Anti-impact automatic docking mechanism and method for unmanned water surface platform

An unmanned platform, automatic docking technology, applied in the direction of unmanned surface ships, motor vehicles, special-purpose ships, etc., can solve the problem that unmanned docking mechanism and self-reconfiguration technology cannot be well applied to military tasks, which consumes manpower and time. , difficult docking and other problems, to avoid docking failure, facilitate docking, and improve security.

Active Publication Date: 2022-03-22
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the traditional unmanned surface platform equipment used to assist landing is mostly realized in the form of mild water conditions and artificial remote control. The docking mechanism adopted is generally simple in structure and function, and can complete the docking function. When in harsh conditions such as the environment with waves above the third level, since the heave, yaw, and pitch of the unmanned platform module are much larger than those in still water conditions, it is difficult to complete the docking with this simple docking mechanism
Artificial docking not only requires a large number of other equipment for support and dynamic cooperation, such as barges, ships, etc., but also consumes a lot of manpower and time, and cannot meet actual needs in emergencies
At present, there have been some researches on the design of self-reconfiguration modules at home and abroad, but most of them are in the preliminary stage, and the unmanned docking mechanism and self-reconfiguration technology used cannot be well applied to military tasks.

Method used

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  • Anti-impact automatic docking mechanism and method for unmanned water surface platform
  • Anti-impact automatic docking mechanism and method for unmanned water surface platform
  • Anti-impact automatic docking mechanism and method for unmanned water surface platform

Examples

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Effect test

Embodiment 1

[0056] A water surface unmanned platform anti-shock automatic docking mechanism, such as Figure 1-24 As shown, including the water surface platform 37, the water surface platform 37 is an unmanned self-reconfiguration platform on the water surface, such as Figure 1-3 As shown, both sides of the water surface platform 37 are provided with docking male modules and docking female modules; the water surface platform 37 is also provided with a control module 40 , a thruster 38 , a communication transmission module 42 , an energy module 39 and a sensor module 41 .

[0057] Such as Figure 1-4 , Figure 9 As shown, the docking male module includes a docking male installation box 5 fixedly connected to the water surface platform 37, the docking male installation box 5 is a stepped cylindrical structure, the front end of the docking male installation box 5 is small, and the rear Larger end. The docking male module also includes a docking guide shaft 2, the rear end of the docking ...

Embodiment 2

[0064] This embodiment is the method of the anti-shock automatic docking mechanism of the unmanned water surface platform in Embodiment 1, including a docking method and a release method; the control module 40 includes a line-of-sight guidance controller, and the sensor module 41 includes a visual positioning device; the docking method includes the following steps:

[0065] Step 101, sending the position and course of the target to the communication transmission module 42, judging the current position of the surface platform 37, if the current position meets the control requirements close to the final waypoint, then perform dynamic positioning control, so that the surface platform 37 maintains the current position; If the control requirements are not satisfied, the position information of the target is transmitted to the line-of-sight guidance controller in the control module 40, and motion planning is performed to calculate the yaw angle and the distance relative to the target ...

Embodiment 3

[0077] A method for adopting the anti-shock automatic docking mechanism of the water surface unmanned platform in embodiment 1, the main steps are as follows:

[0078]Step 301, generation of multi-target command sequence based on discretization: the cluster formation formed by the surface platform 37 receives a "one" formation command, which needs to be assigned to a specific cluster during the project implementation process Formation; for a cluster with multiple modules (the modules in this embodiment refer to the water surface platform 37), it needs to be converted into multiple target instructions based on the "one" word formation instruction; first, the left and right sides of the "one" word formation Both ends have corresponding latitude and longitude data, based on which the data equation of the formation and the independent variable area can be obtained; by using the equidistant discretization method, the latitude and longitude and heading angle command data of multiple ...

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Abstract

The invention belongs to the technical field of water surface unmanned platform self-reconfiguration, and particularly discloses a water surface unmanned platform anti-impact automatic butt joint mechanism which comprises a water surface platform, and the two sides of the water surface platform are each provided with a butt joint male head module and a butt joint female head module; the water surface platform is further provided with a control module, a propeller, a communication transmission module and a sensor module. The invention provides the impact-resistant automatic docking mechanism for the water surface unmanned platform, which is high in docking success rate, firm in docking, impact-resistant and compact in structure, and also provides an impact-resistant automatic docking method for the water surface unmanned platform.

Description

technical field [0001] The invention belongs to the technical field of self-reconfiguration of unmanned water surface platforms, and in particular relates to an anti-shock automatic docking mechanism and method for unmanned water surface platforms. Background technique [0002] The self-reconfiguration technology of unmanned surface platform is the evolution of application technology of unmanned system cluster technology in the background of military equipment engineering. The unmanned self-reconfiguration technology not only includes the unmanned aerial vehicle cooperative formation technology, but also includes the distributed robot formation cooperative operation related technology. Unmanned surface platforms have two potential military application values. The advancement of research on this technology can not only improve the level of autonomy of unmanned surface platforms for combat, but also lay a technical foundation for maritime group operations and material delivery...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63B35/00B63B21/56B63B21/62
CPCB63B35/00B63B21/56B63B21/62B63B2035/007
Inventor 王曰英王鑫成敏吴乃龙周卫祥周华冷江南杨扬严怀成杨希祥谢少荣费敏锐罗均
Owner SHANGHAI UNIV
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