Catamaran for launching and recovering AUV (Autonomous Underwater Vehicle)

Abstract

The utility model discloses a catamaran for launching and recovering an AUV (Autonomous Underwater Vehicle), which comprises two catamaran bodies, and the two catamaran bodies are connected together side by side through a truss to form the catamaran; the truss comprises a connecting truss and an installing truss, the two ends of the connecting truss are attached to the two ship bodies respectively, the installing truss is fixedly installed on the connecting truss, a positioning adsorption part used for pre-positioning the AUV is arranged on the installing truss, and a clamping assembly used for laying and recycling the AUV is arranged on the connecting truss; wherein the clamping assembly comprises two movable clamping jaws and two telescopic driving rods, the movable clamping jaws are rotationally installed on the connecting truss, one ends of the telescopic driving rods are hinged to the connecting truss, the other ends of the telescopic driving rods are hinged to the movable clamping jaws, and when the two telescopic driving rods synchronously extend, the two movable clamping jaws are driven to oppositely approach to clamp the AUV; and when the two telescopic driving rods are synchronously shortened, the two movable clamping jaws are driven to be separated back to back so as to distribute the AUV. The device has the advantages of high recovery efficiency and strong practicability.

Description

Technical Field

[0001] This utility model relates to the field of AUV recovery, specifically to a catamaran for deploying and recovering AUVs. Background Technology

[0002] Autonomous underwater vehicles (AUVs) are a new generation of underwater robots, possessing advantages such as a large operating range, high maneuverability, safety, and intelligence, thus becoming an important tool for completing various underwater tasks. Deployment and recovery are essential steps in the AUV's operation, crucial for improving its operational capabilities and endurance. The deployment and recovery of AUVs, in particular, presents significant challenges and remains a hot research topic in this field.

[0003] The existing deployment methods for AUVs mainly include the following: 1) manual deployment near the coast (the AUV has to travel a long distance to reach the designated location, which wastes the AUV's power and reduces its range); 2) deployment by installing a crane on a large ship (which is very labor-intensive and has low economic efficiency).

[0004] With technological advancements, most AUV deployment and recovery operations internationally are currently based on manned mother ships, heavily reliant on manual operation. The deployment process involves an unmanned surface vessel (USV) carrying the AUV along a pre-defined route to the mission area, where it is deployed. After completing its underwater mission, the AUV returns, and the USV autonomously recovers it. However, because the USV, AUV, and recovery equipment are all susceptible to interference from the marine environment, autonomous recovery of AUVs in high sea states is extremely difficult. Utility Model Content

[0005] To at least partially address the shortcomings of the existing technology, the main objective of this utility model is to provide a catamaran for deploying and recovering AUVs, which has the advantages of high recovery efficiency and strong practicality.

[0006] To achieve the above-mentioned main objectives, this utility model discloses a catamaran for deploying and recovering AUVs. The catamaran includes two ship bodies, which are connected side by side by a truss to form a catamaran.

[0007] The hull includes an outer shell, airbags, a control circuit board, a communication module, and a power module. The outer shell has a partition that separates the internal space of the outer shell into a sealed upper mounting cavity and a lower mounting cavity. The control circuit board, communication module, and power module are installed in the upper mounting cavity, and the airbags are installed in the lower mounting cavity. The outer shell has a water leakage hole that communicates with the lower mounting cavity. When the airbags contract, seawater is allowed to enter the lower mounting cavity through the water leakage hole, allowing the hull to enter a semi-submerged state. When the airbags inflate, the seawater in the lower mounting cavity is discharged through the water leakage hole, allowing the hull to float on the water surface.

[0008] The truss includes a connecting truss and a mounting truss. The two ends of the connecting truss are respectively attached to the two ship bodies. The mounting truss is fixedly installed on the connecting truss. The mounting truss is equipped with a positioning and adsorption device for pre-positioning the AUV. The connecting truss is equipped with a clamping assembly for deploying and recovering the AUV. The clamping assembly includes two movable jaws and two telescopic drive rods. The movable jaws are rotatably mounted on the connecting truss. One end of the telescopic drive rod is hinged to the connecting truss, and the other end of the telescopic drive rod is hinged to the movable jaw. When the two telescopic drive rods extend synchronously, they drive the two movable jaws to move closer together to clamp the AUV. When the two telescopic drive rods retract synchronously, they drive the two movable jaws to separate away from each other to deploy the AUV.

[0009] According to one specific embodiment of this utility model, the telescopic drive rod is an electric push rod.

[0010] According to a specific embodiment of this utility model, the number of connecting trusses is two or more, and the two or more connecting trusses are arranged at intervals.

[0011] According to a specific embodiment of this utility model, the positioning adsorption component is an electromagnet or a suction cup module.

[0012] According to a specific embodiment of the present invention, at least one ship body is provided with a camera module for alignment, and the AUV is provided with a positioning color ring. The camera module is used to identify the position of the positioning color ring.

[0013] As a preferred embodiment of this invention, the catamaran further includes a conduit, through which cables within the two hulls are connected by conductors passing through the conduit.

[0014] As a preferred embodiment of this invention, the ship body also includes an antenna module, which is disposed on the top wall of the hull and electrically connected to the control circuit board.

[0015] This invention offers the following advantages: It provides a catamaran for deploying and recovering AUVs. The two hulls are connected side-by-side by a truss to form a symmetrical structure. This creates a space in the middle of the two hulls for deploying and recovering the AUVs, resulting in a more compact structure. Furthermore, it reduces surface resistance, enabling longer voyages and indirectly improving the AUV's endurance. Additionally, this invention utilizes a positioning and clamping assembly to first position and then secure the AUV during recovery. This eliminates the need for manual intervention during the entire recovery process, resulting in more precise clamping.

[0016] To more clearly illustrate the purpose, technical solution, and advantages of this utility model, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0017] Figure 1This is a first perspective view of the catamaran of this utility model;

[0018] Figure 2 This is a second perspective view of the catamaran of this utility model;

[0019] Figure 3 This is a top view of the catamaran of this utility model;

[0020] Figure 4 It is a 3D view of the truss section;

[0021] Figure 5 It is a three-dimensional sectional view of the ship's hull;

[0022] Figure 6 This is a schematic diagram of a catamaran in a floating state;

[0023] Figure 7 This is a schematic diagram of a catamaran in a semi-submerged state. Detailed Implementation

[0024] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. Many specific details are set forth in the following description with reference to the embodiments in order to provide a full understanding of this utility model; however, it should be understood that the following embodiments and detailed descriptions are for illustrative purposes only and do not limit the scope of protection of this utility model.

[0025] Examples of catamarans for deploying and recovering AUVs, such as Figure 1-3 As shown, the catamaran includes a truss 10 and two hulls 20. The two hulls 20 are connected side by side (in the left-right direction) by the truss 10 to form a catamaran. The truss 10 is preferably made of a lightweight material, which has high strength and light weight.

[0026] Please combine Figure 4 The truss 10 includes a connecting truss 11 and a mounting truss 12; the two ends of the connecting truss 11 are respectively attached to two ship bodies 20, wherein there are two or more connecting trusses 11, and the two or more connecting trusses 11 are spaced apart (in the fore-and-aft direction); the mounting truss 12 is fixedly installed on the connecting truss 11, and the mounting truss 12 is provided with a positioning adsorption element 13 for pre-positioning the AUV. Preferably, the positioning adsorption element 13 is an electromagnet, and in some optional embodiments, the positioning adsorption element 13 can also be a suction cup module.

[0027] The connecting truss 11 is equipped with a clamping assembly 30 for deploying and recovering AUVs. The clamping assembly 30 has different postures to cooperate in clamping and deploying the AUV. The clamping assembly 30 includes two movable jaws 31 and two telescopic drive rods 32, which are preferably electric push rods. The movable jaws 31 are rotatably mounted on the connecting truss 11. One end of the telescopic drive rod 32 is hinged to the connecting truss 11, and the other end of the telescopic drive rod 32 is hinged to the movable jaws 31. When the two telescopic drive rods 32 extend synchronously, they drive the two movable jaws 31 to move closer together to clamp the AUV. When the two telescopic drive rods 32 retract synchronously, they drive the two movable jaws 31 to separate away from each other to deploy the AUV.

[0028] To facilitate the positioning and clamping of the AUV by the clamping assembly 30, optionally, at least one ship body 20 is provided with a camera module 40 for alignment, and the AUV is provided with a positioning color ring 50. The camera module 40 is used to identify the position of the positioning color ring 50. When retrieving the AUV, the camera module 40 and the positioning suction component 13 are used to achieve precise positioning, thereby achieving precise clamping of the positioning color ring 50 by the clamping assembly 30.

[0029] Please combine Figure 5 In this embodiment, the vessel body 20 has a floating state and a semi-submerged state. For example, the vessel body 20 includes an outer shell 21, an airbag 22, a control circuit board 23, a communication module 24, and a power module 25. The outer shell 21 is provided with a partition 26, which separates the internal space of the outer shell 21 and forms a mutually sealed upper mounting cavity 27 and a lower mounting cavity 28. The control circuit board 23, the communication module 24, and the power module 25 are installed in the upper mounting cavity 27, and the airbag 22 is installed in the lower mounting cavity 28. The outer shell 21 is provided with a water leakage hole 281 that communicates with the lower mounting cavity 28. The upper mounting cavity 27 is provided with an air pump 29 for controlling the airbag 22. When the airbag 22 contracts, seawater is allowed to enter the lower mounting cavity 28 through the water leakage hole 281 so that the vessel body 20 enters a semi-submerged state. When the airbag 22 inflates, the seawater in the lower mounting cavity 28 is discharged through the water leakage hole 281 so that the vessel body 20 floats on the water surface.

[0030] Please combine Figure 6-7 When carrying out the deployment mission, after the catamaran reaches the designated location, it controls the deflation and contraction of the airbag 22. At this time, seawater enters the lower installation cavity 28 through the water leakage hole 281, causing the catamaran to sink and enter a semi-submersible state; the AUV and the movable gripper 31 are submerged in the water; then, the telescopic drive rod 32 retracts and drives the movable gripper 31 to open, and the AUV begins to operate; then, the airbag 22 inflates to expel the seawater in the lower installation cavity 28, the catamaran rises and enters a floating state, and waits for operation in the sponge.

[0031] When performing a recovery mission, the AUV surfaces after completing its underwater operations and sends a position signal to the catamaran, which then heads toward the AUV. Once it reaches the corresponding position, the control airbag 22 deflates and contracts, causing the catamaran to sink and enter a semi-submerged state. The camera module 40 is used for alignment. When alignment is complete, the positioning suction device 13 is used to hold the AUV (specifically, the metal shell 21 at the corresponding position on the AUV). Then, the telescopic drive rod 32 extends, causing the movable gripper 31 to close and fix the AUV, thus completing the recovery.

[0032] Furthermore, the catamaran also includes a conduit 60, through which cables within the two hull bodies 20 are connected by wires passing through the conduit 60, thereby enabling synchronous control of the two hull bodies 20. Simultaneously, the hull body 20 also includes an antenna module 70, which is mounted on the top wall of the outer shell 21 and electrically connected to the control circuit board 23. The antenna module 70 is used to acquire AUV information (such as position information).

[0033] The catamaran of the embodiment has low resistance when running on the water surface, which can achieve long-distance voyage to reach the designated AUV deployment location, as well as AUV deployment and recovery operations at multiple locations, increasing AUV endurance, reducing manual deployment and recovery, and improving economic efficiency.

[0034] Although the present invention has been described above through embodiments, the above embodiments are only used to exemplarily describe possible implementations of the present invention, and are not intended to limit the scope of protection of the present invention. Any equivalent substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection defined by the claims of the present invention.

Claims

1. A catamaran for deploying and recovering AUVs, characterized in that, The catamaran comprises two hulls, which are connected side-by-side by trusses to form the catamaran. The vessel body includes an outer shell, an airbag, a control circuit board, a communication module, and a power module. The outer shell has a partition that separates the internal space of the outer shell, forming a sealed upper mounting cavity and a lower mounting cavity. The control circuit board, the communication module, and the power module are installed in the upper mounting cavity, and the airbag is installed in the lower mounting cavity. The outer shell has a drainage hole communicating with the lower mounting cavity. When the airbag contracts, seawater is allowed to enter the lower mounting cavity through the drainage hole, allowing the vessel body to enter a semi-submersible state. When the airbag inflates, the seawater in the lower mounting cavity is discharged through the drainage hole, allowing the vessel body to float on the water surface. The truss includes a connecting truss and a mounting truss. The two ends of the connecting truss are respectively attached to the two ship bodies. The mounting truss is fixedly installed on the connecting truss. The mounting truss is equipped with a positioning and adsorption device for pre-positioning the AUV. The connecting truss is equipped with a clamping assembly for deploying and recovering the AUV. The clamping assembly includes two movable jaws and two telescopic drive rods. The movable jaws are rotatably mounted on the connecting truss. One end of each telescopic drive rod is hinged to the connecting truss, and the other end is hinged to the movable jaw. When the two telescopic drive rods extend synchronously, they drive the two movable jaws to move closer together to clamp the AUV. When the two telescopic drive rods retract synchronously, they drive the two movable jaws to separate in opposite directions to deploy the AUV.

2. The catamaran for deploying and recovering AUVs according to claim 1, characterized in that: The telescopic drive rod is an electric push rod.

3. The catamaran for deploying and recovering AUVs according to claim 1, characterized in that: The number of connecting trusses is two or more, and the two or more connecting trusses are spaced apart.

4. The catamaran for deploying and recovering AUVs according to claim 1, characterized in that: The positioning and adsorption component is an electromagnet or a suction cup module.

5. The catamaran for deploying and recovering AUVs according to claim 1, characterized in that: At least one of the ship bodies is equipped with a camera module for alignment, and the AUV is equipped with a positioning color ring. The camera module is used to identify the position of the positioning color ring.

6. The catamaran for deploying and recovering AUVs according to claim 1, characterized in that: The catamaran further includes a conduit through which cables within the two hulls are connected via conductors passing through the conduit.

7. The catamaran for deploying and recovering AUVs according to claim 1, characterized in that: The ship body also includes an antenna module, which is disposed on the top wall of the outer shell and electrically connected to the control circuit board.

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