An autonomous unmanned underwater vehicle wireless charging and intelligent alignment guidance method

Abstract

The invention discloses an autonomous unmanned underwater vehicle wireless charging and an intelligent alignment guidance method, belonging to the field of wireless charging of the autonomous unmanned underwater vehicle. The autonomous unmanned submersible can realize autonomous navigation and return to the dock. The docking station has a space that can accommodate the body of the unmanned submersible. The front end of the docking station is equipped with a bell-shaped guiding mechanism. On the inner wall of the docking station, the insulating rubber clamp is installed on the front end of the hydraulic mechanical arm, and the transmitter coil is embedded in the insulating rubber clamp. The invention proposes an autonomous underwater wireless charging and intelligent alignment guidance method for unmanned underwater vehicles, which can realize autonomous return and accurate alignment guidance and recharging for unmanned underwater vehicles with different calibers and different coil installation positions, and has the advantages of High interoperability, high degree of automation.

Description

technical field [0001] The invention relates to an underwater wireless charging and intelligent alignment guidance method for an autonomous unmanned underwater vehicle, belonging to the field of wireless charging for an autonomous unmanned underwater vehicle. Background technique [0002] With the advancement and development of science and technology, countries have begun to develop and explore marine resources, and autonomous unmanned underwater vehicles (AUV), as an important equipment for underwater resource exploration and military patrols, have become the current marine resources. It is a research hotspot in the field of engineering and has extensive economic, scientific and military value. AUV can realize flexible underwater unmanned operations or unmanned operations, which can greatly improve national defense capabilities such as offshore defense and anti-reconnaissance patrols. [0003] At present, the charging methods for AUV are mainly salvage and recycling to dir...

AI Technical Summary

Problems solved by technology

However, the accuracy of underwater sonar positioning is low. Although it can roughly estimate the location of the underwater charging docking station, it is difficult to accurately determine the effective charging area; the underwater camera positioning method is only suitable for working conditions at small water depths. Due to the dark surrounding environment, the image recognition ability will be severely restricted; the frequency band of WIFI has a large attenuation in the propagation ability in the water environment, and the communication ability is poor and the packet loss is serious, which is easy to cause communication interruption or data frame loss and cause system error. Judgment and other effects

[0012] In addition, since different types of AUVs have different calibers and lengths, and the installation positions of the wireless charging receiver coils are usually also different, none of the cases in existing patents or papers can achieve underwater wireless charging alignment with AUV interoperability The guidance function only realizes simple position discrimination for AUVs of a certain size and coil, with low degree of interoperability and automation

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