Transportable type device applicable to capturing and butt joint of underwater moving target

Abstract

The invention belongs to the field of related equipment of deep sea rendezvous and docking and discloses a transportable type device applicable to capturing and butt joint of an underwater moving target. The transportable type device comprises a mechanical arm, a guide cover capturing unit, a light source guide unit and a butt joint unit, wherein the mechanical arm is designed into a multi-joint type underwater mechanical arm and can be folded and stored after operation is finished; the guide cover capturing unit is mounted at the tail end of the mechanical arm and has opening and closing functions, so that the capturing of the underwater moving target is finished; the light source guide unit is used for sensing a position and a posture of the underwater moving target; the butt joint unitis used for carrying out mutual and accurate butt joint on a butt joint socket for the underwater moving target through a plug manner. With the adoption of the transportable type device disclosed by the invention, capturing and butt joint operation of the underwater moving target can be finished under a moving state in a higher-precision manner; meanwhile, influences caused by seawater interference are effectively overcome, the capturing success rate and the capturing efficiency are remarkably improved, and the accuracy and applicability of the butt joint operation are ensured.

Description

technical field [0001] The invention belongs to the field of equipment related to deep-sea rendezvous and docking, and more specifically relates to a mountable device suitable for capturing and docking underwater moving targets. Background technique [0002] The autonomous control technology of deep-sea rendezvous and docking refers to the fact that AUV (Autonomous Underwater Vehicle, underwater vehicle) and underwater moving targets can meet on the trajectory and connect as a whole structurally without the physical support of personnel. After accurate docking, the technology to realize the energy supplement of AUV and the data exchange between AUV and underwater moving target is a prerequisite for unmanned equipment to carry out recovery, supply, maintenance, information exchange and other support services in the deep sea environment. Whether the AUV can accurately dock with the underwater moving target is the key and core technology to realize this process. [0003] Some ...

AI Technical Summary

Problems solved by technology

[0004] However, further studies have shown that the above-mentioned existing solutions still have the following defects or deficiencies: First, most of the docking objects of AUVs are fixed platform docking systems with a small working range, and the conical guide cover is large in volume and weight, so it is difficult to It is convenient to carry the underwater vehicle; secondly, the current docking system is usually large in structure, inconvenient to operate, especially vulnerable to the influence of anisotropic ocean currents, and leads to technical problems such as poor capture ability, low docking accuracy and low success rate

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