A capture device and deployment method for unmanned underwater vehicles

Abstract

This invention discloses a capture device for unmanned underwater vehicles (UUVs), comprising a submersible fixed by a mounting frame. The mounting frame is symmetrically mounted with a grasping mechanism for capturing the UUV via a base. The grasping mechanism includes a drive arm driven by the base, with the other end of the drive arm rotatably connected to four corner support frames. The four corner support frames are driven by connecting arms to contact claws for gripping. A groove is provided on the side of the drive arm near the base, and a servo motor is mounted on the base. The servo motor is connected to a gear at one end of a limiting link, transmitting power through the other end of the limiting link to the groove on the drive arm to achieve the movement of the grasping mechanism. This invention also discloses a method for launching and recovering UUVs in conjunction with the above-mentioned launch and recovery device. This invention simplifies precise hook docking operations in high sea states, reduces the dependence of UUVs on computing power during launch and recovery, and improves the automation level of the launch and recovery process.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering equipment technology, and in particular relates to a capture device and a method for launching and recovering unmanned underwater vehicles. Background Technology

[0002] Unmanned underwater vehicles (UUVs) play a crucial role in propelling the construction of large-scale seabed facilities and expanding humanity's exploration of the deep sea. However, due to limitations in their onboard energy and the need for data transmission, they require timely refueling from their motherships after completing missions. Therefore, the deployment and retrieval technology of UUVs is critical to their ability to perform missions continuously and efficiently. Even in good weather, the sea surface remains turbulent and the sea conditions are harsh. While UUVs can be hoisted using shipborne deployment systems, a fixed connection between the system and the UUV is still necessary. Traditional manual hook-and-hook methods are quite dangerous and have a low success rate, impacting deployment and retrieval efficiency. Related equipment and technologies have long been monopolized and blocked by countries like the US and Japan, making it urgent to improve the unmanned and intelligent capabilities of capture and retrieval equipment.

[0003] In the prior art, a Chinese invention patent with application number "2020106450869," entitled "A Device and Method for Rapid Automatic Deployment and Retrieval of Small Boats," achieves automatic transfer between the open deck and the interior deck area by setting up a liftable channel device between an openable and closable stern door device and the stern end. Another Chinese invention patent with application number "2021102870362," entitled "A Sea State Adaptive Deployment and Retrieval Device for Rapid Deployment and Retrieval of Unmanned Surface Vessels," comprises a floating dock, towing cables, lifting cables, deployment and retrieval nets, and locking nets. It achieves automatic locking of the unmanned surface vessel by impacting the deployment and retrieval net, and centering and deployment by tightening the retrieval net cable. However, existing related patents are mostly designed for unmanned surface vessels, lacking applications for unmanned underwater vehicles (UUVs). Furthermore, most of these patents guide the UUVs to actively enter the deployment and retrieval device to complete the operation, which places high demands on the computing power of the UUVs themselves, resulting in high R&D and manufacturing costs. Moreover, underwater environments are complex, and unmanned underwater vehicles cannot cope with various complex environments relying solely on their own power and computing power. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide a capture device that is easy to grasp and has wide adaptability for use in unmanned underwater vehicles; another purpose of this invention is to provide a method for launching and recovering unmanned underwater vehicles.

[0005] Technical solution: The unmanned underwater vehicle (UUV) deployment and retrieval device of the present invention includes a UUV, which is fixed by a mounting frame. The mounting frame is symmetrically mounted with a gripping mechanism for grasping the UUV via a base. The gripping mechanism includes a drive arm that is pulsatorically connected to the base. The other end of the drive arm is rotatably connected to four corner support frames. The four corner support frames are pulsatorically connected to contact claws for gripping via connecting arms. A groove is provided on the side of the drive arm near the base. A servo motor is provided on the base. The servo motor is connected to a gear at one end of a limit link, and the power is transmitted to the groove on the drive arm through the other end of the limit link to realize the movement of the gripping mechanism.

[0006] The contact claw is one of a strip-shaped contact claw and a Y-shaped contact claw, and the strip-shaped contact claw and the Y-shaped contact claw interlock with each other.

[0007] The four-corner support frame is a quadrilateral frame, with hinged circular holes at its corners for connection. These holes include a first hinged circular hole connected to the contact claw, a second hinged circular hole connected to the left end of the main drive arm, a third hinged circular hole connected to one end of the follower arm, and a fourth hinged circular hole connected to the lower end of the connecting arm.

[0008] The middle position of the strip-shaped contact claw is hinged to one end of the connecting arm, and the middle position of the Y-shaped contact claw is hinged to one end of the connecting arm on the other side.

[0009] It also includes a navigation mechanism, which comprises a combined navigation unit, a binocular camera, and a power unit.

[0010] The submersible is also equipped with a cable for deployment.

[0011] A method for deploying and retrieving a capture device for an unmanned underwater vehicle includes the following steps:

[0012] Step 1: Proceed to the work area and deploy the launching and recovery device's connecting cable into the sea;

[0013] Step 2, long-distance pre-positioning and navigation stage: the relative position information of the submersible and the unmanned underwater vehicle is analyzed by the combined navigation unit;

[0014] Step 3, the visual guidance stage for close-range target recognition, uses a binocular camera to calculate the pose information of the unmanned underwater vehicle and continuously approaches the capture area;

[0015] Step 4: Calculate the angle and movement position of the submersible based on the obtained pose information from both sources;

[0016] Step 5: The steering and forward distance are controlled by the power unit to complete the assisted posture adjustment movement;

[0017] Step 6: The collision sensor detects the collision information between the two objects, and the grasping mechanism is used to retract and extend them.

[0018] Step 7: The servo motor rotates at a certain angle according to the size of the unmanned underwater vehicle, and locks itself by interlocking the strip-shaped contact claw and the Y-shaped contact claw.

[0019] The long-range pre-positioning and navigation phase of the unmanned underwater vehicle includes the unmanned underwater vehicle transmitting its own position information to the surface mothership via wireless communication. The submersible receives the position information transmitted by the surface mothership and completes the cruise route planning. The integrated navigation unit compares and calculates the target position with its own position data in real time, preliminarily analyzes the position information of both and plans the cruise trajectory path, gradually approaching the location of the unmanned underwater vehicle, so as to enable the submersible to move stably and accurately to the sea area near the unmanned underwater vehicle.

[0020] The near-range target recognition stage utilizes the high accuracy of the binocular camera to perceive the surrounding environment, target tracking, and inertial navigation unit to calculate the relative distance, enabling the submersible to autonomously navigate to the sea area below the unmanned underwater vehicle (UUV). This process takes place at the sea surface, with the UUV acting as the target and searching for it. Once the UUV's target features are identified by the binocular camera, the submersible and UUV maintain a relatively consistent orientation during the movement. When the submersible further navigates along the cruise trajectory to the vicinity of the UUV, it enters the capture area. The binocular camera then identifies the position and attitude information of the UUV's markers in real time and determines whether its own attitude is suitable for capture. If not, the capture attitude is adjusted.

[0021] The adjustment of the grasping attitude includes: establishing the submersible, the unmanned underwater vehicle (UUV), and an initial coordinate system; using a binocular camera to identify markers to obtain the attitude of the UUV; and using the attitude information calculated by the UUV to send back to the submersible's data unit for processing, which can be represented as a 4×4 matrix. Where R′ is the 3×3 rotation matrix of the unmanned underwater vehicle relative to the initial coordinate system attitude, R′=R A (z,α)R A (y,β)R A (x, γ), p′ is the three-dimensional column vector of the unmanned underwater vehicle relative to the initial coordinate system, i.e., p′ = (x0 y0 z0). T The submersible's pose is adjusted accordingly, and the submersible's own pose matrix is ​​P. A Assume there exists a point P on the unmanned underwater vehicle. W In the initial coordinate system, then P A and P W The relationship can be represented as P A =T A-W P W, among which, T A-W Let P be the homogeneous transformation matrix of the initial coordinate system relative to the submersible coordinate system; then P B and P W The relationship can be represented as P B =T B-W P W , among which, T B-W Let P be the homogeneous transformation matrix of the initial coordinate system relative to the coordinate system of the unmanned underwater vehicle; therefore, P A With P B The mathematical relationship can be represented as P B =T B-W T A-W 'P A The pose matrix is ​​solved to obtain the required rotation matrix R and spatial position of the submersible. B P A Finally, the data is transmitted to the power unit to perform the corresponding steering angle and thrust operation required by the propeller, so as to complete the active attitude adjustment of the submersible and ensure that the attitudes of the two are consistent.

[0022] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0023] (1) The deployment and retrieval device of the present invention can actively complete the radial enveloping grasping action, establish contact connection, and then carry the unmanned underwater vehicle to complete the return mission by the submersible with the cable attached. This changes the previous operation mode of the unmanned underwater vehicle actively entering the preset working platform and adopts a passive deployment and retrieval scheme, which reduces the computing power requirement of the unmanned underwater vehicle when returning by itself, and further improves its operation capability and endurance.

[0024] (2) When the deployment and take-up device of the present invention is in the same-direction clamping state, its inner contour formed by bending is approximately circular, which can tightly fit and grasp the cylindrical working cabin on the belly of the unmanned underwater vehicle at multiple points. In addition, deployment is achieved in the reverse release state. By using the belly of the unmanned underwater vehicle as the working position of the grasping mechanism, the danger and low success rate of point-to-point manual precise hooking are avoided. This method does not require the installation of a specific docking mechanism and has the characteristics of large operating space and high fault tolerance, making it suitable for capturing unmanned underwater vehicles of different sizes.

[0025] (3) This invention, with its autonomous deployment and retrieval strategy based on long-distance pre-positioning navigation switching and close-range target recognition, and its active grasping attitude adjustment control method, can carry out deployment and retrieval operations in underwater environments. This can reduce the difficulty of searching for unmanned underwater vehicles floating on the sea surface, increase the safety, stability and stealth of missions, and improve the automation level of marine equipment. Attached Figure Description

[0026] Figure 1This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the four-corner support frame structure of the present invention;

[0028] Figure 3 This is a schematic diagram of the connection method of the synchronous drive mechanism of the present invention;

[0029] Figure 4 This is a schematic diagram of the grasping range of the grasping mechanism of the present invention;

[0030] Figure 5 This is a schematic diagram of the process of the present invention;

[0031] Figure 6 This is a schematic diagram of the autonomous release and capture strategy of the present invention.

[0032] Figure 7 This is a schematic diagram of the grasping posture adjustment control operation of the present invention. Detailed Implementation

[0033] like Figure 1 As shown, the capture device for unmanned underwater vehicles in this invention includes a submersible 1, a grasping mechanism, and a navigation device. The grasping mechanism includes a strip-shaped contact claw 2, a connecting arm 3, a four-corner support frame 4, a main drive arm 5, a follower arm 6, a base 7, a Y-shaped contact claw 8, a servo motor 9, a gear 10, and a limiting link 11. The navigation device includes a combined navigation unit 13, a binocular camera 14, and a power unit 15.

[0034] like Figures 1-2 As shown, a gripping mechanism is mounted directly above the submersible 1, and this gripping mechanism is fixedly connected to the submersible 1 via the bottom of the base 7. Taking the left side of the gripping mechanism as an example, the middle and lower parts of the strip-shaped contact claw 2 are provided with hinge holes, and the upper end of the connecting arm 3 is also provided with hinge holes of the same diameter. The connecting arm 3 has a total of two sets of symmetrically arranged about both sides of the strip-shaped contact claw 2, and the three hinge holes are coaxial and connected by a movable shaft. The lower part of the strip-shaped contact claw 2 is embedded in the four-corner support frame 4, and the movable shaft passes through the hinge holes at the lower part of the strip-shaped contact claw 2 and the first hinge hole 41 of the four-corner support frame 4 in sequence. The fourth hinge hole 44 is hinged to the lower hinge hole of the connecting arm 3, the third hinge hole 43 is hinged to the hinge hole at one end of the follower arm 6, and the other end of the follower arm 6 is connected to the upper end of the base 7. The second hinge hole 42 is connected to the left end of the main drive arm 5, and the other end of the main drive arm 5 is connected to the lower end of the base 7. The right side of the gripping mechanism is mirrored with the connecting arm 3, the four corner support frames 4, the main drive arm 5, and the follower arm 6. The difference is that the strip-shaped contact claw 2 on the left side has been replaced with a Y-shaped contact claw 8.

[0035] like Figure 3As shown, each corner of the four-corner support frame 4 is provided with a hinged circular hole. Connecting the centers of adjacent hinged circular holes end to end with a dotted line forms an irregular quadrilateral. The included angle at the first hinged hole 41 is 30°. 0 The included angle at the second hinge hole 42 is 120°. 0 The included angle at the third hinge hole 43 is 52°. 0 And the included angle at the fourth hinge hole 44 is 158°. 0 The first hinge hole 41 and the second hinge hole 42 are both provided with slots for arranging the strip contact claw 2, the main drive arm 5 and the Y-type contact claw 8.

[0036] like Figures 3-4 As shown, the synchronous drive mechanism, as the power source for the gripping mechanism, needs to ensure that the left and right sides achieve unidirectional clamping and reverse releasing movements. The synchronous drive mechanism includes a servo motor 9, a gear 10, and a limiting link 11. The servo motor 9 is fixed to the inner surface of the base 7 by bolts, and the output end of the servo motor 9 transmits torque to the gear 10 through a flat key. The limiting link 11 is located behind the gear 10, and the left end of the limiting link 11 is also connected to the gear 10 through a flat key. The right end of the limiting link 11 is connected to the slide groove below the main drive arm 5 and can slide back and forth in the slide groove.

[0037] like Figure 4 As shown, under the action of the synchronous drive mechanism, the gears 10 with the same number of teeth on both sides mesh tightly and transmit power, ensuring that the two sides of the grasping mechanism achieve motion synchronization. When the limiting link 11 continuously approaches the near-rest position of the arc below the slide groove of the main drive arm 5, the main drive arm 5 tends to swing downward under its influence. At this time, the grasping mechanism is in a limit state, namely the reverse release state. When the limiting link 11 continuously approaches the far-rest position of the arc above the slide groove of the main drive arm 5, the main drive arm 5 tends to swing upward under its influence. At this time, the grasping mechanism is in another limit state, namely the same-direction clamping state. In the same-direction clamping state, the inner contour of the grasping mechanism is approximately circular, which can achieve multi-point contact and fit the outer contour of the unmanned underwater vehicle 12 for grasping. By controlling the forward and reverse rotation of the servo motor 9, the switching between the two motion modes of the same-direction clamping state and the reverse release state is completed. During this movement, an envelope-style capture can be performed on unmanned underwater vehicles with radii between r and R.

[0038] like Figure 5 As shown, the present invention also provides a method for the deployment and retrieval of a capture device for an unmanned underwater vehicle, comprising two aspects: an autonomous deployment and retrieval guidance strategy and a grasping attitude adjustment control, which includes the following 7 steps:

[0039] Step 1: The surface carrier carries the submersible 1 to the target sea area and uses a launching device to launch the submersible 1, which is attached to a cable, into the sea.

[0040] Step 2, as follows Figure 6 As shown, the autonomous deployment and retrieval guidance strategy of the unmanned underwater vehicle 12 is mainly divided into two parts: long-range pre-positioning and navigation and short-range target identification. In the long-range pre-positioning and navigation phase, the unmanned underwater vehicle 12 transmits its own position information to the surface carrier via wireless communication. The submersible 1 completes the cruise route planning by receiving the position transmitted by the surface carrier. This work is mainly achieved by a combined navigation unit 13 consisting of an inertial navigation unit, a satellite navigation unit, and a Doppler log unit equipped in the submersible 1's working chamber. The inertial navigation unit has the characteristics of autonomy and independence, and minimal disturbance from external environmental interference. However, as the working time increases, the accumulation of integration will cause positioning errors and affect the working accuracy. The satellite navigation unit can provide position and velocity information around the clock, which can suppress the accumulation of errors in inertial navigation. The Doppler log can accurately provide the velocity data of the submersible 1, which can compensate for the short-term signal failure of the satellite navigation unit. In this case, it is converted into navigation by inertial navigation and Doppler log, but it still maintains high accuracy and has the ability to correct track errors. Different navigation methods have their own advantages and disadvantages. Therefore, by using the combined navigation unit 13 to compare and calculate the target position with its own position data in real time, the position information of the two is initially analyzed and the cruise trajectory is planned. The submersible gradually approaches the position of the unmanned underwater vehicle 12, enabling the submersible 1 to move stably and accurately to the sea area near the unmanned underwater vehicle 12.

[0041] Step 3: Autonomous Deployment and Capture. The navigation system switches from long-distance pre-positioning to a visual guidance scheme based on close-range target recognition. A binocular camera 14 is installed at the front of the submersible's working chamber. During the close-range target recognition phase, the binocular camera 14's perception of the surrounding environment, target tracking function, and the inertial navigation unit utilize the high accuracy of close-range navigation to calculate relative distances, enabling the submersible 1 to autonomously navigate to the sea area below the unmanned underwater vehicle (UUV) 12. This deployment and capture operation is conducted at the sea surface. The UUV 12, used for the mission, acts as the target, and the system searches for it. Once the target features of the UUV 12 are identified by the binocular camera 14, the submersible 1 tries to maintain a relatively consistent orientation with the UUV 12 during this movement. When the submersible 1 further navigates along the cruise trajectory to the vicinity of the UUV 12, it enters the capture area. The binocular camera 14 uses real-time identification of the position and attitude information of the UUV 12's markers and determines whether its own attitude is suitable for capture. If not, it continuously adjusts its capture posture.

[0042] Step 4, as follows Figure 6 As shown, the present invention also provides a grasping attitude adjustment control strategy for the release and retrieval method of the capture device applied to an unmanned underwater vehicle, and the specific attitude adjustment calculation method is as follows:

[0043] A coordinate system O is established at the center of gravity of submersible 1. A -xyz, the coordinate system O at the center of gravity of unmanned underwater vehicle 12 B -xyz and the initial coordinate system O O -xyz, using the binocular camera 14 to identify markers to obtain the attitude of the unmanned underwater vehicle 12, and using the attitude information calculated by the inertial navigation unit on the unmanned underwater vehicle 12 itself to be transmitted back to the data unit of the submersible 1 for processing, which can be represented as a 4×4 matrix. Where R′ is the 3×3 rotation matrix of the unmanned underwater vehicle 12 relative to the initial coordinate system attitude, expressed by Euler angles, i.e., R′=R A (z,α)R A (y,β)R A (x, γ), which is in the initial coordinate system O O Based on -xyz, p′ is obtained by rotating the unmanned underwater vehicle 12 about the z-axis by an angle α, about the y-axis by an angle β, and about the x-axis by an angle γ. p′ is the three-dimensional column vector of the unmanned underwater vehicle 12 relative to the initial coordinate system position, i.e., p′=(x0 y0 z0). T To achieve the capture of the unmanned underwater vehicle 12 by the submersible 1, the attitude of the submersible 1 must be adjusted accordingly. The attitude matrix of the submersible 1 is P. A Assume there exists a point P on the unmanned underwater vehicle 12. W In the initial coordinate system, then P A and P W The relationship can be represented as P A =T A-W P W , among which, T A-W Let P be the homogeneous transformation matrix of the initial coordinate system relative to the submersible 1 coordinate system; then P B and P W The relationship can be represented as P B =T B-W P W , among which, T B-W Let P be the homogeneous transformation matrix of the initial coordinate system relative to the UAV's 12 coordinate system. Therefore, P A With P B The mathematical relationship can be represented as P B =T B-W T A-W 'P A The pose matrix is ​​solved to obtain the rotation matrix R and spatial position required for submersible 1. B P A Finally, the data is transmitted to the power unit 15 to perform the corresponding steering angle and thrust operation required by the propeller, so as to complete the active attitude adjustment of the submersible 1 and ensure that the attitudes of the two are consistent.

[0044] Step 5: To expand its working space, the gripping mechanism is in a reverse release state before the gripping operation. During this stage, as the submersible 1 floats upward, it comes into contact with the cylindrical working chamber of the unmanned underwater vehicle 12. The collision sensor transmits the received command to the synchronous drive mechanism, causing it to move. The limit link 11, driven by the gear 10, gradually slides from the near-rest position to the far-rest position, causing the gripping mechanism to transition from the reverse release state to the same-direction gripping state. In this process, the initial centering and gripping operation of the cylindrical working chamber of the underwater vehicle can be completed.

[0045] Step 6: The force sensor continuously measures the clamping force on the unmanned underwater vehicle 12. Once the preset value is reached, the synchronous drive mechanism stops working, completing the clamping and locking operation, making the two a single unit. Subsequently, the submersible 1 takes over the unmanned underwater vehicle 12 and uses the cable attached to the mother ship to carry it back to port for subsequent energy replenishment, sample exchange, and other tasks.

[0046] Step 7: When deployment is required, the submersible 1 transports the unmanned underwater vehicle 12 carried on top to the target sea area, the grabbing mechanism releases its gripping state, and the two separate and perform their respective tasks independently.

Claims

1. A capture device for use on an unmanned underwater vehicle, comprising a submersible (1), characterized in that, The submersible (1) is fixed by a mounting bracket, which symmetrically mounts a gripping mechanism for grabbing the unmanned underwater vehicle (12) on a base (7). The gripping mechanism includes a drive arm (5) that is pulsatorically connected to the base (7), and the other end of the drive arm (5) is rotatably connected to a four-corner support frame (4). The four-corner support frame (4) is pulsatorically connected to a contact claw for gripping via a connecting arm (3). The drive arm (5) has a groove on the side near the base (7), and a servo motor (9) is mounted on the base (7). The servo motor (9) is connected to a gear (10) at one end of the limiting link (11), and transmits power to the slide groove on the drive arm (5) through the other end of the limiting link (11) to realize the movement of the gripping mechanism; the contact claw is one of a strip contact claw (2) and a Y-type contact claw (8), and the strip contact claw (2) and the Y-type contact claw (8) are engaged with each other; it also includes a navigation mechanism, which includes a combined navigation unit (13), a binocular camera (14) and a power unit (15); The above-mentioned method for deploying and retrieving the capture device applied to unmanned underwater vehicles includes the following steps: Step 1: Proceed to the work area and deploy the launching and recovery device's connecting cable into the sea; Step 2, long-distance pre-positioning and navigation stage, the relative position information of the submersible (1) and the unmanned underwater vehicle (12) is analyzed by the combined navigation unit (13); Step 3, the visual guidance stage for close-range target recognition, uses a binocular camera (14) to calculate the pose information of the unmanned underwater vehicle and continuously approach the capture area; Step 4: Calculate the angle and position of the submersible (1) based on the obtained pose information of both. Step 5: The steering and forward distance are controlled by the power unit (15) to complete the auxiliary posture adjustment movement; Step 6: The collision sensor detects the collision information between the two objects, and the grasping mechanism is used to retract and extend them. Step 7: The servo motor (9) rotates at a certain angle according to the size of the unmanned underwater vehicle (12), and locks itself by interlocking the strip-shaped contact claw (2) and the Y-shaped contact claw (8).

2. The capture device for an unmanned underwater vehicle according to claim 1, characterized in that, The four-corner support frame (4) is a quadrilateral frame with hinged round holes for connection at its corners, including a first hinged round hole (41) connected to the contact claw, a second hinged round hole (42) connected to the left end of the main drive arm (5), a third hinged round hole (43) connected to one end of the follower arm (6), and a fourth hinged round hole (44) connected to the lower end of the connecting arm (3).

3. The capture device for an unmanned underwater vehicle according to claim 1, characterized in that, The middle position of the strip-shaped contact claw (2) is hinged to one end of the connecting arm (3), and the middle position of the Y-shaped contact claw (8) is hinged to one end of the connecting arm (3) on the other side.

4. The capture device for an unmanned underwater vehicle according to claim 1, characterized in that, The submersible (1) is also connected to a cable for deployment.

5. The capture device for an unmanned underwater vehicle according to claim 1, characterized in that, The long-distance pre-positioning and navigation phase of the unmanned underwater vehicle (12) includes the unmanned underwater vehicle (12) transmitting its own position information to the surface mother ship via wireless communication. The submersible (1) completes the cruise route planning work by receiving the position transmitted to it by the surface mother ship. The combined navigation unit (13) compares and calculates the target position with its own position data in real time, preliminarily analyzes the position information of the two and plans the cruise trajectory path, gradually approaching the position of the unmanned underwater vehicle (12), so that the submersible (1) moves stably and accurately to the sea area near the unmanned underwater vehicle (12).

6. The capture device for an unmanned underwater vehicle according to claim 1, characterized in that, The near-range target recognition stage uses the binocular camera (14) to perceive the surrounding environment, target tracking function and inertial navigation unit to calculate the relative distance by taking advantage of the high accuracy of near-range, so that the submersible (1) can autonomously navigate to the sea area below the unmanned underwater vehicle (12). This process takes place at the sea surface. The underwater unmanned underwater vehicle (12) used to carry out the mission is the target to be captured and is searched for. Once the target characteristics of the unmanned underwater vehicle (12) are recognized by the binocular camera (14), the movement direction of the submersible (1) and the unmanned underwater vehicle (12) should be kept relatively consistent during this movement. When the submersible (1) sails further along the cruise trajectory to the vicinity of the unmanned underwater vehicle (12), it enters the capture area. The binocular camera (14) is used to identify the position and attitude information of the underwater unmanned underwater vehicle (12) markers in real time and to determine whether its own attitude is suitable for capture. If it is not suitable, the capture attitude is adjusted.

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