81results about How to "Improve docking success rate" patented technology

The invention relates to a cable-controlling submersible vehicle capable of efficiently withdrawing an AUV underwater. The cable-controlling submersible vehicle comprises supporting frames and buoyancy blocks, wherein the supporting frames and the buoyancy blocks are symmetrically mounted on the two sides of an AUV docking mechanism. The buoyancy blocks are fixed to the tops of the supporting frames. Each buoyancy block is provided with a plurality of horizontal propellers and vertical propellers, a camera with a lamp is mounted at the front end of each buoyancy block, a sonar system is mounted at the top of the buoyancy block on one side, and a laser communication unit is mounted at the top of the buoyancy block on the other side. The AUV docking mechanism comprises an outer support and an AUV garage fixed into the outer support. A funnel guiding port is mounted at the front end of the AUV garage, and the AUV docking mechanism is fixedly connected with the buoyancy blocks on the two sides through the outer support. The cable-controlling submersible vehicle carries the AUV docking mechanism to adjust the depth, direction and gesture of the AUV docking mechanism, and has the advantages that the AUV docking success rate is high and the docking process is safe. The outline structure of the cable-controlling submersible vehicle can be adjusted, the AUV docking mechanism can be easily replaced with AUV docking mechanisms of different sizes in a modular mode, and thus the cable-controlling submersible vehicle has the advantage of high adaptability.

The invention provides an automatic charging method for an intelligent robot, which comprises the following steps that: 1, the intelligent robot reaches the return-to-zero position near a charging device through the navigation and positioning; 2, the intelligent robot scans the charging device and determines the position of the charging device; 3, after the position of the charging device is determined, a track and a speed through which the charging device is reached are programmed; 4, the intelligent robot approaches the charging position according to the programmed track and speed; and 5, a charging interface of the robot is in butt joint with a power supply interface of the charging device. According to the method, the control mechanism adapted to various actual states is introduced in a re-charging process for the accuracy and safety considerations, so that the robot can make emergency response and adjustment adaptable to various abnormal states.

The invention discloses an autonomous charging system and a charging method thereof for an intelligent home accompanying robot. An infrared emission module emits infrared pulse signals of different frequencies and the signals are transmitted to an infrared receiving module; a robot main controller controls movement of the robot, and charging butt joint between a charging station and the robot is realized during the moving process of the robot; a butt joint detection module is used for detecting whether the charging butt joint between the charging station and the robot is completed and transmitting the corresponding signals to the robot main controller after the butt joint is completed, and the main controller controls the robot to move and charging begins; and a charging completion detection module is used for transmitting the corresponding signals to the main controller after charging of the robot is completed, and the main controller controls the robot to automatically drive away from the charging station. The butt joint success rate and the efficiency are high, and 100% butt joint in limited space can be achieved; and as infrared and ultrasonic sensors are used, the use is simple, and the device cost is low.

The invention provides an automatic robot charging system with a voice prompting function. The automatic charging system comprises a charging station unit and a robot unit. The charging station unit is used for charging the robot unit. The charging station unit comprises a light guide structure, a transmitting and encoding module, a charging station and an MCU chip. The robot unit comprises a robot body, a voice module, a receiving and encoding module, a multi-media processing chip and a walking control module. By means of the design, a charging pile of a robot is easier to deploy, and a client only needs to place the charging pile at the position close to the wall, and then plugs in the charging pile. The robot is charged by means of voice control, or all states of the robot are prompted through voice in real time, and by means of optimized design of an algorithm, the butt-joint success rate of the robot in practical application is greatly increased.

The invention discloses a concentric electric underground measuring and adjusting instrument and belongs to the field of testing and allocation of oil field separate injection wells. The concentric electric underground measuring and adjusting instrument comprises an upper connector, a flow measurement and control device, an integrated control device, a power transfer mechanism, a positioning anti-rotation device, an electric adjusting device and a sheath. The flow measurement and control device is packaged in the instrument through the upper connector, meanwhile the integrated control device and the power transfer mechanism are sequentially packaged in the sheath from top to bottom, the upper portion of the sheath is connected with the flow measurement and control device, and the lower portion of the sheath is connected with the power transfer mechanism. The lower portion of the power transfer mechanism is connected with the positioning anti-rotation device, and the lower portion of the positioning anti-rotation device is connected with the electric adjusting device. Power supply is achieved through cables, measurement and adjustment instructions, underground flows, pressure and temperature signals are transferred in real time, the instrument is concentrically positioned and in butt joint with a bridge type integrated concentric water distributor, synchronously performs testing and allocation, can finish underground multi-layer flow testing and target flow allocation tasks in one time and effectively improves the testing and allocation success rate and efficiency.

The invention provides a method for guiding a cleaning robot to return to a charge base. The method comprises the following steps: entering a guiding area, and acquiring a guiding signal by a cleaningrobot, wherein the guiding signal comprises a first guiding signal and a second guiding signal; adjusting a return direction, and carrying out alignment return. The invention further relates to a storage medium and electronic equipment. Due to multi-signal fusion, return routes of a robot can be reasonably planed, directions and positions of the charge base relative to the robot can be rapidly and accurately positioned, the return efficiency and the alignment success rate of the robot returning to the charge base to charge power are increased, the time and the battery power taken by the cleaning robot in finding the charge base after cleaning is completed or low power is left can be reduced, and the return charge efficiency and the intelligence degree of the cleaning robot can be increased. The method is clear in logic and smart in idea, and popularization and application of an intelligent cleaning robot can be facilitated.

The invention belongs to the technical field of flight control and particularly relates to an air refueling control method based on image identification. The method is characterized by including the first step of conducting vision measurement on an image to obtain pose information of a refueling cone relative to a refueled airplane, the second step of conducting calculation according to the pose information to obtain integrated error signals, and designing according to an x channel, a y channel and a z channel respectively, and the third step of obtaining control instruction information according to the integrated error signals. Through the image identification technology and the control distribution technology, the docking success rate in the refueling process in the air can be greatly improved, operation burdens of a manned airplane aviator can be reduced, and the combat radius of the airplane is expanded.

The invention provides a bridge type concentric water distributor which comprises an upper connector, a protecting drum, a fixed water nozzle and a lower connector which are sequentially in threaded connection. The fixed water nozzle is a sleeve with a middle pipe wall provided with a horn-shaped water outlet and is spirally connected with an anti-rotating locating drum, and the anti-rotating locating drum is provided with a radial water outlet opposite to the horn-shaped water outlet. A main body drum is fixed at the lower end of the fixed water nozzle, the inner side of the main body drum is spirally connected with a movable water nozzle, a ceramic ring is installed at the upper end of the movable water nozzle, the lower portion of the movable water nozzle is provided with an adjusting notch, an anti-rotating locating mechanism is provided with a water notch, and the water notch is communicated with a bridge type through hole in the fixed water nozzle. The movable water nozzle and the main body drum have the same axis, and the water injection amount can be adjusted only through the rotation of the movable water nozzle. The bridge type concentric water distributor is in downhole concentric butt joint with a concentric electric testing regulating examining seal integrated tester, the regulation of the water injection amount and the examining seal by a packer are performed simultaneously, the butt joint success rate is high, the workload is reduced, the efficiency is improved, and the requirements of layered water distribution of highly-deviated wells and deep wells are met.

The invention discloses a spatial positioning method and system for an aerial refueling drogue sleeve, and relates to the technical field of aerial refueling. Install a red reflective film on the end face of the refueling drogue sleeve, and use the camera to collect the image of the refueling drogue sleeve, and then perform spatial positioning on the refueling drogue sleeve, which is convenient for modification and easy to implement, and does not contain LEDs and other similar electrical components, avoiding the refueling process security risks. The combination of ring features and color features, supplemented by a strong light source, makes the refueling drogue sleeve have stronger visual features and higher positioning accuracy, thereby improving the success rate of aerial refueling docking.

The invention discloses a terminal vision guiding method for underwater mating of an AUV and a docking station. The method adopts a single guiding lamp and monocular vision to assist the mating between an underactuated autonomous underwater vehicle and an underwater docking station. According to the invention, based on the principles for controlling of the horizontal direction of underwater vehicles, the guiding manner of a combination of visual information and the attitude information of the underwater vehicle is designed; a controller for a horizontal underwater vehicle is also designed; andthe controller allows the underwater vehicle to realize docking along a direction facing the orientation of the docking station as much as possible, so the success rate of the mating of the underwater vehicle is increased. The method provided by the invention can simplify a vision guiding algorithm, lower requirements on the performance of signal processing chips and reduce equipment cost. Moreover, the depth dimension control principles of the underwater vehicle are cooperatively adopted to convert visual information in a vertical direction into depth information, and the visual informationis compensated by the attitude angle of the underwater vehicle, so the reliability of control in a depth direction during mating of the underwater vehicle is improved.

The invention discloses a bridge type concentric polymer distributor, which comprises an upper joint, a connecting sleeve, a positioning table, a regulating sleeve, a main body, a base, a lower joint and a throttle core. The bridge type concentric polymer distributor has the advantages that (1) the regulating sleeve is concentric with a main passage of the polymer distributor; the transmission torque is great; and the butt joint success rate during the testing and allocation is high; (2) the ball number of the throttle core in an eccentric hole of the bridge type concentric polymer distributor is continuous and adjustable, and the testing and allocation data precision is obviously improved; (3) the bridge type concentric polymer distributor can be matched with the existing advanced testing and allocation linkage technology; compared with a conventional steel wire pulling-out dropping-fishing tool, the bridge type concentric polymer distributor has the advantages that the work intensity of workers is low; the single-well testing and allocation period is short; and the work efficiency is high; (4) a bridge type passage is designed in the structure, the inter-layer interference among all layers can be reduced to the maximum degree in the test process; and the actual stratum condition can be really reflected by test data; and (5) the shuttle-shaped throttle core is used in the eccentric hole; and great throttle pressure differences can be realized under the condition of ensuring low viscosity loss.

The invention relates to an article processing system with a direct butt joint positioning device and a method thereof. According to the scheme, the article processing system comprises an article storing and taking system, a horizontal movement robot and a vertical movement robot. The article storing and taking system comprises a goods shelf body, an article processing area, a plurality of lifting rails and a first positioning part. The horizontal movement robot comprises a first driving device, a direct butt joint positioning and transferring mechanism, and the direct butt joint positioning comprises a second positioning part, a flexible butt joint device and a butt joint rail; the vertical motion robot comprises a second driving device for the vertical motion robot to move up and down on the lifting track and the butt joint track and an article processing device for placing, taking and placing articles, and the articles can be stored and taken in the article processing area through the article processing device. According to the intelligent storage robot, butt joint of the horizontal movement robot and the vertical movement robot can be rapidly achieved, so that full-automatic intelligent storage operation is achieved, the operation cost of the storage industry is greatly reduced, and the working efficiency is improved.

The invention discloses an unmanned aerial vehicle air-based tail cable car type recovery device. The recovery device comprises a carrier, a winch, a transferring-connecting pulley, a supporting frame, a guiding pulley, a slip cable, an arresting cable and a pilot parachute; a rear hatch door is formed on the ventral of a rear vehicle body of the carrier, the winch is arranged on floors in a carrier module, the transferring-connecting pulley and the supporting frame are arranged at the inner top of the carrier module, and the guiding pulley is arranged on the supporting frame; one end of the slip cable is fixed to the winch, and the other end of the slip cable penetrates through the transferring-connecting pulley and the guiding pulley and is connected with the pilot parachute; and the arresting cable is arranged on the slip cable and next to the pilot parachute. According to the unmanned aerial vehicle air-based tail cable car type recovery device, recovery of a plurality of unmannedaerial vehicles in sequence can be realized through a set of recovery device, the unmanned aerial vehicles can be directly recycled into the carrier module, and the recovery efficiency is high; the opening of the arresting cable is large, the arresting cable intersects with an arresting hook in a crisscross mode, the abutting difficulty is low, and the mutual positioning precision requirements ofthe unmanned aerial vehicles and the carrier in the recovery process can be reduced; real-time monitoring is carried out through video monitoring equipment in the abutting process, and the abutting successful rate can be improved; and the security of the unmanned aerial vehicles and the carrier in the launching process is improved.

The invention provides a cloud platform service access method, which comprises the following steps that a redirection server receives an information registration request which is sent by at least oneaccess server and is indicative of registering to terminal equipment of the access server, and establishes a mapping relationship between the terminal equipment and the access server based on the information registration request; a mapping relationship between the terminal equipment and the access server is stored; and a query request indicative of querying the mapping relationship between the terminal equipment and the access server and sent by at least one terminal equipment is received, mapping relationship query is performed based on the query request, and a query result is returned to theterminal equipment sending the request, so that the terminal equipment is automatically docked with the corresponding access server according to the query result. The invention also provides a redirection server. The method has the advantages that the docking efficiency of the terminal equipment and the access server in the area where the terminal equipment is located can be greatly improved, a client does not need to participate in any setting operation, and trouble brought to the client can be avoided.

The invention discloses a magnetic type robot charging pile, which comprises a shell, wherein a pressing contact mechanism and a charging power supply module are arranged in the shell, the pressing contact mechanism at least comprises a charging pile magnet and a charging pile contact, a contact moving mechanism is further arranged in the shell and comprises a hollow-square-shaped frame, a front fixing frame, a rear fixing frame, a magnet fixing seat, an up-down moving mechanism, a front-back moving mechanism and a left-right moving mechanism, wherein the charging pile magnet is fixed in the magnet fixing seat, the front fixing frame is fixed to the up-down moving mechanism, the front-back moving mechanism is connected between the front fixing frame and the rear fixing frame, the rear endof the magnet fixing seat is fixed to the rear fixing frame, the front end of the magnet fixing seat can move front and back on the front fixing frame, the hollow-square-shaped frame is connected withthe shell through the left-right moving mechanism, the magnet fixing seat drives the charging pile contact to move back and forth under the action of the front-back moving mechanism, drives the charging pile contact to move up and down under the action of the up-down moving mechanism, and drives the charging pile contact to move left and right under the action of the left-right moving mechanism.

The invention discloses a quick-changing interface used for a reconfigurable manipulator and based on magnet attraction, and belongs to the technical field of robots. The quick-changing interface usedfor the reconfigurable manipulator and based on magnet attraction comprises an interface male end and an interface female end which are mutually matched; an electromagnet and a plug are fixedly arranged on the interface male end, a spring is arranged between the plug and the interface male end, and an armature is fixedly arranged on the position, corresponding to the electromagnet, of the interface male end; a socket matched with the plug is fixedly arranged on the position, corresponding to the plug, of the interface female end; and when the interface male end and the interface female end are butted, the electromagnet is energized, so that the electromagnet loses magnetism, and after butting is completed, the electromagnet is deenergized, so that the electromagnet and the armature are attracted. According to the quick-changing interface used for the reconfigurable manipulator and based on magnet attraction, the structure is simple, the production cost is low, and butting is convenient.

The invention provides a butt joint method of a robot and a charging pile. The butt joint method comprises the following steps: acquiring a charging pile attitude position and a charging pile attitude line of the charging pile required by butt joint of the robot and the charging pile; adjusting the robot pose of the robot relative to the charging pile according to the charging pile pose position; controlling the robot to move towards the charging pile posture line in the robot posture; when the distance between the center of a vehicle body rear wheel of the robot and the charging pile posture line is within a preset distance, adjusting the posture of the robot according to the posture position of the charging pile to be opposite to the charging pile; and controlling the robot to be in butt joint with the charging pile along the charging pile posture line. The invention further provides a butt joint device, a robot and a readable storage medium. By means of the butt joint method, the butt joint success rate of the robot in the automatic recharging process can be increased, and the problems that when an existing robot is automatically recharged, the automatic recharging effect is poor and even recharging fails due to the fact that the butt joint position and posture of the robot relative to the charging pile are difficult to adjust are effectively solved.

The invention discloses an under-well cable wet type butt-joint device for an oil well. The under-well cable wet type butt-joint device comprises a cable butt-joint male connector and a release joint.When the cable butt-joint male connector is carried by a pipe column to be guided into the release joint of a well, an upper insulation sleeve is arranged on an upper insulation ring in a sleeving mode, thus sealing is achieved between the upper insulation sleeve and the upper insulation ring, a lower insulation sleeve is arranged on a lower insulation ring in a sleeving mode, thus sealing is achieved between the lower insulation sleeve and the lower insulation ring, a conductive sleeve is arranged on a conductive ring in a sleeving mode to form conductive connection, and thus an upper data cable L1 communicates with a lower data cable L2. A locking ball with a spring is inserted into a butt-joint guide head annular groove of a middle hole penetrating through a locking ball seat, and butt-joint locking is achieved. A limiting basket is supported on a receiving basket. The under-well cable wet type butt-joint device has the advantages that the under-well cable wet type butt-joint device has repeated butt-joint ability, long-term stable power supply and communication can be kept after successful butt-joint connection, only the cable butt-joint male connector is pulled out and maintenance is conducted during pump inspection operation, and field operation is facilitated.

The invention discloses an unmanned ship carrying an underwater vehicle, and relates to the technical field of unmanned ships. The two buoyancy cabins of the unmanned ship are oppositely arranged andconnected through a connecting frame, and propellers are arranged at the bottoms of the buoyancy cabins. The lifting platform is composed of an ROV bearing platform and a lifting device, the ROV bearing platform is connected with the lifting device, and the lifting device is connected with the connecting frame; the control box is arranged on the connecting frame, and the lifting device and the propeller are in signal connection with the control box. An instruction of the mobile terminal is transferred to the underwater vehicle through the control box so that the interference on a control signal is reduced, and the signal transmission distance is expanded; the buoyancy cabin provides buoyancy for the unmanned ship, the unmanned ship is driven by the propeller to travel on the water surface,the underwater vehicle is carried by the lifting platform, the ROV bearing platform is large in area, and the success rate of butt joint with the ROV is high; the lifting or overturning of the lifting platform is controlled by the lifting device so that the lowering and recycling of the ROV are completed; the unmanned ship is compact in overall structure, small in occupied area, low in manufacturing cost and beneficial to market popularization.

The invention discloses a drogue spatial attitude measuring method and system, and relates to the technical field of air refuelling. By combining a red ring reflective membrane ellipse fitting result with a blue ring reflective membrane ellipse fitting result and using an intense light source in an assisted manner, strong features of vision of a drogue are formed, so that the vision measurement precision of the drogue is high, by red and blue features, the problem of ambiguity of attitude calculation of the drogue is solved effectively, and therefore, air refueling docking success rate is increased.

The invention provides a cardan joint floating butt joint structure which is provided with a push rod, wherein the rear end of the push rod is pushed by a power source; a fast butt joint female head coaxial with the push rod is arranged at the front end of the push rod and is used for being in butt joint with a fast butt joint male head; at least one cardan joint is connected in series between thefront end of the push rod and the rear end of the fast butt joint female head in the axial direction; a spring is arranged on the outer side of the cardan joint in a sleeving manner; and the power source pushes the push rod to further drive the fast butt joint female head to move forward to be in butt joint with the fast butt joint male head, so that the cardan joint is compressed to float in thetransverse, vertical and angle directions so as to form a floating butt joint structure, and the spring automatically returns after butt joint withdrawal and forms a locking structure after successful butt joint. The cardan joint floating butt joint structure adds the angle floating function and is large in floating quantity and high in butt joint success rate.

The present invention discloses a concentric polymer allocator. The concentric polymer allocator comprises an upper connector, a main body, a positioning bench, a valve element, a regulating sleeve, a pedestal and a lower connector. The concentric polymer allocator has the advantages that (1) the regulating sleeve is concentric with a main channel of the polymer allocator, transmitted torque is large, and butt joint success rate is high when the concentric polymer allocator is tested and adjusted; (2) the number of lateral spindle-shaped grooves of the concentric polymer allocator is continuously adjustable, so that accuracy of test and adjustment data is largely increased; (3) the concentric polymer allocator can be matched with the advanced test and adjustment combination technology in the prior art, compared with a traditional steel wire pulling and running method, labor intensity of workers is low, test and adjustment period of a single well is short, and working efficiency is high; (4) the spindle-shaped throttling groove structure is adopted, and relatively large throttle pressure difference is achieved when low viscosity loss is ensured; and (5) profile control can be performed after the concentric polymer allocator is completely opened.

The invention provides a stick for measuring the circumferential distance of a flange plate, which comprises a stick body, wherein the two ends of the stick body are respectively provided with measuring scales, the measuring scale valve of one end is larger than that of the other end, and the top of the end with the smaller measuring scale valve is provided with a lug boss. The stick can be suitable for use under various environment conditions such as air medium or underwater, and the like; has simple structure, small volume, convenient carrying, flexible operation, convenience and simpleness; exactly measures the circumferential distance of the flange plate and greatly improves the success rate of the butt joint of the flange plate; and saves time and labor, is safe and reliable, and effectively improves the work efficiency and the accuracy.

The invention provides an injection allocation device, and relates to the technical field of oil field downhole tools. On the plane where a liquid passing hole is opposite to a water outlet, a ceramic piece II is arranged on a movable water nozzle, a ceramic piece I is arranged on a fixed water nozzle, rectangular metering holes are transversely formed in the ceramic piece I and the ceramic piece II, and a spring I is arranged between the ceramic piece I and the movable water nozzle. The injection allocation device has the advantages that by arranging a lifting pipe and the movable water nozzle, downhole positioning butt joint and water amount adjustment of the injection allocation device and a bridge type concentric seal checking, testing and adjusting integrated tester are achieved, and the requirement for layered water distribution of highly-deviated wells and deep wells is met; and due to the unique structural design of the rectangular metering holes, the metering flow is accurate and can be calculated, the injection allocation device is matched with the bridge type concentric seal checking, testing and adjusting integrated tester, the water injection amount adjustment and packer seal checking synchronous operation are achieved through the next instrument, the water injection amount can be adjusted only by driving the movable water nozzle to ascend and descend, the adjustment precision is high, the water nozzle throwing and fishing problem does not exist, the workload is reduced, and efficiency is improved.

The invention discloses a three-arm type non-cooperative target docking mechanism, relating to a satellite docking mechanism. The invention aims at solving the problems that the docking success rate of the existing satellite docking mechanism is comparatively low and the requirement on motion precision is extremely high. The three large mechanical arms of the invention are arranged on the periphery of a supporting platform at a 120 degree angle, one end of the large arm of the mechanical arm is articulated with the supporting platform, the other end thereof is articulated with one end of the small arm of the mechanical arm, and the other end of the small arm of the mechanical arm is connected with an end effector; the lower end of each bumper post is fixedly connected with the upper end of the supporting platform, the free end of each dashpot plunger is fixedly connected with the lower end of a target docking platform. In the invention, when the docking mechanism reaches a preset position, the three mechanical arms and the target docking platform form a closed region to encase a jet pipe, therefore, the jet pipe is placed in an inescapable space, and a target aircraft is clamped and fixed by the underdraught of the three mechanical arms and the upthrust of the target docking platform.

The invention relates to a magnetic abutting device of a ROV and an operation tool library. The magnetic abutting device is used for mechanical, hydraulic or circuit connection between the ROV and theoperation tool library. The abutting device comprises an upper module and a lower module, wherein the upper module and the lower module are respectively fixed on the ROV and the operation tool library by a framework, a guide mechanism, a magnetic lifting device, a magnetic induction electrical connector and a magnetic coupler are arranged on each of the two modules, the guide mechanisms are usedfor adjusting a position before abutting, the magnetic lifting devices automatically suck to each other so that a ROV body and the operation tool library are connected, the magnetic induction electrical connectors are abutted to achieve electrical energy and control signal transmission, and the magnetic couplers are connected so that a motor on the ROV drives a hydraulic pump of an operation toolbox. Compared with the prior art, the magnetic abutting device has the advantages that the abutting gap is relatively large, abutting stuck is prevented, a plug is not needed to be plugged out by a wet hand, the reliability is improved, and the economic cost is reduced; the modular design of the abutting device is applicable to various tool libraries, and the abutting device is convenient to replace and install and simple to operate.

The invention provides a connector mechanism for docking of an unmanned ship, and belongs to the technical field of ship docking. The connector mechanism comprises a first connecting part and a second connecting part, the first connecting part comprises a first mounting body and a connecting rod, the first mounting body is provided with a mounting groove, the connecting rod is telescopically mounted in the mounting groove, and one end of the connecting rod is provided with a first locking structure. The second connecting part comprises a second mounting body, the second mounting body is provided with a clamping groove and a conical surface guide plate, the conical surface guide plate is provided with a conical guide hole, one end of the conical guide hole is connected with a notch of the clamping groove, and the other end of the conical guide hole is located in the clamping groove; and a second locking structure matched with the first locking structure is arranged, and the connecting rod can extend into the clamping groove along the conical guide hole and is matched with the second locking structure through the first locking structure so as to be locked and fixed with the second mounting body. The structure is simple, butt joint is convenient, and the butt joint success rate of the unmanned ship under the influence of stormy waves can be increased.

The invention discloses an underwater terminal autonomous docking system and method based on light vision guidance. The system comprises an underwater docking station and an autonomous underwater robot used for docking. The underwater docking station adopts a frame type configuration, and six identification light sources are mounted at specific positions of the underwater docking station to construct a three-dimensional guide lamp array; the underwater robot is provided with an underwater camera and an image processing unit in addition to the capability of autonomous navigation, and the underwater camera and the image processing unit are used for collecting and processing underwater images. The underwater terminal autonomous docking method comprises an underwater image processing method and a staged docking control method. According to the image processing method, the relative pose amount of the robot and the docking station is calculated according to image information collected by the camera, and the position tracking deviation of the robot is calculated according to the relative pose amount. Based on different results obtained by shooting a guide lamp array by a camera at different distances, a long-distance and short-distance staged docking control method is designed, and docking control of the robot is realized by adopting different docking control strategies.

The invention discloses a charging docking mechanism which comprises a base assembly, a male head arranged in front of the base assembly and a connecting rod assembly used for connecting the base assembly and the male head, at least three sliding blocks are arranged in the base assembly in a sliding mode, and the connecting rod assembly comprises a connecting rod set with one end hinged to the sliding blocks. The other end of the connecting rod group is hinged to the male head. According to the invention, the connecting rod assembly is utilized to provide degrees of freedom for the male jointto move in the front-back direction, the left-right direction and the up-down direction, so that the male head can be conveniently butted with the female head in the butting process.

The invention belongs to the technical field of air refueling, and particularly relates to an active control hose air refueling system and an airplane with the same. The active control hose aerial refueling system comprises a refueling hose, a refueling connector, a drag parachute, an electric steering engine and a binocular vision sensor. The refueling joint is mounted at one end of the refueling hose; the drag parachute and the refueling connector are coaxially arranged and fixedly connected. The refueling hose is coaxially sleeved with an electric steering engine, the electric steering engine is close to the drag parachute, and a pneumatic rudder is installed on the electric steering engine; the binocular vision sensor is fixedly installed in the drag parachute, and the binocular vision sensor is used for feeding back a relative position signal between the drag parachute and the oil receiving probe to the electric steering engine. Through the relative position feedback of the binocular vision sensor, the electric steering engine and the pneumatic rudder are used for actively controlling the refueling hose, the butt joint of the oil receiving probe and the refueling connector is assisted, and the butt joint efficiency and success rate are remarkably improved.