Acoustic guidance-based resident underwater vehicle docking device and docking method

Abstract

The invention relates to a resident underwater vehicle docking device and docking method based on acoustic guidance. The invention discloses a resident underwater vehicle docking device based on acoustic guidance. The resident underwater vehicle docking device comprises a first docking system mounted on an underwater vehicle and a second docking system arranged on the seabed, the first docking system transmits an acoustic inquiry signal, and the second docking system receives the acoustic inquiry signal and replies an acoustic response signal to the first docking system, so that the relative position between the underwater vehicle and the second docking system is determined, and the docking between the underwater vehicle and the second docking system is realized. By arranging the first docking system and the second docking system, docking between the underwater vehicle and the docking platform can be completed based on the acoustic signal, and the docking efficiency and the docking success rate are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicle docking, and in particular to a resident underwater vehicle docking device and a docking method based on acoustic guidance. Background Art

[0002] Traditional recoverable underwater vehicles require support from mother ships, have high requirements for operating sea conditions, and have certain safety risks in deployment and recovery, and have low operating efficiency. Therefore, resident underwater vehicles are playing an increasingly important role in the fields of marine resource detection, seabed environment detection, and seabed facility inspection and maintenance. Resident underwater vehicles collect the operating data of the vehicle through the underwater platform and provide charging services for the vehicle, further extending the operating time of the underwater vehicle and reducing the safety risks brought by deployment and recovery.

[0003] In the prior art, the docking device between the underwater vehicle and the underwater platform mostly adopts a cage structure. The underwater vehicle identifies the direction and position of the bell mouth according to the lights arranged at the bell mouth of the docking platform, sails to the front of the central axis of the bell mouth, and drills into the cage to complete data exchange and charging. However, based on the traditional cage docking structure, the underwater vehicle must first sail to the front of the bell mouth, optically identify the shape of the bell mouth, and control itself on the axis of the bell mouth. The optical signal is greatly affected by the quality of seawater. When in a sea area with low visibility, the recognition effect of the docking device is poor; at the same time, this type of docking device has great restrictions on the navigation route of the underwater vehicle, and the docking efficiency and success rate are low. Summary of the invention

[0004] Based on this, it is necessary to provide a resident underwater vehicle docking device and docking method based on acoustic guidance to address the problems that the docking devices in the prior art have poor recognition effect in sea areas with low visibility and impose many restrictions on the navigation routes of underwater vehicles, resulting in low docking efficiency and low docking success rate.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A resident underwater vehicle docking device based on acoustic guidance, comprising a first docking system installed on the underwater vehicle, and a second docking system arranged on the seabed;

[0007] The first docking system transmits an acoustic interrogation signal, the second docking system receives the acoustic interrogation signal, and replies with an acoustic response signal to the first docking system, thereby determining the relative position between the underwater vehicle and the second docking system, and then achieving docking between the underwater vehicle and the second docking system.

[0008] As a further improvement of the above technical solution:

[0009] The first docking system includes a docking cover, a first annular docking ring is arranged at the bottom of the docking cover, an external docking sonar assembly is installed on the outer wall surface of the docking cover, and an internal docking sonar assembly is installed on the inner wall surface of the docking cover. Both the external docking sonar assembly and the internal docking sonar assembly are used to emit acoustic interrogation signals downward.

[0010] The docking cover is hemispherical.

[0011] The external docking sonar assembly comprises a plurality of external docking sonars evenly spaced and distributed, and a single external docking sonar is mounted on the outer wall surface of the docking cover through a first mounting bracket.

[0012] The inner docking sonar assembly includes a plurality of inner docking sonars evenly spaced apart, and a single inner docking sonar is mounted on the inner wall surface of the docking cover via a second mounting bracket.

[0013] The acoustic interrogation signals emitted downward by the external docking sonar assembly and the internal docking sonar assembly have a cone angle of 100° and a frequency of 80kHz-100kHz.

[0014] The second docking system includes a docking platform, a second docking ring in an annular shape is arranged on the top of the docking platform, two centrally symmetrically distributed sonar beacons are installed on the docking platform, a communication sonar is installed in the middle of the docking platform, and a battery assembly is installed on the bottom of the docking platform;

[0015] receiving an acoustic interrogation signal transmitted by the external docking sonar assembly or the internal docking sonar assembly through the sonar beacon, and replying an acoustic response signal to the external docking sonar assembly or the internal docking sonar assembly;

[0016] The mission data of the underwater vehicle is sent to the mother ship of the underwater vehicle through the communication sonar.

[0017] The docking platform is supported by a plurality of supporting legs.

[0018] The acoustic transmitting component of the communication sonar is spherical, and the communication sonar transmits acoustic signals in a range of 360° upwards, with a signal frequency of 5kHz-15kHz.

[0019] A docking method using the above-mentioned resident underwater vehicle docking device based on acoustic guidance comprises the following steps:

[0020] S1. A first control module is installed on the first docking ring, a wireless charging unit and a data transmission unit are integrated inside the first control module, and a second control module is installed on the docking platform;

[0021] When the underwater vehicle enters the water and sails toward the docking platform, the outer docking sonar assembly transmits an acoustic interrogation signal toward the second docking system, and the inner docking sonar assembly stops transmitting the signal;

[0022] S2. When the underwater vehicle enters the acoustic signal receiving area of ​​the two sonar beacons, the two sonar beacons receive the acoustic interrogation signal emitted by the external docking sonar assembly, and the two sonar beacons emit corresponding acoustic response signals toward the first docking system to reply;

[0023] S3. After the external docking sonar assembly receives the acoustic response signal, the sonar host installed on the underwater vehicle calculates the relative position relationship between the external docking sonar assembly and the two sonar beacons based on the time difference between the external docking sonar assembly transmitting the acoustic interrogation signal and receiving the corresponding acoustic response signal, and then generates a first coordinate relationship between the first docking ring and the second docking ring through the first control module;

[0024] S4. The underwater vehicle navigates toward the docking platform according to the first coordinate relationship between the first docking ring and the second docking ring, thereby getting closer to the docking platform;

[0025] S5. When the underwater vehicle sails above the docking platform and the vertical distance between the first docking ring and the second docking ring is less than 1 meter, the sonar host controls the outer docking sonar assembly to stop signal transmission, and at the same time, controls the inner docking sonar assembly to transmit an acoustic interrogation signal;

[0026] S6. The two sonar beacons receive the acoustic interrogation signal transmitted from the inner docking sonar assembly, and the two sonar beacons transmit corresponding acoustic response signals toward the first docking system to reply;

[0027] S7. After the inner docking sonar assembly receives the acoustic response signals sent by the two sonar beacons to the inner docking sonar assembly, the sonar host calculates the relative position relationship between the inner docking sonar assembly and the two sonar beacons according to the time difference between the inner docking sonar assembly transmitting the acoustic inquiry signal and receiving the corresponding acoustic response signal, and then generates a second coordinate relationship between the first docking ring and the second docking ring through the first control module;

[0028] S8. The underwater vehicle continues to navigate toward the docking platform according to the second coordinate relationship between the first docking ring and the second docking ring until the first docking ring and the second docking ring are docked and fitted;

[0029] S9. After the first docking ring and the second docking ring are docked, the underwater vehicle transmits the working data to the second control module through the data transmission unit, and the battery assembly charges the first docking system through the wireless charging unit;

[0030] After data transmission and charging are completed, the underwater vehicle leaves the docking platform to continue its mission, and the communication sonar sends the working data obtained by the second control module to the mother ship, so that the mother ship obtains the working data of the underwater vehicle.

[0031] The beneficial effects of the present invention are as follows:

[0032] The present invention has a compact and reasonable structure and is easy to operate. By setting a first docking system and a second docking system, the docking between the underwater vehicle and the docking platform can be completed based on acoustic signals. Since the acoustic signal has a long transmission distance, the underwater vehicle can approach the docking platform through acoustic guidance at a long distance, and there are no requirements on the docking direction between the underwater vehicle and the docking platform, the deployment sea area of ​​the docking platform, and the navigation route of the underwater vehicle, thereby effectively improving the docking efficiency and the docking success rate. At the same time, by setting multiple external docking sonars, multiple internal docking sonars, and two sonar beacons, acoustic signal redundancy is achieved, effectively improving the working reliability of the docking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the structure of the present invention.

[0034] Figure 2 It is a structural schematic diagram of the first docking system in the present invention.

[0035] Figure 3 It is a bottom view of the first docking system in the present invention.

[0036] Figure 4 It is a structural schematic diagram of the second docking system in the present invention.

[0037] Figure 5 It is a top view of the second docking system in the present invention.

[0038] Figure 6 It is a schematic diagram of the first docking system and the second system in the present invention when docking.

[0039] Wherein: 1. First docking system; 2. Second docking system;

[0040] 101, docking cover; 102, first docking ring; 103, external docking sonar; 104, internal docking sonar; 105, first mounting bracket; 106, second mounting bracket;

[0041] 201. Docking platform; 202. Second docking ring; 203. Support leg; 204. Battery assembly; 205. Sonar beacon; 206. Communication sonar. DETAILED DESCRIPTION

[0042] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0043] The structure and function of the present invention are as follows:

[0044] like Figure 1-Figure 6 As shown, a resident underwater vehicle docking device based on acoustic guidance includes a first docking system 1 installed on the underwater vehicle and a second docking system 2 arranged on the seabed; the first docking system 1 transmits an acoustic interrogation signal, the second docking system 2 receives the acoustic interrogation signal, and replies an acoustic response signal to the first docking system 1, thereby determining the relative position between the underwater vehicle and the second docking system 2, and then achieving docking between the underwater vehicle and the second docking system 2. By setting the first docking system 1 and the second docking system 2, the docking between the underwater vehicle and the docking platform 201 can be completed based on the acoustic signal. Due to the long transmission distance of the acoustic signal, the underwater vehicle can approach the docking platform 201 at a long distance through acoustic guidance, and there are no requirements for the docking direction between the underwater vehicle and the docking platform 201, the deployment sea area of ​​the docking platform 201, and the navigation route of the underwater vehicle, which effectively improves the docking efficiency and docking success rate.

[0045] The first docking system 1 includes a docking cover 101, a first docking ring 102 in an annular shape is arranged at the bottom of the docking cover 101, an external docking sonar assembly is installed on the outer wall surface of the docking cover 101, and an internal docking sonar assembly is installed on the inner wall surface of the docking cover 101. Both the external docking sonar assembly and the internal docking sonar assembly are used to emit acoustic interrogation signals downward.

[0046] The docking cover 101 is hemispherical in shape, which can help the inner docking sonar assembly receive acoustic response signals emitted by the two sonar beacons 205 .

[0047] The external docking sonar assembly includes several evenly spaced external docking sonars 103, and a single external docking sonar 103 is installed on the outer wall of the docking cover 101 through a first mounting bracket 105; the internal docking sonar assembly includes several evenly spaced internal docking sonars 104, and a single internal docking sonar 104 is installed on the inner wall of the docking cover 101 through a second mounting bracket 106. In the present invention, four external docking sonars 103 are arranged along the circumferential direction of the docking cover 101, and two adjacent external docking sonars 103 are spaced 90° apart. A single external docking sonar 103 is arranged perpendicular to the end face of the first docking ring 102, and the bottom end face of the single external docking sonar 103 is flush with the bottom end face of the first docking ring 102; four internal docking sonars 104 are arranged along the circumferential direction of the docking cover 101, and two adjacent internal docking sonars 104 are spaced 90° apart. The sonar 104 is arranged perpendicular to the end surface of the first docking ring 102, and the bottom end surface of a single inner docking sonar 104 is higher than the bottom end surface of the first docking ring 102; at the same time, the four outer docking sonars 103 and the four inner docking sonars 104 are arranged at intervals, and along the circumferential direction of the docking cover 101, a single outer docking sonar 103 and the inner docking sonar 104 adjacent thereto are arranged at an interval of 45°; by arranging multiple outer docking sonars 103, multiple inner docking sonars 104, and two sonar beacons 205, acoustic signal redundancy is achieved, and the working reliability of the docking device is effectively improved.

[0048] The acoustic interrogation signals emitted downward by the external docking sonar assembly and the internal docking sonar assembly have a 100° cone angle and a frequency of 80kHz-100kHz, which can perform directional detection and help improve detection efficiency. At the same time, the high detection frequency can reduce external environmental interference, thereby improving docking efficiency and docking success rate.

[0049] The second docking system 2 includes a docking platform 201, a second docking ring 202 in an annular shape is arranged on the top of the docking platform 201, two centrally symmetrically distributed sonar beacons 205 are installed on the docking platform 201, a communication sonar 206 is installed in the middle of the docking platform 201, and a battery assembly 204 is installed on the bottom of the docking platform 201; the sonar beacon 205 receives the acoustic inquiry signal emitted by the external docking sonar assembly or the internal docking sonar assembly, and replies the acoustic response signal to the external docking sonar assembly or the internal docking sonar assembly; and the mission data of the underwater vehicle is sent to the mother ship of the underwater vehicle through the communication sonar 206. The top end faces of the two sonar beacons 205 are flush with the top end face of the second docking ring 202, so that the sonar host can perform relative position analysis conveniently.

[0050] The docking platform 201 is supported by a plurality of support legs 203. The plurality of support legs 203 are provided to help improve the support stability of the docking platform 201.

[0051] The acoustic transmitting component of the communication sonar 206 is spherical. The communication sonar 206 emits acoustic signals in a range of 360° upwards. The signal frequency is 5kHz-15kHz, which can provide omnidirectional coverage, help improve data transmission efficiency, and effectively enhance the environmental adaptability of the docking device.

[0052] A docking method using the above-mentioned resident underwater vehicle docking device based on acoustic guidance comprises the following steps:

[0053] S1. A first control module is installed on the first docking ring 102, and a wireless charging unit and a data transmission unit are integrated inside the first control module. A second control module is installed on the docking platform 201;

[0054] When the underwater vehicle enters the water and sails toward the docking platform 201, the outer docking sonar assembly transmits an acoustic interrogation signal toward the second docking system 2, and the inner docking sonar assembly stops transmitting the signal;

[0055] S2. When the underwater vehicle sails into the acoustic signal receiving area of ​​the two sonar beacons 205, the two sonar beacons 205 receive the acoustic interrogation signal emitted from the external docking sonar assembly, and the two sonar beacons 205 emit corresponding acoustic response signals toward the first docking system 1, thereby replying;

[0056] S3. After the external docking sonar assembly receives the acoustic response signal, the sonar host installed on the underwater vehicle calculates the relative position relationship between the external docking sonar assembly and the two sonar beacons 205 according to the time difference between the external docking sonar assembly transmitting the acoustic interrogation signal and receiving the corresponding acoustic response signal, and then generates a first coordinate relationship between the first docking ring 102 and the second docking ring 202 through the first control module;

[0057] S4. The underwater vehicle navigates toward the docking platform 201 according to the first coordinate relationship between the first docking ring 102 and the second docking ring 202, thereby further approaching the docking platform 201;

[0058] S5. When the underwater vehicle sails above the docking platform 201 and the vertical distance between the first docking ring 102 and the second docking ring 202 is less than 1 meter, the acoustic interrogation signal emitted by the external docking sonar assembly may be blocked by the docking cover 101. At this time, the sonar host controls the external docking sonar assembly to stop signal emission and controls the internal docking sonar assembly to emit an acoustic interrogation signal.

[0059] S6. The two sonar beacons 205 receive the acoustic interrogation signal emitted from the inner docking sonar assembly, and the two sonar beacons 205 emit corresponding acoustic response signals toward the first docking system 1, thereby replying;

[0060] S7. After the inner docking sonar assembly receives the acoustic response signals sent by the two sonar beacons 205 to the inner docking sonar assembly, the sonar host calculates the relative position relationship between the inner docking sonar assembly and the two sonar beacons 205 according to the time difference between the inner docking sonar assembly transmitting the acoustic inquiry signal and receiving the corresponding acoustic response signal, and then generates a second coordinate relationship between the first docking ring 102 and the second docking ring 202 through the first control module;

[0061] S8. The underwater vehicle continues to navigate toward the docking platform 201 according to the second coordinate relationship between the first docking ring 102 and the second docking ring 202 until the first docking ring 102 and the second docking ring 202 are docked and fitted;

[0062] S9. After the first docking ring 102 and the second docking ring 202 are docked, the underwater vehicle transmits the working data to the second control module through the data transmission unit, and the battery assembly 204 charges the first docking system 1 through the wireless charging unit;

[0063] After data transmission and charging are completed, the underwater vehicle leaves the docking platform 201 to continue to perform the mission, and the communication sonar 206 sends the working data obtained by the second control module to the mother ship, so that the mother ship obtains the working data of the underwater vehicle.

[0064] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A resident underwater vehicle docking device based on acoustic guidance, characterized in that: It comprises a first docking system (1) installed on an underwater vehicle, and a second docking system (2) arranged on the seabed; The first docking system (1) transmits an acoustic interrogation signal, and the second docking system (2) receives the acoustic interrogation signal and replies an acoustic response signal to the first docking system (1), thereby determining the relative position between the underwater vehicle and the second docking system (2), and further achieving docking between the underwater vehicle and the second docking system (2).

2. The resident underwater vehicle docking device based on acoustic guidance according to claim 1, characterized in that: The first docking system (1) comprises a docking cover (101), a first docking ring (102) in the form of an annulus is arranged at the bottom of the docking cover (101), an external docking sonar assembly is mounted on the outer wall surface of the docking cover (101), and an internal docking sonar assembly is mounted on the inner wall surface of the docking cover (101), and both the external docking sonar assembly and the internal docking sonar assembly are used to emit acoustic interrogation signals downwards.

3. The resident underwater vehicle docking device based on acoustic guidance as claimed in claim 2, characterized in that: The docking cover (101) is hemispherical.

4. The resident underwater vehicle docking device based on acoustic guidance as claimed in claim 2, characterized in that: The external docking sonar assembly comprises a plurality of external docking sonars (103) evenly spaced and distributed, and a single external docking sonar (103) is mounted on the outer wall surface of the docking cover (101) via a first mounting bracket (105).

5. The resident underwater vehicle docking device based on acoustic guidance as claimed in claim 2, characterized in that: The inner docking sonar assembly comprises a plurality of inner docking sonars (104) evenly spaced apart, and a single inner docking sonar (104) is mounted on the inner wall surface of the docking cover (101) via a second mounting bracket (106).

6. The resident underwater vehicle docking device based on acoustic guidance as claimed in claim 2, characterized in that: The acoustic interrogation signals emitted downward by the external docking sonar assembly and the internal docking sonar assembly have a cone angle of 100° and a frequency of 80kHz-100kHz.

7. The resident underwater vehicle docking device based on acoustic guidance as claimed in claim 2, characterized in that: The second docking system (2) comprises a docking platform (201), a second docking ring (202) in an annular shape is arranged on the top of the docking platform (201), two centrally symmetrically distributed sonar beacons (205) are mounted on the docking platform (201), a communication sonar (206) is mounted in the middle of the docking platform (201), and a battery assembly (204) is mounted on the bottom of the docking platform (201); Receiving an acoustic interrogation signal emitted by the external docking sonar component or the internal docking sonar component through a sonar beacon (205), and replying an acoustic response signal to the external docking sonar component or the internal docking sonar component; The mission data of the underwater vehicle is transmitted to the mother ship of the underwater vehicle through the communication sonar (206).

8. The resident underwater vehicle docking device based on acoustic guidance as claimed in claim 7, characterized in that: The docking platform (201) is supported by a plurality of supporting legs (203).

9. The resident underwater vehicle docking device based on acoustic guidance as claimed in claim 7, characterized in that: The acoustic emission component of the communication sonar (206) is spherical, and the communication sonar (206) emits an acoustic signal in a range of 360° upwards, with a signal frequency of 5kHz-15kHz.

10. A docking method using the resident underwater vehicle docking device based on acoustic guidance as claimed in claim 7, characterized in that: The steps include: S1. A first control module is installed on the first docking ring (102), a wireless charging unit and a data transmission unit are integrated inside the first control module, and a second control module is installed on the docking platform (201); When the underwater vehicle enters the water and sails toward the docking platform (201), the external docking sonar component transmits an acoustic interrogation signal toward the second docking system (2), and the internal docking sonar component stops transmitting the signal; S2. When the underwater vehicle enters the acoustic signal receiving area of ​​the two sonar beacons (205), the two sonar beacons (205) receive the acoustic interrogation signal emitted by the external docking sonar assembly, and the two sonar beacons (205) emit corresponding acoustic response signals toward the first docking system (1), thereby replying; S3. After the external docking sonar assembly receives the acoustic response signal, the sonar host installed on the underwater vehicle calculates the relative position relationship between the external docking sonar assembly and the two sonar beacons (205) based on the time difference between the external docking sonar assembly transmitting the acoustic interrogation signal and receiving the corresponding acoustic response signal, and then generates a first coordinate relationship between the first docking ring (102) and the second docking ring (202) through the first control module; S4. The underwater vehicle navigates toward the docking platform (201) according to the first coordinate relationship between the first docking ring (102) and the second docking ring (202), thereby further approaching the docking platform (201); S5. When the underwater vehicle sails above the docking platform (201) and the vertical distance between the first docking ring (102) and the second docking ring (202) is less than 1 meter, the sonar host controls the external docking sonar component to stop signal transmission, and at the same time, controls the internal docking sonar component to transmit an acoustic interrogation signal; S6. The two sonar beacons (205) receive the acoustic interrogation signal emitted from the inner docking sonar assembly, and the two sonar beacons (205) emit corresponding acoustic response signals toward the first docking system (1) to reply; S7. After the inner docking sonar assembly receives the acoustic response signals sent by the two sonar beacons (205) to the inner docking sonar assembly, the sonar host calculates the relative position relationship between the inner docking sonar assembly and the two sonar beacons (205) according to the time difference between the inner docking sonar assembly transmitting the acoustic inquiry signal and receiving the corresponding acoustic response signal, and then generates a second coordinate relationship between the first docking ring (102) and the second docking ring (202) through the first control module; S8. The underwater vehicle continues to navigate toward the docking platform (201) according to the second coordinate relationship between the first docking ring (102) and the second docking ring (202), until the first docking ring (102) and the second docking ring (202) are docked and fitted; S9. After the first docking ring (102) and the second docking ring (202) are docked, the underwater vehicle transmits the working data to the second control module through the data transmission unit, and the battery assembly (204) charges the first docking system (1) through the wireless charging unit; After data transmission and charging are completed, the underwater vehicle leaves the docking platform (201) to continue to perform the mission, and the communication sonar (206) sends the working data acquired by the second control module to the mother ship, so that the mother ship acquires the working data of the underwater vehicle.

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