The invention provides a shipborne unmanned submersible vehicle recovery method, which comprises the following steps: 1, a mother ship guiding stage: communicating an unmanned submersible vehicle with a mother ship according to an information interaction system of the unmanned submersible vehicle, and driving the unmanned submersible vehicle to the mother ship in a direction close to the mother ship; step 2, a sound guiding stage of the retracting and releasing device: the retracting and releasing device on the mother ship sends a sound signal to the unmanned submersible vehicle, and the unmanned submersible vehicle gradually approaches the mother ship according to the received sound signal; and step 3, a stage of guiding the lamps on the folding and unfolding device: guiding the unmanned submersible vehicle to drive into the folding and unfolding device in the mother ship according to the shot image information of each lamp on the folding and unfolding device by the unmanned submersible vehicle. According to the method, the underwater concealed retraction of the unmanned submersible vehicle is realized, the underwater guided autonomous retraction of the unmanned submersible vehicle is realized, a retraction cylinder lamp guide process and a relative course calculation method of the unmanned submersible vehicle and the retraction cylinder are provided, and the key problem of close-range accurate guidance of the unmanned submersible vehicle is solved.
本申请提供一种船载无人潜器回收方法,其包括:步骤一,母船引导阶段:将无人潜器根据自身的信息交互系统与母船进行交流,并朝着靠近母船的方向驶近母船;步骤二,收放装置声引导阶段:由母船上的收放装置向无人潜器发出声信号,无人潜器根据接收到的声信号逐渐驶近母船;步骤三,所述收放装置上的灯具引导阶段:由所述无人潜器根据拍摄到的所述收放装置上的各个灯具的图像信息,来引导所述无人潜器驶进所述母船中的所述收放装置。该方法实现了无人潜器的水下隐蔽收放,实现了无人潜器的水下引导自主回收,提出了收放筒灯具引导流程及无人潜器与收放筒相对航向计算方法,解决了无人潜器近距离精确引导的关键问题。
Shipborne unmanned submersible vehicle recovery method
一种船载无人潜器回收方法
2022-11-01
Patent
Elektronische Ressource
Chinesisch
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