Underwater vehicle recovery system

Abstract

The invention relates to the technical field of underwater operation tools, in particular to an underwater vehicle recovery system. The underwater vehicle recovery system comprises a recovery platform, traction equipment is arranged on the recovery platform and comprises a take-up and pay-off device and a maneuvering traction device, a traction wire is wound on the take-up and pay-off device, and the maneuvering traction device comprises a power propeller and a traction connector. The maneuvering traction device is used for enabling the underwater vehicle to leave the recovery platform through paying off of the take-up and pay-off device to be connected with the underwater vehicle when the underwater vehicle sails to a set distance away from the recovery platform, the underwater vehicle is dragged to the recovery platform through the dragging effect of the traction line when the take-up and pay-off device takes up the line, and under the dragging effect of the traction line, the underwater vehicle is guided to the recovery platform through the maneuvering traction device. The posture of the underwater vehicle is not easily affected by water flow disturbance in the process of moving towards the recovery platform, and the docking recovery efficiency can be improved.

Description

Technical Field

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

[0002] Underwater unmanned vehicles and other effective payloads perform long-term detection and operation tasks in different mission scenarios such as marine environment monitoring, offshore wind power pile foundation operation and maintenance monitoring, and reservoir dam foundation inspection. In view of the actual needs of underwater unmanned vehicles such as energy replenishment and big data base station backhaul, underwater vehicles need to be docked with underwater recovery platforms.

[0003] The basic process of recovering underwater vehicles by underwater recovery platforms in the prior art can be found in a Chinese utility model patent with authorization announcement number CN220500990U, which discloses an underwater robot recovery system. The underwater recovery platform of the recovery system includes a base, a swivel seat and a recovery plate. The swivel seat is rotatably assembled on the base, and the recovery plate is hinged on the swivel seat. A pitch adjustment device for adjusting the pitch angle of the recovery plate is provided between the swivel seat and the recovery plate. The recovery plate is provided with a fixed clamp for fixing the underwater robot. The underwater recovery platform can adjust its own posture according to the posture information of the underwater robot. The underwater robot is an underwater vehicle. When working, the underwater robot is firstly guided for remote rough recovery by acoustic communication, and then the underwater robot is guided for short-range precise recovery by the combination of a laser transmitter and a binocular camera.

[0004] However, due to the complex underwater environment, underwater vehicles will be affected by water flow disturbances during the docking and recovery process, and their own posture is difficult to maintain, resulting in problems such as misalignment, easy bumps, and long time consumption during docking with the recovery platform, thus affecting the underwater docking and recovery efficiency of the underwater vehicle. Summary of the invention

[0005] The purpose of the present invention is to provide an underwater vehicle recovery system to solve the problem that the current underwater vehicle is easily affected by the disturbance of water flow during the underwater docking recovery process, resulting in low docking recovery efficiency.

[0006] The technical solution of the underwater vehicle recovery system of the present invention is: A system for recovering an underwater vehicle comprises a recovery platform, on which a traction device is arranged, the traction device comprises a line-reeling device and a motorized traction device, a traction line is wound around the line-reeling device, the motorized traction device is connected to the end of the traction line, the motorized traction device comprises a power propeller for driving the motorized traction device to move relative to the recovery platform and a traction connector for connecting the underwater vehicle, the motorized traction device is used to release the line through the line-reeling device when the underwater vehicle navigates to a set distance from the recovery platform to leave the recovery platform to connect with the underwater vehicle, and when the line-reeling device reels in the line, the underwater vehicle is dragged to the recovery platform by the dragging action of the traction line.

[0007] Beneficial effects: The present invention is improved on the basis of the underwater vehicle recovery platform in the prior art. By arranging a traction device on the recovery platform, the traction device is used to actively intervene in the autonomous docking and recovery process of the underwater vehicle. When the underwater vehicle sails to a set distance from the recovery platform, the motorized traction device relies on its own power propeller to leave the recovery platform, and at the same time, the line-reeling device releases the traction line to adapt to the moving distance of the motorized traction device and maintains the connection with the motorized traction device. After the motorized traction device and the underwater vehicle are close to each other, the traction connector of the motorized traction device is connected to the underwater vehicle, so that the motorized traction device and the underwater vehicle form a whole. Then, when the line-reeling device reels in the traction line, the underwater vehicle is dragged to the recovery platform by the dragging action of the traction line. Under the dragging action of the traction line, the underwater vehicle is not easily affected by the water flow disturbance in the process of moving toward the recovery platform. The traction force of the traction line can compensate for the influence of the water flow disturbance on the posture of the underwater vehicle during the traction process, which is beneficial to improving the docking recovery efficiency.

[0008] Furthermore, the traction connector is provided with a magnetic adsorption structure so that the traction connector can be adsorbed on the underwater vehicle by magnetic force to achieve the connection between the motorized traction device and the underwater vehicle.

[0009] Furthermore, the traction line is a cable, and the cable includes a power transmission line for transmitting power to the motorized traction device.

[0010] Furthermore, the traction line is a cable, and the cable includes a communication transmission line for transmitting a control signal to the motorized traction device.

[0011] Furthermore, the motorized traction device includes a guide for guiding the underwater vehicle to approach it.

[0012] Furthermore, the motorized traction device includes a controller for controlling the actions of the power propeller and the traction connector. When the underwater vehicle approaches the motorized traction device to a set distance, the controller controls the motorized traction device to actively stick to the underwater vehicle.

[0013] Furthermore, the motorized traction device includes a controller for controlling the actions of the power thruster and the traction connector. When the motorized traction device and the underwater vehicle are close to each other, the controller controls the power thruster to adjust the posture of the motorized traction device to adapt to the posture of the underwater vehicle.

[0014] Furthermore, the motorized traction device includes a controller for controlling the actions of the power thruster and the traction connector. The controller controls the power thruster to assist in adjusting the posture of the underwater vehicle during the process of towing the underwater vehicle by the traction line.

[0015] Furthermore, the wire-retracting and -releasing device is arranged at one end of the recovery platform in the length direction.

[0016] Furthermore, the recovery platform is provided with an acoustic communication device for performing acoustic communication with the underwater vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of an underwater vehicle recovery system according to an embodiment of the present invention docking and recovering an underwater vehicle.

[0018] In the figure: 101. Carrying platform; 102. Base; 103. Rotating seat; 104. Pitch adjustment device; 105. Clamping arm; 201. wire-retracting and -releasing device; 202. traction wire; 203. power propeller; 204. magnetic absorber; 300. Underwater vehicle. DETAILED DESCRIPTION

[0019] The underwater vehicle recovery system of the present invention utilizes traction equipment to actively intervene in the autonomous docking and recovery process of the underwater vehicle, and compensates for the influence of water flow disturbance on the underwater vehicle posture during the recovery process through the dragging action of the traction line, thereby improving the docking and recovery efficiency.

[0020] Embodiments of the underwater vehicle recovery system of the present invention: The underwater vehicle recovery system includes a recovery platform, on which a traction device is provided, the traction device including a line-reeling device and a motorized traction device, a traction line is wound around the line-reeling device, the motorized traction device is connected to the end of the traction line, the motorized traction device includes a power propeller for driving the motorized traction device to move relative to the recovery platform and a traction connector for connecting the underwater vehicle, the motorized traction device is used to pay out the line through the line-reeling device when the underwater vehicle navigates to a set distance from the recovery platform to leave the recovery platform to connect with the underwater vehicle, and when the line-reeling device reels in the line, the underwater vehicle is dragged to the recovery platform by the dragging action of the traction line.

[0021] Specifically, Figure 1As shown, the underwater vehicle recovery system includes a recovery platform, which includes a carrying platform 101, a base 102, a swivel seat 103, a pitch adjustment device 104, and a clamping arm 105. The swivel seat 103 is rotatably assembled on the base 102. The carrying platform 101 is a flat structure. The lower side surface of the middle part of the carrying platform 101 in the length direction is provided with a hinge structure to be hinged on the swivel seat 103. A pitch adjustment device 104 for adjusting the pitch angle of the carrying platform 101 is provided between the swivel seat 103 and the carrying platform 101. The carrying platform 101 is provided with a clamping arm 105 for fixing the underwater vehicle 300. The clamping arm 105 is configured with a hydraulic drive structure. A plurality of clamping arms 105 are respectively provided at the edges of both sides in the width direction of the carrying platform 101. After the underwater vehicle 300 moves onto the carrying platform 101, the clamping arm 105 clamps and fixes the underwater vehicle 300.

[0022] The underwater vehicle recovery system also includes a traction device, which is arranged on the recovery platform. The traction device includes a line-reeling device 201 and a motorized traction device. A traction line 202 is wound around the line-reeling device 201. The motorized traction device is connected to the end of the traction line 202. The motorized traction device includes a power propeller 203 for driving the motorized traction device to move relative to the recovery platform and a traction connector for connecting the underwater vehicle 300. The power propeller 203 can be a vector propeller, and the traction connector is a magnetic adsorber 204. When the underwater vehicle 300 sails to a set distance from the recovery platform, the set distance is set as needed, which is about tens of meters here. After reaching the set distance, the motorized traction device relies on its own power propeller 203 to leave the recovery platform, and at the same time, the retractable line device 201 releases the traction line 202 to adapt to the moving distance of the motorized traction device and maintains the connection with the motorized traction device. After the motorized traction device and the underwater vehicle 300 are close to each other, the motorized traction device is connected to the underwater vehicle 300 through the magnetic absorber 204 of the motorized traction device, so that the motorized traction device and the underwater vehicle 300 form a whole. Then, when the retractable line device 201 retracts the traction line 202, the underwater vehicle 300 is dragged to the recovery platform by the dragging effect of the traction line 202. Under the dragging effect of the traction line 202, the underwater vehicle 300 is not easily affected by the water flow disturbance in the process of moving toward the recovery platform. The traction force of the traction line 202 can compensate for the influence of the water flow disturbance on the posture of the underwater vehicle 300 during the traction process, which is conducive to improving the docking recovery efficiency.

[0023] The magnetic absorber 204 is used to form a traction connector. The magnetic absorber 204 is provided with a magnetic absorption structure to achieve the connection between the motorized traction device and the underwater vehicle 300 by magnetic absorption on the underwater vehicle 300. The motorized traction device and the underwater vehicle 300 are connected by magnetic attraction, ensuring that when the traction line 202 drags the motorized traction device, the underwater vehicle 300 can be dragged and moved by the motorized traction device. The connection is made using a magnetic attraction structure, which facilitates the connection operation, reduces the difficulty of connection, and can also utilize the iron shell of the underwater vehicle 300. In other embodiments, the traction connector can also adopt a locking hook structure, and the motorized traction device is hooked and connected to the underwater vehicle. In other embodiments, a mechanical claw can also be used as a traction connector, and a structure for the mechanical claw to capture is provided on the underwater vehicle.

[0024] The traction line 202 is a cable, and the cable includes a power transmission line for transmitting power to the motorized traction device and a communication transmission line for transmitting control signals to the motorized traction device. One end of the cable located at the retractable wire device 201 is connected to the power system and control system of the recovery platform, and the other end is connected to the power propeller 203, and the magnetic absorber 204 is installed on the power propeller 203. The power transmission line can be used to supply power to the power propeller 203 and the magnetic absorber 204, so that the power propeller 203 can drive the motorized traction device to maneuver, and the magnetic absorber 204 is energized to generate magnetic force. The motorized traction device includes a controller for controlling the action of the power propeller 203 and the traction connector. The controller is integrated on the power propeller 203 and connected to the controller using a communication transmission line, so that the control system of the recovery platform can send a command signal to the motorized traction device, thereby controlling the power propeller 203 and the magnetic absorber 204 to perform corresponding actions. Using a transmission cable as the traction line 202 saves costs and can realize power transmission and wired communication at the same time. In other embodiments, the motorized traction device can also have its own power supply, and the motorized traction device can communicate wirelessly with the control system of the recovery platform, and the traction line can be a steel wire rope. In other embodiments, the traction line can also be a cable for power transmission between the motorized traction device and the recovery platform, and the motorized traction device can communicate wirelessly with the control system of the recovery platform.

[0025] The motorized traction device includes a guide for guiding the underwater vehicle 300 to approach it, and the guide is an acoustic and optical guidance component. The acoustic and optical guidance component is used to guide the underwater vehicle 300 to approach the motorized traction device, which can shorten the distance between the motorized traction device and the recovery platform, and facilitate the wired connection between the motorized traction device and the recovery platform. In other embodiments, according to the distance requirements of the underwater vehicle, no guide may be provided, and the motorized traction device may be directly and actively approached to the underwater vehicle.

[0026] The controller of the motorized traction device controls the motorized traction device to actively attach to the underwater vehicle 300 when the underwater vehicle 300 approaches the motorized traction device to a set distance. The set distance is very close, about several meters. At this time, the motorized traction device is actively attached to the underwater vehicle 300, so that the motorized traction device with a smaller volume actively docks with the underwater vehicle 300 with a larger volume, which is convenient for connection operation. In other implementations, the underwater vehicle can also be actively docked with the motorized traction device.

[0027] When the motorized traction device and the underwater vehicle 300 are close to each other, the controller of the motorized traction device controls the power propeller 203 to adjust the posture of the motorized traction device to adapt to the posture of the underwater vehicle 300, and uses the power propeller 203 of the motorized traction device to adjust its own posture, so as to facilitate connection with the underwater vehicle 300. In other embodiments, the motorized traction device may not actively adjust its own posture, but use the underwater vehicle to adjust its own posture for matching connection.

[0028] The controller of the motorized traction device controls the power propeller 203 to assist in adjusting the posture of the underwater vehicle 300 during the process of the traction line 202 towing the underwater vehicle 300. In the process of towing the underwater vehicle 300 toward the recovery platform, it is necessary to continuously adjust the posture of the underwater vehicle 300 and the recovery platform. At this time, the underwater vehicle 300 can adjust its posture by itself, and the motorized traction device can also assist the underwater vehicle 300 in adjusting its posture through its own maneuverability, which can improve the adjustment efficiency. In other embodiments, the power propeller of the motorized traction device can also not work during the process of the underwater vehicle being towed by the traction line, and the posture can be adjusted only by the underwater vehicle's own power.

[0029] The wire-reeling device 201 is arranged at one end of the recovery platform in the length direction. When reeling in the wire, the traction wire 202 is wound on the reel of the wire-reeling device 201. When releasing the wire, the traction wire 202 is stretched from the reel of the wire-reeling device 201 to allow the motorized traction device to maneuver. The magnetic absorber 204 of the motorized traction device is used to absorb on the head of the underwater vehicle 300, so as to facilitate traction to the mounting platform 101 of the recovery platform. In other embodiments, the wire-reeling device can also be arranged in the middle of the length direction of the recovery platform, and accordingly, the magnetic absorber of the motorized traction device is used to absorb on the middle position of the length direction of the underwater vehicle.

[0030] The underwater vehicle 300 is a self-propelled underwater unmanned vehicle. The carrying platform 101 is mainly used to form a conformal support for the underwater vehicle 300 after docking is completed. The swivel seat 103 is driven by a hydraulic motor to realize the swivel function of the carrying platform 101. The pitch adjustment device 104 is driven by a hydraulic cylinder to realize the pitch posture adjustment of the carrying platform 101. The clamping arm 105 mainly realizes the posture fixation of the underwater vehicle 300 on the platform to prevent the underwater vehicle 300 and the carrying platform 101 from relative displacement. The recovery platform is provided with an underwater acoustic communication device for underwater acoustic communication with the underwater vehicle 300. The motorized traction device is used to play a traction role when recovering the underwater vehicle 300.

[0031] According to the recovery process of the underwater vehicle 300 from far to near, the use of the recovery system is basically explained: During the remote recovery phase, the recovery system establishes a communication connection with the underwater vehicle 300 through hydroacoustic communication and sends its own position at regular intervals. After receiving the target position command, the underwater vehicle 300 autonomously plans the recovery path and quickly sails to the area where the recovery system is located; In the mid-range recovery phase, the underwater vehicle 300 has stable hydroacoustic communication with the recovery system, and can communicate in real time, and continuously correct the positioning information of the underwater vehicle 300, so that it can reduce the speed and correct the recovery path while maintaining high positioning accuracy and communication stability, and gradually approach the recovery system; In the short-range recovery stage, the recovery system releases the motorized traction device, which leaves the recovery platform and continues to guide the underwater vehicle 300 to approach it through the sound and light guidance component integrated in the motorized traction device. At the same time, the motorized traction device adjusts its own posture through its maneuverability. When the underwater vehicle 300 reaches the capture range and the distance is relatively close, the motorized traction device actively approaches, uses the magnetic adsorbent 204 carried by itself to contact and stick to the underwater vehicle 300, forming an organic whole, and limits its maneuverability through the tension force when the traction line 202 is retracted. Under the dragging action of the traction line 202, the underwater vehicle 300 is dragged to the carrying platform 101. During the entire approaching process, the carrying platform 101 continuously adjusts its posture and compensates for the posture deviation with the underwater vehicle 300 under the driving action of the rotation and pitching mechanism. When the underwater vehicle 300 is located on the carrying platform 101, the clamping arm 105 of the recovery system holds the underwater vehicle 300 tightly, realizing reliable recovery of the underwater vehicle 300.

[0032] When the underwater vehicle 300 needs to be recovered after completing the mission, it can judge the guidance direction according to the command information sent by the recovery system through the sound and light guidance device or the hydroacoustic communication device, and return according to the guidance direction. When the underwater vehicle 300 sails to the vicinity of the recovery system, the optical camera device integrated on the recovery platform is used to observe the movement state of the vehicle, and the recovery platform is controlled to perform adaptive movement in combination with the acquired posture information of the underwater vehicle 300 to reduce the relative posture deviation, and at the same time release the motorized traction device, which is connected to the recovery platform through a cable. The operator can also control the motorized traction device to move flexibly in real time, constantly approach the underwater vehicle 300, and make the magnetic absorber 204 move. Through the posture adjustment of the motorized traction device itself and the coordinated control of the magnetic absorber 204, the underwater vehicle 300 is accurately absorbed. After the absorption is completed, the traction equipment can be manually controlled to make the motorized traction device fall back to the recovery platform to complete the reliable recovery of the underwater vehicle 300.

[0033] Since the motorized traction device released by the recovery system carries the towing cable, the recovery platform can maintain a real-time control connection with the motorized traction device, and the traction force of the towing cable can also well compensate for the influence of the current disturbance on the underwater vehicle's posture during the towing process. Moreover, compared with the conventional recovery method, this autonomous towing recovery method can prevent the underwater vehicle from colliding with the recovery platform during the large-scale adjustment of speed and posture under the flow field disturbance conditions, because the motorized traction device is in contact with the underwater vehicle, and the motorized traction device is still far away from the recovery platform, thus playing a good buffering role. At the same time, under the magnetic adsorption of the motorized traction device, the underwater vehicle is converted from an unconstrained state to a constrained state. The motorized traction device's own maneuverability adjustment ability can be used to assist in adjusting the underwater vehicle's own posture during the towing cable towing process. Compared with the previous recovery process that relied solely on the underwater vehicle to adjust its posture, this greatly saves recovery time and improves the success rate of docking recovery.

[0034] During the underwater vehicle's mission, the recovery system is in a dormant state. When the underwater vehicle completes its mission and needs energy replenishment and data feedback, the recovery system is switched to a working state through the established hydroacoustic communication interaction mechanism. When the underwater vehicle is at a certain distance from the recovery system, the maneuverable traction device is released, actively approaches the underwater vehicle and is adsorbed to the underwater vehicle body through a magnetic adsorbent. Under the buffering and dragging of the traction line, the speed of the underwater vehicle is reduced, and the vehicle is towed to the capture range of the recovery platform. At the same time, it has the ability to adjust its attitude and can adapt and adjust according to the position and attitude relationship of the vehicle, ultimately achieving the capture of the underwater vehicle. The capture and recovery process of the underwater vehicle can be effectively avoided by remote intervention, contact buffering, attitude compensation and other capabilities during the entire recovery process, thereby reducing the interference of complex flow fields and the risk of collision between equipment during the docking and recovery process. The autonomous traction recovery and active attitude adjustment capabilities of the recovery system can greatly reduce the difficulty of the entire docking and recovery process, improve the safety and success rate of the docking and recovery process, effectively reduce the requirements for the maneuverability and intelligence of the vehicle, reduce the time cost of the entire recovery process, and adapt to the effective deployment and recovery of different types of underwater vehicles, which is of great significance to the improvement of the efficiency of repeated mission execution of underwater vehicles.

[0035] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments without creative work, or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater vehicle recovery system, comprising a recovery platform, characterized in that: The recovery platform is provided with a traction device, which includes a line-reeling device and a motorized traction device. A traction line is wound around the line-reeling device, and the motorized traction device is connected to the end of the traction line. The motorized traction device includes a power propeller for driving the motorized traction device to move relative to the recovery platform and a traction connector for connecting the underwater vehicle. The motorized traction device is used to pay out the line through the line-reeling device when the underwater vehicle navigates to a set distance from the recovery platform to leave the recovery platform to connect with the underwater vehicle. When the line-reeling device reels in the line, the underwater vehicle is dragged to the recovery platform by the dragging action of the traction line.

2. The underwater vehicle recovery system according to claim 1, characterized in that: The traction connector is provided with a magnetic adsorption structure so that the traction connector can be adsorbed on the underwater vehicle by magnetic force to realize the connection between the motorized traction device and the underwater vehicle.

3. The underwater vehicle recovery system according to claim 1 or 2, characterized in that: The traction line is a cable, which includes a power transmission line for transmitting power to the motorized traction device.

4. The underwater vehicle recovery system according to claim 1 or 2, characterized in that: The traction line is a cable, and the cable includes a communication transmission line for transmitting control signals to the motorized traction device.

5. The underwater vehicle recovery system according to claim 1 or 2, characterized in that: The motorized traction device includes a guide for guiding the underwater vehicle to approach it.

6. The underwater vehicle recovery system according to claim 5, characterized in that: The motorized traction device comprises a controller for controlling the actions of a power propeller and a traction connector. When the underwater vehicle approaches the motorized traction device to a set distance, the controller controls the motorized traction device to actively stick to the underwater vehicle.

7. The underwater vehicle recovery system according to claim 1 or 2, characterized in that: The motorized traction device includes a controller for controlling the actions of a power thruster and a traction connector. When the motorized traction device and the underwater vehicle approach each other, the controller controls the power thruster to adjust the posture of the motorized traction device to adapt to the posture of the underwater vehicle.

8. The underwater vehicle recovery system according to claim 1 or 2, characterized in that: The motorized traction device includes a controller for controlling the actions of a power thruster and a traction connector. The controller controls the power thruster to assist in adjusting the attitude of the underwater vehicle during the process of towing the underwater vehicle by the traction line.

9. The underwater vehicle recovery system according to claim 1 or 2, characterized in that: The wire-retracting and -releasing device is arranged at one end of the recovery platform in the length direction.

10. The underwater vehicle recovery system according to claim 1 or 2, characterized in that: The recovery platform is provided with an acoustic communication device for conducting acoustic communication with the underwater vehicle.

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