An underwater robot docking and recovery device and operation method

Abstract

An underwater robot docking and recovery device and operation method mainly include a base, a swing hydraulic cylinder, a bottom plate, a hydraulic gripper, an acoustic and optical guidance communication device, a hydraulic valve box, an electronic cabin, etc. It adopts a vertical sitting type docking and recovery form, uses a hydraulic gripper capture type docking and recovery, and uses an acoustic beacon and an optical lamp array guidance method to make the autonomous underwater vehicle approach the docking and recovery device for navigation. The docking attitude of the autonomous underwater vehicle is obtained in real time through the acoustic and optical communication devices. Before approaching the docking device, the autonomous underwater vehicle gradually changes its vertical height until it reaches the effective range of docking and recovery. Then, the hydraulic gripper is driven to close quickly. Under the guiding action of the arc structure of the gripper, the autonomous underwater vehicle is clamped. When the clamping force is detected by the force feedback sensor and reaches the predetermined value, the hydraulic cylinder action is automatically stopped and the locking state is maintained, completing the recovery of the autonomous underwater vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater recovery devices, and in particular to an underwater robot docking and recovery device and an operation method thereof. Background Art

[0002] An autonomous underwater vehicle (hereinafter referred to as an AUV) has the characteristics of a long navigation distance and a high degree of intelligence, and plays an important role in underwater resource exploration and development. In practical applications, according to the task requirements, the AUV usually needs to replenish energy and exchange information to better perform multi-mission operations, which involves the docking and recovery tasks of the AUV. However, different docking and recovery methods directly affect the recovery safety and operation efficiency of the AUV.

[0003] In the prior art, the docking and recovery of an AUV is a cutting-edge technology in the field of ocean applications. The current docking and recovery methods mainly include underwater fixed cage docking and recovery, manipulator capture recovery, scissor capture recovery, etc. However, the cage docking and recovery device requires that the AUV must navigate longitudinally and be in the same direction as the opening direction of the cage. This method determines that the AUV can only dock in a single direction, and there is also a risk of collision and damage with the cage when the AUV adjusts its docking attitude. In addition, due to the limitation of the cage diameter, when docking and recovering AUVs of different diameters, the transformation cost is high and the adaptability is poor. The manipulator capture recovery device has special requirements for the extension distance of the manipulator and the structure form of the end claw, and requires a high flexible control ability of the manipulator. This docking and recovery method has high requirements for the manipulator, and the recovery device has poor reliability and low success rate. The scissor capture recovery device requires the AUV itself to be equipped with a manipulator for recovering the recovery rod on the recovery device. This method requires the transformation of the AUV and the configuration of special equipment to meet the docking and recovery requirements, and the docking and recovery cost is high and the operation is complex.

[0004] The above docking and recovery devices have disadvantages such as poor adjustability of the docking mechanism, low docking success rate, complex docking operation, and easy collision and damage between the AUV and the docking and recovery device, which seriously affect the safety and success rate of the AUV docking and recovery. Summary of the Invention

[0005] In view of the above-mentioned drawbacks in the existing production technology, the present applicant provides an underwater robot docking and recovery device and an operation method. The main structure of the docking and recovery device is a vertically located docking and recovery form, which adopts hydraulic gripper capture docking and recovery. An autonomous underwater vehicle (AUV) is guided to approach the docking and recovery device by using an acoustic beacon and an optical lamp array. The docking attitude of the AUV is obtained in real time through acoustic and optical communication devices. Before approaching the docking device, the AUV gradually changes its vertical height until it reaches the effective range of docking and recovery. At this time, if there is still a deflection angle between the AUV and the hydraulic gripper, a swing hydraulic cylinder can be used to assist in adjusting the direction of docking and recovery. When the AUV reaches the capture range of the hydraulic gripper, the hydraulic gripper is driven to close quickly. Under the guiding action of the arc structure of the gripper, the AUV is clamped. When the clamping force detected by the force feedback sensor reaches a predetermined value, the hydraulic cylinder action is automatically stopped and the locking state is maintained, completing the recovery of the AUV.

[0006] This docking and recovery method can avoid the influence of the cage-type docking and recovery on the navigation direction of the AUV and the collision risk of docking and recovery, and does not require special requirements for the structural form and equipment configuration of the AUV, which can effectively improve the safety and success rate of underwater docking and recovery of the AUV.

[0007] The technical solution adopted by the present invention is as follows:

[0008] An underwater robot docking and recovery device includes a base. A swing hydraulic cylinder is installed at the middle position of the top surface of the base. The output end of the swing hydraulic cylinder is fixed to a bottom plate. A workbench is fixed at the middle position of the upper surface of the bottom plate. A hydraulic gripper is installed on the workbench. A hydraulic valve box, a blue light communication machine, a camera, a pan-tilt and an LED lamp are installed on the bottom plate beside the workbench. An electronic cabin is installed on the bottom plate beside the other side of the workbench.

[0009] Installation interfaces are reserved at the bottom of the base. The entire docking and recovery device is modularly installed on the top of a large underwater platform to perform docking and recovery tasks while maneuvering with the large underwater platform, or the entire docking and recovery device is placed separately on the seabed to perform docking and recovery tasks.

[0010] The installation structure of the hydraulic gripper is as follows: it includes a support frame fixed on the workbench, a hydraulic cylinder is installed on the support frame, the output end of the hydraulic cylinder is connected to the active claw, the active claw is connected to two linkage claws simultaneously through a connecting shaft and a rotating shaft, the two linkage claws are symmetrically arranged on both sides of the active claw, the bottom of each linkage claw is hinged to a connecting rod, the two ends of the connecting rod are respectively hinged to a fixed rod and a driven claw, the fixed rod is in an "L" shape structure, the bottom surface of the fixed rod is fixed on the workbench, and the fixed rod is also connected to the driven claw through a straight rod. The hydraulic cylinder drives the active claw to drive the driven claw to act, quickly realizing the opening and closing actions. Once the autonomous underwater vehicle enters the docking and recovery position, the hydraulic gripper quickly closes and maintains the locking state to complete the docking and recovery of the autonomous underwater vehicle.

[0011] Its further technical solution lies in:

[0012] Brackets are respectively fixed at the four corners of the bottom plate, and an LED guiding light array is fixed on the outer side of each bracket.

[0013] The linkage claw is in an arc structure, including two spaced linkage sheet bodies, a first baffle is arranged on the concave arc section between the two linkage sheet bodies; holes for installing the connecting shaft and the hinge shaft are opened on the two linkage sheet bodies.

[0014] The structure of the active claw is: including two spaced active bending sheet bodies, a second baffle is arranged on the concave arc section between the two active bending sheet bodies.

[0015] The installation directions of the active claw and the linkage claw are the same, and the installation directions of the active claw and the linkage claw are opposite to the installation direction of the driven claw.

[0016] The base adopts a metal frame.

[0017] The base is an integral structure.

[0018] The structure of the base is: including a top plate and a seat bottom plate that are parallel and spaced up and down, both the top plate and the seat bottom plate are solid rectangular structures, side plates are respectively installed around the top plate and the seat bottom plate, and two trapezoidal holes are opened on the side plates.

[0019] An operation method of an underwater robot docking and recovery device includes the following operation steps:

[0020] S1: Preparation work, the docking and recovery device is placed in advance at a predetermined position on the seabed;

[0021] S2: In the initial state, the hydraulic gripper is in an open state with the opening facing upwards;

[0022] S3: When the autonomous underwater vehicle needs to be recovered, the autonomous underwater vehicle is navigated to the vicinity of the docking and recovery device through acoustic and optical guiding communication methods;

[0023] S4: If there is a deviation in the opening direction between the autonomous submersible and the hydraulic gripper, the swing hydraulic cylinder operates to adjust the direction of the bottom plate.

[0024] S5: After confirming that the autonomous submersible has reached the docking and recovery position, drive the hydraulic gripper to close quickly and maintain the locked state to complete the docking and recovery of the autonomous submersible.

[0025] The beneficial effects of the present invention are as follows:

[0026] The structure of the present invention is simple and easy to operate. The autonomous submersible reaches the docking and recovery position through acoustic and optical communication guidance. The swing hydraulic cylinder is used to assist in adjusting the direction of docking and recovery. The hydraulic gripper is used to quickly capture and recover, and the hydraulic gripper automatically stops operating and maintains the locked state according to the detection of the force feedback sensor. The main structure of this docking and recovery device is a vertical sitting type docking and recovery form, adopting a hydraulic gripper capture type docking and recovery, with functions of capture and recovery, mechanical guidance, and locking and positioning. It can meet the recovery requirements of autonomous submersibles with different diameters, and also has the characteristics of high safety, good direction adjustability, and fast, simple, and reliable execution of docking and recovery actions. Description of the Drawings

[0027] Figure 1 It is a schematic structural diagram of the present invention (recovering the autonomous submersible).

[0028] Figure 2 It is a schematic structural diagram of the present invention (the autonomous submersible not recovered).

[0029] Figure 3 It is the front view of the present invention.

[0030] Figure 4 It is the top view of the present invention.

[0031] Figure 5 It is the installation schematic diagram of the hydraulic gripper of the present invention.

[0032] Figure 6 It is the front view of the hydraulic gripper of the present invention.

[0033] Figure 7 It is the schematic structural diagram of a single linkage claw of the present invention.

[0034] Figure 8 It is the schematic structural diagram of a single linkage claw from another perspective of the present invention.

[0035] Figure 9 It is the schematic structural diagram of the active claw of the present invention.

[0036] Figure 10 It is the schematic structural diagram of the active claw from another perspective of the present invention.

[0037] Figure 11This is a schematic structural diagram of the base of the present invention.

[0038] Among them: 2, autonomous submersible;

[0039] 101, base; 102, LED guiding light array; 103, LED light; 104, pan-tilt head; 105, camera; 106, blue light communication machine; 107, hydraulic valve box; 108, hydraulic gripper; 109, acoustic communication machine; 110, electronic cabin; 111, acoustic beacon; 112, hydraulic cylinder; 113, bottom plate; 114, swing hydraulic cylinder; 115, bracket; 116, workbench; 117, support frame;

[0040] 1011, top plate; 1012, side plate; 1013, seat bottom plate;

[0041] 1081, linkage claw; 1082, connecting shaft; 1083, active claw; 1084, fixed rod; 1085, connecting rod; 1086, rotating shaft; 1087, driven claw; 1088, straight rod;

[0042] 10811, linkage plate body; 10812, first baffle;

[0043] 10831, active bending plate body; 10832, second baffle. Specific embodiments

[0044] The following combines the accompanying drawings to illustrate the specific embodiments of the present invention.

[0045] As Figures 1 - 11 shown, the underwater robot docking and recovery device of this embodiment includes a base 101. A swing hydraulic cylinder 114 is installed at the middle position of the top surface of the base 101. The output end of the swing hydraulic cylinder 114 is fixed to the bottom plate 113. A workbench 116 is fixed at the middle position of the upper surface of the bottom plate 113. A hydraulic gripper 108 is installed on the workbench 116; a hydraulic valve box 107, a blue light communication machine 106, a camera 105, a pan-tilt head 104, and an LED light 103 are installed on the bottom plate 113 beside the workbench 116. An electronic cabin 110 is installed on the bottom plate 113 on the other side of the workbench 116;

[0046] Installation interfaces are reserved at the bottom of the base 101. The entire docking and recovery device is modularly installed on the top of a large underwater platform, and maneuvers with the large underwater platform to perform docking and recovery tasks, or the entire docking and recovery device is separately placed on the seabed to perform docking and recovery tasks;

[0047] The installation structure of the hydraulic gripper 108 is as follows: It includes a support frame 117 fixed on the workbench 116. A hydraulic cylinder 112 is installed on the support frame 117. The output end of the hydraulic cylinder 112 is connected to the active claw 1083. The active claw 1083 is connected to two linkage claws 1081 simultaneously through a connecting shaft 1082 and a rotating shaft 1086. The two linkage claws 1081 are symmetrically arranged on both sides of the active claw 1083. The bottom of each linkage claw 1081 is hinged to a connecting rod 1085. The two ends of the connecting rod 1085 are respectively hinged to a fixed rod 1084 and a driven claw 1087. The fixed rod 1084 is in an "L" - shaped structure, and the bottom surface of the fixed rod 1084 is fixed on the workbench 116. The fixed rod 1084 is also connected to the driven claw 1087 through a straight rod 1088. The hydraulic cylinder 112 drives the active claw 1083 to drive the driven claw 1087 to act, quickly realizing the opening and closing actions. Once the autonomous underwater vehicle 2 enters the docking and recovery position, the hydraulic gripper 108 quickly closes and maintains the locked state to complete the docking and recovery of the autonomous underwater vehicle 2.

[0048] Brackets 115 are respectively fixed at the four corners of the bottom plate 113, and an LED guiding light array 102 is fixed on the outer side of each bracket 115.

[0049] The linkage claw 1081 is in an arc - shaped structure, including two spaced - apart linkage sheet bodies 10811. A first baffle 10812 is arranged on the concave arc section between the two linkage sheet bodies 10811; holes for installing the connecting shaft 1082 and the hinge shaft are opened on the two linkage sheet bodies 10811.

[0050] The structure of the active claw 1083 is: It includes two spaced - apart active bending sheet bodies 10831, and a second baffle 10832 is arranged on the concave arc section between the two active bending sheet bodies 10831.

[0051] The installation directions of the active claw 1083 and the linkage claw 1081 are the same, and the installation directions of the active claw 1083 and the linkage claw 1081 are opposite to the installation direction of the driven claw 1087.

[0052] The base 101 is made of a metal frame.

[0053] The base 101 is an integral structure.

[0054] The structure of the base 101 is: It includes a top plate 1011 and a base bottom plate 1013 that are parallel and spaced apart up and down. Both the top plate 1011 and the base bottom plate 1013 are solid rectangular structures. Side plates 1012 are respectively installed around the top plate 1011 and the base bottom plate 1013, and two trapezoidal holes are opened on the side plates 1012.

[0055] The operation method of the underwater robot docking and recovery device in this embodiment includes the following operation steps:

[0056] S1: Preparation work, the docking and recovery device is placed in advance at a predetermined position on the seabed;

[0057] S3: In the initial state, the hydraulic gripper 108 is in an open state with its opening facing upwards;

[0058] S6: When the autonomous submersible 2 needs to be recovered, the autonomous submersible 2 is navigated to the vicinity of the docking and recovery device through acoustic and optical guidance communication methods;

[0059] S9: If there is a deviation between the opening direction of the autonomous submersible 2 and the hydraulic gripper 108, the swing hydraulic cylinder 114 operates to adjust the direction of the bottom plate 113;

[0060] S12: After confirming that the autonomous submersible 2 has reached the docking and recovery position, drive the hydraulic gripper 108 to close quickly and maintain the locked state to complete the docking and recovery of the autonomous submersible 2.

[0061] A force feedback sensor is installed inside the hydraulic gripper 108. When the gripper closes, clamps the autonomous submersible 2, and reaches the set value of the force feedback sensor, the hydraulic cylinder 112 automatically stops operating and maintains the locked state.

[0062] The specific structure and functions of the underwater robot docking and recovery device described in the present invention are as follows:

[0063] It mainly includes a base 101, a swing hydraulic cylinder 114, a bottom plate 113, a hydraulic gripper 108, an acoustic and optical guidance communication device, a hydraulic valve box 107, an electronic cabin 110, etc.

[0064] Among them, the hydraulic gripper 108 is driven by a hydraulic cylinder 112 to drive the active claw 1083 to drive the driven claw 1087 to act, and can quickly realize the opening and closing actions. In actual work, once the autonomous submersible 2 enters the docking and recovery position, the hydraulic gripper 108 can quickly close and maintain the locked state to complete the docking and recovery of the autonomous submersible 2, effectively improving the success rate of docking and recovery.

[0065] Among them, the acoustic and optical guidance communication device includes an acoustic communication machine 109, an acoustic beacon 111, an optical blue light communication machine 106, an LED guidance light array 102, etc.

[0066] Among them, the base 101 mainly adopts a metal frame and is the main support of the entire device.

[0067] Among them, the bottom plate 113 serves as the installation foundation for each device, and equipment installation interfaces are reserved. Each device is installed on the bottom plate 113 in an orderly manner according to the usage requirements.

[0068] There is a swing hydraulic cylinder 114 between the bottom plate 113 and the base 101. According to the docking and recovery requirements, the swing hydraulic cylinder 114 is controlled to drive the bottom plate 113 to rotate, so as to realize the direction adjustment of the device for docking and recovery. A hydraulic gripper 108 is installed at the longitudinal middle position on the upper surface workbench 116 of the bottom plate 113, and a blue light communicator 106 is also installed longitudinally for short-distance optical communication.

[0069] Observation and monitoring equipment is also installed, including a pan-tilt head 104, an LED lamp 103 and a camera 105, which are used to observe the docking and recovery situation of the autonomous underwater vehicle 2 in real time. The LED lamp 103 and the camera 105 can adjust the observation direction with the rotation of the pan-tilt head 104, effectively increasing the observation range.

[0070] LED guiding light arrays 102 for optical guiding are installed at the four corner positions of the bottom plate 113, and the number of the LED guiding light arrays 102 can be adjusted according to needs. An acoustic communicator 109 and an acoustic beacon 111 are respectively installed on both sides of the bottom plate 113 for long-distance acoustic communication and guiding positioning of the autonomous underwater vehicle 2.

[0071] Among them, the hydraulic valve box 107 mainly controls the opening and closing of the hydraulic valve circuit, and manipulates the swing hydraulic cylinder 114 and the hydraulic gripper 108 to execute actions.

[0072] An electronic cabin 110 is also installed on the bottom plate 113 for the power supply, distribution and information control of the device.

[0073] During the actual working process:

[0074] After the autonomous underwater vehicle 2 completes the underwater operation task or before the energy is about to run out, it sails to the area where the docking and recovery device is located for docking and recovery.

[0075] First, operate the acoustic communication machine 109 of the docking and recovery device to send instructions to switch the autonomous underwater vehicle 2 to the docking and recovery navigation mode. Then, the autonomous underwater vehicle 2 sails towards the docking and recovery device according to the acoustic guidance signal. After reaching the effective distance of the blue light communication machine 106, an information exchange channel is established with the autonomous underwater vehicle 2 using blue light communication to obtain the attitude and speed information of the autonomous underwater vehicle 2. After reaching the visible distance of the camera 105, the autonomous underwater vehicle 2 uses its own configured camera 105 to adjust its own pose information according to the guidance of the LED guidance light array 102 on the docking device to prepare for docking and recovery. Before reaching the docking and recovery position, observe whether the position of the autonomous underwater vehicle 2 is consistent with the closing direction of the hydraulic gripper 108 through the observation and monitoring equipment. If there is a deviation, the direction of the bottom plate 113 can be adjusted by swinging the hydraulic cylinder 114, thus avoiding the autonomous underwater vehicle 2 from readjusting its own direction and saving the docking and recovery time. Finally, after confirming that the autonomous underwater vehicle 2 moves vertically into the closing range of the hydraulic gripper 108, drive the hydraulic gripper 108 to close quickly. Under the arc guidance of the hydraulic gripper 108, the autonomous underwater vehicle 2 reaches the docking and recovery position, and the hydraulic gripper 108 automatically stops acting and maintains the locked state according to the detection of the force feedback sensor, thus completing the docking and recovery of the autonomous underwater vehicle 2.

[0076] Through the above operations, the safety and success rate of the underwater docking and recovery of the autonomous underwater vehicle can be effectively improved.

[0077] The above description is an explanation of the present invention, not a limitation of the invention. The scope defined by the present invention is referred to the claims. Any form of modification can be made within the protection scope of the present invention.

Claims

1. An underwater robot docking and recovery device, characterized in that: It includes a base (101). At the middle position of the top surface of the base (101), a swing hydraulic cylinder (114) is installed. The output end of the swing hydraulic cylinder (114) is fixed to a bottom plate (113). At the middle position of the upper surface of the bottom plate (113), a workbench (116) is fixed. A hydraulic gripper (108) is installed on the workbench (116); on the bottom plate (113) beside the workbench (116), a hydraulic valve box (107), a blue light communication machine (106), a camera (105), a pan-tilt head (104) and an LED lamp (103) are installed. On the bottom plate (113) on the other side of the workbench (116), an electronic cabin (110) is installed. Installation interfaces are reserved at the bottom of the base (101). The entire docking and recovery device is modularly installed on the top of a large underwater platform, and maneuvers with the large underwater platform to perform docking and recovery tasks, or the entire docking and recovery device is separately deployed on the seabed to perform docking and recovery tasks. The installation structure of the hydraulic gripper (108) is as follows: it includes a support frame (117) fixed on the workbench (116). A hydraulic cylinder (112) is installed on the support frame (117). The output end of the hydraulic cylinder (112) is connected to a main claw (1083). The main claw (1083) is simultaneously connected to two linkage claws (1081) through a connecting shaft (1082) and a rotating shaft (1086). The two linkage claws (1081) are symmetrically arranged on both sides of the main claw (1083). The bottom of each linkage claw (1081) is hinged to a connecting rod (1085). The two ends of the connecting rod (1085) are respectively hinged to a fixed rod (1084) and a driven claw (1087). The fixed rod (1084) has an "L" - shaped structure. The bottom surface of the fixed rod (1084) is fixed on the workbench (116). The fixed rod (1084) is also connected to the driven claw (1087) through a straight rod (1088). The hydraulic cylinder (112) drives the main claw (1083) to drive the driven claw (1087) to act, quickly realizing the opening and closing actions. Once the autonomous submersible (2) enters the docking and recovery position, the hydraulic gripper (108) quickly closes and maintains the locked state to complete the docking and recovery of the autonomous submersible (2).

2. The underwater robot docking and recovery device according to claim 1, characterized in that: At the four corners of the bottom plate (113), brackets (115) are respectively fixed. An LED guiding light array (102) is fixed on the outside of each bracket (115).

3. The underwater robot docking and recovery device according to claim 1, characterized in that: The linkage claw (1081) has an arc - shaped structure, including two spaced - apart linkage plate bodies (10811). A first baffle (10812) is arranged on the inner concave arc section between the two linkage plate bodies (10811); holes for installing the connecting shaft (1082) and the hinge shaft are opened on the two linkage plate bodies (10811).

4. An underwater robot docking and recovery device according to claim 1, characterized in that: The structure of the main claw (1083) is as follows: it includes two spaced - apart main bending plate bodies (10831). A second baffle (10832) is arranged on the inner concave arc section between the two main bending plate bodies (10831).

5. The underwater robot docking and recovery device according to claim 1, wherein: The installation directions of the active claw (1083) and the linkage claw (1081) are the same, and the installation directions of the active claw (1083) and the linkage claw (1081) are oppositely installed to the installation direction of the driven claw (1087).

6. An underwater robot docking and recovery device according to claim 1, characterized in that: The base (101) is made of a metal frame.

7. An underwater robot docking and recovery device according to claim 1, characterized in that: The base (101) is of an integral structure.

8. The underwater robot docking and recovery device according to claim 1, wherein: The structure of the base (101) is as follows: it includes a top plate (1011) and a base bottom plate (1013) that are parallel and spaced apart vertically. Both the top plate (1011) and the base bottom plate (1013) are solid rectangular structures. Side plates (1012) are respectively installed around the top plate (1011) and the base bottom plate (1013), and two trapezoidal holes are opened on the side plates (1012).

9. An operation method of the underwater robot docking and recovery device as described in claim 1, characterized in that: It includes the following operation steps: S1: Preparation work, the docking and recovery device is placed in advance at a predetermined position on the seabed; S2: In the initial state, the hydraulic gripper (108) is in an open state with the opening facing upwards; S3: When the autonomous submersible (2) needs to be recovered, the autonomous submersible (2) is navigated to the vicinity of the docking and recovery device through acoustic and optical guidance communication methods; S4: If there is a deviation in the opening direction between the autonomous submersible (2) and the hydraulic gripper (108), the swing hydraulic cylinder (114) works to adjust the direction of the bottom plate (113); S5: After confirming that the autonomous submersible (2) has reached the docking and recovery position, drive the hydraulic gripper (108) to close quickly and maintain the locked state to complete the docking and recovery of the autonomous submersible (2).

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