AUV (Autonomous Underwater Vehicle) underwater autonomous recovery system and method

Abstract

The invention discloses an underwater autonomous recovery system and method for an AUV (Autonomous Underwater Vehicle), and belongs to the technical field of AUV recovery. Comprising a carrying mother boat and an AUV, and a recovery dock cabin is arranged at the bottom of a fuselage of the carrying mother boat; recycling, locking and fixing, signal and data interaction and energy supply of the AUV are realized through the recycling dock cabin; the exposed part of the recovered AUV and the molded surface of the bottom of the fuselage carrying the mother boat are in an integrated streamline shape; the AUV is provided with a control system, a thruster, an ascending guiding device, a posture adjusting device and a visual processing system. A conformal carrying type AUV underwater autonomous recovery technology is adopted, the wing body fusion underwater glider serves as an underwater docking platform, the purpose of load carrying is achieved on the premise that the overall streamline hydrodynamic layout of the glider is kept or is not changed greatly, the detection capacity of the glider is improved, the voyage of a small aircraft, namely the AUV, is improved, and the underwater docking platform is suitable for underwater docking. The purposes of remote delivery, deep sea reconnaissance and the like are achieved.

Description

technical field [0001] The invention belongs to the technical field of AUV recycling, and in particular relates to an AUV underwater autonomous recycling system and method. Background technique [0002] AUV (Autonomous Underwater Vehicle), as a marine unmanned navigation equipment with wide application, high practicability and broad prospects, has played a huge role in marine development, underwater search and rescue, etc. Among them, the autonomous recovery technology of AUV is the key to the research of AUV one of the technologies. Among them, the recovery process of underwater autonomous docking is more flexible, can avoid being affected by terrain and marine attachments, and has higher operating efficiency, so it is more used in the autonomous recovery process of AUVs. [0003] The wing-body fusion glider is suitable for long-distance navigation, with low noise and good stealth, and can be used for long-term latent navigation. However, due to its special shape character...

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Problems solved by technology

[0004] The current research mainly focuses on the recovery of rotator-type AUVs, and the recovery devices are mostly bell-shaped; in the prior art, it is recorded that a lifting table-type AUV release and recovery device is used, which takes up a large volume and is difficult for the shape of the recovered AUV Due to the large restrictions on parameters such as volume, it is not suitable for flat underwater gliders to recover AUVs

[0005] At present, there are also some studies aimed at the recovery and release of AUVs by the wing-body fusion underwater glider. In the prior art, a suspended AUV release and recovery device is used, but this device is placed inside the glider. During the process of AUV release and recovery, the wing The original hydrodynamic layout of the body-integrated underwater glider has changed greatly, which increases the navigation resistance, and also weakens the advantages of the glider's low power consumption and silent gliding, which affects the normal navigation efficiency and navigation safety of the glider

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