Movable deep-sea seated AUV (Autonomous Underwater Vehicle) resident recovery base station based on acousto-optic guidance

Abstract

The invention discloses a movable deep-sea seated AUV (Autonomous Underwater Vehicle) resident recovery base station based on acousto-optic guidance. The movable deep-sea seated AUV resident recovery base station comprises a base station main body frame, a moving mechanism of a plurality of vector propellers, a docking guide recovery device, a guide positioning device, a buoyancy module and an energy data transmission module, the docking recovery device is arranged at the top of the base station body and used for guiding connection in the vertical direction, and the positioning system comprises an acoustic guiding positioning device and an optical guiding positioning device and can achieve accurate positioning docking of AUV autonomous homeward voyage. A main body of the base station can unpowered sink to the seabed under the action of self gravity, movement is achieved through a plurality of propellers, and the base station is suitable for butt joint recovery of a seated AUV with a bottom round support and has the autonomous moving capacity, the energy supply function, the data transmission function and high adaptability. And after successful connection, the connection station performs underwater wireless power supply and wireless data transmission on the AUV residing in the deep sea, so that the flexibility and efficiency of the AUV working in the deep sea can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical fields of deep-sea exploration technology and underwater exploration vehicle stay and recovery technology, and in particular to a movable deep-sea sitting AUV stay and recovery base station based on acoustic-optical guidance. Background Art

[0002] In deep-sea exploration, autonomous underwater vehicles (AUVs) play an important role. The autonomous recovery method of deep-sea AUVs is also a key link to ensure the safe and efficient recovery of AUVs after the completion of tasks, including surface ship pole cable recovery, platform recovery, containment recovery, and cage recovery methods. However, AUVs face problems such as energy supply and data transmission during deep-sea operations. Traditional AUV recovery methods usually require the cooperation of a mother ship, which not only increases costs and complexity but also limits the operation time and scope of AUVs. The surface ship mode is restricted by sea conditions, has a low level of autonomy, and low operation efficiency, while the deep-sea carrier platform mode requires a large deep-sea carrier and has a relatively large difficulty in dynamic recovery docking.

[0003] In addition to the above methods, another method is to fix a box or a recovery device to the seabed. This method requires the AUV to enter the fixed recovery device by itself. However, due to the uncertainty of water flow and the limitations of the AUV's own design, the AUV can only move in a quasi-linear motion in water and cannot directly move horizontally and vertically in water. Especially when affected by lateral water flow in water, it is easy to deviate from the course and cannot quickly reach the predetermined position.

[0004] Using a seabed stay dock is one of the important ways for long-term AUV stay and exploration. The seabed stay dock directly extends the power supply system and communication system from land to the seabed, which can solve the two major problems of continuous power supply and massive data transmission faced by AUVs during long-term operation on the seabed, and can achieve high-resolution in-situ real-time observation of specific sea areas directly from the seabed for a long time.

[0005] Generally, the seabed docking station uses the "drilling type" docking, which has a single guidance method and requires high motion control accuracy for underwater vehicles. For underwater vehicles with six-degree-of-freedom full-drive capabilities, the existing seabed docking stations do not have targeted structural designs to give full play to their maneuverability advantages, and still have high docking difficulty. The publication number is CN112960086A, which discloses a seated AUV underwater docking platform, which achieves capture through the cooperation of a capture arm and an arresting cable device, but is only suitable for fish-shaped AUVs, and cannot meet the vertical flat body such as underwater vehicles such as the Wukong and underwater helicopters AUH vertically buoyant seated docking. Using the seated inclusive trumpet recovery method, the AUV only needs to install a circular full-steering bracket at the bottom, and the circular base bracket has no specific direction restrictions. The AUV can dock in any direction without the need to accurately align with a specific direction like other shaped bases. It has high adaptability, uses a motor-driven pin device, does not have traditional arresting cables and mechanical arm devices, has low control difficulty, and is easy to dock.

[0006] The static docking and recovery method of the underwater platform base station is simple and convenient, and can form an underwater observation network. It is suitable for the long-term deep-sea AUV working environment. It can solve the problems of the traditional deployment and recovery method, which requires professional operators to operate it. The process is cumbersome and complicated, there are safety hazards in bad sea conditions, and frequent deployment and recovery are inconvenient, causing energy consumption. Therefore, it is of great significance to develop a base station that can autonomously reside and recover AUVs in the deep sea.

[0007] After sinking to the seabed, conventional deep-sea landers in the prior art can only carry out fixed-point detection or carry out small-scale fixed-point detection at the first landing point, and cannot expand the detection range to a certain range of the seabed. The operation range is greatly limited, and the docking recovery base station cannot realize mobile observation. Most of them adopt the method of floating up and lifting from the water surface for recovery, which cannot achieve long-term and large-scale seabed detection. The publication number is CN118358729A, which discloses a deep-sea lander and operation method with dual-function detection capabilities of fixed point and cruise. It is deployed to the seabed by a mother ship, and cannot achieve the ability of long-term seabed detection. The recovery platform relies on the mother ship for fixed-point deployment and recovery, and has no functions of movement and energy transmission information interaction, and cannot meet the ability of long-term seabed in-situ observation. Summary of the invention

[0008] In view of the shortcomings in the above-mentioned existing production technology, the applicant provides a rationally structured mobile deep-sea seated AUV residence and recovery base station based on sound and light guidance, thereby effectively solving the problem of being unable to quickly and accurately reside and recover AUVs. The base station can move autonomously in the deep sea and provide AUVs with energy supply, data transmission and detection residence functions.

[0009] The technical solution adopted by the present invention is as follows:

[0010] A movable deep - sea sitting AUV docking and recovery base station based on acousto - optic guidance, comprising a docking and recovery base station system, in which an underwater navigation detector is cooperatively arranged. The docking mode of the underwater navigation detector and the docking and recovery base station system adopts dynamic vertical docking recovery or static vertical docking recovery;

[0011] The structure of the docking and recovery base station system is as follows: it includes a base station main frame. At the bottom surface of the base station main frame, a bottom support of the docking deck is arranged. On the top surface of the bottom support of the docking deck, a docking deck is installed through docking buffer springs. On the docking deck, an optical guidance beacon and a guiding pattern are arranged. Above the docking deck, a mechanical guidance inclusive fairing and a mechanical locking pin mechanism are also installed. Outside the mechanical guidance inclusive fairing, a top buoyancy block is arranged, and acoustic guidance beacons are symmetrically installed on the top buoyancy block. On both sides of the bottom support of the docking deck, a control cabin and a power supply cabin are respectively installed. On the top surface of the base station main frame, underwater lighting lamps and cameras are also installed at intervals. Inside the base station main frame, four horizontal thrusters and two vertical thrusters are installed.

[0012] As a further improvement of the above - mentioned technical solution:

[0013] A lifting hook is arranged on the top surface of the base station main frame.

[0014] The mechanical guidance inclusive fairing adopts a funnel - shaped shell or a horn - shaped shell with an upward opening.

[0015] The mechanical locking pin mechanism includes a locking driving device and a locking bolt. The locking bolt driven by the driving servo - motor of the locking driving device extends forward, which can ensure safe and firm docking.

[0016] Both the control cabin and the power supply cabin adopt pressure - resistant cavities.

[0017] The structure of the underwater navigation detector is as follows: it includes a main mother boat. On the main mother boat, a propulsion device and a main thruster are installed. At the bottom of the main mother boat, a docking circular bracket is arranged. Inside the inner circle of the docking circular bracket, a wireless charging receiving coil is installed through an internal bracket. At the middle position of the bottom of the main mother boat, an optical vision guidance device is arranged, and an acoustic guidance device is arranged beside the optical vision guidance device.

[0018] A communication antenna and a USBL transducer are installed on the top surface of the main mother boat.

[0019] The main mother boat adopts a symmetric structure in the up - down, left - right directions, which is suitable for the application scenario of rapid vertical diving and floating detection.

[0020] The wireless charging receiving coil corresponds to the wireless charging transmitting coil module.

[0021] The resident recovery base station system is placed on the seabed and is connected to the surface communication buoy and the shore-based control center through an optical fiber cable laid on the seabed for data and energy transmission. Multiple base stations are directly connected to each other to form a seabed observation system. The seabed observation network equipment sends data to different shore stations, that is, multiple shore stations can obtain and back up the observation data of the seabed observation network equipment.

[0022] The beneficial effects of the present invention are as follows:

[0023] The structure of the present invention is compact, reasonable and easy to operate. The frame structure and the landing deck adopted can enable the vehicle to enter the dock in a vertical landing motion mode, reduce the docking difficulty, improve the success rate and increase the operability.

[0024] The present invention adopts a mechanical guiding device. The mechanical guiding device as a whole uses a conical recovery cage or a guiding cover structure of other shapes as the docking target. This structure usually has a relatively large entrance and internal space, which can allow the AUV to enter within a certain deviation range. It not only increases the landing space of the vehicle and improves the docking success rate, but also does not increase the water resistance during the deployment of the dock.

[0025] The present invention adopts the design of arranging guiding lights and guiding patterns on the landing deck as the optical guiding during the docking of the vehicle, which improves the docking success rate.

[0026] The mechanical guiding device arranged on the main deck of the present invention can correct the deviation of the vehicle in a simple, efficient and continuous manner during the descent and after landing of the vehicle, so that it moves to the final docking position in the dock and stops, reducing the dependence on optical guiding and improving the docking success rate.

[0027] The driving and locking device arranged on the docking deck of the present invention can reliably lock the vehicle after docking to prevent the vehicle from being displaced by disturbances such as water flow.

[0028] The wireless charging coil and the optical communication device adopted by the present invention can realize the interaction of energy and data with the vehicle, improving the functionality of the underwater dock.

[0029] The pressing and locking pin device in the dock adopted by the present invention, after successful docking, the driving motor drives the locking screw to lock the bottom bracket of the underwater detector, which can reliably fix it in the dock, improve the deployment success rate and avoid accidents.

[0030] The movable thruster device adopted by the present invention, when the vehicle approaches the docking underwater dock, by moving the base station, keeps the AUV and the central axis of the base station in a straight line, which can effectively compensate for the docking deviation problem of the underactuated underwater unmanned vehicle and improve the docking success rate.

[0031] The present invention can effectively solve the problems of inconvenient seating docking and limited energy supply for the recovery of the vertical flat body or the underwater helicopter (AUH). BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the movable deep-sea seating detector and the resident recovery base station of the present invention (working mode state one).

[0033] Figure 2 It is a schematic diagram of the overall structure of the movable deep-sea seating detector and the resident recovery base station of the present invention (working mode state two).

[0034] Figure 3 It is a schematic diagram of the energy transmission and communication method between the deep-sea detector and the resident base station of the present invention.

[0035] Figure 4 It is a schematic diagram of the process of the deep-sea detector returning and seating for docking with the resident base station of the present invention.

[0036] Figure 5 It is a schematic diagram of the docking and returning to the dock of the deep-sea detector and the resident base station of the present invention.

[0037] Figure 6 It is a structural diagram of the movable seating resident base station based on acoustic and optical guidance of the present invention.

[0038] Figure 7 It is a top view of the structure of the movable seating resident base station based on acoustic and optical guidance of the present invention.

[0039] Figure 8 It is a partial structural schematic diagram of the docking and recovery device of the movable seating resident base station based on acoustic and optical guidance of the present invention.

[0040] Figure 9 It is a schematic diagram of the structure of the underwater navigation detector of the present invention.

[0041] Figure 10 It is a front view of the structure of the underwater navigation detector of the present invention.

[0042] Wherein: 1. Resident recovery base station system; 2. Underwater navigation detector;

[0043] 101. Base station main frame; 102. Hoisting hook; 103. Top buoyancy block; 104. Mechanical guiding and inclusive fairing; 105. Mechanical locking pin mechanism;

[0044] 105-A. Locking drive device; 105-B. Telescopic screw;

[0045] 106. Docking deck; 107. Docking buffer spring; 108. Acoustic guiding beacon; 109. Optical guiding beacon; 110. Guiding pattern; 111. Underwater lighting lamp; 112. Camera; 113. Horizontal thruster; 114. Vertical thruster; 115. Control cabin; 116. Power supply cabin; 117. Bottom bracket of docking deck; 118. Wireless charging transmitting coil module

[0046] 201. Communication antenna; 202. USBL transducer; 203. Propulsion device; 204. Main thruster; 205. Docking circular bracket; 206. Internal bracket; 207. Wireless charging receiving coil; 208. Main body mother ship; 209. Optical vision guiding device; 210. Acoustic guiding device Detailed implementation manners

[0047] The following combines with the drawings to illustrate the detailed implementation manners of the present invention

[0048] As Figures 1-10 shown, the movable deep-sea sitting AUV dwelling and recovery base station based on acoustic and optical guidance of this embodiment includes a dwelling and recovery base station system 1. An underwater navigation detector 2 is cooperatively arranged in the dwelling and recovery base station system 1. The docking mode between the underwater navigation detector 2 and the dwelling and recovery base station system 1 adopts dynamic vertical docking recovery or static vertical docking recovery

[0049] The structure of the dwelling and recovery base station system 1 is as follows: It includes a base station main frame 101. A bottom bracket 117 of the docking deck is arranged on the bottom surface of the base station main frame 101. A docking deck 106 is installed on the top surface of the bottom bracket 117 of the docking deck through a docking buffer spring 107. An optical guiding beacon 109 and a guiding pattern 110 are arranged on the docking deck 106. A mechanical guiding and inclusive fairing 104 and a mechanical locking pin mechanism 105 are also installed on the upper part of the docking deck 106. A top buoyancy block 103 is arranged outside the mechanical guiding and inclusive fairing 104, and acoustic guiding beacons 108 are symmetrically installed on the top buoyancy block 103. A control cabin 115 and a power supply cabin 116 are respectively installed on both sides of the bottom bracket 117 of the docking deck. An underwater lighting lamp 111 and a camera 112 are also installed at intervals on the top surface of the base station main frame 101. Four horizontal thrusters 113 and two vertical thrusters 114 are installed inside the base station main frame 101

[0050] A lifting hook 102 is arranged on the top surface of the base station main frame 101

[0051] The mechanical guiding and inclusive fairing 104 adopts a funnel-shaped shell or a horn-shaped shell with an opening facing upwards

[0052] The mechanical locking pin mechanism 105 includes a locking drive device (105-A) and a locking bolt (105-B). The locking bolt (105-B) driven by the locking drive device (105-A) extends forward through a driving servo motor, which can ensure a safe and firm docking.

[0053] Both the control chamber 115 and the power supply chamber 116 adopt pressure-resistant cavities.

[0054] The structure of the underwater navigation detector 2 is as follows: it includes a main body mother ship 208, on which a propulsion device 203 and a main thruster 204 are installed. A docking circular bracket 205 is provided at the bottom of the main body mother ship 208, and a wireless charging receiving coil 207 is installed through an internal bracket 206 inside the inner circle of the docking circular bracket 205; a light vision guiding device 209 is provided at the middle position of the bottom of the main body mother ship 208, and an acoustic guiding device 210 is provided beside the light vision guiding device 209.

[0055] A communication antenna 201 and a USBL transducer 202 are installed on the top surface of the main body mother ship 208.

[0056] The main body mother ship 208 adopts a symmetric structure in the up-down, left-right directions, which is suitable for the application scenario of rapid vertical diving and floating detection.

[0057] The wireless charging receiving coil 207 corresponds to the wireless charging transmitting coil module 118.

[0058] The resident recovery base station system 1 is deployed on the seabed, and is connected to the surface communication buoy and the shore-based control center through an optical fiber cable laid on the seabed for data and energy transmission. Multiple base stations are directly connected to each other to form a seabed observation system. The seabed observation network equipment sends data to different shore stations, that is, multiple shore stations can obtain and back up the observation data of the seabed observation network equipment.

[0059] Such as Figure 1 and Figure 2 As shown, the working modes of the seabed resident base station and the detector are given, including: fixed-point cruise detection mode and mobile cruise detection mode. The docking and recovery methods of the underwater navigation detector 2 and the resident base station include: dynamic vertical docking recovery and static vertical docking recovery.

[0060] The transfer base station is provided with:

[0061] A guiding mechanism, which is arranged on the top plate and is used to guide the AUV for vertical transfer; the mechanical guiding and inclusive fairing 104 in this embodiment is a funnel-shaped shell or a horn-shaped shell installed on the top plate and with an upward opening.

[0062] The mechanical locking bayonet mechanism 105 includes a locking drive device 105-A and a locking bolt 105-B. The locking drive device 105-A drives the locking bolt 105-B driven by the servo motor to extend forward, which can ensure safe and firm docking. After the underwater robot is in place, it drives the locking part to cooperate with the circular docking bracket 205 at the bottom of the underwater robot to achieve locking, applies sufficient pressing force to the docking circular bracket 205 to make it reliably fixed in the dock to prevent it from being thrown out, and drives the locking part to disengage from the underwater navigation detector 2 to achieve unlocking.

[0063] The position adjustment unit includes four acoustic guidance beacons 108 that are evenly arranged at 90° angles apart in the circumferential direction. The underwater navigation detector 2 adjusts its posture through optical guidance. The optical guidance process of the underwater detector uses vision to perform target recognition and detection on the guidance light array and the guidance pattern 110 and the P3P algorithm to solve the relative posture.

[0064] The navigation and positioning unit, the acoustic guidance beacon 108 and the optical guidance beacon 109 are respectively installed on both sides of the upper part of the base station body. The acoustic guidance beacon 108 is used for recovery guidance in the long range, and the optical guidance beacon 109 and the visual recognition guidance pattern 110 are used to guide the underwater navigation detector 2 to dock in the short range; when the underwater navigation detector 2 is far away from the bottom of the water, the long-distance acoustic guidance beacon 108 provides an acoustic positioning signal for the underwater navigation detector 2 to locate.

[0065] The control compartment 115 and the power supply compartment 116 adopt a pressure-resistant cavity. The control compartment 115 is equipped with a main control circuit and is the core of the docking system. It is connected to other power supply equipment and communication equipment through a watertight cable. The power supply compartment 116 is connected to the wireless charging transmitting coil module 118 through electromagnetic coupling with the wireless charging receiving coil 207 of the underwater navigation detector 2 to provide power for the resident underwater navigation detector 2.

[0066] Communication module: The acoustic communication module is used for long-distance communication in deep-sea environments, and the USBL device is used for precise positioning and short-distance communication.

[0067] Before use, the resident recovery base station system 1 is first sunk to the seabed position of the specified depth through the top buoyancy block 103. Then start the acoustic guidance beacon 108 and the optical guidance beacon 109 to wait for the arrival of the AUV. When the AUV enters the acoustic positioning range of the base station, the acoustic guidance beacon 108 starts working, accurately measures the position of the AUV and sends it to the optical guidance beacon 109. The optical guidance beacon 109 adjusts the light emitting mode of the LED array and the viewing angle of the camera 112 according to the received position information, and guides the AUV to gradually approach the base station. When the AUV is about to contact the base station, the locking drive device 105-A drives the telescopic screw 105-B to quickly extend and lock the docking bracket component of the AUV to complete the docking process. Afterwards, the power supply compartment 116 charges the AUV, transmits data to the resident base station through underwater acoustic wireless communication, and then transmits the collected data to the onshore control center.

[0068] The docking deck 106 is provided with an optical guidance beacon 109 and a guidance pattern 110. During the descent approach process of the underwater navigation probe 2, as shown in FIG. Figure 5 As shown, the optical guidance beacon 109 and the guidance pattern 110 are captured by the optical visual guidance device 209 (on both sides). The underwater navigation detector 2 can determine its own position and make adjustments to make it land in the center of the deck as much as possible, wherein the guidance light is used for medium-distance guidance within a range of 20m, and the guidance pattern 110 is used for relatively close-range docking guidance, so that the position and attitude of the aircraft are as suitable as possible for landing requirements.

[0069] The moving mechanism is installed on the main frame 101 of the base station, and includes four horizontal thrusters 113 and two vertical thrusters 114. The driving device adopts an electric motor, and realizes the autonomous movement and posture adjustment of the base station by controlling multiple propulsion motors.

[0070] The stationary docking recovery device is arranged on the top of the main frame 101 of the base station. The AUV docking adopts a telescopic screw 105-B docking device driven by a servo motor, which can match the docking device of the AUV to achieve stable stationing of the AUV. The energy supply interface is connected to the energy storage module to provide energy supply for the AUV through contact wireless charging. The data transmission interface adopts underwater acoustic communication technology to achieve efficient data transmission between the AUV and the base station.

[0071] The workflow of the entire docking system is as follows:

[0072] (1) After receiving the signal on the sea surface, the AUV begins to sink by adjusting its own buoyancy;

[0073] (2) When the distance from the underwater connection base station is relatively far during the sinking process, USBL acoustic positioning is adopted to continuously approach the seabed base station. During this process, the AUV continuously adjusts the heading angle, pitch angle and center of gravity through its own thrusters to continuously reduce the lateral deviation and orientation angle deviation between the AUV and the central axis of the connection station;

[0074] (3) When the distance between the AUV and the connection station is within a certain range, the bottom camera 112 captures the position of the underwater light array, and the vertical thruster is activated to complete the docking relying on optical guidance;

[0075] (4) The AUV enters the connection station through the flared guiding mechanism. When the head touches the bottom docking deck 106, the locking drive device 105-A drives the mechanical latch through the drive servo motor, which can ensure a safe and firm docking. After the underwater robot arrives, the drive locking part cooperates with the underwater robot to achieve locking, and applies sufficient pressing force to the vehicle bracket to reliably fix it in the dock and prevent it from being thrown out.

[0076] (5) After the AUV is docked and locked, the wireless power / signal transmission unit and the wireless power / signal reception unit are exactly coupled. The connection station and the underwater detector AUV use the coils and antennas in these two modules to perform underwater wireless power transmission and wireless signal transmission;

[0077] (6) After the charging and communication tasks are completed, the locking mechanism drives the latch to retract and releases the AUV. The AUV can continue to stay and detect on the seabed or float. The base station is connected to the shore through an undersea cable or communicates with a satellite through a communication buoy on the sea surface.

[0078] In the deep-sea exploration mission, after the AUV completes the mission, it finds the position of the base station through the acoustic positioning device and realizes stable residence with the base station through the AUV docking interface. The energy supply interface of the base station provides energy supply for the AUV, and at the same time the data transmission interface realizes data transmission between the AUV and the base station. According to the mission requirements, the base station autonomously moves to a new position through the moving mechanism and continues to provide services for the AUV. In this way, the AUV can perform exploration tasks for a long time and efficiently in the deep-sea environment.

[0079] According to the problems existing in the prior art, in this embodiment, a combination of acoustic guidance and optical guidance is adopted to accurately guide and dock the AUV, thereby realizing no blind area in the cabin entry, improving the safety and recovery speed of recovery. The specific method includes the following steps:

[0080] S1. When the seabed residence recovery base station receives the signal to be recovered transmitted by the AUV, two underwater acoustic transducers are used to send acoustic signals to the AUV;

[0081] S2. The AUV receives acoustic signals, calculates the time difference of different signals arriving at the AUV, calculates the relative position between the AUV and the seabed resident recovery base station based on this time difference, the AUV sends its position information and acoustic guidance status to the base station, the base station sends the acoustic guidance status to the AUV, the AUV adjusts its traveling direction according to the position information of the seabed resident recovery base station and approaches the seabed resident recovery base station. When the distance between the AUV and the seabed resident recovery base station is less than the set threshold, the seabed resident recovery base station stops sending acoustic signals and sends an optical guidance status to the AUV;

[0082] S3. The AUV detects the guiding light signal set on the seabed resident recovery base station. When the guiding light signal of the seabed resident recovery base station is detected, the position estimated by recognizing the relative position of the guiding light above the frame of the seabed resident recovery base station with respect to the coordinate system formed by the front guiding light is used. The AUV adjusts its moving direction according to the position information of the seabed resident recovery base station estimated in real time to ensure that the guiding light of the seabed resident base station always remains at the origin position of the front coordinate system;

[0083] S4. When the AUV moves directly above the base station, the guiding light located above the base station is recognized at this time, and the AUV enters the optical guidance docking and entering the bin state, records the moving time of the AUV towards the guiding light of the base station and the degree of the AUV entering the base station. Until the distance between the AUV and the rear wall of the base station meets the set value, the AUV is fixed and the capture task is completed;

[0084] Furthermore, if the AUV cannot detect any guiding light on the recovery base station, the AUV moves around the base station for one week until the guiding light is detected. If the guiding light still cannot be detected, it proves that the AUV is faulty, and a fault status is sent to the base station, and it automatically jettisons and floats up.

[0085] The above are only the preferred embodiments of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention. In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0086] Specific examples are used in the present invention to elaborate on the principles and implementation methods of the present invention. The description of the above embodiments is only for helping to understand the method and its core idea of the present invention.

[0087] The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. Any technical solutions implemented in accordance with the technical idea proposed by the present invention and any modifications made on the basis of the technical solutions disclosed in this application are within the protection scope of the present invention.

[0088] In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A movable deep - sea sitting - type AUV docking and recovery base based on acousto - optic guidance, characterized in that: It includes a resident recovery base station system (1), in which an underwater navigation detector (2) is cooperatively arranged. The docking method between the underwater navigation detector (2) and the resident recovery base station system (1) adopts dynamic vertical docking recovery or static vertical docking recovery; The structure of the resident recovery base station system (1) is as follows: it includes a base station main frame (101). At the bottom of the base station main frame (101), a docking deck bottom bracket (117) is arranged. On the top surface of the docking deck bottom bracket (117), a docking deck (106) is installed through a docking buffer spring (107). On the docking deck (106), an optical guiding beacon (109) and a guiding pattern (110) are arranged. Above the docking deck (106), a mechanical guiding inclusive fairing (104) and a mechanical locking pin mechanism (105) are also installed; outside the mechanical guiding inclusive fairing (104), a top buoyancy block (103) is arranged, and acoustic guiding beacons (108) are symmetrically installed on the top buoyancy block (103); on both sides of the docking deck bottom bracket (117), a control cabin (115) and a power supply cabin (116) are respectively installed. On the top surface of the base station main frame (101), underwater lighting lamps (111) and cameras (112) are also installed at intervals. Inside the base station main frame (101), four horizontal thrusters (113) and two vertical thrusters (114) are installed.

2. The movable deep-sea sitting AUV docking and recovery base station based on acousto-optic guidance according to claim 1, characterized in that: A lifting hook (102) is arranged on the top surface of the base station main frame (101).

3. The movable deep-sea sitting AUV station-keeping and recovery base station based on acousto-optic guidance according to claim 1, characterized in that: The mechanical guiding inclusive fairing (104) adopts a funnel-shaped shell or a horn-shaped shell with an upward opening.

4. The movable deep-sea sitting AUV docking and recovery base station based on acousto-optic guidance according to claim 1, characterized in that: The mechanical locking pin mechanism (105) includes a locking driving device (105-A) and a locking bolt (105-B). The locking driving device (105-A) drives the locking bolt (105-B) driven by a driving servo motor to protrude forward, which can ensure a safe and firm docking.

5. The movable deep-sea sitting AUV dwelling and recovery base station based on acousto-optic guidance according to claim 1, wherein: Both the control cabin (115) and the power supply cabin (116) adopt pressure-resistant cavities.

6. The movable deep-sea sitting AUV station-keeping and recovery base station based on acousto-optic guidance according to claim 1, characterized in that: The structure of the underwater navigation detector (2) is as follows: it includes a main body mother boat (208). On the main body mother boat (208), a propulsion device (203) and a main thruster (204) are installed. At the bottom of the main body mother boat (208), a docking circular bracket (205) is arranged. Inside the inner circle of the docking circular bracket (205), a wireless charging receiving coil (207) is installed through an internal bracket (206); at the middle position of the bottom of the main body mother boat (208), an optical vision guiding device (209) is arranged, and an acoustic guiding device (210) is arranged beside the optical vision guiding device (209).

7. The movable deep-sea sitting AUV docking and recovery base station based on acousto-optic guidance according to claim 6, characterized in that: A communication antenna (201) and a USBL transducer (202) are installed on the top surface of the main body mother boat (208).

8. The movable deep-sea sitting AUV station-keeping recovery base based on acousto-optic guidance according to claim 6, characterized in that: The main body mother boat (208) adopts an up-down, left-right symmetric structure, which is suitable for the application scenario of rapid vertical diving and floating detection.

9. The movable deep-sea sitting AUV dwelling and recovery base station based on acousto-optic guidance according to claim 6, characterized in that: The wireless charging receiving coil (207) corresponds to the wireless charging transmitting coil module (118).

10. The movable deep-sea sitting AUV stationary recovery base based on acousto-optic guidance according to claim 1, characterized in that: The resident recovery base station system (1) is deployed on the seabed and is connected to the surface communication buoy and the shore-based control center through an optical fiber cable laid on the seabed for data and energy transmission. Multiple base stations are directly connected to each other to form a seabed observation system. The seabed observation network equipment sends data to different shore stations, that is, multiple shore stations can obtain and back up the observation data of the seabed observation network equipment.

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