Active underwater robot flexible docking capture system and method

Abstract

The invention discloses an active underwater robot flexible docking capture system and method. The active underwater robot flexible docking capture system comprises target equipment, a docking robot and a parent body, the docking robot is used for docking and capturing the target equipment; the active underwater robot flexible docking capture system further comprises a cable, and the docking robot is connected with the parent body through the cable. When the target equipment is captured, the parent body is located underwater, the target equipment is located on the water surface, and the parent body is located below the target equipment; the parent body is provided with a cable collecting device and a buffer locking mechanism, the cable collecting device is used for driving the cable to be collected so as to drive the captured target equipment to be collected, and the buffer locking mechanism is used for buffering collision and locking the target equipment to the parent body. According to the active underwater robot flexible docking capture system and method, the target equipment can be actively retrieved, flexible docking of the target equipment is achieved, it is guaranteed that recovery is reliable, and the target equipment is not damaged.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to a flexible docking and capturing system and method for an active underwater robot. Background Art

[0002] With the rise of marine engineering, more and more deep-sea underwater operations are being carried out, and the existing underwater object grabbing work is mostly done by manipulators. However, for smaller target devices, it is difficult for manipulators to achieve reliable grabbing, and manipulators are generally rigid contacts, which can cause collisions and damage the target devices. In order to overcome the defects of the manipulator, there are also flexible arm grabbing devices in the prior art, but their grabbing force is not enough, and they cannot guarantee the posture of the target device, and cannot be used in complex environments with high grabbing requirements. Summary of the invention

[0003] In view of the above defects or improvement needs of the prior art, the present invention proposes an active underwater robot flexible docking and capture system and method, which can actively retrieve the target device, realize flexible docking of the target device, ensure reliable recovery, and not damage the target device.

[0004] To achieve the above objectives, in some embodiments, an active underwater robot flexible docking and capture system is proposed, the active underwater robot flexible docking and capture system comprising a target device, a docking robot, and a mother body;

[0005] The docking robot is used to dock and capture the target device;

[0006] The active underwater robot flexible docking and capturing system further comprises a harness, and the docking robot is connected to the mother body via the harness;

[0007] When capturing the target device, the mother body is located underwater, the target device is located on the water surface, and the mother body is located below the target device;

[0008] The mother body is provided with a collecting device and a buffer locking mechanism. The collecting device is used to drive the collection line to be retracted, thereby driving the captured target device to be recovered. The buffer locking mechanism is used to buffer the collision when the target device approaches the mother body and lock the target device to the mother body.

[0009] In some embodiments, a docking port is provided at the bottom of the target device, and the docking robot has a docking pin that matches the docking port, and the docking port has a locking function after matching with the docking pin.

[0010] In some embodiments, the docking robot includes a driving paddle and a positioning device, the positioning device is used to obtain the position of the target device, and the driving paddle is used to drive the docking robot to actively move.

[0011] In some embodiments, the positioning device includes a long-distance positioning device and a short-distance positioning device. The long-distance positioning device is used to position the target device in the initial stage when the docking robot leaves the mother body, and the short-distance positioning device is used to accurately position the target device at close range when the docking robot approaches the target device.

[0012] In some embodiments, the long-distance positioning device includes a sonar positioning device, and the short-distance positioning device includes a camera and an image processing module.

[0013] In some embodiments, the wiring comprises an electrical cable.

[0014] In some embodiments, the encircling line has buoyancy, there are two of the encircling lines, there are two of the docking robots, and each of the docking robots is connected to the mother body via one of the encircling lines.

[0015] In some embodiments, the buffer locking mechanism includes a buffer mechanism and a locking mechanism, the buffer mechanism includes an elastic device, and the locking mechanism includes a V-shaped structure and a fixing plate.

[0016] In some embodiments, a method for controlling flexible docking and capturing of an active underwater robot is also provided. The control method utilizes the flexible docking and capturing system of an active underwater robot described in any of the above embodiments to enable the docking robot to flexibly dock and capture the target device.

[0017] In some embodiments, the control method includes:

[0018] The docking robot leaves the mother body;

[0019] The docking robot locates the position of the target device through a remote positioning device, and moves toward the target device under the action of a driving paddle;

[0020] When the docking robot approaches the target device, the position of the target device is accurately located by a short-range positioning device, and docking with the target device is achieved;

[0021] The collecting device in the mother body drives the collecting line to be retracted, thereby driving the target device captured by the docking robot to be recovered;

[0022] When the target device approaches the mother body, the target device buffers the collision through the buffer locking mechanism, and the buffer locking mechanism locks the target device to the mother body.

[0023] In general, the above embodiments conceived by the present invention have at least the following beneficial effects compared with the prior art:

[0024] (1) Active capture is completed by docking the docking robot with the target device, and the docking is accurate and reliable.

[0025] (2) The docking robot and the mother body are connected by cables, and then the docking robot is docked to achieve flexible docking and controllable recovery to avoid damage to the target equipment.

[0026] (3) Two docking robots are connected by two grasping wires. Each docking robot is connected to the mother body by a grasping wire. The two docking robots simultaneously capture a target device, thereby achieving stable control of the posture of the target device and avoiding entanglement of the grasping wires, thereby achieving reliable recovery.

[0027] (4) The contact between the target device and the mother body is buffered by the collecting device and the buffer locking mechanism to avoid collision. The collecting device and the locking mechanism cooperate to fix and lock the target device and complete underwater recovery.

[0028] It can be understood that the technical effects of the present application include but are not limited to the above summary, and the technical effects of other specific embodiments can be found in the corresponding description of the specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of a flexible docking and capturing system for an active underwater robot according to an embodiment of the present invention.

[0030] Figure 2 It is a schematic diagram of the docking state of an underwater device and a docking robot according to an embodiment of the present invention.

[0031] Figure 3 The figure is a schematic structural diagram of a docking robot according to an embodiment of the present invention.

[0032] Figure 4 The figure is a schematic structural diagram of a docking device for underwater equipment according to an embodiment of the present invention.

[0033] Figure 5 This is a schematic diagram of an embodiment of the present invention when a docking pin completely enters a docking port to complete docking.

[0034] Figure 6 It is a partial cross-sectional schematic diagram of an embodiment of the present invention when the docking pin completely enters the docking port to complete the docking.

[0035] Figure 7 for Figure 6 A local enlarged schematic diagram of point A in the middle.

[0036] Figure 8 FIG. 1 is a schematic diagram of the cross-sectional structure of a cable according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The embodiments of the present invention will be described below with reference to the accompanying drawings. It will be appreciated by those skilled in the art that the described embodiments may be modified in various ways or combinations thereof without departing from the spirit and scope of the present invention. Therefore, the drawings and descriptions are illustrative in nature and are not intended to limit the scope of the claims. In addition, in this specification, the drawings are not drawn to scale and the same reference numerals represent the same parts.

[0038] Figure 1 FIG. 1 is a schematic diagram of a flexible docking and capturing system of an active underwater robot according to an embodiment of the present invention. Figure 1 As shown, the active underwater robot flexible docking capture system includes a target device 2000, a docking robot 3000, and a mother body 4000;

[0039] The docking robot 3000 is used to dock and capture the target device 2000. The target device 2000 may be an underwater device, and in some embodiments, an underwater robot.

[0040] The active underwater robot flexible docking and capturing system further includes a harness 1000, through which the docking robot 3000 is connected to the mother body 4000;

[0041] When capturing the target device 2000, the mother body 4000 is located underwater, the target device 2000 is located on the water surface or in the water, and the mother body 4000 is located below the target device 2000;

[0042] The mother body 4000 is provided with a collecting device 5000 and a buffer locking mechanism 6000. The collecting device 5000 is used to drive the traction line 1000 to be retracted, thereby driving the captured target device 2000 to be recovered. The buffer locking mechanism 6000 is used to buffer the collision when the target device 2000 approaches the mother body 4000 and lock the target device 2000 to the mother body 4000.

[0043] In some embodiments, it is understood that the target device 2000 is an underwater device, and the underwater device can be located on the water surface or in the water. Being located in the water means that the underwater device is completely located below the water surface. Being located on the water surface means that at least part of the underwater device is located above the water surface, but the bottom surface of the underwater device is at least in contact with the water surface or is located below the water surface. At least the bottom surface of the underwater device is located below the water surface, and the underwater device can be an underwater robot.

[0044] In some embodiments, the underwater device may have a driving source, which can drive the underwater device to move. The underwater device has no driving source or the driving source loses its function. The target device 2000 may be a device that performs a target task. When the target task is completed or it needs to be recovered, it needs to be recovered to the mother body.

[0045] In some embodiments, the docking robot 3000 is a simple underwater robot and has a driving device that can drive the docking robot 3000 to move in water.

[0046] In some embodiments, the harness 1000 includes a cable. The cable is used to supply power to the docking robot 3000. In some embodiments, the harness 1000 also includes a signal line for transmitting control signals, etc. Specifically, when the underwater equipment is recovered, the docking robot is released from the mother body, the driving device of the docking robot serves as a power device, the cable can supply power to the power device, the power device includes a motor and a driving paddle, and the docking robot approaches the underwater equipment under the drive of the power device. Generally, the mother body is located below the underwater equipment. The bottom surface of the underwater equipment has a docking device, and the top of the docking robot has a docking structure matching the docking device. After the docking robot approaches the underwater equipment, the docking structure matches the docking device to complete the docking, and the mother body retracts the cable, thereby driving the underwater equipment and recovering the underwater equipment to the mother body. In some embodiments, the mother body is an underwater base station. In some embodiments, the mother body has a power source and can move in water. In some embodiments, the mother body is a fixed base station and can be located at the bottom of the water. In some embodiments, the underwater base station can provide sufficient energy. It can be understood that the water can be in seawater or fresh water.

[0047] In some embodiments, there are two cables 1000, and the two cables 1000 are connected to the same mother body. There are two docking robots 3000, each of which is connected to the mother body 4000 through one cable 1000, and the two docking robots 3000 are docked with the underwater equipment 2000 at the same time. In some embodiments, the cable 1000 is released and collected by the collection device 5000. The cable 1000 can be wound on the collection device 5000. When the underwater equipment is retracted to the mother body, the underwater equipment contacts and locks with the buffer locking mechanism to prevent collision damage.

[0048] Figure 2 It is a schematic diagram of the docking state of an underwater device and a docking robot according to an embodiment of the present invention. Figure 3This is a schematic diagram of the structure of a docking robot according to an embodiment of the present invention. In some embodiments, the bottom surface of the underwater device has a docking device 2100, and the top of the docking robot has a docking structure 3100 that matches the docking device. In some embodiments, the docking device includes a docking port, and the docking structure includes a docking pin. The target device has a docking port below, and the docking robot has a docking pin that matches the docking port, and the docking port has a locking function after matching with the docking pin.

[0049] Figure 4 FIG. 1 is a schematic diagram of a structure of a docking device for underwater equipment according to an embodiment of the present invention. Figure 4 The docking device 2100 includes a docking port 2101, which has a conical structure portion and a conical cavity. The docking port 2101 has a locking groove 2102 at the lower end close to the opening, and the locking groove 2102 can be a groove surrounding the docking port 2101. The top of the docking port 2101 away from the opening has a positioning protrusion 2103, which is located at the center of the docking port 2101, protruding downward from the top of the docking port 2101 and facing the inside of the docking port. In some embodiments, the positioning protrusion 2103 is a triangular cone with the tip facing downward.

[0050] Specifically, refer to Figure 3 The docking structure 3100 includes a docking pin 3101, and the docking pin 3101 has a tapered structure portion. The docking pin 3101 has a tapered pin structure. The tapered pin structure matches the tapered cavity of the docking port 2101. Specifically, when the docking is completed, the cross-sectional diameter of the tapered pin structure is less than or equal to the cross-sectional diameter of the tapered cavity. The cross-sectional diameter of the top of the tapered pin structure is less than the cross-sectional diameter at the lower end opening of the tapered cavity. Through the docking port and the docking pin of the tapered structure, the docking match is smoother and less prone to violent collision.

[0051] In some embodiments, the docking pin 3101 is a movable pin. Specifically, the center of the docking pin 3101 has a threaded hole 3108, the docking robot has a frame 3102 and a docking motor 3103, and the frame has a stud 3104, one end of the stud 3104 is connected to the output shaft of the docking motor 3103, and the other end extends into the threaded hole of the docking pin 3101, and is threadedly connected with the docking pin 3101. The docking motor 3103 is fixed to the frame 3102. When the output shaft of the docking motor rotates, the docking pin 3101 can be threadedly driven to rise or fall by forward and reverse rotation. Before docking, the upper end of the docking pin 3101, that is, the top, is located in the frame. When docking is required, the docking pin 3101 is driven to rise by the docking motor, extend out of the frame, and extend into the docking port 2101 to complete the docking. Through the provision of the movable pin, it is possible to avoid being disturbed by debris in the water during the movement of the docking robot, and to avoid the docking pin directly colliding with the underwater equipment in the extended state when it is not aligned. Only when the docking robot is aligned with the underwater equipment, that is, when the position of the docking pin is aligned with the docking port, the docking motor drives the docking pin 3101 to rise, so that the docking pin extends into the docking port 2101. In addition, by setting the docking pin to extend into the docking port, the upper end of the docking robot does not need to fit the underwater equipment, so that the driving paddle of the docking robot has sufficient driving space, and the control is more convenient. In some embodiments, the plane where the driving paddle is located is on the same plane as the top plane of the docking robot. The top plane of the docking robot is the top surface of the frame at the docking pin when the docking pin does not extend out of the frame.

[0052] In some embodiments, the threaded hole 3108 is a through hole that penetrates the docking pin 3101. The top of the threaded hole can dock with the positioning protrusion 2103. The inner diameter of the threaded hole is equal to or slightly smaller than the diameter of the uppermost end of the positioning protrusion.

[0053] Figure 5 This is a schematic diagram of the docking pin fully entering the docking port to complete the docking. Figure 5 The top cross-sectional diameter of the tapered pin structure is D1, and the cross-sectional diameter of the top of the tapered cavity is D2. The inner diameter of the threaded hole is d1, and the diameter of the top end of the positioning protrusion is d2. The taper angle of the tapered pin structure is equal to the taper angle of the tapered cavity, that is, the tapered pin structure and the tapered cavity have the same inclination angle, and the two can fit completely tightly.

[0054] In some embodiments, D1≥D2, d2≥d1. The cone angle of the conical pin structure is θ, the cone angle of the conical positioning protrusion 2103 is β, and the following conditions are satisfied:

[0055]

[0056] In some embodiments,

[0057]

[0058] When the docking pin is completely inserted into the docking port, complete center positioning is achieved through the top end of the threaded hole and the positioning protrusion.

[0059] Figure 6 It is a partial cross-sectional schematic diagram when the docking pin completely enters the docking interface to complete the docking. Figure 7 for Figure 6 A partial enlarged schematic diagram of the A in the middle. Figure 6 and Figure 7 In some embodiments, the lower part of the docking pin 3101 has a transverse hole 3105, and there are multiple transverse holes 3105. A latch 3106 is disposed in the transverse hole 3105, and the latch is disposed transversely and can move transversely. When extending outward, it can be inserted into the locking groove 2102 at the lower end of the docking port 2101 near the opening.

[0060] The locking groove 2102 is embedded with a magnet 2104, and the latch 3106 is made of a magnetic material. When the docking pin 3101 rises to a preset position and the position of the latch 3106 is in the same plane as the locking groove 2102, the latch 3106 is sucked out by the magnetic force under the action of the magnet and inserted into the locking groove 2102 to complete the locking in the vertical direction. Specifically, a plurality of latches are arranged on the docking pin 3101 in an umbrella shape. The latches are all located in the same plane.

[0061] Specifically, refer to Figure 7 The lower end surface of the locking groove 2102 has a rounded corner 2105. The lower end surface of the latch 3106 has a chamfer 3107. The height of the locking groove 2102 is greater than the height of the latch 3106. In the fully locked state, the lower end surface of the locking groove 2102 and the lower end surface of the latch 3106 are in the same plane. By setting the rounded corner 2105 and the chamfer 3107, the latch 3106 can be smoothly inserted into the locking groove 2102.

[0062] In some embodiments, reference Figure 3The docking robot has a power device, which includes a motor and a driving paddle 3109. The driving paddle 3109 can be multiple, for example, four, and the four driving paddles 3109 ensure that the docking robot maintains balance in the water and real-time drive in any direction. The docking robot also has a positioning device, which is used to obtain the position of the target device, and the driving paddle is used to drive the docking robot to perform active movement. In some embodiments, the positioning device includes a long-distance positioning device and a short-distance positioning device, the long-distance positioning device is used to locate the target device in the initial stage of the docking robot leaving the mother body, and the short-distance positioning device is used to accurately locate the target device at a close distance when the docking robot approaches the target device. In some embodiments, the long-distance positioning device includes a sonar positioning device, and the short-distance positioning device includes a camera and an image processing module. The docking robot locates the position of the target device through the long-distance positioning device, and moves toward the target device under the action of the driving paddle. When the docking robot approaches the target device, the position of the target device is accurately located by the short-distance positioning device, and docking with the target device is achieved. Specifically, image recognition can be performed through a camera and an image processing module to complete precise positioning, so that the position of the docking pin is aligned with the docking interface, and then the docking and locking of the docking pin and the docking interface are started.

[0063] In some embodiments, when the docking robot approaches the target device, the target device is accurately positioned at a close distance using the following method.

[0064] Specifically, the position of the target device is accurately located by a short-range positioning device; at the same time, the position of the target device is monitored in real time.

[0065] The camera includes a first camera and a second camera, and accurately locates the position of the target device through a short-range positioning device, including:

[0066] The first step is to obtain the rough position of the docking port. Specifically, the target device is continuously photographed in a panoramic manner by a first camera to obtain at least a first image and a second image including a panoramic image of the target device, and the first image and the second image are subjected to image recognition and / or segmentation by an image processing module to perform rough positioning, thereby obtaining the rough position of the docking port 2101 of the docking device 2100 on the target device, and obtaining the position difference between the first image and the second image, and obtaining the rough position change speed and direction of the target device according to the shooting time and position difference between the first image and the second image.

[0067] The second step is to obtain the precise position of the docking interface. Specifically, after obtaining the rough position of the docking interface and its changes, the docking robot is driven to move to the docking interface so that the docking pin 3101 of the docking structure 3100 is basically / roughly aligned with the docking interface. The docking interface is continuously photographed at close range and micro-focus by a second camera to obtain at least a third image and a fourth image including macro images of the docking interface and the positioning protrusion in the docking interface. The third image and the fourth image are subjected to image recognition and / or segmentation by an image processing module, and are precisely positioned to obtain the precise position of the docking interface 2101 and the positioning protrusion 2103 on the target device; at the same time, the position difference between the third image and the fourth image is obtained, and the precise position change speed and direction of the target device are obtained according to the shooting time and position difference of the third image and the fourth image.

[0068] The third step is to achieve real-time and accurate tracking of the position of the target device. Specifically, after obtaining the precise position of the docking interface and its changing speed and direction, the docking robot is driven to move so that the docking pin 3101 of the docking structure 3100 is accurately aligned with the docking interface. The docking interface is continuously photographed at close range and with a micro-focus by a second camera, and the photographed images are processed in real time by an image processing module. The docking robot is driven to track the movement in real time according to the image processing results, so as to achieve real-time and accurate tracking of the position of the target device.

[0069] After completing accurate positioning and real-time accurate following of the position of the target device, the docking and locking of the docking pin and the docking port are started. In this process, the position following and posture locking of the docking robot are controlled.

[0070] In some embodiments, the buffer locking mechanism includes a buffer mechanism and a locking mechanism, the buffer mechanism includes an elastic device, and the locking mechanism includes a V-shaped structure and a fixing plate. When the underwater device is retracted to the mother body, the underwater device contacts and locks with the buffer locking mechanism to prevent collision damage. Specifically, the V-shaped structure matches the size of the underwater device, the underwater device can be embedded in the V-shaped structure, the fixing plate is rotationally connected or slidably connected to the V-shaped structure, and after the underwater device is embedded in the V-shaped structure, the fixing plate flips or slides and presses on the upper part of the underwater device. The locking is completed.

[0071] In some embodiments, the present application also provides an active underwater robot flexible docking and capture control method, wherein the control method utilizes the active underwater robot flexible docking and capture system described in any of the above embodiments to enable the docking robot to flexibly dock and capture the target device.

[0072] In some embodiments, the control method includes:

[0073] The docking robot leaves the mother body;

[0074] The docking robot locates the position of the target device through a remote positioning device, and moves toward the target device under the action of a driving paddle;

[0075] When the docking robot approaches the target device, the position of the target device is accurately located by a short-range positioning device, and docking with the target device is achieved;

[0076] The collecting device in the mother body drives the collecting line to be retracted, thereby driving the target device captured by the docking robot to be recovered;

[0077] When the target device approaches the mother body, the target device buffers the collision through the buffer locking mechanism, and the buffer locking mechanism locks the target device to the mother body.

[0078] The active underwater robot flexible docking capture system of the present application completes active capture by docking the docking robot with the target device, and the docking is accurate and reliable. The docking robot and the mother body are connected by cables, and then by docking the docking robots, flexible docking and controllable recovery are achieved to avoid damage to the target device. Two docking robots are connected by two lines, each docking robot is connected to the mother body by a line, and two docking robots capture a target device at the same time, achieving stable control of the posture of the target device, avoiding entanglement of the lines, and achieving reliable recovery. Through the collection device and the buffer locking mechanism, the contact between the target device and the mother body is buffered to avoid collision, and the collection device and the locking mechanism cooperate to achieve fixed locking of the target device and complete underwater recovery.

[0079] Figure 8 FIG. 1 is a schematic diagram of a cross-sectional structure of a cable according to an embodiment of the present invention. In some embodiments, the cable 1000 may be constructed as a zero-gravity cable. Figure 1 , the zero-gravity cable is applied to the flexible docking and capture system of the active underwater robot. Each active underwater robot flexible docking and capture system has two zero-gravity cables. During the recovery process, the buoyancy of the two zero-gravity cables can be controlled to reduce or even avoid the gravity effect of the zero-gravity cables, so that the force balance at both ends of the underwater equipment is easier to control, ensuring the stable recovery of the underwater equipment. In some embodiments, the posture lock of the docking robot can also be controlled, and the tension of the two zero-gravity cables can be precisely controlled to ensure the posture balance of the underwater equipment and keep it in a horizontal state.

[0080] refer to Figure 8The cable 1000 includes a cable 100, one end of which is used to connect to a docking robot, and the other end is used to connect to a mother body. The docking robot is used to capture underwater equipment, thereby recovering the underwater equipment; the cable is used to supply power to the docking robot. In some embodiments, the cable 1000 also includes a buoyancy structure 200, which includes an inflatable cavity 201, and the inflatable cavity has two. The buoyancy structure is used to make the buoyancy of the cable equal to the gravity when it is in the water, so that it is in a zero gravity state. The end of the cable used to connect to the mother body has an inflatable device, and the inflatable device can be installed on the mother body. It can be understood that the water can be in seawater or fresh water. In addition, by setting the inflatable cavity, the cable can be in an expanded state when inflated, and it is subjected to radial outward tension. The overall rigidity of the cable is large and it is not easy to bend, so that the cable is not easy to be entangled during the pulling and recovery process, and the motion control is easier. Specifically, the outer side of the zero gravity cable is wrapped with a composite material layer 500. The composite material layer is made of high-strength material. The composite material layer is made of a flexible material that is resistant to bending. The setting of the composite material layer can ensure that the zero-gravity cable can be wound, but will not bend, thereby avoiding damage to the inflatable cavity and the cable, but it is convenient for recycling. The outer periphery of the cable 100 has an insulating layer 600, and the insulating layer is arranged between the cable and the inflatable cavity. The insulating layer 600 is arranged close to the cable to insulate and protect the cable. The inflatable cavity has a cavity skin 202. The cavity skin 202 can be composed of an elastic material. The cavity skin has good flexibility and elasticity and can adapt to different inflation pressures. The cavity skin 202 also has good air tightness. In some embodiments, the cavity skin 202 can be a rubber material. Between the composite material layer 500 and the insulating layer 600, the space other than the inflatable cavity has a filling material 700, and the filling material 700 can be a porous flexible material, such as a foam material. The filling material 700 has shaping and protective effects, and can also increase buoyancy.

[0081] In some embodiments, during the cable recovery process and / or cable release process, the buoyancy of the cable is equal to the weight of the cable, which can improve the driving efficiency, reduce energy loss, effectively prevent entanglement, and facilitate motion control.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An active underwater robot flexible docking capture system, It is characterized in that The active underwater robot flexible docking and capture system comprises a target device, a docking robot, and a mother body; The docking robot is used to dock and capture the target device, and the target device is an underwater robot; The active underwater robot flexible docking and capturing system further comprises a harness, and the docking robot is connected to the mother body via the harness; When capturing the target device, the mother body is located underwater, the target device is located on the water surface, and the mother body is located below the target device; The mother body is provided with a collecting device and a buffer locking mechanism. The collecting device is used to drive the collection line to be retracted, thereby driving the captured target device to be recovered. The buffer locking mechanism is used to buffer the collision when the target device approaches the mother body and lock the target device to the mother body.

2. The active underwater robot flexible docking capture system according to claim 1, It is characterized in that A docking port is provided below the target device, and the docking robot has a docking pin that matches the docking port. The docking port has a locking function after matching with the docking pin.

3. The active underwater robot flexible docking capture system according to claim 2, It is characterized in that The docking robot comprises a driving paddle and a positioning device, wherein the positioning device is used to obtain the position of the target device, and the driving paddle is used to drive the docking robot to actively move.

4. The active underwater robot flexible docking capture system according to claim 3, It is characterized in that The positioning device includes a long-distance positioning device and a short-distance positioning device. The long-distance positioning device is used to position the target device in the initial stage when the docking robot leaves the mother body, and the short-distance positioning device is used to accurately position the target device at a close distance when the docking robot approaches the target device.

5. The active underwater robot flexible docking and capture system according to claim 4, It is characterized in that The long-distance positioning device includes a sonar positioning device, and the short-distance positioning device includes a camera and an image processing module.

6. The active underwater robot flexible docking capture system according to claim 1, It is characterized in that The wiring includes an electrical cable.

7. The active underwater robot flexible docking capture system according to claim 1, It is characterized in that There are two said entraining wires and two said docking robots, and each of said docking robots is connected to said mother body via one of said entraining wires.

8. The active underwater robot flexible docking capture system according to claim 1, It is characterized in that The buffer locking mechanism comprises a buffer mechanism and a locking mechanism, wherein the buffer mechanism comprises an elastic device, and the locking mechanism comprises a V-shaped structure and a fixing plate.

9. A flexible docking capture control method for an active underwater robot. It is characterized in that The control method utilizes the active underwater robot flexible docking and capturing system according to any one of claims 1 to 8 to enable the docking robot to flexibly dock and capture the target device.

10. The control method according to claim 9, It is characterized in that The control method comprises: The docking robot leaves the mother body; The docking robot locates the position of the target device through a remote positioning device, and moves toward the target device under the action of a driving paddle; When the docking robot approaches the target device, the position of the target device is accurately located by a short-range positioning device, and docking with the target device is achieved; The collecting device in the mother body drives the collecting line to be retracted, thereby driving the target device captured by the docking robot to be recovered; When the target device approaches the mother body, the target device buffers the collision through the buffer locking mechanism, and the buffer locking mechanism locks the target device to the mother body.

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