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Mutual butt joint device for double intelligent underwater robots and butt joint method

A technology of underwater robot and docking device, which is applied in underwater operation equipment, transportation and packaging, ships, etc. It can solve the problem that the docking platform cannot move autonomously, the carrier is large in size, poor in concealment, and cannot meet the long-distance docking with the manual operation platform. Demand and other issues, to achieve the effect of increasing the success rate, increasing the success rate of docking, and precise docking

Active Publication Date: 2013-04-24
HARBIN ENG UNIV
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Problems solved by technology

The above docking methods have application limitations such as the docking platform cannot move autonomously or the carrier placed on the docking platform is large in size and poor in concealment, and cannot meet the needs of long-distance docking from the manual operation platform.
So far, there is no public report on the device and method of two AUVs autonomously docking with each other

Method used

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  • Mutual butt joint device for double intelligent underwater robots and butt joint method
  • Mutual butt joint device for double intelligent underwater robots and butt joint method
  • Mutual butt joint device for double intelligent underwater robots and butt joint method

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Embodiment Construction

[0039] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0040] The composition applied to the docking of intelligent underwater robots includes a positioning system and a docking system. combine figure 1 , the positioning system includes a Doppler velocity sonar 1, an ultra-short baseline transducer 2, a camera 3, an optical vision guidance processing computer 4, an ultra-short baseline processor 5, and a control and navigation computer 6; figure 1 The docking system in FIG. 3 includes: a sliding sleeve 7 , a docking rod 8 , a docking visual positioning light device 9 , a docking rod positioning mechanism 10 , a slide slideway 11 , a slide motor and a transmission gear 12 . In addition, the details of the steel spring 13 and the locking device 14 in the docking system are shown in Fig. 4, Fig. 5, and Image 6 Indicated. combine figure 1 , Doppler velocity sonar 1, ultra-short baseline transducer 2, camera 3 and oth...

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Abstract

The invention provides a mutual butt joint device for double intelligent underwater robots and a butt joint method. The mutual butt joint device comprises a positioning system and a butt joint system, wherein the positioning system comprises a Doppler velocity sonar, an ultra-short base line energy converter, an ultra-short base line processor, a camera, a light vision guide processing computer and a control navigation computer; and the butt joint system comprises a sliding sleeve, a butt joint supporting rod, a butt joint vision positioning light emitter, a butt joint supporting rod positioning mechanism, a sliding barrel sliding channel, a sliding barrel sliding channel motor and a transmission gear. According to different mutual distances between the two butt joint double-intelligent underwater robots, the control navigation computer can be used for positioning according to different sensor information. When the butt-joint robots are about 10 meters away from a target position, a control system sends out an instruction to slide out of the sliding sleeve; and the butt joint supporting rod is unfolded to be navigated to the target position, and is positioned and suspended by power to wait for accurate butt joint of the butt-joint robots. The intelligent underwater robot mutual butt joint device can be far away from a manual operation platform.

Description

technical field [0001] The invention relates to a device for docking intelligent underwater robots. The invention relates to a mutual docking method of intelligent underwater robots Background technique [0002] Intelligent underwater robot (Autonomous Underwater Vehicle-AUV) has been widely used in many fields such as marine environment monitoring and marine resource exploration. Intelligent underwater robot docking technology can be used for underwater robot recovery, fixed-point deployment, and then implement sampling information feedback, update tasks, energy supply and other operations. In recent years, the docking technology of intelligent underwater robots has been valued by scholars from various countries. After years of hard work, the level of this technology has been continuously improved. But there are still some problems in the research experiment. Especially in short-distance docking, due to the strong uncertainty of ocean currents and changes in ocean curren...

Claims

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Application Information

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IPC IPC(8): B63C11/00
Inventor 李晔庞永杰李一鸣吴琪苏清磊陈鹏云姜言清
Owner HARBIN ENG UNIV
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