Active underwater robot flexible docking capture system and method

Abstract

The present invention discloses an active underwater robot flexible docking and capture system and method, comprising a target device, a docking robot, and a mother body; the docking robot is used to dock and capture the target device; the active underwater robot flexible docking and capture system also includes a harness, and the docking robot and the mother body are connected by 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 retracting device and a buffer locking mechanism, the retracting device is used to drive the harness to retract, thereby driving the captured target device to be recovered, and the buffer locking mechanism is used to buffer collisions and lock the target device to the mother body. The active underwater robot flexible docking and capture system and method of the present invention can actively retrieve the target device, achieve flexible docking of the target device, ensure reliable recovery, and not damage the target device.

Description

Technical Field

[0001] The present 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, deep-sea underwater operations are becoming increasingly common. Currently, robotic arms are often used to grasp underwater objects. However, for smaller objects, reliable grasping is difficult with robotic arms. Furthermore, the rigid contact mechanism of robotic arms can cause collisions and damage to the target object. To overcome the shortcomings of robotic arms, flexible arm grasping devices have been proposed in the prior art. However, these devices lack sufficient gripping force and cannot guarantee the target object's position, making them unsuitable for complex environments with demanding grasping requirements. Summary of the Invention

[0003] In response to the above-mentioned 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, a flexible docking and capture system for an active underwater robot is proposed, wherein the flexible docking and capture system for an active underwater robot includes 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 capture system further includes 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 retraction of the line, 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 below 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 harness line has buoyancy, there are two harness lines, there are two docking robots, and each docking robot is connected to the mother body via one harness line.

[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 the 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 retract, 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 harnesses. Each docking robot is connected to the mother body by a harness. The two docking robots simultaneously capture a target device, thereby achieving stable control of the posture of the target device and avoiding harness entanglement, 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 achieve fixed locking of the target device and complete underwater recovery.

[0028] It can be understood that the technical effects of this application include but are not limited to the above summary. 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 capture system for an active underwater robot according to an embodiment of the present invention.

[0030] Figure 2 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 Schematic diagram of the structure 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 the docking pin fully enters the docking port to complete docking.

[0034] Figure 6 This is a partial cross-sectional schematic diagram of an embodiment of the present invention when the docking pin fully enters the docking port to complete 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 following describes embodiments of the present invention with reference to the accompanying drawings. Those skilled in the art will recognize 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 description are illustrative in nature and are not intended to limit the scope of the claims. Furthermore, throughout this specification, the drawings are not drawn to scale, and like reference numerals represent like parts.

[0038] Figure 1 FIG1 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 and 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. In some embodiments, it may be an underwater robot.

[0040] The active underwater robot flexible docking and capture 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, which can be located on the water surface or in the water. Being underwater means that the entire underwater device is completely below the water surface. Being on the surface of the water means that at least a portion of the underwater device is 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. The underwater device may be an underwater robot.

[0044] In some embodiments, the underwater device may have a driving source that can drive the underwater device to move. The underwater device may not have a driving source or the driving source may be malfunctioning. 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 having a driving device that can drive the docking robot 3000 to move in water.

[0046] In some embodiments, the harness 1000 comprises an electrical cable. The cable is used to supply power to the docking robot 3000. In some embodiments, the harness 1000 also comprises a signal cable for transmitting control signals, etc. Specifically, when recovering the underwater device, the docking robot is released from the mother body. The docking robot's drive unit serves as a power source, and the cable can supply power to the power unit, which includes a motor and drive paddles. Driven by the power unit, the docking robot approaches the underwater device. Typically, the mother body is located below the underwater device. The underwater device has a docking device on its bottom surface, and the docking robot has a docking structure on its top that mates with the docking device. Once the docking robot approaches the underwater device, the docking structure mates with the docking device, completing docking. The mother body then retracts the cable, driving the underwater device and recovering it back 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 underwater. In some embodiments, the mother body is a fixed base station, which can be located underwater. In some embodiments, the underwater base station can provide sufficient energy. It is understood that the underwater area can be either seawater or freshwater.

[0047] In some embodiments, there are two cables 1000, both connected to the same mother body. There are two docking robots 3000, each connected to the mother body 4000 via a cable 1000. Both docking robots 3000 can simultaneously dock with the underwater device 2000. In some embodiments, the cables 1000 are deployed and retracted using a retraction device 5000. The cables 1000 can be wound around the retraction device 5000. When the underwater device is retracted to the mother body, it engages and locks with a buffer locking mechanism to prevent collision damage.

[0048] Figure 2 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 one 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 it, and the docking robot has a docking pin that matches the docking port. The docking port and the docking pin function as a locking mechanism when mated.

[0049] Figure 4 Schematic diagram of the structure of the docking device of the underwater equipment according to one embodiment of the present invention. Figure 4 The docking device 2100 includes a docking port 2101 having a tapered structure and a tapered cavity. The lower end of the docking port 2101, near the opening, has a locking groove 2102. The locking groove 2102 may be a groove that surrounds the docking port 2101. The top end of the docking port 2101, away from the opening, has a positioning protrusion 2103. The positioning protrusion 2103 is located at the center of the docking port 2101, protruding downward from the top end of the docking port 2101 and facing into the docking port. In some embodiments, the positioning protrusion 2103 is tapered, with the tip facing downward.

[0050] Specifically, refer to Figure 3 The docking structure 3100 includes a docking pin 3101, which 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 of the lower end opening of the tapered cavity. The tapered docking port and the docking pin make the docking match smoother and less prone to violent collisions.

[0051] In some embodiments, the docking pin 3101 is a movable pin. Specifically, the docking pin 3101 has a threaded hole 3108 at its center. The docking robot comprises a frame 3102 and a docking motor 3103. The frame includes a stud 3104. One end of the stud 3104 is connected to the output shaft of the docking motor 3103, while the other end extends into the threaded hole of the docking pin 3101, threadedly connected to the docking pin 3101. The docking motor 3103 is fixed to the frame 3102. When the docking motor output shaft rotates, the forward and reverse rotations can thread the docking pin 3101 upward or downward. Before docking, the upper end, or top, of the docking pin 3101 is located within the frame. When docking is required, the docking motor drives the docking pin 3101 upward, extending from the frame and into the docking port 2101 to complete the docking. The provision of a movable pin prevents interference with underwater debris during the docking robot's movement and prevents the extended docking pin from colliding with underwater equipment in the event of misalignment. Only when the docking robot is aligned with the underwater device, that is, when the docking pin is aligned with the docking port, does the docking motor drive the docking pin 3101 upward, allowing it to extend into the docking port 2101. Furthermore, by allowing the docking pin to extend into the docking port, the top of the docking robot does not need to be in contact with the underwater device, allowing the docking robot's drive paddle to have sufficient space for driving, making control more convenient. In some embodiments, the plane of the drive paddle is coplanar with the top plane of the docking robot. The top plane of the docking robot is the top surface of the frame where the docking pin is located when the docking pin is not extended from the frame.

[0052] In some embodiments, the threaded hole 3108 is a through hole that passes through 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 diagram showing the docking pin fully entering the docking port to complete docking. Figure 5 The cross-sectional diameter of the tapered pin structure's top is D1, and the cross-sectional diameter of the tapered cavity's top 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 that of the tapered cavity, meaning the tapered pin structure and the tapered cavity have the same inclination angle, allowing them to fit snugly.

[0054] In some embodiments, D1≥D2, d2≥d1. The cone angle of the tapered pin structure is θ, the cone angle of the tapered 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, the center is completely positioned through the top end of the threaded hole and the positioning protrusion.

[0059] Figure 6 This is a partial cross-sectional diagram of the docking pin fully entering the docking interface to complete the docking. Figure 7 for Figure 6 A partial enlarged schematic diagram of point A in the middle. Figure 6 and Figure 7 In some embodiments, the docking pin 3101 has a plurality of transverse holes 3105 at its lower portion. A latch 3106 is disposed in the transverse hole 3105 and is laterally movable. When the latch is extended 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 latch 3106 is flush with the locking groove 2102, the latch 3106 is magnetically drawn out by the magnet and inserted into the locking groove 2102, completing the vertical locking. Specifically, multiple latches are arranged in an umbrella shape on the docking pin 3101. The latches are all located in the same plane.

[0061] Specifically, refer to Figure 7 The lower end surface of locking groove 2102 has a rounded corner 2105. The lower end surface of latch pin 3106 has a chamfered corner 3107. The height of locking groove 2102 is greater than the height of latch pin 3106. In the fully locked state, the lower end surface of locking groove 2102 and the lower end surface of latch pin 3106 are flush with each other. The provision of rounded corners 2105 and chamfered corners 3107 ensures smooth insertion of latch pin 3106 into locking groove 2102.

[0062] In some embodiments, reference Figure 3The docking robot has a power unit comprising a motor and drive paddles 3109. There may be multiple drive paddles 3109, for example, four. These four drive paddles 3109 ensure the docking robot maintains balance in the water and allows for real-time actuation in any direction. The docking robot also has a positioning device for determining the location of the target device. The drive paddles are used to drive the docking robot to perform active movement. In some embodiments, the positioning device includes a long-range positioning device and a short-range positioning device. The long-range positioning device is used to locate the target device during the initial phase of the docking robot's separation from the mother body, while the short-range positioning device is used to accurately locate the target device at close range when the docking robot approaches the target device. In some embodiments, the long-range positioning device comprises a sonar positioning device, while the short-range positioning device comprises a camera and an image processing module. The docking robot uses the long-range positioning device to locate the target device and, driven by the drive paddles, moves toward the target device. As the docking robot approaches the target device, the short-range positioning device accurately locates the target device and docks with it. Specifically, image recognition can be performed through a camera and an image processing module to complete precise positioning, align the position of the docking pin with the docking interface, and then initiate docking and locking of the docking pin and the docking interface.

[0063] In some embodiments, when the docking robot approaches the target device, precise positioning of the target device at close range is achieved 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 close-range positioning device, including:

[0066] The first step is to obtain the rough position of the docking port. Specifically, the first camera continuously captures a panoramic view of the target device to obtain at least a first image and a second image comprising a panoramic image of the target device. The image processing module performs image recognition and / or segmentation on the first image and the second image 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. Based on the shooting time and position difference between the first image and the second image, the rough position change speed and direction of the target device are obtained.

[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 based on the shooting time and position difference of the third image and the fourth image.

[0068] The third step is to accurately track the position of the target device in real time. Specifically, after obtaining the precise position of the docking port, its speed of change, and its direction, the docking robot is driven to precisely align the docking pin 3101 of the docking structure 3100 with the docking port. A second camera continuously captures the docking port at close range with a micro-focus lens. The captured images are processed in real time by an image processing module. Based on the image processing results, the docking robot is driven to track the target device in real time, accurately tracking its position in real time.

[0069] After completing accurate positioning and real-time accurate tracking of the position of the target device, the docking pin and the docking port are started to dock and lock. In this process, the position tracking 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 into 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 slidingly 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, completing the locking.

[0071] In some embodiments, the present application also provides a flexible docking and capture control method for an active underwater robot, which utilizes the flexible docking and capture system for an active underwater robot 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 retract, 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 and 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 a cable, and then the docking of the docking robot is used to achieve flexible docking and controllable recovery, avoiding damage to the target device. Two docking robots are connected by two lines, and each docking robot is connected to the mother body by a line. The 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. The collection device and the buffer locking mechanism are used to achieve buffering of the contact between the target device and the mother body 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 FIG1 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 can be constructed as a zero-gravity cable. Figure 1 The zero-gravity cable is used in the flexible docking and capture system of an 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 influence of gravity on the zero-gravity cables, making it easier to control the force balance at both ends of the underwater device and ensuring stable recovery of the underwater device. In some embodiments, the attitude 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 attitude balance of the underwater device and keep it in a horizontal state.

[0080] refer to Figure 8The cable 1000 includes an electrical cable 100, one end of which is connected to a docking robot and the other end to a mother body. The docking robot is used to capture and recover underwater equipment. The cable is used to power the docking robot. In some embodiments, the cable 1000 also includes a buoyancy structure 200, which includes two inflatable cavities 201. The buoyancy structure is designed to ensure that the buoyancy of the cable in water is equal to the weight, thereby maintaining a zero-gravity state. The end of the cable connected to the mother body includes an inflatable device, which can be mounted on the mother body. It is understood that the water can be either seawater or freshwater. Furthermore, the provision of the inflatable cavities allows the cable to expand during inflation, exerting radially outward tension. This increases the overall rigidity of the cable and prevents bending. This reduces tangling during the lifting and recovery process, making motion control easier. Specifically, the zero-gravity cable is wrapped with a composite material layer 500. The composite material layer is made of a high-strength material. The composite material layer is made of a flexible material that is resistant to bending. The provision of the composite material layer ensures that the zero-gravity cable can be wound without bending, thereby avoiding damage to the air-filled cavity and the cable, while also facilitating recycling. The cable 100 has an insulating layer 600 on its outer periphery, which is provided between the cable and the air-filled cavity. The insulating layer 600 is provided close to the cable, providing insulation and protection for the cable. The air-filled cavity has a cavity skin 202. The cavity skin 202 can be made of an elastic material. The cavity skin has excellent flexibility and elasticity and can adapt to different inflation pressures. The cavity skin 202 also has excellent airtightness. In some embodiments, the cavity skin 202 can be made of a rubber material. Between the composite material layer 500 and the insulating layer 600, the space outside the air-filled cavity has a filling material 700, which can be a porous flexible material, such as a foam material. The filling material 700 has shaping and protective functions and can also increase buoyancy.

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

[0082] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An active underwater robot flexible docking and capture system, characterized in that: The active underwater robot flexible docking and capture system includes 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 capture system further includes 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, wherein the collecting device is used to drive the collecting line to retract, thereby driving the captured target device to be recovered, and 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; There are two said harness lines, there are two said docking robots, and each of said docking robots is connected to said mother body via one of said harness lines; The encircling line further comprises a buoyancy structure, the buoyancy structure comprises an inflatable cavity, and one end of the encircling line for connecting to the mother body is provided with an inflatable device; When inflated, the line is in an expanded state and is subjected to radially outward tension; The target device has a docking port below, and the docking robot has a docking pin that matches the docking port; The docking pin is a movable pin with a threaded hole in the center. The docking robot has a frame and a docking motor. The frame is provided with a stud. One end of the stud is connected to the output shaft of the docking motor, and the other end extends into the threaded hole of the docking pin and is threadedly connected to the docking pin. The docking motor is fixed to the frame. Before docking, the top of the docking pin is located in the frame. When docking is required, the docking pin is driven to rise by the docking motor, and the docking pin extends out of the frame and into the docking port to complete the docking.

2. The active underwater robot flexible docking and capture system according to claim 1, characterized in that: The docking port has a locking function after being matched with the docking pin.

3. The active underwater robot flexible docking and capture system according to claim 2, characterized in that: 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.

4. The active underwater robot flexible docking and capture system according to claim 3, 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 close range when the docking robot approaches the target device.

5. The active underwater robot flexible docking and capture system according to claim 4, 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 and capture system according to claim 1, characterized in that: The wiring includes an electrical cable.

7. The active underwater robot flexible docking and capture system according to claim 1, characterized in that: 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.

8. A flexible docking and capture control method for an active underwater robot, characterized in that: The control method utilizes the active underwater robot flexible docking and capturing system according to any one of claims 1 to 7 to enable the docking robot to flexibly dock and capture the target device.

9. The control method according to claim 8, characterized in that: The control method includes: 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 retract, 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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