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Underwater robot communication docking system, underwater robot and clustered control system

An underwater robot and cluster control technology, applied to underwater operation equipment, program-controlled manipulators, manipulators, etc., can solve the problems of consuming a lot of manpower and material resources, and difficult to complete cooperation, so as to reduce power consumption and improve underwater travel efficiency , the effect of prolonging the battery life

Active Publication Date: 2017-01-11
HOHAI UNIV CHANGZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, today's multi-robot systems are very particular about teamwork. The tacit understanding of the teamwork determines the efficiency of the multi-robot system. If the direct operation of the multi-robot system requires the participation of a large number of technicians, it will also consume a lot of manpower and material resources. It is difficult to complete mutual cooperation and effective docking

Method used

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  • Underwater robot communication docking system, underwater robot and clustered control system
  • Underwater robot communication docking system, underwater robot and clustered control system
  • Underwater robot communication docking system, underwater robot and clustered control system

Examples

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Embodiment 1

[0033] Such as figure 1 As shown, the present embodiment 1 provides a communication docking system for an underwater robot, including:

[0034] A processor module, a communication device connected to the processor module; wherein the underwater robot communication network is constructed through the communication device to realize the tracking and / or positioning and / or aggregation of the underwater robot.

[0035] Optionally, the communication method of the underwater robot is, for example but not limited to, a three-stage step-by-step approach, that is, three communication technologies are used in the process of the two robots gradually approaching, which has the characteristics of high efficiency, high intelligence, and high stability . Specifically, the complex approaching process is divided into three different stages according to the characteristics of the respective communication according to the three communication methods, and three different stages are used according ...

Embodiment 2

[0040] Such as figure 1 As shown, on the basis of Embodiment 1, this Embodiment 2 provides an underwater robot. The head end of the underwater robot is provided with a manipulator, and the end is provided with a clamping end, and the underwater robot is provided with a charging and discharging control device. module; wherein the manipulator and the clamping end are provided with energized circuit contacts, and each energized circuit contact is connected to the charge and discharge control module; the charge and discharge control module is suitable for controlling the underwater robot through the corresponding energized circuit contacts. The internal lithium battery is charged or discharged.

[0041] The charge and discharge control module includes, but is not limited to, LT1513, FS1610, and a control chip TPS2419, for example.

[0042] Specifically, the charging and discharging control module is connected to the connection line of the energized circuit contact through the inp...

Embodiment 3

[0056] Such as Figure 7 to Figure 9 As shown, Embodiment 3 also provides a swarm control system, including at least two underwater robots as described in Embodiment 2, and a server (located on the mother ship) for coordinating the work of each robot.

[0057] Each underwater robot is suitable for carrying out search activities in their respective activity areas. When one of the underwater robots finds the target, it sends the target position to the server, and the server notifies each underwater robot; The current position of the robot (for example Figure 7 A and B in A) and the target position to determine a converging point (such as Figure 7 Middle y), that is, the server notifies each underwater robot to travel to the meeting point for rendezvous, and queues to the target location (such as Figure 7 shown by x). Where the confluence path is as Figure 7 As shown by the dotted line in the center, the path from the gathering point y to the target point x is carried out...

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Abstract

The invention relates to an underwater robot communication docking system, an underwater robot and a clustered control system. The underwater robot communication docking system comprises a processor module and a communication device connected with the processor module; a communication network is built through the communication device so as to achieve tracking and / or positioning of the underwater robot; according to the underwater robot communication docking system, the underwater robot, the clustered control system and a work method of the system, through the three-stage step-by-step approaching manner, the work characteristics that the underwater condition is complex, and wide in range are overcome, three communication manners are adopted to meet the aim that underwater robots are gathered under different intervals, the underwater advancing efficiency is improved, electric energy consumption in the advancing process is reduced, electric energy can be uniformly distributed to the underwater robots, and the endurance time is prolonged.

Description

technical field [0001] The invention relates to an underwater robot communication docking system, an underwater robot and a cluster control system. Background technique [0002] In the 21st century, the abundant energy and resources contained in the ocean are an important supplement for human beings to survive under the situation that the resources on the ground are exhausted. At the same time, intelligent systems have become a new high ground for national strategic development. Therefore, it is an undoubted development trend to apply smart equipment to the ocean. At present, the main form of underwater intelligent equipment is underwater robots, whose main functions include exploration, collection, maintenance, infrastructure, military and search and rescue. Compared with a single robot, the current underwater multi-robot system is particularly valued because it is easy to transport and can take advantage of the system. [0003] However, today's multi-robot systems are v...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J13/00B25J9/16B63C11/52
CPCB25J9/1602B25J11/00B25J13/006B63C11/52
Inventor 杨逸飞朱晓璐陆悦徐铭泽陈宇恒
Owner HOHAI UNIV CHANGZHOU
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