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Docking system and docking method of unmanned ship and AUV (Autonomous Underwater Vehicle)

A technology of unmanned ships and cabins, which is applied in the field of docking systems between unmanned ships and AUVs. It can solve problems such as limited range of activities, interference and shaking, and large expenses, and achieves a high docking success rate, reduced difficulty, and strong robustness. Effect

Active Publication Date: 2019-01-11
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Both of the above-mentioned underwater robots have disadvantages: among them, ROV usually needs to be equipped with a mother ship, the mother ship and a series of staff have huge expenses, and the range of activities is limited; AUV is limited by its own energy, and its endurance is limited; and due to underwater Long-distance wireless communication cannot be carried out, and the data obtained by AUV's underwater detection is difficult to transmit back in real time
This docking method of fixed-point clamping can be successful under ideal conditions without interference, but the actual situation is that the connecting umbilical can only limit one degree of freedom in the height direction of the submersible, and cannot limit other degrees of freedom, such as the rotation of the submersible , pitching, etc. We all know that the sea conditions are very complicated, and the unmanned submersible will inevitably be disturbed and shaken when it is pulled to the water surface for docking. In addition, the docking is carried out on the water surface when it is pulled out, and the submersible cannot actively adjust it. The success rate to the target point will be very low

Method used

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  • Docking system and docking method of unmanned ship and AUV (Autonomous Underwater Vehicle)
  • Docking system and docking method of unmanned ship and AUV (Autonomous Underwater Vehicle)
  • Docking system and docking method of unmanned ship and AUV (Autonomous Underwater Vehicle)

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Embodiment 1

[0036] This embodiment provides a docking system between an unmanned ship and an AUV, including an unmanned ship on the water surface and an underwater AUV (autonomous underwater vehicle).

[0037] see Figure 1-3 The unmanned ship includes a cabin 3, a sheet body 4 located on both sides of the cabin 3, and a manipulator below the cabin. The cabin 3 is a sealed cabin located above the water surface. The cabin 3 is provided with the first electronic device for navigation control. A wireless communication device, a first power control device and a first video acquisition and transmission device, a USBL (ultra-short baseline positioning system) positioning assembly 12 is installed behind the cabin 3, and a floating body 5 is installed under the sheet body 4, and the floating body 5 is cylindrical , the front end is a shroud 6, the rear end is a propeller navigation thruster 7, and the manipulator is a four-degree-of-freedom manipulator for grabbing the AUV.

[0038] In this embo...

Embodiment 2

[0046] see Figure 7 , the present embodiment provides a docking method between an unmanned ship and an AUV, which uses the docking system between an unmanned ship and an AUV described in Embodiment 1, and the specific steps are as follows:

[0047] 1) The AUV and the unmanned ship maintain communication through the ultra-short baseline positioning system. When the AUV needs to be recovered, the unmanned ship detects the position of the AUV;

[0048] 2) According to the rendezvous strategy of the unmanned ship and the AUV, choose the unmanned ship to actively approach the AUV directly above or the AUV to actively move along the position of the unmanned ship, or both to move to a rendezvous point to rendezvous. When the two rendezvous , the AUV is near the water surface of the unmanned ship;

[0049] 3) The unmanned ship actively sails to the front of the AUV through visual recognition, and sails in the opposite direction to the AUV. When the AUV touches the swing arm at the t...

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Abstract

The invention discloses a docking system of an unmanned ship and an AUV (Autonomous Underwater Vehicle). The docking system comprises the unmanned ship positioned on water surface and the AUV positioned under water and also comprises an ultrashort baseline positioning system for realizing positioning and preliminary docking between the unmanned ship and the AUV, and a wireless charging module forrealizing non-contact type charging between the unmanned ship and the AUV, wherein a manipulator for clamping the AUV and realizing multiple degrees of freedom of fine adjustment of the docking position is arranged at the bottom part of the unmanned ship. The docking system disclosed by the invention has the beneficial effects that by the ultrashort baseline positioning system, machine vision andthe manipulator, the docking between the unmanned ship and the AUV is realized, so that the reliability and the success ratio of docking is improved; charging endurance and data transmission are carried out after docking, so that the endurance of the AUV is improved.

Description

technical field [0001] The invention belongs to the field of marine technology engineering, and relates to a docking system and a docking method for an unmanned ship and an AUV. Background technique [0002] There are two common types of unmanned underwater vehicles: Remotely Operated Vehicles (ROV) and Autonomous Underwater Vehicles (AUV). The ROV obtains energy through the umbilical cable connected to the water surface, with sufficient power, the working time is not limited by energy, and the working efficiency is high. AUV relies on its own autonomous ability to manage and control itself to complete the assigned mission. It has a large range of activities, good mobility, high degree of intelligence, and strong autonomy. Both of the above-mentioned underwater robots have disadvantages: among them, ROV usually needs to be equipped with a mother ship, the mother ship and a series of staff have huge expenses, and the range of activities is limited; AUV is limited by its own ...

Claims

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Application Information

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IPC IPC(8): B63C11/52
CPCB63C11/52
Inventor 彭时林陈登豪
Owner HANGZHOU DIANZI UNIV
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