Underwater laying/recovering system for small AUV cluster

Abstract

The invention discloses an underwater laying / recovering system for a small AUV cluster. The system comprises a recovery structure, a telescopic structure and an automatic cable arranging mechanism; the recovery structure is used for storing AUVs underwater; the telescopic structure is used for fixing the recovery structure and lifting and conveying the recovery structure to the inlet of a mother ship; the automatic cable arranging mechanism is arranged on the mother ship, connected with the telescopic structure and used for receiving the AUVs conveyed by the recovery structure; the recovery structure comprises an ROV power structure located on the upper portion of the recovery structure and used for controlling an AUV recovery process; the bottom end of the ROV power structure is fixedly connected with a recovery cabin structure used for loading the AUVs. According to the system, the AUVs are laid / recovered in a soft-hard combined mode; a telescopic guide rail hard link design is adopted above the sea surface, so that the AUVs are completely prevented from colliding with the mother ship in the recovery process; a flexible connection mode that an umbilical cable is connected with the recovery mechanism is adopted below the sea surface, so that convenience is provided for the free movement of the recovery mechanism.

Description

technical field [0001] The invention relates to the field of underwater robot control, in particular to a small-sized AUV cluster underwater deployment / recovery system. Background technique [0002] At present, there are three main methods for the recovery and deployment of AUVs: manual deployment / recovery of AUVs, sling relay deployment / recovery of AUVs, and slideway deployment / recovery of AUVs. [0003] Among them, the way of manual deployment / recovery of AUVs is to complete the deployment and recovery of AUVs through multi-person cooperation, which requires divers to make auxiliary adjustments to the progress of AUVs underwater, which requires divers to have the necessary technical knowledge in this field, which makes the technology The lack of manpower, the deployment and recovery of AUVs are costly and inefficient. In addition, divers have long been plagued by diving sickness, and the working hours are short, which is not conducive to their health. [0004] The sling r...

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Problems solved by technology

[0003] Among them, the way of manual deployment / recovery of AUVs, the deployment and recovery of AUVs is completed through the cooperation of multiple people, and divers are required to make auxiliary adjustments to the progress of AUVs underwater. This requires divers to have the necessary technical knowledge in this field, which makes the technology Lack of manpower, AUV deployment and recovery are costly and inefficient. In addition, divers have long been troubled by diving sickness, and the working hours are short, which is not conducive to their health.

[0004] The sling relay method is used to deploy / recover AUV. Although this method reduces the manpower involved in the work, it is seriously affected by the environment and external conditions. Violent shaking can easily collide with the mother ship, causing unnecessary losses to the AUV during the recovery and deployment process. In addition, the relay device does not have self-adjustment ability in the water, and its position is affected by the water flow, so it cannot be efficiently Complete docking with AUV, making the recovery efficiency of AUV low

[0005] Deployment / recovery of AUVs by means of slides, this method is only suitable for the deployment and recovery of large AUVs, and it is difficult for AUVs to dock with slides, and it is easy to collide with AUVs, which is not conducive to the protection of AUVs

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