A sea recovery method for an underwater robot
A technology of an underwater robot and a recycling method, applied in the direction of lifting devices, etc., can solve problems such as heavy workload and achieve the effect of intelligent recycling
Active Publication Date: 2021-11-16
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology
[0002] At present, the mainstream recovery solution for underwater robots is to release rubber boats for static-distance manual hook recovery. Manned submersibles also use frogmen for cooperation. A small boat needs to be lowered once for recovery, and a frogman cooperates. The workload at sea is heavy and bears the burden. huge risk
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[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0035] The invention relates to the technical field of full-sea deep underwater robots. In the future, underwater robots will play an important role in the development of human oceans. In the process of sea recycling, due to the complex environment and harsh sea conditions, the recycling of sea underwater robots has always been highly concerned by engineers.
[0036] In the past, the recovery of marine robots required the release of rubber boats and manual recovery. In the process of the conventional recovery process of this patent, there is a high probability that the mother ship does not need to lower the small boat for recovery, which greatly simplifies the recovery process.
[0037] Because it is difficult to find the water exit point of the underwater robot, two types of positioning devices are installed, namely the underwater ultra-shor...
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The invention relates to a method for recovering an underwater robot at sea, which includes: when the underwater robot floats up and reaches the sea surface without power, it communicates with a control unit of a mother ship through an iridium global satellite system, and sends GPS information and robot state information. After the console receives the GPS position information, the mother ship moves with this coordinate as the target point. When the mother ship arrives at the target point, it looks and searches through the bridge, and the console is remotely controlled by radio. The dynamic positioning of the mother ship is adjusted according to the ocean surface flow direction, and the side of the gantry side is flowed along. This layout can ensure that the sea surface on the recovery side is relatively calm, and it is convenient for the robot to recover. Use the long rod to connect the lifting rope to the lifting hook, and turn on the recovery rope winch to lift the carrier out of the water. When the robot is fully attached to the docking mechanism, the lifting and locking mechanism of the robot will enter the working state, and the lifting winch can be released at this time. After confirming that the locking mechanism is fastened normally, operate the mast to swing back, drop the robot to a fixed position, and complete the entire recovery process.
Description
technical field [0001] The invention relates to the technical field of full-sea deep underwater robots, and more specifically relates to a sea recovery method for underwater robots. Background technique [0002] At present, the mainstream recovery solution for underwater robots is to release rubber boats for static-distance manual hook recovery. Manned submersibles also use frogmen for cooperation. A small boat needs to be lowered once for recovery, and a frogman cooperates. The workload at sea is heavy and bears the burden. huge risk. Therefore, it is necessary to develop a set of intelligent and scientific marine robot recovery methods, and design an autonomous recovery system based on iridium communication positioning underwater robots, so as to realize the intelligent recovery of underwater robots. Contents of the invention [0003] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to realize the sea surface recovery...
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IPC IPC(8): B63B23/48B63B23/60
CPCB63B23/48B63B23/60
Inventor 陆洋王福利唐元贵陈聪闫兴亚李硕
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI