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Automatic tail end docking device and method for deep sea AUV docking

An automatic docking, deep-sea technology, applied in transportation and packaging, underwater operation equipment, ships, etc., can solve problems such as limited distance, and achieve the effect of improving the success rate, reducing the impact, and improving the underwater docking technology.

Inactive Publication Date: 2016-04-20
ZHEJIANG UNIV
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Problems solved by technology

[0004] However, the marine environment has its special, complex, and changeable characteristics: the optical path in the deep sea is affected by factors such as scattering of impurities and seawater absorption, and the distance that the light guidance method can guide is very limited, generally not exceeding 30 meters; in addition, the ocean currents in the deep sea It will also pose great challenges to the docking process of deep-sea AUVs

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  • Automatic tail end docking device and method for deep sea AUV docking
  • Automatic tail end docking device and method for deep sea AUV docking

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Embodiment Construction

[0026] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0027] refer to Figure 1-Figure 2 , the terminal automatic docking device for deep-sea AUV docking of the present invention includes an acoustic guidance unit, a monocular vision guidance unit and a rotatable docking platform control unit;

[0028] The control unit of the rotatable docking platform includes a horn-shaped guide cylinder 15, a base 13, an electronic compass module 9 installed in the middle of the horn-shaped guide cylinder 15, and a steering mechanism connecting the horn-shaped guide cylinder 15 and the base 13 11. The acoustic Doppler velocity profiler 14 fixed on the base 13 and the connection platform side controller 12. For the specific structure of the steering mechanism 11, please refer to the patent CN201310668750.1, rotatable connection platform control unit It is used to monitor and control the orientation of the bell-mouth guide tub...

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Abstract

The invention discloses an automatic tail end docking device and method for deep sea AUV docking. The device comprises an acoustic guide unit, a monocular vision guide unit and a rotatable connection platform control unit. The acoustic guide unit is used for achieving acoustic communication and positioning of a connection platform and a deep sea AUV, and automatically guiding the deep sea AUV in the remote range to the position near a connection platform. The monocular vision guide unit is used for guiding the deep sea AUV in the close range into the connection platform. The rotatable connection platform control unit is used for monitoring and controlling the direction of a horn mouth guide barrel. According to the automatic tail end docking method, influences of surroundings on the connection process are reduced, and the requirement for the deep sea AUV maneuvering characteristics is lowered, so that the deep sea AUV connection docking success rate is greatly improved, and the underwater connection technology of the deep sea AUV and the connection platform is improved.

Description

technical field [0001] The invention relates to the field of ocean technology and engineering, in particular to a terminal automatic docking method and device for deep-sea AUV docking. Background technique [0002] The underwater connection technology required by the deep-sea AUV (Underwater Autonomous Vehicle) connection platform is a highly comprehensive and complex technology, and the terminal automatic docking technology is a very critical and core technology. Technology. This technology can ensure that the deep-sea AUV can successfully complete the docking task, and is a prerequisite for the subsequent functions of the deep-sea AUV on the docking platform for power transmission, task assignment, and data upload. [0003] my country's research work in the field of marine technology and engineering started relatively late, and the underwater docking technology of deep-sea AUVs has just emerged in recent years. Patent CN201110178669.6 discloses a set of docking device fo...

Claims

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Application Information

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IPC IPC(8): B63C11/52
CPCB63C11/52
Inventor 杨灿军张涛李德骏邬国权林鸣威张俊有
Owner ZHEJIANG UNIV
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