Multi-posture uuv water surface autonomous recovery device and method

Abstract

The present application relates to a kind of multi-posture UUV water surface autonomous recovery device and method, belong to UUV recovery underwater operation technical field.Solve the problem that the structure for recovery on UUV easily influences the underwater operation of UUV. Including frame structure, cage, buffer mechanism and winch, the front side of frame structure is equipped with winch, the middle part of frame structure is connected with the middle part of cage by buffer mechanism, the tail of frame structure is hinged with the tail of cage, and winch is connected with the front side of cage by cable.In the UUV recovery of the present application, it is not necessary to set up the recovery structure matched with UUV on UUV, not only reduce the design difficulty of UUV, its smooth surface better carries out underwater operation, but also can adapt to the recovery of multiple models of UUV.

Description

Technical Field

[0001] This invention relates to a UUV recovery device and method, belonging to the field of UUV recovery underwater operation technology. Background Technology

[0002] With the increasing emphasis on marine resource development, UUVs, as the main tool for marine development, have also developed rapidly. However, the problem of how to recover UUVs, especially how to achieve convenient recovery after UUVs return to the water surface, has not been well solved. For example, CN112623120A, an invention entitled "A Side-mounted Surface Vessel Recovery Device," describes a device with a winch on the surface vessel and a horizontal bar perpendicular to the hull surface on the side of the mother ship. Recovery is achieved by connecting the winch with a traction rope. This invention requires a winch or similar mechanism to be installed in the surface vessel being recovered and connected to the mother ship. CN111409793A, an invention entitled "A Capture System and Method for Recovering Underwater Robots Using a Surface Robot," describes a device that uses a combined acoustic and optical guidance method, which improves the success rate of AUV capture and enables dynamic capture and recovery with strong adaptability. However, it requires a recovery load-bearing component to be installed at the bow of the AUV. Therefore, in existing UUV recovery methods, structures for recovery are usually required. These structures not only affect the weight and center of gravity of the UUV but also hinder its underwater movement due to their shape, thus affecting its underwater operations.

[0003] Therefore, there is an urgent need to propose a multi-posture UUV autonomous surface recovery device and method to solve the above-mentioned technical problems. Summary of the Invention

[0004] The purpose of this invention is to address the problem that structures used for recovery on UUVs can easily interfere with underwater operations. This invention provides a multi-position UUV autonomous surface recovery device and method. A brief overview of the invention is given below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit the scope of the invention.

[0005] The technical solution of the present invention:

[0006] A multi-posture UUV autonomous surface recovery device includes a frame structure, a cage, a buffer mechanism, and a winch. The winch is installed on the front side of the frame structure, the middle part of the frame structure is connected to the middle part of the cage through the buffer mechanism, the tail of the frame structure is hinged to the tail of the cage, and the winch is connected to the front side of the cage through a cable.

[0007] Preferably, the frame structure includes a lateral thruster, a main frame, pontoons, a hoisting frame, a sensing system, and a longitudinal thruster. pontoons are installed on both sides of the main frame, four evenly arranged longitudinal thrusters are installed at the lower part of the main frame, a lateral thruster is installed on the rear side of the main frame, winches are installed on both sides of the front part of the main frame, cables are wound on the winches, a hoisting frame is installed on the upper part of the main frame, and the sensing system is installed at the front end of the hoisting frame.

[0008] Preferably, the cage includes a retrieval net, a recovery cage, a hydraulic cylinder, a guide plate, and a movable baffle. The recovery cage is a trough-shaped frame with an open front end. The retrieval net is installed inside the recovery cage. The tail end of the recovery cage is hinged to the main frame. An inclined guide plate is installed on the front side of the recovery cage. The bottom surface of the front end of the recovery cage is hinged to the movable baffle. The recovery cage is connected to the movable baffle via a hydraulic cylinder. The end of the winch cable is connected to the recovery cage.

[0009] Preferably, the main frame has a sliding groove on its side, a stop is installed on the front side of the main frame, and the buffer mechanism includes a connecting rod and a tension spring. One end of the connecting rod is hinged to the recovery cage, and the other end of the connecting rod is slidably connected to the main frame through the sliding groove. A tension spring is provided in the sliding groove, one end of the tension spring is connected to the tail side of the sliding groove, and the other end of the spring is connected to the other end of the connecting rod.

[0010] A method for autonomous recovery of multi-posture UUVs on the water surface includes the following steps:

[0011] Step 1: A multi-posture UUV autonomous surface recovery device is lowered into the water;

[0012] Step 2: Open the movable baffle at the bow of the cage;

[0013] Step 3: The thruster manipulates a multi-attitude UUV surface autonomous recovery device to align longitudinally;

[0014] Step 4: The sensing system determines whether the UUV is at an angle to the water surface;

[0015] Step 5: If the sensing system reports that the UUV is in a horizontal attitude, then control a multi-attitude UUV autonomous surface recovery device to move forward. Under the action of the bow guide plate, ensure that the UUV enters the multi-attitude UUV autonomous surface recovery device.

[0016] If the sensing system detects that the UUV is at an angle to the water surface, the winch loosens the cable, the recovery cage rotates relative to the main frame, the bow of the cage sinks into the water, and at the same time a multi-posture UUV autonomous surface recovery device moves longitudinally until the UUV enters the recovery device.

[0017] Step Six: When the sensing system indicates that the UUV has completely entered the cage, close the bow movable baffle to limit the UUV's range;

[0018] Step 7: The propulsion system controls a multi-attitude UUV autonomous surface recovery device to drive the UUV toward the mother ship, and the multi-attitude UUV autonomous surface recovery device is lifted to the deck by the hoisting system.

[0019] Preferred method: In step five, when the sensing system reports an angle between the UUV and the water surface, the following steps are included:

[0020] Step 5.1: Based on the sensing system, observe whether the UUV has completely entered the cage. If it has not entered, control the longitudinal and lateral thrusters to move towards the UUV until the UUV has completely entered the cage.

[0021] Step 5.2: After the UUV has fully entered the cage, the winch pulls up the cable, causing the cage to rotate relative to the main frame until the cage and the UUV are in a horizontal position.

[0022] The present invention has the following beneficial effects:

[0023] 1. The cage of the present invention can rotate around the tail of the main frame and is mostly submerged in water, which facilitates the recovery of UUVs at a certain angle to the water surface;

[0024] 2. The winches on both sides of the main frame of the present invention can control the raising and lowering of the cable and adjust the angle between the cage and the water surface, so as to realize the recovery of UUVs in different postures.

[0025] 3. The buffer mechanism of the present invention can ensure that the cable is in a taut state under any conditions, prevent the cable from interfering with other structures due to external disturbances, and improve safety;

[0026] 4. The cage of the present invention adopts an outer cage and inner mesh form, which not only ensures the strength and rigidity of the device, but also avoids rigid collisions of UUV during the recycling process, thereby improving the safety of the recycling process.

[0027] 5. The frame structure of this invention features redundant propeller arrangement, resulting in good mobility and improved recovery speed and success rate;

[0028] 6. In the UUV recovery of the present invention, there is no need to set up a recovery structure on the UUV to cooperate with it, which not only reduces the design difficulty of UUV, but also allows its smooth surface to be better used for underwater operations. It can also be adapted to the recovery of various types of UUVs, with high utilization rate. Attached Figure Description

[0029] Figure 1 This is a structural schematic diagram of a multi-posture UUV autonomous surface recovery device;

[0030] Figure 2 This is a structural diagram of the frame structure;

[0031] Figure 3 This is a structural diagram of the cage;

[0032] Figure 4 This is a schematic diagram showing the opening of the movable baffle when a UUV enters a multi-posture UUV autonomous surface recovery device.

[0033] Figure 5 This is a schematic diagram showing the closing of the movable baffle when a UUV enters a multi-posture UUV autonomous surface recovery device.

[0034] In the diagram: 1-Frame structure, 2-Cage, 3-Buffer mechanism, 4-Windmill, 5-UUV, 1-1-Horizontal thruster, 1-2-Main frame, 1-3-Float, 1-4-Lifting frame, 1-5-Sensing system, 1-6-Longitudinal thruster, 1-7-Block, 1-8-Channel, 2-1-Salvage net, 2-2-Recovery cage, 2-3-Connecting spring, 2-4-Hydraulic cylinder, 2-5-Guide plate, 2-6-Modible baffle, 3-1-Connecting rod, 3-2-Tension spring. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0036] Specific implementation method one: Combining Figure 1-5 This embodiment describes a multi-posture UUV autonomous surface recovery device, which includes a frame structure 1, a cage 2, a buffer mechanism 3, and a winch 4. The winch 4 is installed on the front side of the frame structure 1. The middle part of the frame structure 1 is connected to the middle part of the cage 2 through the buffer mechanism 3. The tail of the frame structure 1 is hinged to the tail of the cage 2. The winch 4 is connected to the front side of the cage 2 through a cable.

[0037] Specific Implementation Method Two: Combining Figure 1-5This embodiment describes a multi-posture UUV autonomous surface recovery device. The frame structure 1 includes a lateral thruster 1-1, a main frame 1-2, floats 1-3, a hoisting frame 1-4, a sensing system 1-5, and a longitudinal thruster 1-6. A float 1-3 is installed on each side of the main frame 1-2. Four evenly distributed longitudinal thrusters 1-6 are installed on the lower part of the main frame 1-2, specifically on the lower sides of the main frame 1-2, to ensure sufficient forward propulsion for the recovery device. A lateral thruster 1-1 is installed on the lower side of the rear of the main frame 1-2. A horizontal thruster 1-1 is installed at the lower rear of the main frame 1-4. The main frame 1-2 is U-shaped, with the front side of the main frame 1-2 tilted outward to increase the opening, which can drive the recovery device to rotate in the horizontal plane to achieve the recovery of UUV5 from different directions. Winches 4 are installed on both sides of the front of the main frame 1-2, and cables are wound on the winches 4. A hoisting frame 1-4 is installed on the upper part of the main frame 1-2 to ensure that the main frame 1-2 always floats on the water surface. The sensing system 1-5 is installed at the front of the hoisting frame 1-4. The sensing system 1-5 is a sensing system of cameras and underwater lights, which can provide timely feedback on the status of UUV5.

[0038] Specific implementation method three: Combining Figure 1-5This embodiment describes a multi-posture UUV autonomous surface recovery device. The cage 2 includes a retrieval net 2-1, a recovery cage 2-2, connecting springs 2-3, a hydraulic cylinder 2-4, a guide plate 2-5, and a movable baffle 2-6. The recovery cage 2-2 is a trough-shaped frame with an open front end. The retrieval net 2-1 is installed inside the recovery cage 2-2. The rear end, two sides, and bottom of the recovery cage 2-2 are covered by the recovery cage 2-2. The edges of the retrieval net 2-1 are fixed to the sides and the upper edge of the tail of the recovery cage 2-2, respectively. The middle part of the retrieval net 2-1 is connected to the connection parts of the sides and bottom of the recovery cage 2-2 through 16 evenly arranged connecting springs 2-3. In this way, when the UUV5 enters the cage, the retrieval net 2-1 can adaptively deform with the underwater unmanned vehicle UUV5, playing a buffering role and preventing the UUV5 from directly contacting the recovery cage 2 and being affected by the impact force. The tail of the recovery cage 2-2 is hinged to the main frame 1-2 and can be positioned relative to the main frame around the hinge axis. The frame 1-2 rotates, and the front side of the recovery cage 2-2 is provided with inclined guide plates 2-5. The two guide plates 2-5 are symmetrically arranged. The bottom front surface of the recovery cage 2-2 is hinged to the movable baffle 2-6. The recovery cage 2-2 is connected to the movable baffle 2-6 through a hydraulic cylinder 2-4. The end of the cable of the winch 4 is connected to the crossbeams extending from both sides of the recovery cage 2-2. When the UUV5 is on the water surface, the winch 4 tightens, and the cable pulls the recovery cage 2-2 taut, thereby ensuring that the cage 2 is in a horizontal state. When UUV5 is at a large angle to the horizontal plane, winch 4 loosens the cable, and under the action of gravity, the recovery cage 2-2 rotates around the hinge axis, so that the cage 2 is at a certain angle to the horizontal plane. The transverse thruster 1-1 and the longitudinal thruster 1-6 drive the recovery device to move towards UUV5, and bring UUV5 into the cage 2. The hydraulic cylinder 2-4 pulls the movable baffle 2-6 to retract it. Then, winch 4 retracts the cable, causing the cage 2 to rotate relative to the main frame 1-2 until the cage 2 is in a horizontal state.

[0039] Specific implementation method four: Combination Figure 1-5This embodiment describes a multi-posture UUV autonomous surface recovery device. The main frame 1-2 has a side groove 1-8, and a stop block 1-7 is installed on the front side of the main frame 1-2. The buffer mechanism 3 includes a connecting rod 3-1 and a tension spring 3-2. One end of the connecting rod 3-1 is hinged to the recovery cage 2-2, and the other end of the connecting rod 3-1 is connected to a slider via a pivot. The slider at the other end of the connecting rod 3-1 is located within the groove, and the other end of the connecting rod 3-1 is slidably connected to the main frame 1-2 via the groove 1-8. The tension spring 3-2 is located within the groove 1-8, with one end connected to the tail side of the groove 1-8 and the other end connected to the slider at the other end of the connecting rod 3-1. The buffer mechanism 3... The slider and tension spring are installed in the grooves on both sides of the main frame 1-2. One end of the tension spring is fixed to the left end of the groove and the other end is fixed to the slider. The slider is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the front ends of both sides of the recovery cage 2-2. In this way, the cage 2 is connected to the slider and tension spring in the grooves on both sides of the main frame 1-2 through the connecting rod. When the cage 2 rotates into the water, the tension spring pulls the lower connecting rod to apply a thrust to the cage 2, driving the cable of the winch 4 to be tensioned. In this way, when the ocean current disturbance force is greater than the weight of the cage, the buffer mechanism 3 can ensure that the cable remains tensioned and will not cause problems such as knotting or tangling in the water. In order to prevent the cage 2 from being higher than the main frame 1-2 under the disturbance of the ocean current, the stop block 1-7 is fixed to the front end of the crossbeam on both sides of the main frame 1-2.

[0040] Specific Implementation Method Five: Combining Figure 1-5 This embodiment describes a method for autonomous surface recovery of a multi-pose UUV, employing the aforementioned autonomous surface recovery device, and includes the following steps:

[0041] Step 1: A multi-posture UUV autonomous surface recovery device is lowered into the water;

[0042] Step 2: Open the movable baffle 2-6 at the bow of cage 2;

[0043] Step 3: The thruster manipulates a multi-attitude UUV surface autonomous recovery device to align longitudinally, i.e., the head-to-tail direction;

[0044] Step 4: Sensing systems 1-5 determine whether UUV5 is at an angle to the water surface;

[0045] Step 5: If the sensing system 1-5 reports that UUV5 is in a horizontal attitude, then control a multi-attitude UUV autonomous surface recovery device to move forward. Under the action of the bow guide plate 2-5, ensure that UUV5 enters the multi-attitude UUV autonomous surface recovery device.

[0046] If the sensing system 1-5 reports that there is an angle between UUV5 and the water surface, the winch 4 loosens the cable, the recovery cage 2-2 rotates relative to the main frame 1-2, the bow of the cage 2 sinks into the water, and at the same time, a multi-posture UUV water surface autonomous recovery device moves longitudinally until UUV5 enters the recovery device.

[0047] Step 6: When the sensing system 1-5 reports that UUV5 has completely entered the cage 2, close the bow movable baffle 2-6 to limit the range of UUV5;

[0048] Step 7: The propulsion system controls a multi-attitude UUV autonomous surface recovery device to drive the UUV5 toward the mother ship, and the multi-attitude UUV autonomous surface recovery device is lifted to the deck by the hoisting system.

[0049] Specific Implementation Method Six: Combination Figure 1-5 This embodiment describes a multi-pose UUV autonomous surface recovery method. In step five, when the sensing systems 1-5 report an angle between the UUV5 and the water surface, the following steps are included:

[0050] Step 5.1: Based on the sensing system 1-5, observe whether UUV5 has completely entered the return cage 2-2. If it has not entered, control the longitudinal thruster 1-6 and the transverse thruster 1-1 to move towards UUV5 until UUV5 has completely entered the cage 2.

[0051] Step 5.2: After the UUV5 has fully entered the cage 2, the winch 4 retracts the cable, causing the cage 2 to rotate relative to the main frame 1-2 until the cage 2 brings the UUV5 to a horizontal position.

[0052] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, the present invention will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by the present invention.

[0053] It should also be noted that the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. The terms "upper," "lower," "left," "right," etc., indicate the orientation based on the orientation shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device referred to must have a specific orientation, or be constructed or operated in a specific orientation.

[0054] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for autonomous recovery of multi-posture UUVs on the water surface, characterized in that: A multi-posture UUV autonomous surface recovery device includes a frame structure (1), a cage (2), a buffer mechanism (3), and a winch (4). The winch (4) is installed on the front side of the frame structure (1). The middle part of the frame structure (1) is connected to the middle part of the cage (2) through the buffer mechanism (3). The tail of the frame structure (1) is hinged to the tail of the cage (2). The winch (4) is connected to the front side of the cage (2) through a cable. The frame structure (1) includes a transverse thruster (1-1), a main frame (1-2), a pontoon (1-3), a hoisting frame (1-4), a sensing system (1-5), and a longitudinal thruster (1-6). A pontoon (1-3) is installed on each side of the main frame (1-2). Four evenly arranged longitudinal thrusters (1-6) are installed on the lower part of the main frame (1-2). A transverse thruster (1-1) is installed on the side of the tail of the main frame (1-2). A winch (4) is installed on each side of the front part of the main frame (1-2). Cables are wound on the winches (4). A hoisting frame (1-4) is installed on the upper part of the main frame (1-2). The sensing system (1-5) is installed at the front end of the hoisting frame (1-4). The cage (2) includes a salvage net (2-1), a recovery cage (2-2), a hydraulic cylinder (2-4), a guide plate (2-5), and a movable baffle (2-6). The recovery cage (2-2) is a trough-shaped frame with an open front end. The salvage net (2-1) is installed inside the recovery cage (2-2). The tail of the recovery cage (2-2) is hinged to the main frame (1-2). An inclined guide plate (2-5) is installed on the front side of the recovery cage (2-2). The bottom surface of the front end of the recovery cage (2-2) is hinged to the movable baffle (2-6). The recovery cage (2-2) is connected to the movable baffle (2-6) through the hydraulic cylinder (2-4). The end of the cable of the winch (4) is connected to the recovery cage (2-2). The method employs a multi-posture UUV autonomous surface recovery device and includes the following steps: Step 1: A multi-posture UUV autonomous surface recovery device is lowered into the water; Step 2: Open the movable baffle (2-6) at the bow of the cage (2); Step 3: The thruster manipulates a multi-attitude UUV surface autonomous recovery device to align longitudinally; Step 4: The sensing system (1-5) determines whether the UUV (5) is at an angle to the water surface; Step 5: If the sensing system (1-5) reports that the UUV (5) is in a horizontal attitude, then control a multi-attitude UUV autonomous surface recovery device to move forward. Under the action of the bow guide plate (2-5), ensure that the UUV (5) enters the multi-attitude UUV autonomous surface recovery device. If the sensing system (1-5) reports that the UUV (5) is at an angle to the water surface, the winch (4) loosens the cable, the recovery cage (2-2) rotates relative to the main frame (1-2), the bow of the cage (2) sinks into the water, and at the same time a multi-posture UUV water surface autonomous recovery device moves longitudinally until the UUV (5) enters the recovery device. Step 6: When the sensing system (1-5) reports that the UUV (5) has completely entered the cage (2), close the bow movable baffle (2-6) to limit the range of the UUV (5); Step 7: The propulsion system controls a multi-posture UUV autonomous surface recovery device to drive the UUV (5) toward the mother ship, and lifts the multi-posture UUV autonomous surface recovery device to the deck through the lifting system.

2. The method for autonomous recovery of a multi-posture UUV on the water surface according to claim 1, characterized in that: The main frame (1-2) has a sliding groove (1-8) on its side. A stop (1-7) is installed on the front side of the main frame (1-2). The buffer mechanism (3) includes a connecting rod (3-1) and a tension spring (3-2). One end of the connecting rod (3-1) is hinged to the recycling cage (2-2). The other end of the connecting rod (3-1) is slidably connected to the main frame (1-2) through the sliding groove (1-8). A tension spring (3-2) is provided in the sliding groove (1-8). One end of the tension spring (3-2) is connected to the tail side of the sliding groove (1-8). The other end of the tension spring (3-2) is connected to the other end of the connecting rod (3-1).

3. The method for autonomous recovery of a multi-posture UUV on the water surface according to claim 2, characterized in that: In step five, when the sensing system (1-5) reports that the UUV (5) has an angle with the water surface, the following steps are included: Step 5.1: Based on the sensing system (1-5), observe whether the UUV (5) has completely entered the recycling cage (2-2). If it has not entered, operate the longitudinal thruster (1-6) and the lateral thruster (1-1) to move towards the UUV (5) until the UUV (5) has completely entered the cage (2). Step 5.2: After the UUV (5) is fully inside the cage (2), the winch (4) pulls up the cable and drives the cage (2) to rotate relative to the main frame (1-2) until the cage (2) drives the UUV (5) to a horizontal state.

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