Underwater recovery system of underwater vehicle and operation method

Abstract

The invention relates to an underwater recovery system for an underwater vehicle. The recycling system comprises a parking apron system, a data processing cabin system, a charging station system and a circulating transportation track system. The parking apron system comprises a telescopic parking apron and guide equipment, the guide equipment comprises an acoustic positioning device, an optical guide lamp, a positioning connecting device and a roller type chute injection machine, and the chute injection machine guides an underwater vehicle parked on the parking apron to the circulating transportation track system; before the aircraft stops, the chute injection machine is closed to form a large-area parking apron together with the plane of the telescopic parking apron; the data processing cabin system is composed of a water pumping system, a data switch and a release mechanism. The charging station system comprises a wireless charging station; the circulating transportation track system is composed of a circulating transportation track and a movable transfer bracket installed on the track. According to the recovery system, the aircraft can be recovered by longitudinally moving the aircraft and stopping the aircraft at any position of the parking apron, and the recovery system has relatively high recovery accuracy and reliability.

Description

Technical Field

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

[0002] In the field of modern underwater detection and communication, the use of underwater vehicles (AUVs) and underwater base stations has become increasingly common. These devices are widely used in many fields such as marine scientific research, marine resource exploration, and marine environmental monitoring. However, there are still many technical challenges and difficulties in the recovery process of underwater vehicles.

[0003] Currently, the recovery of underwater vehicles generally relies on recovery systems on the water surface, which usually include buoys, recovery ropes and mechanical grabbing devices. Although such recovery systems are relatively effective, they also have some significant shortcomings.

[0004] First, it is very difficult to accurately locate and navigate underwater vehicles, especially in deep water and complex water conditions. Existing recovery systems often rely on preset paths or markers, which may lead to recovery failures in actual operations due to factors such as water flow changes and equipment deviation.

[0005] Secondly, the complexity of the underwater environment also increases the difficulty of recovery. Water currents, interference from marine life, and changes in meteorological conditions may affect the performance of the recovery system. For example, drastic changes in underwater flow rates may cause the vehicle to be unable to accurately dock at the predetermined recovery location, and traditional recovery methods often lack sufficient adaptability to cope with these changes. In addition, the lack of light in the underwater environment also limits the use of the visual system, thereby reducing the accuracy and reliability of recovery.

[0006] In addition, in the current underwater vehicle recovery technology, most systems rely on the autonomous navigation capability of the vehicle to enable it to return to the predetermined recovery area on its own. This method places higher requirements on the vehicle's maneuverability and autonomous navigation system. It not only requires the vehicle to have high-precision navigation capabilities, but also requires it to be able to overcome various challenges in the underwater environment, including changes in water flow and interference from marine life. Therefore, in practical applications, the difficulty of recovery also increases.

[0007] In order to meet the above challenges and overcome the defects of existing underwater vehicle recovery technology, the present invention proposes a new, more advanced and reliable underwater vehicle recovery system. The recovery system of the present invention has a higher level of automation, stronger environmental adaptability and better durability, which can improve the success rate of underwater vehicle recovery. The recovery system has high recovery accuracy and reliability, can achieve more efficient and stable underwater recovery, and meet the growing needs of underwater operations. Summary of the invention

[0008] The present invention aims to provide an efficient and reliable underwater vehicle recovery solution, covering the entire process from the vehicle contacting the recovery platform to data transmission and re-release.

[0009] This recovery system includes a retractable mobile aircraft underwater landing pad (used to locate the aircraft in the underwater environment to ensure that the aircraft can dock accurately), an acoustic positioning device, an optical guide light, a roller-type chute rail entry machine (used to guide the aircraft to smoothly enter the circular transportation track to reduce impact force), a circular transportation track (to stably transport the aircraft to the wireless charging station and data processing cabin), a wireless charging station (provides contactless charging and ensures efficient charging process), a pumping system (removes moisture from the cabin to support wireless data transmission), a data processing cabin (handles the aircraft release operation) and a data processing platform (receives and processes wireless data to provide support for subsequent decision-making), etc. Through these precisely designed components, this system can achieve high-precision aircraft recovery, charging, data transmission and release operations in an underwater environment.

[0010] Specifically, the present invention provides an underwater vehicle underwater recovery system, the recovery system comprises: a parking apron system, a data processing cabin system, a charging station system, and a circulating transport track, wherein: The apron system comprises: a retractable mobile aircraft underwater apron 1, an apron guide gate 2 and an apron guide device 6; the retractable mobile aircraft underwater apron 1 is equipped with an acoustic positioning device 101, an optical guide light 102, a positioning connection device 103, and a roller-type chute rail entry machine 104; The data processing cabin system comprises: a release and data processing cabin 5, in which a pumping system 501 and a data switch 502 are installed; The charging station system comprises: a wireless charging station 4; A movable transfer bracket 301 is installed on the circulating transport track 3.

[0011] Furthermore, in the underwater vehicle underwater recovery system of the present invention, the acoustic positioning device 101 is an underwater acoustic four-corner positioning and optical four-corner positioning system.

[0012] Furthermore, in the underwater vehicle underwater recovery system of the present invention, the retractable mobile vehicle underwater helipad 1 is used to accurately dock the vehicle in an underwater environment; The retractable mobile aircraft underwater helipad 1 is equipped with a motion control system, which ensures that the aircraft is accurately docked in the designated area by horizontally moving the aircraft in the underwater environment and adjusting the position of the aircraft in real time; The four corners of the retractable mobile aircraft underwater helipad 1 are equipped with acoustic positioning devices 101 and optical guide lights 102. The acoustic positioning device 101 is used to locate the position of the aircraft in real time, and the optical guide lights 102 provide visual alignment signals for the aircraft to ensure its accurate positioning on the helipad.

[0013] Furthermore, in the underwater vehicle underwater recovery system of the present invention, the roller-type chute rail-entering machine 104 includes a roller system for guiding the vehicle to smoothly enter the circular transport track to reduce impact force; When the aircraft successfully docks on the apron, the apron begins to move horizontally and retract. During the retraction process, the positioning connection device cooperates with the apron guide gate 2 to guide the aircraft to the roller-type chute track-entering machine 104. The upper part of the roller-type chute track-entering machine 104 is designed as a slope, and the direction of the slope forms a certain angle with the apron, so as to smoothly guide the aircraft into the circular transport track.

[0014] Furthermore, in the underwater vehicle underwater recovery system of the present invention, the circulating transport track 3 is used to transport the vehicle to the wireless charging station 4, and continue to guide the vehicle into the release and data processing cabin 5 after charging is completed; The circulating transport track 3 realizes the transportation of the aircraft through a continuous chain or roller system.

[0015] Further, in the underwater vehicle underwater recovery system of the present invention, the wireless charging station 4 provides contactless charging for charging the recovered vehicle; The wireless charging station 4 is equipped with a docking system, which enables the aircraft to accurately align with the wireless charging position to achieve a fast charging process.

[0016] Furthermore, in the underwater recovery system for underwater vehicles of the present invention, the release and data processing cabin 5 is used to perform the release operation of the vehicle; After the aircraft enters the release and data processing cabin 5 , the pumping system 501 pumps out the water inside the release and data processing cabin 5 , so that the aircraft can perform stable wireless data transmission with the data processing platform through the data switch 502 .

[0017] Furthermore, in the underwater recovery system for underwater vehicles of the present invention, the vehicle wirelessly communicates with a data processing platform via electromagnetic waves. The data processing platform receives data transmitted by the vehicle, analyzes and processes the data, and generates a result report to provide support for subsequent decision-making.

[0018] Furthermore, the present invention also provides an operation method of the underwater vehicle underwater recovery system, comprising the following steps: S1. The aircraft is guided to the retractable mobile aircraft water landing pad 1 by the acoustic positioning device 101 and the optical guide light 102 and docked at a predetermined position. The retractable mobile aircraft water landing pad 1 sends the aircraft into the roller chute rail entry machine 104 by horizontal movement; S2 roller chute into the track machine 104 receives the aircraft sent from the apron, and stably guides it to the circular transport track 3 through the roller system; S3. The vehicle enters the wireless charging station 4 through the circular transport track 3. After charging is completed, it continues to enter the release and data processing cabin 5. The pumping system 501 in the release and data processing cabin 5 starts to work, and the water inside the release and data processing cabin 5 is pumped out to provide a good wireless communication environment for data transmission; S4. The aircraft establishes wireless communication with the data processing platform through electromagnetic waves. The aircraft transmits data to the data processing platform through the data switch 502. The data processing platform receives the data transmitted by the aircraft, analyzes and processes it, and generates a result report. S5. After the data processing is completed, the release and data processing cabin 5 is refilled with water and the spacecraft is released to prepare for the next mission.

[0019] In summary, the underwater vehicle underwater recovery system of the present invention has the following characteristics: (1) The recovery system of the present invention is equipped with a new type of apron system, which adopts a highly maneuverable motion system and provides a large underwater apron plane, so that it can not only move and adjust accurately underwater, but also enhance the flexibility of the recovery system through its motion capability, and reduce the control accuracy requirements of the vehicle, enhance the fault-tolerant control capability, and better cope with complex underwater environmental conditions.

[0020] (2) The introduction of a circular transport track enables the apron to accurately guide the aircraft into the target area. This track system can move smoothly inside the apron, guide the aircraft between various nodes, and ensure the positioning accuracy and stability of the aircraft when entering the target area.

[0021] (3) It is equipped with a dedicated charging and data playback area, which can quickly charge the spacecraft during the recovery process. In addition, the data playback area can directly transmit and process data during the recovery process, so that the spacecraft's mission data can be recovered and analyzed in a timely manner.

[0022] (4) After the aircraft enters the apron, the apron can remove the internal moisture through the pumping system, so that the aircraft can replay data in a dry environment, improving the efficiency of data playback and reducing the impact of the underwater environment on the communication system.

[0023] (5) The use of electromagnetic wave communication technology has significantly improved the efficiency and reliability of data transmission.

[0024] Through the above design, the overall performance of the recovery system of the present invention has been significantly improved. The new apron not only performs well in positioning and navigation, but also optimizes charging, data processing and communication capabilities, making the recovery process of the vehicle more efficient and reliable, greatly improving the success rate of underwater vehicle missions and data processing capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the description of the present invention. Obviously, the following drawings are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a system structure diagram of the recovery system of the present invention.

[0027] Figure 2 It is a schematic diagram of the installation of components of the recovery system of the present invention.

[0028] Figure 3 It is a schematic diagram of the operation flow of the recovery system of the present invention.

[0029] Figure identification: 1-retractable mobile aircraft underwater helipad; 101-acoustic positioning device (USBL); 102-optical guide light; 103-positioning connection device; 104-roller type chute rail entry machine; 2-helipad guide gate; 3-circular transport track; 301-transfer bracket; 4-wireless charging station; 5-release and data processing cabin; 501-pumping system; 502-data switch; 6-guidance equipment. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, and the present invention can also be implemented or applied through other different specific implementation methods. The details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0031] At the same time, it should be understood that the protection scope of the present invention is not limited to the specific embodiments described below; it should also be understood that the terms used in the embodiments of the present invention are for describing specific embodiments rather than for limiting the protection scope of the present invention.

[0032] Embodiment: An underwater vehicle underwater recovery system and operation method thereof This embodiment provides an efficient and reliable underwater vehicle recovery system. Figure 1 and Figure 2 As shown, the recovery system includes a retractable mobile aircraft underwater landing pad, an acoustic positioning device ( Figure 1 The system includes the hydroacoustic four-corner positioning and optical four-corner positioning system shown in the figure), optical guide lights, roller-type chute rail-entry machine, circulating transport track, wireless charging station, pumping system, release and data processing cabin, etc.

[0033] Main components and functions of the underwater vehicle recovery system of the present invention: 1. Retractable mobile aircraft underwater landing pad 1 The retractable mobile aircraft underwater helipad 1 is one of the core components of this system. Its design allows the aircraft to move horizontally accurately in the underwater environment and position itself with the aircraft. The helipad can move so that the aircraft can dock accurately. The helipad is equipped with a high-precision motion control system that can stably adjust its position in the underwater environment to ensure that the aircraft is accurately docked in the designated area. Acoustic positioning devices (USBL) 101 and optical guide lights 102 are installed at the four corners of the helipad. The USBL is used to locate the position of the aircraft in real time and coordinate with other positioning systems. The optical guide light provides visual alignment signals for the aircraft to ensure its accurate positioning on the helipad.

[0034] 2. Roller type inclined slot rail feeder 104 When the aircraft successfully docks on the apron, the apron begins to move horizontally and retract. During the retraction process, the positioning connection device cooperates with the apron guide gate 2 to guide the aircraft to the roller-type chute rail entry machine 104. The design of the roller-type chute rail entry machine includes a ramp, and its slope direction is at a certain angle with the apron, so that the aircraft can be smoothly guided into the track system. The main function of the roller is to alleviate the impact force of the aircraft and prevent damage to the acoustic components during the docking process. At the same time, the roller accurately sends the aircraft to the bottom of the rail entry machine to prepare for the subsequent transportation process.

[0035] 3. Circular transport track 3 After the spacecraft enters the roller chute rail loading machine, the system guides it to the circular transport track 3. The circular transport track transports the spacecraft through a continuous chain or roller system. The track has high stability and precise control capabilities to ensure the smooth movement of the spacecraft throughout the recovery process. The circular transport track sends the spacecraft to the wireless charging station 4, and continues to guide the spacecraft into the data processing cabin system after charging is completed.

[0036] 4. Wireless Charging Station 4 The wireless charging station 4 is a key link to ensure that the charging needs of the spacecraft after recovery can be met. Wireless charging technology uses the principle of electromagnetic induction to provide power to the spacecraft without contact. The wireless charging station is designed with a high-precision docking system, which enables the spacecraft to accurately align with the wireless charging position, thereby achieving a fast and efficient charging process. After charging is completed, the system will continue to send the spacecraft into the data processing cabin system.

[0037] 5. Release and data processing cabin 5 The data processing cabin is responsible for handling the release operation of the aircraft. After the aircraft enters the data processing cabin, the pumping system (pump) 501 in the cabin will pump out the water inside and gradually turn the cabin environment into a dry state. This process enables the aircraft to have stable wireless communication with the data processing platform. The efficient performance of the pumping system ensures that the moisture inside the data processing cabin is completely removed, so that the communication equipment and the data processing platform can smoothly transmit data.

[0038] 6. Data processing platform After the water is removed from the data processing cabin, the spacecraft can communicate wirelessly with the data processing platform through electromagnetic waves. The data processing platform is responsible for receiving the data transmitted by the spacecraft and analyzing and processing it. This platform can quickly process the data collected by the spacecraft during the mission and generate relevant reports or analysis results to support subsequent decision-making and research work. After the data reading is completed, the data processing cabin will put water back in and prepare to release the spacecraft for the next mission.

[0039] Figure 3 The operation method (operation process) of the recycling system is shown as follows: Figure 3 As shown, the operation process of this recycling system includes the following steps: Step 1: Docking The underwater helipad is equipped with a high-precision motion control system that can stably adjust its position in an underwater environment. This design enables the helipad to move to a suitable position so that the aircraft can dock accurately. The aircraft is guided to the helipad by an acoustic positioning device and an optical guide light to ensure that it docks accurately at the predetermined position.

[0040] Step 2: Roller Guide The apron starts to move horizontally, sending the aircraft into the roller chute rail loading machine. The roller chute rail loading machine receives the aircraft sent from the apron and guides it stably to the circular transport track through the roller system.

[0041] Step 3: Charging and Data Transfer The spacecraft enters the wireless charging station through the circular transport track, and after charging is completed, it continues to enter the data processing cabin. The water pumping system of the data processing cabin starts to work, extracting the water inside and providing a good wireless communication environment for data transmission.

[0042] Step 4: Data Processing The spacecraft establishes wireless communication with the data processing platform, and data transmission and processing work begins. The data processing platform analyzes and processes the spacecraft's data to obtain mission results.

[0043] Step 5: Release Process After data processing is complete, the data processing chamber refills the water and releases the spacecraft to prepare for the next mission. The entire process is repeated to ensure efficient recovery and processing of the spacecraft after each mission.

[0044] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any technician familiar with the profession can make some changes or modifications to the technical contents disclosed above without departing from the scope of the technical solution of the present invention to obtain equivalent embodiments of equivalent changes. However, any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. An underwater vehicle underwater recovery system, characterized in that: The recovery system includes: a parking apron system, a data processing cabin system, a charging station system, and a circulating transport track system, wherein: The apron system comprises: a retractable mobile aircraft underwater apron (1), an apron guide gate (2) and an apron guide device (6); the retractable mobile aircraft underwater apron (1) is equipped with an acoustic positioning device (101), an optical guide light (102), a positioning connection device (103) and a roller-type chute rail entry machine (104); The data processing cabin system comprises: a release and data processing cabin (5), wherein a pumping system (501) and a data switch (502) are installed in the release and data processing cabin (5); The charging station system comprises: a wireless charging station (4); A movable transfer bracket (301) is installed on the circulating transport track (3).

2. The underwater vehicle underwater recovery system according to claim 1, characterized in that: The acoustic positioning device (101) is an underwater acoustic four-corner positioning and optical four-corner positioning system.

3. The underwater vehicle underwater recovery system according to claim 1, characterized in that: The retractable mobile aircraft underwater landing pad (1) is used to receive an aircraft to be docked in an underwater environment; The retractable mobile aircraft underwater parking apron (1) is equipped with a motion control system, which adjusts the position of the parking apron according to the position of the aircraft in the underwater environment, thereby ensuring that the aircraft is docked on a large area of ​​the parking apron plane; The four corners of the retractable mobile aircraft underwater helipad (1) are equipped with acoustic positioning devices (101) and optical guidance lights (102). The acoustic positioning devices (101) are used to locate the position of the aircraft in real time. The optical guidance lights (102) provide optical guidance for the aircraft to ensure mutual guidance and positioning between the helipad and the aircraft. The large-area helipad plane and bilateral guidance ensure accurate docking.

4. The underwater vehicle underwater recovery system according to claim 1, characterized in that: The roller-type chute rail entry machine (104) comprises a roller system, which is used to guide the aircraft to smoothly enter the circular transport track after the aircraft completes the parking apron, thereby reducing the impact force; When the aircraft successfully docks on the apron, the apron begins to move horizontally and retract. During the retraction process, the positioning connection device cooperates with the apron guide gate (2) to guide the aircraft to the roller-type chute rail entry machine (104). The upper part of the roller-type chute rail entry machine (104) is designed as a slope, and the direction of the slope forms a certain angle with the apron, so as to smoothly guide the aircraft into the circular transport track.

5. The underwater vehicle underwater recovery system according to claim 1, characterized in that: The circulating transport track (3) is used to transport the aircraft to the wireless charging station (4), and after charging is completed, continue to guide the aircraft into the release and data processing cabin (5), so as to realize the maneuverable transfer between various nodes through track transportation; The circulating transport track (3) realizes the transportation of the aircraft through a continuous chain or roller system.

6. The underwater vehicle underwater recovery system according to claim 1, characterized in that: The wireless charging station (4) provides contactless charging for charging the recovered aircraft; The wireless charging station (4) is equipped with a docking system, so that the aircraft can be accurately aligned with the wireless charging position to achieve a rapid charging process.

7. The underwater vehicle underwater recovery system according to claim 1, characterized in that: The release and data processing cabin (5) is used to perform the release operation of the aircraft; After the aircraft enters the release and data processing cabin (5), the pumping system (501) pumps out the water inside the release and data processing cabin (5), so that the aircraft can perform stable electromagnetic wave data transmission and exchange with the data processing platform through the data switch (502).

8. The underwater vehicle underwater recovery system according to claim 7, characterized in that: The spacecraft communicates wirelessly with the data processing platform via electromagnetic waves. The data processing platform receives the data transmitted by the spacecraft, analyzes and processes it, and generates a result report to provide support for subsequent decision-making.

9. The method for operating an underwater vehicle underwater recovery system according to claim 1, characterized in that: The steps include: S1. The aircraft and the retractable mobile aircraft underwater apron are guided to each other through an acoustic positioning device (101) and an optical guide light (102). The apron moves to provide an optimal docking plane. The aircraft moves according to the guidance signal and accurately docks at the apron. The large-area apron plane design reduces the difficulty of docking. After the aircraft is docked, the retractable mobile aircraft underwater apron (1) moves horizontally to indirectly guide the aircraft through a block and send it into a roller-type chute rail entry machine (104). S2. The roller chute rail entry machine (104) receives the aircraft sent from the apron and guides it smoothly to the circular transport track (3) through the roller system; S3. The spacecraft enters the wireless charging station (4) through the circular transport track (3), and after completing charging, continues to enter the release and data processing cabin (5). The pumping system (501) in the release and data processing cabin (5) starts to work, pumping out the water inside the release and data processing cabin (5), providing a good wireless communication environment for data transmission; S4. The aircraft establishes wireless communication with the data processing platform through electromagnetic waves. The aircraft transmits data to the data processing platform through the data switch (502). The data processing platform receives the data transmitted by the aircraft, analyzes and processes it, and generates a result report. S5. After the data processing is completed, the release and data processing cabin (5) is refilled with water and the spacecraft is released to prepare for the next mission.

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