A docking robot and an active underwater robot flexible docking and capture system

Abstract

This invention discloses a docking robot and an active underwater robot flexible docking and capture system. The docking robot is used to dock with and capture a target device located at the water surface. The target device has a docking interface below it, and the docking robot has a docking pin that matches the docking interface. The docking interface has a locking function after mating with the docking pin. The docking pin is a movable pin with a threaded hole at its center. The docking robot has a frame and a docking motor. The frame has a stud, one end of which 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 it. The docking motor is fixed to the frame. Before docking, the top of the docking pin is located inside the frame. When docking is required, the docking motor drives the docking pin to rise, extending it out of the frame and into the docking interface to complete the docking. Active capture is achieved by docking the robot with the target device, and the docking is precise and reliable.

Description

Case Division Explanation:

[0001] This application is a divisional application of application number CN202411046317.9, filed on August 1, 2024, entitled "An Active Underwater Robot Flexible Docking and Capture System and Method". Technical Field

[0002] This invention belongs to the field of underwater robot technology, specifically relating to a docking robot and an active underwater robot flexible docking and capture system. Background Technology

[0003] With the rise of marine engineering, underwater operations in the open ocean are becoming increasingly common, and most underwater object grasping tasks are currently performed by robotic arms. However, for smaller targets, robotic arms struggle to achieve reliable grasping, and their typically rigid contact can lead to collisions and damage to the target equipment. To overcome the shortcomings of robotic arms, flexible arm grasping devices exist in existing technologies, but their grasping force is insufficient, and they cannot guarantee the orientation of the target equipment, making them unsuitable for complex environments with high grasping requirements. Summary of the Invention

[0004] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention proposes a docking robot and an active underwater robot flexible docking and capture system, which can actively retrieve target equipment, achieve flexible docking with the target equipment, ensure reliable recovery, and prevent damage to the target equipment.

[0005] To achieve the above objectives, in some embodiments, a docking robot is proposed for docking with and capturing a target device located on the water surface; The target device has a docking interface at its bottom, and the docking robot has a docking pin that matches the docking interface. The docking interface has a locking function after it matches the docking pin. 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 has a stud, one end of which 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 inside the frame. When docking is required, the docking motor drives the docking pin to rise, and the docking pin extends out of the frame and into the docking interface to complete the docking.

[0006] In some embodiments, the lower end of the interface near the opening has a locking groove, the lower part of the pin has a transverse hole, and a pin is provided in the transverse hole. The pin is arranged transversely and can move laterally. When it extends outward, it can be inserted into the locking groove.

[0007] In some embodiments, a magnet is embedded in the locking groove, and the pin is made of a magnetic material; when the pin rises to a preset position and the pin position is on the same plane as the locking groove, the pin is attracted by magnetic force under the action of the magnet and inserted into the locking groove to complete the vertical locking.

[0008] In some embodiments, the transverse hole has multiple pins arranged in an umbrella shape on the mating pin, and all the pins are located on the same plane.

[0009] In some embodiments, the top of the mating interface away from the opening has a positioning protrusion located at the center of the mating interface, protruding downward from the top of the mating interface and facing inward. The positioning protrusion is conical with the tip pointing downward.

[0010] In some embodiments, the threaded hole is a through hole that passes through the mating pin, and the top end of the threaded hole can mate with the positioning protrusion. The inner diameter of the threaded hole is equal to the diameter of the uppermost end of the positioning protrusion.

[0011] In some embodiments, the lower end face of the locking groove has a rounded corner, the lower end face of the pin has a chamfer, and the height of the locking groove is greater than the height of the pin.

[0012] In some embodiments, the docking robot has a power unit, which includes a motor and four drive propellers. The plane on which the drive propellers are 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 is not extended from the frame.

[0013] In some embodiments, an active underwater robot flexible docking and capture system is provided, the active underwater robot flexible docking and capture system including a target device, a docking robot, a parent body, and a cable; The docking robot is the docking robot described in any of the preceding items; The parent body is located underwater, and the docking robot is connected to the parent body via the cable. When inflated, the cable is in an expanded state and subjected to radial outward tension.

[0014] In some embodiments, the mother body has a power source and can move in water.

[0015] In summary, compared with the prior art, the embodiments conceived in this invention have at least the following beneficial effects: Active capture is achieved by docking the docking robot with the target device, resulting in precise and reliable docking. Flexible docking and controllable recovery are achieved by connecting the docking robot and the parent device via a cable, and then docking through the docking robot, thus avoiding damage to the target device.

[0016] It is understood that the technical effects of this application include, but are not limited to, the above summary. For details of the technical effects of other specific embodiments, please refer to the corresponding descriptions in the Specific Embodiments section. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of an active underwater robot flexible docking and capture system according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram illustrating the docking state of an underwater device and a docking robot according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the docking robot according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the docking device for underwater equipment according to an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram showing the docking pin fully entering the interface and completing the docking according to an embodiment of the present invention.

[0022] Figure 6 This is a partial cross-sectional schematic diagram of the docking pin fully entering the docking interface and completing the docking according to an embodiment of the present invention.

[0023] Figure 7 for Figure 6 A magnified view of a portion of point A in the middle.

[0024] Figure 8 This is a schematic diagram of the cross-sectional structure of a cable according to an embodiment of the present invention. Detailed Implementation

[0025] Embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that the described embodiments can be modified in various ways or combinations thereof without departing from the spirit and scope of the invention. Therefore, the drawings and description are illustrative in nature and not intended to limit the scope of the claims. Furthermore, in this specification, the drawings are not drawn to scale, and the same reference numerals denote the same parts.

[0026] Figure 1 This is a schematic diagram of an active underwater robot flexible docking and capture system 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; The docking robot 3000 is used to dock with and capture the target device 2000, which can be an underwater device, and in some embodiments, an underwater robot. The active underwater robot flexible docking and capture system also includes a cable 1000, through which the docking robot 3000 and the mother body 4000 are connected; When the target device 2000 is captured, the mother body 4000 is underwater, the target device 2000 is on the water surface or in the water, and the mother body 4000 is below the target device 2000. The mother body 4000 has a retraction device 5000 and a buffer locking mechanism 6000. The retraction device 5000 is used to drive the cable 1000 to retract, thereby driving the captured target device 2000 to be retrieved. 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.

[0027] In some embodiments, it is understood that the target device 2000 is an underwater device, which may be located on the water surface or in the water. Located in the water means that the entire underwater device is completely submerged below the water surface. Located on the water surface 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 submerged below the water surface. If at least the bottom surface of the underwater device is submerged, the underwater device may be an underwater robot.

[0028] In some embodiments, the underwater device may have a drive source that can drive the underwater device to move. The underwater device may not have a drive source or the drive source may be malfunctioning. The target device 2000 may be a device that performs a target task; upon completion of the target task or when it needs to be retrieved, it needs to be retrieved back to the parent device.

[0029] In some embodiments, the docking robot 3000 is a simple underwater robot. The docking robot 3000 has a drive unit that can drive the docking robot 3000 to move in water.

[0030] In some embodiments, the cable 1000 includes a cable. The cable is used to supply power to the docking robot 3000. In some embodiments, the cable 1000 also includes a signal line for transmitting control signals, etc. Specifically, during the retrieval of the underwater equipment, the docking robot is released from the parent body. The drive device of the docking robot serves as a power unit, and the cable can supply power to the power unit. The power unit includes a motor and a drive propeller. The docking robot approaches the underwater equipment under the drive of the power unit. Generally, the parent 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 that matches the docking device. After the docking robot approaches the underwater equipment, the docking structure matches the docking device to complete the docking. The parent body retracts the cable, thereby driving the underwater equipment and recovering it to the parent body. In some embodiments, the parent body is an underwater base station. In some embodiments, the parent body has a power source and can move in the water. In some embodiments, the parent body is a fixed base station and can be located on the bottom of the water. In some embodiments, the underwater base station can provide sufficient energy. It is understood that the water can be seawater or freshwater.

[0031] In some embodiments, there are two cables 1000 connected to the same parent body. There are two docking robots 3000, each connected to the parent body 4000 via one cable 1000, and both docking robots 3000 simultaneously dock with the underwater device 2000. In some embodiments, the cables 1000 are released and retrieved via a reeling device 5000. The cables 1000 can be wound around the reeling device 5000. When the underwater device is retracted to the parent body, it contacts and locks against a buffer locking mechanism to prevent collision damage.

[0032] Figure 2 This is a schematic diagram illustrating the docking state of an underwater device and a docking robot according to an embodiment of the present invention. Figure 3 This is a schematic diagram 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 mating interface, and the docking structure includes a docking pin. The target device has a mating interface below it, and the docking robot has a docking pin that matches the mating interface. The mating interface has a locking function after mating with the docking pin.

[0033] Figure 4 This is a schematic diagram of the docking device for an underwater device according to an embodiment of the present invention. Specifically, refer to... Figure 4The docking device 2100 includes a docking interface 2101, which has a tapered structural portion and a tapered cavity. The lower end of the docking interface 2101 near the opening has a locking groove 2102, which may be a groove surrounding the docking interface 2101. The top end of the docking interface 2101 away from the opening has a positioning protrusion 2103, located at the center of the docking interface 2101, protruding downwards from the top end of the docking interface 2101 and facing inwards. In some embodiments, the positioning protrusion 2103 is T-shaped with its tip pointing downwards.

[0034] For details, please refer to Figure 3 The docking structure 3100 includes a docking pin 3101, which has a tapered structure. The tapered pin structure matches the tapered cavity of the docking interface 2101. Specifically, during docking, 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 at the top of the tapered pin structure is less than the cross-sectional diameter at the lower opening of the tapered cavity. The tapered docking interface and docking pin ensure smoother docking and reduce the likelihood of violent collisions.

[0035] 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 has a frame 3102 and a docking motor 3103. The frame has a stud 3104, one end of which 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, where it is threadedly connected to 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 threaded up or down by rotating in both directions. Before docking, the upper end, i.e., the top, of the docking pin 3101 is located inside the frame. When docking is required, the docking motor drives the docking pin 3101 to rise, extend out of the frame, and extend into the docking interface 2101 to complete the docking. By setting a movable pin, interference from underwater debris can be avoided during the movement of the docking robot, and collisions between the docking pin and underwater equipment can be avoided when misaligned. The docking motor only drives the docking pin 3101 to rise and extend into the docking interface 2101 when the docking robot is aligned with the underwater equipment, i.e., when the docking pin is aligned with the docking port. Furthermore, by having the docking pin extend into the docking port, the upper part of the docking robot does not need to be in contact with the underwater equipment, allowing the drive propeller of the docking robot sufficient driving space and making control more convenient. In some embodiments, the plane of the drive propeller and the top plane of the docking robot are on the same plane. The top plane of the docking robot is the top surface of the frame at the docking pin location when the docking pin is not extended from the frame.

[0036] In some embodiments, the threaded hole 3108 is a through hole that passes through the mating pin 3101. The top end of the threaded hole can mate 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.

[0037] Figure 5 This is a schematic diagram showing the pin fully engaging with the interface to complete the docking process. (Reference) Figure 5 The top cross-sectional diameter of the tapered pin structure is D1, and the top cross-sectional diameter of the tapered cavity is D2. The inner diameter of the threaded hole is d1, and the diameter of the uppermost part of the positioning protrusion is d2. The cone angle of the tapered pin structure is equal to the cone angle of the tapered cavity, meaning that the inclination angles of the tapered pin structure and the tapered cavity are the same, allowing them to fit completely together.

[0038] In some embodiments, D1≥D2, d2≥d1. The cone angle of the tapered pin structure is θ, and the cone angle of the positioning protrusion 2103 of the T-shaped cone is β, and satisfies:

[0039] In some embodiments,

[0040] When the pin is fully inserted into the mating interface, the center is fully positioned by the top of the threaded hole and the positioning protrusion.

[0041] Figure 6 This is a partial cross-sectional view showing the pin fully engaging with the interface to complete the docking. Figure 7 for Figure 6 A magnified view of a portion of point A in the diagram. (Reference) Figure 6 and Figure 7 In some embodiments, the lower part of the mating pin 3101 has a transverse hole 3105, and there are multiple transverse holes 3105. A pin 3106 is provided in the transverse hole 3105. The pin is arranged laterally and can move laterally. When it extends outward, it can be inserted into the locking groove 2102 at the lower end of the mating interface 2101 near the opening.

[0042] A magnet 2104 is embedded in the locking groove 2102, and the pin 3106 is made of magnetic material. When the mating pin 3101 rises to a preset position and the pin 3106 is on the same plane as the locking groove 2102, the pin 3106 is attracted by the magnet and inserted into the locking groove 2102, completing the vertical locking. Specifically, multiple pins are arranged in an umbrella shape on the mating pin 3101. All pins are located on the same plane.

[0043] For details, please refer to Figure 7The lower end face of the locking groove 2102 has a rounded corner 2105. The lower end face of the pin 3106 has a chamfer 3107. The height of the locking groove 2102 is greater than the height of the pin 3106. In the fully locked state, the lower end face of the locking groove 2102 and the lower end face of the pin 3106 are on the same plane. By setting the rounded corner 2105 and the chamfer 3107, the pin 3106 can be smoothly inserted into the locking groove 2102.

[0044] In some embodiments, reference Figure 3 The docking robot has a power unit, which includes a motor and drive propellers 3109. There can be multiple drive propellers 3109, for example, four. These four drive propellers ensure the docking robot maintains balance in the water and provides real-time drive in any direction. The docking robot also has a positioning device for acquiring the position of the target device. The drive propellers 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 locates the target device in the initial stage after the docking robot leaves the mother body, and the short-range positioning device performs precise short-range positioning of the target device when the docking robot approaches it. In some embodiments, the long-range positioning device includes a sonar positioning device, and the short-range positioning device includes a camera and an image processing module. The docking robot locates the target device using the long-range positioning device and moves towards the target device under the action of the drive propellers. When the docking robot approaches the target device, it precisely locates the target device using the short-range positioning device and docks with it. Specifically, image recognition can be performed using a camera and image processing module to achieve precise positioning, aligning the position of the docking pin with the interface, and then initiating the docking and locking of the docking pin and the interface.

[0045] In some embodiments, the precise close-range positioning of the target device when the docking robot approaches the target device is achieved using the following method.

[0046] Specifically, the location of the target device is accurately determined using a proximity positioning device; at the same time, the location of the target device is monitored in real time.

[0047] The camera includes a first camera and a second camera, and accurately locates the position of the target device using a proximity positioning device, including: The first step is to obtain the approximate location of the docking interface. Specifically, this involves continuously capturing panoramic images of the target device using a first camera to obtain at least a first image and a second image, which include a panoramic view of the target device. An image processing module then performs image recognition and / or segmentation on the first and second images to perform approximate positioning, thereby obtaining the approximate location of the docking interface 2101 of the docking device 2100 on the target device. The positional difference between the first and second images is also obtained. Based on the shooting time and positional difference between the first and second images, the approximate speed and direction of the target device's positional change are determined.

[0048] The second step is to obtain the precise position of the docking interface. Specifically, after obtaining the approximate position and changes of the docking interface, the docking robot is driven to move to the docking interface, so that the docking pin 3101 of the docking structure 3100 is basically / approximately aligned with the docking interface. The docking interface is continuously photographed at close range using a second camera, resulting in at least a third and a fourth image, including macro images of the docking interface and the positioning protrusion within the docking interface. The third and fourth images are then processed by an image processing module for image recognition and / or segmentation, and precise positioning is performed to obtain the precise position of the docking interface 2101 and the positioning protrusion 2103 on the target device. At the same time, the positional difference between the third and fourth images is obtained, and based on the shooting time and positional difference of the third and fourth images, the precise positional change speed and direction of the target device are obtained.

[0049] The third step is to achieve real-time and precise tracking of the target device's position. 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 precisely aligned with the docking interface. A second camera continuously captures close-up, micro-focus images of the docking interface, and the image processing module performs real-time image processing on the captured images. Based on the image processing results, the docking robot is driven to track the target device's position in real time.

[0050] After achieving precise positioning and real-time accurate tracking of the target device's position, the docking pin and interface are engaged and locked. During this process, the docking robot's position tracking and attitude locking are controlled.

[0051] In some embodiments, the buffer locking mechanism includes a buffer mechanism and a locking mechanism. The buffer mechanism includes an elastic element, 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, allowing the device to be embedded in the V-shaped structure. The fixing plate is rotatably or slidably connected to the V-shaped structure. After the underwater device is embedded in the V-shaped structure, the fixing plate flips or slides to press against the upper part of the underwater device, completing the locking process.

[0052] In some embodiments, this 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.

[0053] In some embodiments, the control method includes: The docking robot leaves the mother robot; The docking robot locates the target device using a remote positioning device and moves toward the target device under the action of the drive propeller; When the docking robot approaches the target device, it accurately locates the position of the target device using a proximity positioning device and docks with the target device. The retrieval device inside the mother body drives the retrieval line to retract, thereby retrieving the target device captured by the docking robot; When the target device approaches the mother body, the target device buffers the collision through a buffer locking mechanism, which locks the target device to the mother body.

[0054] This application's active underwater robot flexible docking and capture system achieves active capture by docking a docking robot with a target device, ensuring precise and reliable docking. A cable connects the docking robot and the host body, and the docking of the robots enables flexible docking and controllable recovery, avoiding damage to the target device. Two docking robots are connected by two cables, each connected to the host body via a cable. The two robots simultaneously capture one target device, achieving stable attitude control of the target device and preventing cable entanglement, thus ensuring reliable recovery. A retrieval device and a buffer locking mechanism buffer the contact between the target device and the host body, preventing collisions. The retrieval device and locking mechanism work together to securely lock the target device, completing underwater recovery.

[0055] Figure 8 This is a schematic cross-sectional view 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. (Reference) Figure 1This zero-gravity cable is used in an active underwater robot flexible docking and capture system. Each active underwater robot flexible docking and capture system has two zero-gravity cables. During retrieval, the buoyancy of the two zero-gravity cables can be controlled to reduce or even eliminate the gravitational influence of the cables, making it easier to control the force balance at both ends of the underwater device and ensuring stable retrieval. In some embodiments, the attitude locking 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 position.

[0056] refer to Figure 8 The 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 host body. The docking robot is used to capture underwater equipment, thereby enabling the recovery of 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 two inflatable cavities 201. The buoyancy structure is used to ensure that the buoyancy experienced by the cable in water is equal to its weight, thereby achieving a zero-gravity state. The end of the cable connected to the host body has an inflation device, which can be installed on the host body. It is understood that the water can be seawater or freshwater. In addition, by setting the inflatable cavities, the cable is in an expanded state when inflated, subjected to radial outward tension, resulting in greater overall cable stiffness and making it less prone to bending. Therefore, the cable is less likely to tangle during lifting and retrieval, 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 also made of a flexible, bend-resistant material. The composite material layer ensures that the zero-gravity cable can be wound without bending, thus avoiding damage to the inflation cavity and cable, while also facilitating recycling. The cable 100 has an insulation layer 600 around its outer periphery, which is disposed between the cable and the inflation cavity. The insulation layer 600 is tightly fitted to the cable, providing insulation and protection. The inflation cavity has a sheath 202. The sheath 202 can be composed of an elastic material. The sheath has good flexibility and elasticity, adapting to different inflation pressures. The sheath 202 also has good airtightness. In some embodiments, the sheath 202 can be a rubber material. Between the composite material layer 500 and the insulation layer 600, in addition to the inflation cavity, there is a filling material 700. The filling material 700 can be a porous, flexible material, such as foam. The filling material 700 provides shaping and protection, and also increases buoyancy.

[0057] In some embodiments, during cable retrieval and / or cable deployment, the buoyancy of the cable is equal to the weight of the cable. This can improve drive efficiency, reduce energy loss, effectively prevent tangling, and facilitate motion control.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should 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, a parent body, and a cable; the parent body is located underwater, and the docking robot is connected to the parent body via the cable; the docking robot is used to dock and capture the target device, which is located on the water surface; The target device has a docking interface at its bottom, and the docking robot has a docking pin that matches the docking interface. The docking interface has a locking function after it matches the docking pin. 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 has a stud, one end of which 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 inside the frame. When docking is required, the docking motor drives the docking pin to rise, and the docking pin extends out of the frame and into the docking interface to complete the docking. The cable has two lines, and there are two docking robots. Each docking robot is connected to the mother body through one of the cables. The cable also includes a buoyancy structure, which includes an inflatable cavity, and the end of the cable used to connect to the mother body has an inflation device. When inflated, the cable is in an expanded state and subjected to radial outward tension.

2. The active underwater robot flexible docking and capture system according to claim 1, characterized in that, The lower end of the interface near the opening has a locking groove, and the lower part of the pin has a transverse hole with a pin inside. The pin is arranged laterally and can move laterally. When it extends outward, it can be inserted into the locking groove.

3. The active underwater robot flexible docking and capture system according to claim 2, characterized in that, The locking groove is embedded with a magnet, and the pin is made of magnetic material. When the pin rises to a preset position and the pin is on the same plane as the locking groove, the pin is attracted by magnetic force under the action of the magnet and inserted into the locking groove to complete the vertical locking.

4. The active underwater robot flexible docking and capture system according to claim 3, characterized in that, The transverse hole has multiple holes, and multiple pins are arranged in an umbrella shape on the mating pin, and the pins are all located on the same plane.

5. The active underwater robot flexible docking and capture system according to claim 4, characterized in that, The top of the interface away from the opening has a positioning protrusion. The positioning protrusion is located at the center of the interface, protruding downward from the top of the interface and facing inward. The positioning protrusion is conical with the tip pointing downward.

6. The active underwater robot flexible docking and capture system according to claim 5, characterized in that, The threaded hole is a through hole that passes through the mating pin. The top of the threaded hole can mate with the positioning protrusion. The inner diameter of the threaded hole is equal to the diameter of the uppermost part of the positioning protrusion.

7. The active underwater robot flexible docking and capture system according to claim 6, characterized in that, The lower end face of the locking groove has a rounded corner, the lower end face of the pin has a chamfer, and the height of the locking groove is greater than the height of the pin.

8. The active underwater robot flexible docking and capture system according to any one of claims 1-7, characterized in that, The docking robot has a power unit, which includes a motor and four drive propellers. The plane of the drive propellers 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 is not extended out of the frame.

9. The active underwater robot flexible docking and capture system according to claim 8, characterized in that, The mother body has a power source and can move in water.

Images