmanned ship platform.
2. The mechanism for autonomous deployment and retrieval of a microminiature AUV in accordance with claim 1, wherein said retrieval means comprises an optical guide, elastic band, binocular camera, long rod, buckle, flexible mesh, slide rail, slider, rack, gear and motor; the optical guiding device is used for identifying and positioning an AUV, is arranged above the outside of an inlet of the recovery device, the elastic belt is used for elastically fixing the AUV, two ends of the elastic belt are fixed on a long rod through double-hole pressing sheets, pressing and fixing of AUVs with different heights are achieved through up-and-down movement of the long rod, the binocular camera is used for detecting the posture and the height of the AUV, the long rod is arranged above the inside of the recovery device, the long rod is used for bearing the elastic belt, is a square light alloy rod, two ends of the long rod are fixedly connected with a sliding block through a motor fixing member and translate up and down along a sliding rail along with the sliding block, a rope for connecting a winch is fixed on a top frame of the recovery device, the rope is detachably connected with the winch rope through a rope knot, the flexible net is used for preventing an interfering object from entering and buffering collision and is respectively arranged on the inner sides of the front face, the left face and the right face of the recovery device, the sliding rail provides moving guide for the sliding block, two sliding rails are symmetrically arranged on the inner sides of frames of the recovery device in parallel, the sliding block is used for connecting the long rod with the sliding rail, the outer side is connected with the sliding rail, the outer side of the long rod is connected with the sliding rail through a motor fixing member, the two ends of the sliding block are fixedly connected with the sliding block, the bottom of the sliding block and the sliding block are in parallel to the sliding block, the sliding block is meshed with the inner side of the sliding block, the sliding block is meshed with the gear, the driving shaft is meshed with the gear, and the driving shaft is meshed with the gear is in parallel with the gear, and the gear is meshed with the gear is fixedly arranged, when the motor drives the gear to rotate, the gear moves linearly along the rack, and the motor provides lifting power for the long rod and is fixed on the sliding block.
3. The mechanism for autonomous deployment and retrieval of a microminiature AUV in a surface unmanned ship according to claim 1, wherein, The unmanned aerial vehicle platform comprises a solar panel, a wireless network bridge, a GPS (global positioning system), a core control box, a battery box and a winch, wherein the solar panel is used for converting solar energy into electric energy and is fixed on a front side frame of a ship body through an aluminum profile support, the wireless network bridge is used for remote communication and provided with two kilomega Ethernet ports, the two giga Ethernet ports are fixed above the unmanned aerial vehicle through the aluminum profile support, one Ethernet port is connected with an Ethernet port of Jetson Nano in the core control box, the other Ethernet port is connected with a power carrier module, the GPS is used for positioning and navigation of the unmanned aerial vehicle and is connected with Jetson Nano in the core control box through a USB interface and is installed at the right side position of the top of the unmanned aerial vehicle, the battery box is used for storing a lithium battery pack and a photovoltaic controller and is a waterproof box body and fixed at the right rear side of the ship body, the input end of the photovoltaic controller is connected with the solar panel, the output end of the photovoltaic controller is connected with the lithium battery pack through a voltage stabilizing power supply module, the winch is used for lifting device, the winch is symmetrically installed on the inner side frame of the unmanned aerial vehicle and is connected with the core recovery box through a rope buckle, and the winch is connected with the core recovery device through the cable.
4. The mechanism for autonomously deploying and retrieving a microminiature AUV according to claim 1, wherein the elastic band is made of high-elasticity wear-resistant rubber.
5. The mechanism for autonomously deploying and retrieving the microminiature AUV of the unmanned surface vehicle according to claim 1, wherein the slide rail is made of stainless steel, and the slide block is made of wear-resistant engineering plastic.
6. The mechanism for autonomously deploying and retrieving a microminiature AUV in a surface unmanned ship according to claim 1, wherein the rack is made of stainless steel.
7. The mechanism for autonomously distributing and recovering the microminiature AUV of the unmanned surface vehicle according to claim 1, wherein the hull of the unmanned surface vehicle platform adopts a double unmanned surface vehicle structural design, a main hull is formed by an aluminum profile manufacturing frame, and two foam floating body materials are symmetrically placed on the left side and the right side.
8. The mechanism for autonomously deploying and retrieving the microminiature AUV of the unmanned surface vehicle according to claim 7, wherein the propeller propellers of the unmanned surface vehicle platform are symmetrically arranged below the foam floating bodies at two sides and fixed on the aluminum profile frame, and the propellers of the twin unmanned surface vehicle are independently controlled.
9. The mechanism for autonomous deployment and retrieval of a microminiature AUV of claim 1, wherein the lithium battery pack in the battery box is a 24V lithium battery pack.
10. The mechanism for autonomously deploying and retrieving the microminiature AUV of the unmanned surface vehicle according to claim 1, wherein Jetson Nano in the core control box is connected with a PCA9685 module through an I2C interface, the PCA9685 module outputs PWM signals to two bidirectional electric regulators respectively, each bidirectional electric regulator is correspondingly connected with an underwater brushless propeller, jetson Nano is connected with a four-way relay through a GPIO interface, the four-way relay is correspondingly connected with 4 winches respectively, retraction and deployment of winch ropes are controlled through changing current directions of the relays, jetson Nano is respectively connected with a binocular camera and a GPS module through a USB interface, and Jetson Nano is connected with one gigabit Ethernet port of a wireless network bridge through an Ethernet port.

Description

A mechanism that is used for unmanned ship of surface of water to independently cloth and retrieve microminiature AUV Technical Field The invention belongs to the field of unmanned underwater operation, and particularly relates to a mechanism for autonomously laying and recovering a microminiature AUV (autonomous Underwater vehicle) of a water surface unmanned ship. Background AUV (Autonomous Underwater Vehicle) is used as a carrier for unmanned underwater operation and plays an important role in the scientific investigation and underwater archaeological field. With higher autonomous capability, AUVs can replace humans to accomplish some tasks underwater. However, the capacity of the battery carried by the micro AUV is limited due to the limitation of the receptor volume, and the battery needs to be frequently recovered to supplement energy, so that the micro AUV cannot perform a wide range of operations. At large AUV job depths, recovery takes longer and is at risk. Traditional manual-based cloth recycling methods have failed to meet the needs of future operations. USV (Unmanned Surface Vessel) is used as an unmanned autonomous robot for sailing on the water surface, and has strong load carrying capacity, cruising capacity and higher sailing speed. Therefore, a mechanism for independently laying and recovering the microminiature AUV of the unmanned surface vehicle is developed, the AUV is automatically protected by the USV to recover the AUV, the AUV operation efficiency is greatly improved, the laying operation risk is reduced, and the mechanism has a wide application prospect. Currently common AUV recovery equipment can be divided into horn and jaw types. Wherein the trumpet-shaped AUV recovery apparatus generally has a trumpet-shaped guide device and a chamber for receiving the AUV. The AUV must be accurately aligned with the guiding device during recovery to successfully enter the cabin, if the docking is inaccurate, failure or damage to the AUV and the guiding device can be caused, the high docking precision requirement is required, and the operation difficulty is greatly increased. The jaw type AUV recovery apparatus requires a complicated mechanical structure such as a rotary mechanical arm and a mechanical arm, which increases the manufacturing cost and maintenance difficulty of the apparatus. The method is generally designed for recovering AUVs with fixed shapes and specifications, and can reduce the operation difficulty and collision probability of the AUVs, but limits the application range of the AUVs, and the AUVs with different shapes or sizes can not be effectively recovered. Disclosure of Invention The invention provides a mechanism for independently distributing and recovering a microminiature AUV (autonomous Underwater vehicle) of a water surface unmanned ship, which aims to solve the problems of low efficiency and high risk of a traditional manual-based AUV recovery mode and improve the operation efficiency and range of the microminiature AUV. The specific technical scheme is as follows: A mechanism for independently distributing and recovering a microminiature AUV (autonomous Underwater vehicle) on a water surface comprises an unmanned ship platform and a recovery device, wherein the recovery device is installed on the unmanned ship platform in a lifting manner, when the recovery device is in a descending position, the AUV is recovered, the AUV is fixed in the recovery device after entering the recovery device, and then the recovery device is lifted up to enable the recovery device to be located in the unmanned ship platform. Preferably, the recycling device comprises an optical guiding device, an elastic band, a binocular camera, a long rod, a buckle, a flexible net, a sliding rail, a sliding block, a rack, a gear and a motor; the optical guiding device is used for identifying and positioning an AUV, is arranged above the outside of an inlet of the recovery device, the elastic belt is used for elastically fixing the AUV, two ends of the elastic belt are fixed on a long rod through double-hole pressing sheets, pressing and fixing of AUVs with different heights are achieved through up-and-down movement of the long rod, the binocular camera is used for detecting the posture and the height of the AUV, the long rod is arranged above the inside of the recovery device, the long rod is used for bearing the elastic belt, is a square light alloy rod, two ends of the long rod are fixedly connected with a sliding block through a motor fixing member and translate up and down along a sliding rail along with the sliding block, a rope for connecting a winch is fixed on a top frame of the recovery device, the rope is detachably connected with the winch rope through a rope knot, the whole lifting of the recovery device is achieved, the flexible net is used for preventing an interfering object from entering and buffering the inside of the front side, the left side and the right side of the recovery device