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A method for dynamic and autonomous uuv recovery on usv water surface

A dynamic and motion technology, applied in non-electric variable control, two-dimensional position/channel control, instruments and other directions, can solve the problem of people on the mother ship, and achieve the effect of less information, simple calculation, and easy engineering realization.

Active Publication Date: 2020-04-03
HARBIN ENG UNIV
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  • Abstract
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Problems solved by technology

Although the patent is for the recovery of the mother ship on the water surface, the mother ship is manned, and the recovery process is completed manually, which is different from the self-recovery on the water surface using USV for unmanned intervention in the present invention.

Method used

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  • A method for dynamic and autonomous uuv recovery on usv water surface
  • A method for dynamic and autonomous uuv recovery on usv water surface
  • A method for dynamic and autonomous uuv recovery on usv water surface

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Embodiment Construction

[0071] The specific implementation manner of the present invention will be further described below in conjunction with the accompanying drawings.

[0072] combine figure 1 , the process of dynamic recovery of UUV by USV water surface can be described as:

[0073] In the initial state of recovery, both USV and UUV float on the water surface, and the entire recovery process is also completed on the water surface. The USV and UUV communicate through the configured radio communication equipment to initiate the recovery process. After the recovery process starts, the USV and UUV sail according to their respective recovery maneuver strategies, with the aim of forming a navigation situation in which the UUV and USV gradually approach and the UUV follows and tracks the USV. When the distance and heading of the UUV and USV meet the recovery and docking conditions, the USV and UUV each extend out of the docking mechanism for docking, and the entire recovery process is completed.

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Abstract

The invention discloses an USV (Unmanned Surface Vehicle) water surface dynamic autonomous recovery UUV (Unmanned Underwater Vehicle) method, and the method comprises the steps: an USV sails to an UUV in a fixed speed, and the UUV keeps to standby in site; the USV calculates an initial position point of a virtual USV which is needed to be tracked by the USV according to quadrant of a recovery circle accessed by the USV; movement calculation of the virtual USV is performed, and the USV tracks the virtual USV; the UUV keeps to standby in site; when the USV access an activation circle, the USV keeps to sail in current course and speed and transmits an activation instruction to the UUV through radio; the UUV receives the activation instruction, performs movement calculation of the virtual UUV and starts to track the virtual UUV; the UUV access a connection circle, a connection structure is released, and the USV is noticed to release the connection structure through the radio; the UUV is connected with the USV through the connection structure, and the recovery is completed. According to the invention, recovery maneuvering strategies are autonomously adopted according to in-site conditions, and the autonomous recovery of the UUV is realized.

Description

technical field [0001] The present invention relates to a method for recovering an underwater unmanned vehicle (Unmanned Underwater Vehicle, UUV), in particular to a method for dynamically and autonomously recovering a UUV from a water surface of an unmanned surface vehicle (Unmanned Surface Vehicle, USV). Background technique [0002] UUV is a reusable marine tool. UUV must be recycled after performing its mission. Therefore, safe recycling of UUV is a key link in the use of UUV. At present, there are two main methods of UUV recovery: surface recovery and underwater recovery. For surface recovery, the UUV is usually recovered to a manned surface vessel, and the entire recovery process is completed manually. However, with the rapid development of maritime unmanned systems, the application of USV and UUV two maritime unmanned systems has emerged. Due to the large size and fast speed of the USV, the USV can be used to carry the UUV to perform mission tasks. After the USV car...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 严浙平徐达陈涛张宏瀚杜雪
Owner HARBIN ENG UNIV
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