Underwater docking method, device, electronic equipment and storage medium

Abstract

The present application relates to an underwater docking method, device, electronic device and storage medium, wherein the method comprises: sending a docking request signal to a docking dock, so that the docking dock responds to the docking request signal, determines a first azimuth through a second USBL array, and sends a reply signal carrying the first azimuth to an AUV; receiving the reply signal, acquiring the first azimuth in the reply signal, and determining a first distance and a second azimuth through the first USBL array; acquiring the heading angle and geodetic coordinates of the AUV; determining the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance; determining the opening direction of the docking dock based on the first azimuth, the second azimuth and the heading angle of the AUV; planning the navigation direction of the AUV based on the position and opening direction of the docking dock, sailing in the navigation direction for docking, and continuing to execute the step of sending a docking request signal to the docking dock until the docking is completed.

Description

Technical Field

[0001] The present application relates to the technical field of underwater docking, and in particular to an underwater docking method, device, electronic equipment and storage medium. Background Art

[0002] With the continuous development of information technology, autonomous underwater vehicles (AUVs), as one of the powerful tools for exploring ocean space, play an increasingly important role in the field of marine research and development. At present, due to technical limitations, the data communication, energy supply and new task downloading of AUVs underwater can only be achieved by docking with a dock.

[0003] There are many deployment forms of existing inclusive docking docks. When the deployment form is fixed on the seabed or towed by a surface ship, the opening direction of the inclusive dock remains fixed; when the deployment form is suspended under a surface ship by a rope or deployed in the water in the form of a submerged buoy, the opening direction of the inclusive dock will also change due to the effect of water flow.

[0004] The AUV needs to determine the respective positions and attitudes of itself and the inclusive docking dock based on the navigation sensor and acoustic positioning sensor to complete the docking. Among them, the attitude of the inclusive docking dock is mainly the opening direction of the inclusive docking dock. When the AUV enters the docking dock through the opening of the inclusive docking dock, the docking is completed. Therefore, the AUV needs to obtain the position information and opening direction of the inclusive docking dock. Generally, the AUV can obtain the opening direction information of the inclusive docking dock through a high-precision attitude sensor, and then use the long baseline (LBL), short baseline (SBL), ultra-short baseline (USBL) or single beacon positioning method to enable the AUV to obtain the position information of the inclusive docking dock, thereby starting the docking action.

[0005] However, high-precision attitude sensors are expensive, and when the opening direction of the inclusive docking station changes, the positioning accuracy is low because the high-precision attitude sensors are easily affected by the surrounding magnetic field and cannot meet the docking requirements when the opening direction changes. Summary of the invention

[0006] The present application provides an underwater docking method, device, electronic device and storage medium to at least solve the technical problems of high cost and low positioning accuracy caused by using a high-precision attitude sensor to obtain the opening direction information of the dock in the related art.

[0007] According to one aspect of an embodiment of the present application, an underwater docking method is provided, which is applied to an AUV, wherein the AUV is provided with a first USBL array, and the method comprises:

[0008] Sending a docking request signal to the docking dock, so that the docking dock responds to the docking request signal, determines a first azimuth through a second USBL array, and sends a response signal carrying the first azimuth to the AUV;

[0009] receiving the response signal, acquiring a first azimuth in the response signal, and determining a first distance and a second azimuth through the first USBL array;

[0010] Get the heading angle and geodetic coordinates of the AUV;

[0011] Determine the position of the dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle, and the first distance;

[0012] Determining an opening direction of the dock based on the first azimuth angle, the second azimuth angle, and the heading angle of the AUV;

[0013] The navigation direction of the AUV is planned based on the position and opening direction of the docking dock, the AUV is sailed in the navigation direction for docking, and the step of sending a docking request signal to the docking dock is continued until the docking is completed.

[0014] According to another aspect of an embodiment of the present application, an underwater docking method is also provided, which is applied to a docking dock, wherein the docking dock is provided with a second USBL array, and the method comprises:

[0015] receiving a docking request signal, and determining a first azimuth angle through the second USBL array in response to the docking request signal;

[0016] A reply signal carrying the first azimuth is sent to the AUV, so that the AUV receives the reply signal, obtains the first azimuth in the reply signal, determines the first distance and the second azimuth through the first USBL array, obtains the heading angle and geodetic coordinates of the AUV, and determines the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance; determines the opening direction of the docking dock based on the first azimuth, the second azimuth and the heading angle of the AUV, plans the navigation direction of the AUV based on the position and opening direction of the docking dock, sails in the navigation direction for docking, and continues to execute the step of sending a docking request signal to the docking dock until the docking is completed.

[0017] According to another aspect of the embodiment of the present application, an underwater docking device is also provided, which is applied to an AUV, wherein the AUV is provided with a first USBL array, and the device comprises:

[0018] a docking request signal sending unit, configured to send a docking request signal to the docking dock, so that the docking dock responds to the docking request signal, determines a first azimuth through a second USBL array, and sends a response signal carrying the first azimuth to the AUV;

[0019] a response signal receiving unit, configured to receive the response signal, obtain a first azimuth in the response signal, and determine a first distance and a second azimuth through the first USBL array;

[0020] A heading angle acquisition unit, used to obtain the heading angle of the AUV;

[0021] A geodetic coordinate acquisition unit, used to acquire the geodetic coordinates of the AUV;

[0022] A docking dock position determination unit, configured to determine the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle, and the first distance;

[0023] an opening direction determining unit, configured to determine the opening direction of the dock based on the first azimuth angle, the second azimuth angle and the heading angle of the AUV;

[0024] The docking unit is used to plan the navigation direction of the AUV based on the position and opening direction of the docking dock, navigate according to the navigation direction for docking, and continue to execute the step of sending a docking request signal to the docking dock until the docking is completed.

[0025] According to another aspect of an embodiment of the present application, an underwater docking device is also provided, which is applied to a docking dock, wherein the docking dock is provided with a second USBL matrix, and the device comprises:

[0026] a docking request signal receiving unit, configured to receive a docking request signal, and determine a first azimuth angle through the second USBL array in response to the docking request signal;

[0027] a reply signal sending unit, configured to send a reply signal carrying the first azimuth to the AUV, so that the AUV receives the reply signal, obtains the first azimuth in the reply signal, determines the first distance and the second azimuth through a first USBL array, obtains the heading angle and geodetic coordinates of the AUV, determines the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance; determines the opening direction of the docking dock based on the first azimuth, the second azimuth and the heading angle of the AUV, plans the navigation direction of the AUV based on the position and opening direction of the docking dock, sails in the navigation direction for docking, and continues to execute the step of sending a docking request signal to the docking dock until the docking is completed.

[0028] According to another aspect of an embodiment of the present application, a storage medium is further provided, which includes a stored program, and the above method is executed when the program is run.

[0029] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above method through the computer program.

[0030] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps of any one of the embodiments of the above method.

[0031] In an embodiment of the present application, an underwater docking method is applied to an AUV, wherein the AUV is provided with a first USBL array, and a docking request signal is sent to a docking dock so that the docking dock responds to the docking request signal, determines a first azimuth through a second USBL array, and sends a reply signal carrying the first azimuth to the AUV; receives the reply signal, obtains the first azimuth in the reply signal, and determines a first distance and a second azimuth through the first USBL array; obtains the heading angle and geodetic coordinates of the AUV; determines the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance; determines the opening direction of the docking dock based on the first azimuth, the second azimuth and the heading angle of the AUV; plans the navigation direction of the AUV based on the position and opening direction of the docking dock, docks by sailing in the navigation direction, and continues to execute the step of sending a docking request signal to the docking dock until the docking is completed. The present application sets a USBL array on the AUV and the docking dock respectively, determines the position of the docking dock through the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance, determines the opening direction of the docking dock through the first azimuth, the second azimuth and the heading angle of the AUV, obtains the position and opening direction of the docking dock in real time through multiple interactions, and adjusts the navigation direction in time until the docking is completed, thereby improving the positioning accuracy and reducing the cost, thereby solving the problem that high-precision attitude sensors are costly, easily affected by the surrounding magnetic field, and have low positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0033] Figure 1is a schematic diagram of a hardware environment of an underwater docking method according to an embodiment of the present application;

[0034] Figure 2 is a flow chart of an optional underwater docking method according to an embodiment of the present application;

[0035] Figure 3 is a flow chart of an optional underwater docking method according to an embodiment of the present application;

[0036] Figure 4 is a schematic diagram of the relative posture relationship between the AUV and the horizontal plane between the docking dock according to an embodiment of the present application;

[0037] Figure 5 is a schematic diagram of an optional underwater docking device according to an embodiment of the present application;

[0038] Figure 6 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] With the continuous development of information technology, autonomous underwater vehicles (AUVs), as one of the powerful tools for exploring ocean space, play an increasingly important role in the field of marine research and development. At present, due to technical limitations, the data communication, energy supply and new task downloading of AUVs underwater can only be achieved by docking with a dock.

[0042] There are many deployment forms of existing inclusive docking docks. When the deployment form is fixed on the seabed or towed by a surface ship, the opening direction of the inclusive dock remains fixed; when the deployment form is suspended under a surface ship by a rope or deployed in the water in the form of a submerged buoy, the opening direction of the inclusive dock will also change due to the effect of water flow.

[0043] The AUV needs to determine the respective positions and attitudes of itself and the inclusive docking dock based on the navigation sensor and acoustic positioning sensor to complete the docking. Among them, the attitude of the inclusive docking dock is mainly the opening direction of the inclusive docking dock. When the AUV enters the docking dock through the opening of the inclusive docking dock, the docking is completed. Therefore, the AUV needs to obtain the position information and opening direction of the inclusive docking dock. Generally, the AUV can obtain the opening direction information of the inclusive docking dock through a high-precision attitude sensor, and then use the long baseline (LBL), short baseline (SBL), ultra-short baseline (USBL) or single beacon positioning method to enable the AUV to obtain the position information of the inclusive docking dock, thereby starting the docking action.

[0044] However, high-precision attitude sensors are expensive, and when the opening direction of the inclusive docking station changes, the positioning accuracy is low because the high-precision attitude sensors are easily affected by the surrounding magnetic field and cannot meet the docking requirements when the opening direction changes.

[0045] In order to solve the above problems, an embodiment of the present application provides an underwater docking method embodiment.

[0046] Optionally, in this embodiment, the underwater docking method can be applied to Figure 1 In the system hardware environment composed of AUV101 and docking station 103 shown in FIG. Figure 1 As shown, the docking dock 103 performs hydroacoustic communication and positioning with the first USBL array disposed on the AUV 101 through the second USBL array disposed thereon, and obtains the heading data of the AUV. A database 105 may also be disposed on the docking dock or independently of the docking dock, for providing a service for storing the received heading data of the AUV for the docking dock 103. The underwater docking method of the embodiment of the present application may be executed by the docking dock 103, may be executed by the AUV 101, or may be executed by the docking dock 103 and the AUV 101 together.

[0047] Figure 2 It is a flow chart of an optional underwater docking method according to an embodiment of the present application. It can be seen that this embodiment shows a flow chart of an underwater docking method of an embodiment of the present application executed on an AUV.

[0048] An underwater docking method is applied to an AUV, wherein the AUV is provided with a first USBL array, such as Figure 2As shown, the method may include the following steps:

[0049] Step S201, sending a docking request signal to the docking dock, so that the docking dock responds to the docking request signal, determines a first azimuth through a second USBL array, and sends a response signal carrying the first azimuth to the AUV;

[0050] Step S202, receiving a response signal, acquiring a first azimuth in the response signal, and determining a first distance and a second azimuth through a first USBL array;

[0051] Step S203, obtaining the heading angle and geodetic coordinates of the AUV;

[0052] Step S204, determining the position of the docking station based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle and the first distance;

[0053] Step S205, determining the opening direction of the dock based on the first azimuth angle, the second azimuth angle and the heading angle of the AUV;

[0054] Step S206, planning the navigation direction of the AUV based on the position and opening direction of the docking dock, sailing in the navigation direction for docking, and continuing to execute the step of sending a docking request signal to the docking dock until the docking is completed.

[0055] Through the above steps S201 to S206, the AUV is provided with a first USBL array, and a docking request signal is sent to the docking dock so that the docking dock responds to the docking request signal, determines a first azimuth through a second USBL array, and sends a reply signal carrying the first azimuth to the AUV; receives the reply signal, obtains the first azimuth in the reply signal, and determines a first distance and a second azimuth through the first USBL array; obtains the heading angle and geodetic coordinates of the AUV; determines the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance; determines the opening direction of the docking dock based on the first azimuth, the second azimuth and the heading angle of the AUV; plans the navigation direction of the AUV based on the position and opening direction of the docking dock, sails in the navigation direction for docking, and continues to execute the step of sending a docking request signal to the docking dock until the docking is completed. In the embodiment of the present application, a USBL array is set on the AUV and the docking dock respectively, the opening direction of the docking dock is determined by the first azimuth, the second azimuth and the heading angle of the AUV, the position of the docking dock is determined by the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance, and the position and opening direction of the docking dock are acquired in real time through multiple interactions, and the navigation is adjusted in time until the docking is completed, thereby improving the positioning accuracy and reducing the cost, thereby solving the problem that high-precision attitude sensors are costly, easily affected by the surrounding magnetic field, and have low positioning accuracy.

[0056] In the technical solution provided in step S201, the first azimuth is the horizontal azimuth of the AUV relative to the dock in the dock coordinate system; it should be noted that the USBL array adopts the plane wave positioning principle and integrates the communication and positioning functions through OFDM orthogonal frequency division multiplexing technology. Generally, the USBL array consists of a transducer with integrated transmission and reception and several hydrophones, and several hydrophones are arranged in the transducer probe. Among them, the transducer is used for communication and ranging, and several hydrophones are used to calculate the azimuth.

[0057] When docking begins, the AUV sends a docking request signal to the docking dock through the first USBL array. The second USBL array set on the docking dock receives the docking request signal, uses the phase difference of the docking request signal received by several hydrophones installed in the transducer probe to determine the first azimuth, and sends a response signal carrying the first azimuth to the AUV through the transducer.

[0058] Preferably, the first USBL array is fixed at the top of the AUV, and the second USBL array is fixed at the top of the docking dock. It can be understood that since the USBL array is fixed at the top, there are no physical obstacles around the USBL array to block the propagation of the signal, and the acquired data is more accurate.

[0059] In the technical solution provided in step S202, the second azimuth angle is the horizontal azimuth angle of the dock relative to the AUV in the AUV coordinate system, and the first distance may be the straight-line distance between the AUV and the dock;

[0060] The AUV can receive the response signal through the first USBL array and use the first USBL array to determine the second azimuth and the first distance. It should be noted that the AUV can record the time when the first USBL array sends the docking request signal to the docking dock and the time when the response signal is received. The first USBL array measures the straight-line distance between the AUV and the docking dock, i.e., the first distance, based on the round-trip time and speed of sound waves propagating in water.

[0061] The AUV determines the second azimuth angle by using the phase difference of the reply signals received by a plurality of hydrophones installed in the first USBL array transducer probe, and obtains the first azimuth angle from the received reply signals.

[0062] In the technical solution provided in step S203, after receiving the response signal, the AUV obtains the heading angle and geodetic coordinates of the AUV at the current moment through its own main control device, so as to subsequently determine the position and opening direction of the docking station.

[0063] In the technical solution of step S204, the AUV obtains the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle and the first distance, and the AUV determines the position of the docking station through these data.

[0064] In the technical solution provided in step S205, the AUV obtains the heading angle of the AUV at the current moment, the horizontal azimuth of the dock relative to the AUV in the AUV coordinate system, and the horizontal azimuth of the AUV relative to the dock in the dock coordinate system. The AUV can use these data to determine the opening direction of the dock.

[0065] In the technical solution provided in step S206, it can be understood that the AUV determines the position of the docking dock and the opening direction of the docking dock, and can plan the navigation direction based on the position of the docking dock and the opening direction of the docking dock, and then sail based on the navigation direction for docking. It should be noted that, in general, when the underwater docking starts, the distance between the AUV and the docking dock is far. For example, the distance between the AUV and the docking dock is 2km. Due to the effect of the water flow, the opening direction of the docking dock will change. Therefore, the AUV needs to send positioning requests multiple times, and determine the opening direction and position of the docking dock in real time based on the received response signal of the docking dock and its own posture information, and adjust the navigation direction in real time until the docking is completed. Since the opening direction and position of the docking dock are determined in real time, and then the navigation direction is adjusted in real time until the docking is completed, the attitude error is reduced and the positioning accuracy is improved.

[0066] As an optional embodiment, determining the opening direction of the dock based on the first azimuth angle, the second azimuth angle, and the heading angle of the AUV includes:

[0067] The first azimuth angle, the second azimuth angle and the heading angle of the AUV are input into the preset opening direction calculation model to obtain the opening direction of the dock output by the preset opening direction calculation model:

[0068] Wherein, the preset opening direction calculation model includes:

[0069]

[0070] Among them, α is the opening direction of the docking station, is the heading angle of the AUV, θ AD is the second azimuth, θ DA is the first azimuth angle, and π is an angle of 180°.

[0071] It can be understood that the opening direction of the dock is a direction angle in the geodetic coordinate system.

[0072] Figure 3 1 is a flow chart of an optional underwater docking method according to an embodiment of the present application. Figure 3An optional underwater docking method of an embodiment of the present application is described.

[0073] An underwater docking method is applied to an AUV, wherein the AUV is provided with a first USBL array, such as Figure 3 As shown, the method comprises the following steps:

[0074] Step S301, sending a docking request signal to the docking dock, so that the docking dock responds to the docking request signal, obtains depth information of the docking dock, determines a first azimuth through a second USBL array, and sends a response signal carrying the first azimuth and depth information of the docking dock to the AUV;

[0075] Step S302, receiving a response signal, acquiring the first azimuth angle and the depth information of the docking station in the response signal, and determining the second azimuth angle and the first distance through the first USBL array;

[0076] Step S303, obtaining the heading angle and geodetic coordinates of the AUV;

[0077] Step S304, determining the position of the docking station based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle and the first distance;

[0078] Step S305, determining the opening direction of the dock based on the first azimuth angle, the second azimuth angle and the heading angle of the AUV;

[0079] Step S306, planning the navigation direction of the AUV based on the position and opening direction of the docking dock, navigating for docking based on the depth information and navigation direction of the docking dock, and continuing to execute the step of sending a docking request signal to the docking dock until the docking is completed.

[0080] In the technical solution of step S301, the docking station can use the second USBL array to obtain the depth information of the docking station. Of course, preferably, the depth information is measured in the vertical direction using a depth sensor carried by its own main control device, which is conducive to reducing depth measurement errors.

[0081] In the technical solution of step S302, the AUV obtains the first azimuth angle and the position information of the dock in the response signal.

[0082] In the technical solution of step S306, the AUV determines the position of the docking dock and the opening direction of the docking dock, and can plan the navigation direction based on the position of the docking dock and the opening direction of the docking dock, and then sail for docking based on the depth information and navigation direction of the docking dock. It should be noted that, in general, when the underwater docking starts, the AUV is far away from the docking dock. For example, the distance between the AUV and the docking dock is 2km. Due to the effect of the water flow, the opening direction of the docking dock will change. Therefore, the AUV needs to send positioning requests multiple times, and determine the depth information, opening direction and position of the docking dock in real time based on the received response signal of the docking dock and its own posture information, and adjust the navigation direction in real time until the docking is completed. Since the depth information, position and opening direction of the docking dock are determined in real time, the navigation direction can be adjusted in real time until the docking is completed, thereby reducing the attitude error and improving the positioning accuracy.

[0083] It should be noted that the description of step S302 to step S305 of the embodiment of the present application is similar to the description of step S202 to step S206 of the aforementioned embodiment, and will not be repeated here.

[0084] As an optional embodiment, before sending the docking request signal to the docking station, the process further includes: starting the docking station. Specifically, the process of starting the docking station includes:

[0085] S401, sending a start signal to the docking dock, so that the docking dock responds to the start signal and sends a feedback signal to the AUV;

[0086] It should be noted that before docking, the AUV is moving, the docking dock is relatively stationary, and the AUV stores the approximate location information of the docking dock. Generally, in order to save energy, if the docking dock is not working for a long time, it can be in a dormant state. Before docking, the AUV needs to send a start signal to the docking dock so that the docking dock can know the information of starting docking, that is, start the docking dock to make it in normal working state.

[0087] It is understandable that the start signal is only used to start the docking station and may not carry any information.

[0088] S402, receiving a feedback signal, and determining a starting azimuth and an initial distance through a first USBL array in response to the feedback signal;

[0089] The starting azimuth is the horizontal azimuth of the dock relative to the AUV in the AUV coordinate system before the docking starts; the initial distance is the straight-line distance between the AUV and the docking dock before the docking starts.

[0090] At this point, the docking dock is started and docking begins.

[0091] Optionally, sending a docking request signal to a docking station includes:

[0092] A docking request signal carrying a starting azimuth and an initial distance is sent to the docking station.

[0093] Among them, the docking dock is started, the AUV begins to dock, and the AUV sends a docking request signal carrying the starting azimuth and initial distance to the docking dock.

[0094] Optionally, executing the step of sending a docking request signal to the docking station until the docking is completed includes:

[0095] Sending a docking request signal carrying a first distance and a second azimuth to the docking dock, so that the docking dock responds to the docking request signal, obtains depth information of the docking dock, determines the first azimuth through the second USBL array, and sends a response signal carrying the first azimuth and the depth information of the docking dock to the AUV;

[0096] Receive a response signal, obtain the first azimuth angle and depth information of the docking station in the response signal, and determine the first distance and the second azimuth angle through the first USBL array;

[0097] Get the heading angle and geodetic coordinates of the AUV;

[0098] Determine the position of the dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle, and the first distance;

[0099] Determine the opening direction of the dock based on the first azimuth angle, the second azimuth angle, and the heading angle of the AUV;

[0100] The navigation direction of the AUV is planned based on the position and opening direction of the docking dock, the AUV is docked based on the depth information and navigation direction of the docking dock, and the step of sending a docking request signal carrying the first distance and the second azimuth is continued to be executed until the docking is completed.

[0101] It can be understood that in the first cycle of the cycle, the docking request signal sent by the AUV to the docking dock includes the initial distance and starting azimuth measured before startup, and in each of the remaining cycles of the cycle, the docking request signal sent by the AUV to the docking dock includes the first distance and second azimuth determined in the previous cycle.

[0102] It should be noted that after the docking dock receives the docking request signal sent by the AUV, the data contained therein can be stored in the database for onshore staff to obtain.

[0103] As an optional embodiment, it is assumed that the coordinate system {B} of the AUV is the same as the coordinate system {B} of the first USBL array. U} coincides, the coordinate system of the docking station {D} and the coordinate system of the second USBL array {B D} coincide with each other, the earth coordinate system is {O}, and the relative position relationship between the AUV and the horizontal plane of the dock is as follows: Figure 4 shown.

[0104] Then, determining the position of the dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle and the first distance includes:

[0105] The first distance and the second azimuth are input into the docking dock coordinate calculation model in the preset AUV coordinate system to obtain the docking dock coordinates in the AUV coordinate system output by the docking dock coordinate calculation model in the preset AUV coordinate system:

[0106] Among them, the coordinate calculation model under the preset AUV coordinate system includes:

[0107] χ D =d·cosθ AD

[0108] y D =d·sinθ AD

[0109] Where d is the first distance, θ AD is the second azimuth, (χ D ,y D ) is the docking dock coordinate in the AUV coordinate system;

[0110] Inputting the geodetic coordinates of the AUV, the heading angle of the AUV, and the coordinates of the docking station in the AUV coordinate system into a preset geodetic coordinate calculation model, and obtaining the geodetic coordinates of the docking station output by the preset geodetic coordinate calculation model;

[0111] Among them, the preset geodetic coordinate calculation model includes:

[0112]

[0113] Among them, (E A , N A ) is the geodetic coordinate of AUV, (E D , N D ) is the geodetic coordinate of the docking station, (χ D ,y D ) is the docking dock coordinate in the AUV coordinate system, is the heading angle of the AUV, is the rotation matrix from the AUV coordinate system to the earth coordinate system.

[0114] As an optional embodiment, the navigation direction of the AUV is planned based on the position and opening direction of the docking dock, and the AUV is docked based on the depth information and navigation direction of the docking dock, including:

[0115] Planning the navigation direction of the AUV based on the preset first condition, the location of the docking station and the opening direction;

[0116] Adjusting the depth of the AUV to a first depth based on the depth information of the dock, wherein the first depth is not less than the depth of the dock;

[0117] It should be noted that the depth of the dock is substantially the depth of the center axis of the dock opening from the horizontal plane, and the depth of the AUV is substantially the depth of the center axis of the AUV from the horizontal plane.

[0118] It is understandable that the depth of the AUV is adjusted to be no less than the depth of the docking station to facilitate docking in the vertical direction.

[0119] Preferably, the depth of the AUV is adjusted to the depth of the docking station. On the one hand, it is more convenient to dock in the vertical direction. On the other hand, it simplifies the three-dimensional positioning into two-dimensional horizontal plane positioning, which is more efficient.

[0120] Sail at the first depth in the direction of navigation to connect.

[0121] During navigation, always sail at a depth equal to or not less than that of the dock to facilitate docking.

[0122] As an optional embodiment, the first condition includes:

[0123] The vertical deviation between the AUV and the dock is less than a preset vertical deviation threshold, wherein the first depth and the depth information of the dock are input into a preset vertical deviation calculation model, and the vertical deviation between the AUV and the dock output by the preset vertical deviation calculation model is obtained:

[0124] Wherein, the preset vertical deviation calculation model includes:

[0125] e hh =|depth A -depth D |

[0126] Among them, e hh is the vertical deviation between the AUV and the dock, depth A is the first depth, depth D is the depth of the docking station;

[0127] The lateral deviation between the AUV and the dock is less than a preset lateral deviation threshold, wherein the first distance and the first azimuth are input into a preset lateral deviation calculation model, and the lateral deviation between the AUV and the dock output by the preset lateral deviation calculation model is obtained:

[0128] Among them, the preset lateral deviation calculation model includes:

[0129] ell =|d·sinθ DA |

[0130] Among them, e ll is the lateral deviation between the AUV and the dock, d is the first distance, θ DA is the first azimuth;

[0131] The central axis angle between the AUV and the dock is less than a preset central axis angle threshold, wherein the first azimuth angle and the second azimuth angle are input into a preset central axis angle calculation model to obtain the central axis angle between the AUV and the dock output by the preset central axis angle calculation model:

[0132] Among them, the preset central axis angle calculation model includes:

[0133] δ=π-|θ AD -θ DA +π|

[0134] Among them, δ is the angle between the AUV and the central axis of the dock, θ DA is the first azimuth, θ AD is the second azimuth, π is 180°;

[0135] The AUV pitch angle is less than a preset pitch angle threshold.

[0136] Among them, the preset vertical deviation threshold, lateral deviation threshold and central axis angle threshold are determined according to the designed physical dimensions of the docking dock opening.

[0137] The pitch angle of the AUV is obtained by the main control device of the AUV. Generally, the preset pitch angle threshold is 10°.

[0138] It is understandable that the AUV needs to meet the first condition to complete the docking. Therefore, when planning the navigation direction, it is necessary to plan based on the first condition, the position of the docking dock and the opening direction.

[0139] It should be noted that due to the influence of the ocean acoustic field environment, the positioning information of the USBL array will have abnormal jumping points, that is, the azimuth calculation error. The AUV can use the median filter or the difference method with the AUV's own inertial navigation data to remove the abnormal points. It is understandable that the abnormal points are not continuous and the number is small, so it will not affect the effectiveness and accuracy of the method.

[0140] It is understandable that an optional underwater docking method in the embodiment of the present application can also be performed by a docking dock, specifically:

[0141] An underwater docking method is applied to a docking dock, wherein the docking dock is provided with a second USBL array, and the method comprises:

[0142] receiving a docking request signal, and determining a first azimuth angle through a second USBL array in response to the docking request signal;

[0143] Send a reply signal carrying the first azimuth to the AUV so that the AUV receives the reply signal, obtains the first azimuth in the reply signal, and determines the first distance and the second azimuth through the first USBL array, obtains the heading angle and geodetic coordinates of the AUV, determines the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance, determines the opening direction of the docking dock based on the first azimuth, the second azimuth and the heading angle of the AUV, plans the navigation direction of the AUV based on the position and opening direction of the docking dock, docks by sailing in the navigation direction, and continues to execute the step of sending a docking request signal to the docking dock until the docking is completed. It should be noted that for the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited to the described order of actions, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0144] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0145] According to another aspect of an embodiment of the present application, an underwater docking device for use in the above-mentioned underwater docking method is also provided. Figure 5 is a schematic diagram of an optional underwater docking device according to an embodiment of the present application, such as Figure 5 As shown, the device is applied to an AUV, and the AUV is provided with a first USBL array. The device may include:

[0146] A docking request signal sending unit 501 is used to send a docking request signal to the docking dock, so that the docking dock responds to the docking request signal, determines a first azimuth through a second USBL array, and sends a response signal carrying the first azimuth to the AUV;

[0147] A response signal receiving unit 502 is used to receive the response signal, obtain the first azimuth in the response signal, and determine the first distance and the second azimuth through the first USBL array;

[0148] A heading angle acquisition unit 503 is used to acquire the heading angle of the AUV;

[0149] A geodetic coordinate acquisition unit 504, used to acquire the geodetic coordinates of the AUV;

[0150] A docking dock position determination unit 505, configured to determine the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle, and the first distance;

[0151] An opening direction determining unit 506, configured to determine the opening direction of the dock based on the first azimuth angle, the second azimuth angle, and the heading angle of the AUV;

[0152] The docking unit 507 is used to plan the navigation direction of the AUV based on the position and opening direction of the docking dock, navigate according to the navigation direction for docking, and continue to execute the step of sending a docking request signal to the docking dock until the docking is completed.

[0153] It should be noted that the docking request signal sending unit 501 in this embodiment can be used to execute step S201 in the embodiment of the present application, the response signal receiving unit 502 in this embodiment can be used to execute step S202 in the embodiment of the present application, the heading angle acquisition unit 503 and the geodetic coordinate acquisition unit 504 in this embodiment can be used to execute step S203 in the embodiment of the present application, the docking dock position determination unit 505 in this embodiment can be used to execute step S204 in the embodiment of the present application, the opening direction determination unit 506 in this embodiment can be used to execute step S205 in the embodiment of the present application, and the docking unit 507 in this embodiment can be used to execute step S206 in the embodiment of the present application.

[0154] It should be noted that the examples and application scenarios implemented by the above units and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. Figure 1 In the hardware environment shown, it can be implemented by software or by hardware.

[0155] The above modules solve the technical problems in related technologies such as high cost of high-precision attitude sensors, susceptibility to the influence of surrounding magnetic fields and low positioning accuracy.

[0156] As an optional embodiment, the opening direction determination unit 506 includes: an opening direction calculation subunit. The opening direction calculation subunit is used to input the first azimuth angle, the second azimuth angle and the heading angle of the AUV into a preset opening direction calculation model, and obtain the opening direction of the dock output by the preset opening direction calculation model:

[0157] Wherein, the preset opening direction calculation model includes:

[0158]

[0159] Wherein, α is the opening direction of the docking station, is the heading angle of the AUV, θ AD is the second azimuth, θ DA is the first azimuth angle, and π is an angle of 180°.

[0160] Optionally, the docking request signal sending unit 501 also includes: a first docking request signal sending sub-unit, used to send a docking request signal to the docking dock, so that the docking dock responds to the docking request signal, obtains the depth information of the docking dock, determines the first azimuth through the second USBL array, and sends a response signal carrying the first azimuth and the depth information of the docking dock to the AUV.

[0161] Optionally, the response signal receiving unit 502 includes: a response signal acquiring subunit, configured to receive the response signal, acquire the first azimuth angle and depth information of the docking station in the response signal, and determine the first distance and the second azimuth angle through the first USBL array.

[0162] Optionally, the docking unit 507 further includes: a first docking subunit, configured to plan the navigation direction of the AUV based on the position and opening direction of the docking dock, and to perform docking based on the depth information and navigation direction of the docking dock.

[0163] As an optional embodiment, the device further includes: a start signal sending unit, configured to send a start signal to the docking dock, so that the docking dock sends a feedback signal to the AUV in response to the start signal.

[0164] Optionally, the device further includes: a feedback signal receiving unit, configured to receive a feedback signal, and determine a starting azimuth and an initial distance through a first USBL array in response to the feedback signal.

[0165] Optionally, the docking request signal sending unit 501 is further used to send a docking request signal carrying a starting azimuth and an initial distance to the docking dock.

[0166] As an optional embodiment, the docking unit 507 is also used to send a docking request signal carrying a first distance and a second azimuth to the docking dock, so that the docking dock responds to the docking request signal, obtains the depth information of the docking dock, determines the first azimuth through the second USBL array, and sends a reply signal carrying the first azimuth and the depth information of the docking dock to the AUV; receives the reply signal, obtains the first azimuth and the depth information of the docking dock in the reply signal, and determines the first distance and the second azimuth through the first USBL array; obtains the heading angle and geodetic coordinates of the AUV; determines the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance; determines the opening direction of the docking dock based on the first azimuth, the second azimuth and the heading angle of the AUV; plans the navigation direction of the AUV based on the position and opening direction of the docking dock, docks based on the depth information and the navigation direction of the docking dock, and continues to execute the step of sending a docking request signal carrying the first distance and the second azimuth to the docking dock until the docking is completed.

[0167] As an optional embodiment, the docking dock position determination unit 505 includes: a docking dock coordinate determination subunit in the AUV coordinate system and a docking dock geodetic coordinate determination subunit, wherein:

[0168] The docking dock coordinate determination subunit in the AUV coordinate system is used to input the first distance and the second azimuth into the docking dock coordinate calculation model in the preset AUV coordinate system, and obtain the docking dock coordinates in the AUV coordinate system output by the docking dock coordinate calculation model in the preset AUV coordinate system:

[0169] Among them, the coordinate calculation model under the preset AUV coordinate system includes:

[0170] χ D =d·cosθ AD

[0171] y D =d·sinθ AD

[0172] Where d is the first distance, θ AD is the second azimuth, (χ D ,y D ) is the docking dock coordinate in the AUV coordinate system.

[0173] The docking dock geodetic coordinate determination subunit is used to input the geodetic coordinates of the AUV, the heading angle of the AUV and the docking dock coordinates in the AUV coordinate system into a preset geodetic coordinate calculation model, and obtain the geodetic coordinates of the docking dock output by the preset geodetic coordinate calculation model;

[0174] Among them, the preset geodetic coordinate calculation model includes:

[0175]

[0176] Among them, (E A , N A ) is the geodetic coordinate of AUV, (E D , N D ) is the geodetic coordinate of the docking station, (χ D ,y D ) is the docking dock coordinate in the AUV coordinate system, is the heading angle of the AUV, is the rotation matrix from the AUV coordinate system to the earth coordinate system.

[0177] As an optional embodiment, the first docking subunit includes: a navigation direction planning module, a depth adjustment module and a second docking module, wherein:

[0178] A navigation direction planning module, used to plan the navigation direction of the AUV based on a preset first condition, the position of the docking station and the opening direction;

[0179] A depth adjustment module, configured to adjust the depth of the AUV to a first depth based on the depth information of the dock, wherein the first depth is not less than the depth of the dock;

[0180] The second docking module is used for docking by sailing in the sailing direction at the first depth.

[0181] As an optional embodiment, the device further includes: a first condition acquisition subunit, wherein:

[0182] The first condition acquisition subunit is used to input the first depth and the depth information of the docking dock into the preset vertical deviation calculation model, and obtain the vertical deviation between the AUV and the docking dock output by the preset vertical deviation calculation model:

[0183] Among them, the preset vertical deviation calculation model includes:

[0184] e hh =|depth A -depth D |

[0185] Among them, e hh is the vertical deviation between the AUV and the dock, depth A is the first depth, depth D is the depth of the docking station;

[0186] The first distance and the first azimuth are input into the preset lateral deviation calculation model to obtain the lateral deviation between the AUV and the dock output by the preset lateral deviation calculation model:

[0187] Among them, the preset lateral deviation calculation model includes:

[0188] e ll =|d·sinθ DA |

[0189] Among them, e ll is the lateral deviation between the AUV and the dock, d is the first distance, θ DA is the first azimuth;

[0190] The first azimuth angle and the second azimuth angle are input into the preset central axis angle calculation model to obtain the central axis angle between the AUV and the dock output by the preset central axis angle calculation model:

[0191] Among them, the preset central axis angle calculation model includes:

[0192] δ=π-|θ AD -θ DA +π|

[0193] Among them, δ is the angle between the AUV and the central axis of the dock, θ DA is the first azimuth, θ AD is the second azimuth, π is 180°;

[0194] Get the AUV's pitch angle.

[0195] It should be noted that the above-mentioned units and corresponding steps implement the same examples and application scenarios, but are not limited to the contents disclosed in the above-mentioned embodiments. It should be noted that the above-mentioned units as part of the device can be operated in the following manner: Figure 1 In the hardware environment shown, it can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

[0196] According to another aspect of the embodiment of the present application, an underwater docking device for implementing the above-mentioned underwater docking method is also provided, the device is applied to a docking dock, the docking dock is provided with a second USBL matrix, and the device includes:

[0197] A docking request signal receiving unit, configured to receive a docking request signal, and determine a first azimuth angle through a second USBL array in response to the docking request signal;

[0198] A reply signal sending unit is used to send a reply signal carrying the first azimuth to the AUV, so that the AUV receives the reply signal, obtains the first azimuth in the reply signal, and determines the first distance and the second azimuth through the first USBL array, obtains the heading angle and geodetic coordinates of the AUV, determines the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance, determines the opening direction of the docking dock based on the first azimuth, the second azimuth and the heading angle of the AUV, plans the navigation direction of the AUV based on the position and opening direction of the docking dock, sails in the navigation direction for docking, and continues to execute the step of sending a docking request signal to the docking dock until the docking is completed.

[0199] It should be noted that the above-mentioned units and corresponding steps implement the same examples and application scenarios, but are not limited to the contents disclosed in the above-mentioned embodiments. It should be noted that the above-mentioned units as part of the device can be operated in the following manner: Figure 1 In the hardware environment shown, it can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

[0200] According to another aspect of the embodiment of the present application, an electronic device is also provided for implementing the above-mentioned underwater docking method, including: Figure 6 As shown, the electronic device may include: a processor 601 , a communication interface 602 , a memory 603 and a communication bus 604 , wherein the processor 601 , the communication interface 602 , and the memory 603 communicate with each other via the communication bus 604 .

[0201] Memory 603, used for storing computer programs;

[0202] The processor 601 is used to implement the steps of the above method embodiment when executing the program stored in the memory 603.

[0203] The bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0204] The communication interface is used for communication between the above electronic device and other devices.

[0205] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0206] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0207] It can be understood by those skilled in the art that Figure 6 The structure shown is for illustration only and does not limit the structure of the electronic device. Figure 6 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Figure 6 Different configurations shown.

[0208] An embodiment of the present application further provides a computer-readable storage medium, the storage medium including a stored program, wherein the method steps of the above method embodiment are executed when the program is run.

[0209] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0210] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0211] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0212] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0213] In the several embodiments provided in the present application, it should be understood that the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0214] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0215] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0216] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An underwater docking method, applied to an AUV, wherein the AUV is provided with a first USBL array, characterized in that: The method comprises: Sending a docking request signal to the docking dock, so that the docking dock responds to the docking request signal, determines a first azimuth through a second USBL array, and sends a response signal carrying the first azimuth to the AUV; receiving the response signal, acquiring a first azimuth in the response signal, and determining a first distance and a second azimuth through the first USBL array; Get the heading angle and geodetic coordinates of the AUV; Determine the position of the dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle, and the first distance; Determining an opening direction of the dock based on the first azimuth angle, the second azimuth angle, and the heading angle of the AUV; Planning the navigation direction of the AUV based on the position and opening direction of the docking dock, sailing in the navigation direction for docking, and continuing to execute the step of sending a docking request signal to the docking dock until the docking is completed; The determining the opening direction of the dock based on the first azimuth angle, the second azimuth angle and the heading angle of the AUV comprises: The first azimuth angle, the second azimuth angle and the heading angle of the AUV are input into a preset opening direction calculation model to obtain the opening direction of the dock output by the preset opening direction calculation model: Wherein, the preset opening direction calculation model includes: in, is the opening direction of the docking station, is the heading angle of the AUV, is the second azimuth, is the first azimuth, It is an angle of 180°.

2. The method according to claim 1, characterized in that The method of sending a docking request signal to the docking dock, so that the docking dock responds to the docking request signal, determines a first azimuth through a second USBL array, and sends a response signal carrying the first azimuth to the AUV, comprises: Sending a docking request signal to the docking dock, so that the docking dock responds to the docking request signal, obtains depth information of the docking dock, determines a first azimuth through a second USBL array, and sends a response signal carrying the first azimuth and depth information of the docking dock to the AUV; The receiving the response signal, acquiring the first azimuth in the response signal, and determining the first distance and the second azimuth through the first USBL array, comprises: receiving the response signal, acquiring the first azimuth angle and the depth information of the docking station in the response signal, and determining the first distance and the second azimuth angle through the first USBL array; The method of planning the navigation direction of the AUV based on the position and opening direction of the docking dock and sailing in the navigation direction for docking includes: The navigation direction of the AUV is planned based on the position and opening direction of the docking dock, and the AUV is navigated and docked based on the depth information and navigation direction of the docking dock.

3. The method according to claim 2, characterized in that Before sending the docking request signal to the docking dock, the method further includes: sending a start signal to the docking station, so that the docking station sends a feedback signal to the AUV in response to the start signal; receiving the feedback signal, and determining a starting azimuth and an initial distance through the first USBL array in response to the feedback signal; The sending of a docking request signal to the docking dock comprises: Sending a docking request signal carrying a starting azimuth and an initial distance to the docking dock; The step of sending a docking request signal to the docking station until the docking is completed includes: Sending a docking request signal carrying a first distance and a second azimuth to the docking dock, so that the docking dock responds to the docking request signal, obtains depth information of the docking dock, determines the first azimuth through the second USBL array, and sends a response signal carrying the first azimuth and the depth information of the docking dock to the AUV; receiving the response signal, acquiring the first azimuth angle and the depth information of the docking station in the response signal, and determining the first distance and the second azimuth angle through the first USBL array; Get the heading angle and geodetic coordinates of the AUV; Determine the position of the dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle, and the first distance; Determining an opening direction of the dock based on the first azimuth angle, the second azimuth angle, and the heading angle of the AUV; The navigation direction of the AUV is planned based on the position and opening direction of the docking dock, the AUV is navigated for docking based on the depth information and navigation direction of the docking dock, and the step of sending a docking request signal carrying the first distance and the second azimuth angle to the docking dock is continued until the docking is completed.

4. The method according to claim 1, characterized in that: The determining the position of the dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle and the first distance comprises: The first distance and the second azimuth are input into a docking dock coordinate calculation model in a preset AUV coordinate system, and the docking dock coordinates in the AUV coordinate system output by the docking dock coordinate calculation model in the preset AUV coordinate system are obtained: Wherein, the coordinate calculation model under the preset AUV coordinate system includes: Where d is the first distance, is the second azimuth, ( , ) is the docking dock coordinate in the AUV coordinate system; Inputting the geodetic coordinates of the AUV, the heading angle of the AUV, and the coordinates of the docking dock in the AUV coordinate system into a preset geodetic coordinate calculation model, and obtaining the geodetic coordinates of the docking dock output by the preset geodetic coordinate calculation model; Wherein, the preset geodetic coordinate calculation model includes: in, is the geodetic coordinate of AUV, is the geodetic coordinate of the docking station, ( , ) is the docking dock coordinate in the AUV coordinate system, is the heading angle of the AUV, is the rotation matrix from the AUV coordinate system to the earth coordinate system.

5. The method according to claim 2, characterized in that: The method of planning the navigation direction of the AUV based on the position and opening direction of the docking dock, and performing the docking based on the depth information and navigation direction of the docking dock includes: Planning the navigation direction of the AUV based on the preset first condition, the position of the docking station and the opening direction; Adjusting the depth of the AUV to a first depth based on the depth information of the dock, wherein the first depth is not less than the depth of the dock; The docking is performed by sailing at the first depth in the sailing direction.

6. The method according to claim 5, characterized in that The first condition includes: The vertical deviation between the AUV and the dock is less than a preset vertical deviation threshold, wherein the first depth and the depth information of the dock are input into a preset vertical deviation calculation model, and the vertical deviation between the AUV and the dock output by the preset vertical deviation calculation model is obtained: Wherein, the preset vertical deviation calculation model includes: in, is the vertical deviation between the AUV and the dock, is the first depth, is the depth of the docking station; The lateral deviation between the AUV and the dock is less than a preset lateral deviation threshold, wherein the first distance and the first azimuth are input into a preset lateral deviation calculation model, and the lateral deviation between the AUV and the dock output by the preset lateral deviation calculation model is obtained: Wherein, the preset lateral deviation calculation model includes: in, is the lateral deviation between the AUV and the dock, d is the first distance, is the first azimuth; The central axis angle between the AUV and the dock is less than a preset central axis angle threshold, wherein the first azimuth angle and the second azimuth angle are input into a preset central axis angle calculation model, and the central axis angle between the AUV and the dock output by the preset central axis angle calculation model is obtained: Wherein, the preset central axis angle calculation model includes: in, is the included angle between the central axis of the AUV and the dock, is the first azimuth, is the second azimuth, An angle of 180°; The AUV pitch angle is less than a preset pitch angle threshold.

7. An underwater docking method, applied to a docking dock, wherein the docking dock is provided with a second USBL matrix, characterized in that: The method comprises: receiving a docking request signal, and determining a first azimuth angle through the second USBL array in response to the docking request signal; Sending a reply signal carrying the first azimuth to the AUV so that the AUV receives the reply signal, obtains the first azimuth in the reply signal, determines the first distance and the second azimuth through the first USBL array, obtains the heading angle and geodetic coordinates of the AUV, determines the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance, determines the opening direction of the docking dock based on the first azimuth, the second azimuth and the heading angle of the AUV, plans the navigation direction of the AUV based on the position and opening direction of the docking dock, and sails in the navigation direction for docking; and continues to perform the step of receiving the docking request signal until the docking is completed; Wherein, determining the opening direction of the dock based on the first azimuth angle, the second azimuth angle and the heading angle of the AUV includes: The first azimuth angle, the second azimuth angle and the heading angle of the AUV are input into a preset opening direction calculation model to obtain the opening direction of the dock output by the preset opening direction calculation model: Wherein, the preset opening direction calculation model includes: in, is the opening direction of the docking station, is the heading angle of the AUV, is the second azimuth, is the first azimuth, It is an angle of 180°.

8. An underwater docking device, applied to an AUV, wherein the AUV is provided with a first USBL array, characterized in that: The device comprises: a docking request signal sending unit, configured to send a docking request signal to the docking dock, so that the docking dock responds to the docking request signal, determines a first azimuth through a second USBL array, and sends a response signal carrying the first azimuth to the AUV; a response signal receiving unit, configured to receive the response signal, obtain a first azimuth in the response signal, and determine a first distance and a second azimuth through the first USBL array; A heading angle acquisition unit, used to obtain the heading angle of the AUV; A geodetic coordinate acquisition unit, used to acquire the geodetic coordinates of the AUV; A docking dock position determination unit, configured to determine the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth angle, and the first distance; an opening direction determining unit, configured to determine the opening direction of the dock based on the first azimuth angle, the second azimuth angle and the heading angle of the AUV; A docking unit, configured to plan the navigation direction of the AUV based on the position and opening direction of the docking dock, navigate in the navigation direction for docking, and continue to execute the step of sending a docking request signal to the docking dock until the docking is completed; The opening direction determining unit comprises: The opening direction calculation subunit is used to input the first azimuth angle, the second azimuth angle and the heading angle of the AUV into a preset opening direction calculation model, and obtain the opening direction of the dock output by the preset opening direction calculation model: Wherein, the preset opening direction calculation model includes: in, is the opening direction of the docking station, is the heading angle of the AUV, is the second azimuth, is the first azimuth, It is an angle of 180°.

9. An underwater docking device, applied to a docking dock, wherein the docking dock is provided with a second USBL matrix, characterized in that: The device comprises: a docking request signal receiving unit, configured to receive a docking request signal, and determine a first azimuth angle through the second USBL array in response to the docking request signal; a response signal sending unit, configured to send a response signal carrying the first azimuth to the AUV, so that the AUV receives the response signal, obtains the first azimuth in the response signal, determines the first distance and the second azimuth through a first USBL array, obtains the heading angle and geodetic coordinates of the AUV, determines the position of the docking dock based on the geodetic coordinates of the AUV, the heading angle of the AUV, the second azimuth and the first distance, determines the opening direction of the docking dock based on the first azimuth, the second azimuth and the heading angle of the AUV, plans the navigation direction of the AUV based on the position and opening direction of the docking dock, and sails in the navigation direction for docking; and continues to perform the step of receiving the docking request signal until the docking is completed; Wherein, determining the opening direction of the dock based on the first azimuth angle, the second azimuth angle and the heading angle of the AUV includes: The first azimuth angle, the second azimuth angle and the heading angle of the AUV are input into a preset opening direction calculation model to obtain the opening direction of the dock output by the preset opening direction calculation model: Wherein, the preset opening direction calculation model includes: in, is the opening direction of the docking station, is the heading angle of the AUV, is the second azimuth, is the first azimuth, It is an angle of 180°.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: The processor executes the steps of an underwater docking method as described in any one of claims 1 to 6 or the steps of an underwater docking method as described in claim 7 through the computer program.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps of an underwater docking method as described in any one of claims 1 to 6 or the steps of an underwater docking method as described in claim 7 are implemented.

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