AUV (Autonomous Underwater Vehicle) dynamic docking system for multiple docking stations

Through the dynamic docking system of the multi-port docking station, combined with the guiding light source, visual markers and phased visual positioning strategy, the problem of unstable docking in the collaborative operation of multiple AUVs is solved, and efficient and stable multi-machine collaborative operation is achieved.

CN120669731APending Publication Date: 2025-09-19HANGZHOU DIANZI UNIV +1
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Patent Information

Application Number
CN202510817179.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-06-18
Publication Date
2025-09-19

AI Technical Summary

Technical Problem

The existing AUV docking system cannot meet the needs of multi-machine collaborative operation, and ignores the changes in the relative position of the AUV and the dock during the return to docking process, resulting in unstable visual recognition targets.

Method used

A dynamic docking system for multi-port docking docks is adopted. Through a phased visual positioning strategy, the guidance light source and visual markers are used, combined with the EPnP algorithm, dual-light source geometric positioning and STag visual markers to achieve precise docking of the AUV.

Benefits of technology

It improves the stability and efficiency of AUV docking, ensures accurate docking of multiple aircraft in a dynamic environment, reduces visual interference, and enhances the system's response efficiency and docking stability.

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Abstract

The AUV dynamic docking system based on the multi-port docking station comprises the multi-port docking station and an AUV, and the dynamic docking control method of the AUV and the multi-port docking station comprises the following specific steps: S1, extracting center coordinates of a guide light source of each dock port of the multi-port docking station; s2, in a long-distance stage, the AUV performs global pose calculation by combining an EPnP algorithm with all the guide light sources, and the AUV autonomously docks to a target dock entrance according to a calculation result; s3, when the AUV gradually gets close to the target dock entrance and is in the middle distance stage, the AUV estimates the azimuth included angle between the AUV and the target dock entrance based on the monocular double-light-source set relation, and the AUV adjusts the course according to the direction included angle and continues to be in butt joint with the target dock entrance; and S4, when the AUV is close to the target dock entrance and is about to enter the target dock entrance, the AUV is in a final docking stage at the moment, the docking dock is still in a moving state, the AUV identifies the Stag visual mark of the target dock entrance to carry out pose calculation of tail end docking, and the AUV is accurately docked with the target dock entrance according to the pose calculation.
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