AUV autonomous recycling/laying device and implementation method thereof

Abstract

The invention discloses an AUV autonomous recycling/laying device and an implementation method thereof. The AUV autonomous recycling/laying device comprises a mother ship, a plurality of execution parts are arranged on the mother ship, and the execution parts are used for recycling and laying AUVs; the execution part comprises a base fixed to a mother ship deck, a height adjusting assembly is rotationally connected to the base, and the height adjusting assembly is in transmission connection with a connecting rod assembly. A rotary mechanical arm is arranged at the tail end of the connecting rod assembly, and a clamping sleeve is arranged on the rotary mechanical arm; the height adjusting assembly and the connecting rod assembly are used for adjusting the position height of the rotary mechanical arm, the rotary mechanical arm is used for adjusting the angle of the clamping sleeve, and the clamping sleeve is used for recycling/laying the AUV. The device is high in automation degree, effectively improves the working efficiency of recycling/laying the AUV, improves the recycling/laying efficiency of the AUV, reduces the working intensity of workers, is small in working risk, and can effectively avoid AUV damage caused by unstable clamping or clamping angle errors.

Description

technical field [0001] The present invention relates to the field of marine engineering, in particular to an AUV autonomous recovery / deployment device and its implementation method. Background technique [0002] The sea is the origin of all things in the world. The ocean accounts for about 71% of the earth's surface area. While giving birth to many animals, plants and human beings, its reserves of mineral resources and biological resources are also unlimited. After entering the 21st century, human beings have greater requirements for resource development, and the ocean has become the second largest development base for human resource development, but the limited human resources limit the development of the ocean, so countries have turned their attention to the research of underwater robots In this field, it can carry different types of equipment for efficient underwater work. Autonomous Underwater Vehicle (AUV) is a very important member of the underwater robot family and h...

AI Technical Summary

Problems solved by technology

During the AUV recycling process, the AUV can be recovered through the mesh structure, and the AUV can be salvaged through the mesh structure, but it is easy to cause damage to the AUV sensor; at the same time, the AUV at this stage cannot complete autonomous and accurate recovery. , the operator has high requirements on the operation accuracy, and the sensor module carried by the AUV may be damaged due to improper operation of the manipulator.

At present, the recovery of AUVs is still done manually. Generally, one or several manned boats are carried by the mother ship, and the boats are placed on the sea surface through the boom. After manual driving, the AUV is approached by manual hooks, etc. to lock the AUV, and then It is an extremely inefficient and extremely low-safety recovery method to approach the mother ship by manual pulling, and then hoist the manned boat onto the ship through a hook. Security is a great challenge

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