Modular Underwater Robot Docking With Wireless Power Transfer
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Solution Overview
Problem
Existing multi-modal underwater robots face challenges in achieving optimal comprehensive performance, as they often need to sacrifice single-mode working performance due to increased load and water resistance, and require multiple sensors or tools that are not always used simultaneously, leading to unnecessary energy consumption.
Innovation Solution
A multi-modal robot system capable of autonomous submarine docking and reconstruction, comprising a non-contact charging platform, functional modules with permanent magnets and coils, and a docking robot that reconstructs different types of underwater robots by docking and separating these modules according to specific functions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple sensors or working tools are configured to enable a single robot to have multiple functions, then the robot can perform various tasks, but the robot becomes larger and unused sensors bring additional energy consumption
Solution Approach 1:
The robot system is divided into a core robot body and separate functional modules (sensors, working tools). These modules can be independently configured and attached only when needed, rather than all being permanently installed on the robot. This segmentation allows the robot to have multi-function capability while avoiding energy consumption from unused components.
Solution Approach 2:
The robot's configuration is made dynamic through the ability to attach and detach functional modules during operation. The robot can adapt its sensor and tool configuration based on task requirements, transitioning between different functional states. This dynamic reconfiguration ensures that only necessary sensors and tools are active, reducing energy consumption while maintaining versatility.
2Adaptability or versatility
If different types of sensors or working tools are configured to enable a single robot to have multiple functions, then the robot can perform various tasks, but the robot size increases
Solution Approach 1:
Functional modules are separated from the core robot body and designed as independent attachable units. This allows the robot to maintain a compact base size while expanding functionality only when modules are attached for specific tasks, avoiding the need for a permanently large robot structure to accommodate all possible functions.
Solution Approach 2:
The functional modules are designed with universal interfaces that allow them to be attached to and removed from the robot body. A single set of modular components can serve multiple purposes across different tasks, reducing the overall volume required compared to having dedicated components permanently installed for each function.
3Reliability
If functional modules are physically connected through cables for power and control, then energy and signals can be transmitted, but the docking and separation process becomes complex and time-consuming
Solution Approach 1:
Physical cable connections are replaced with wireless power and communication systems. The patent employs electromagnetic coupling or inductive charging for power transmission and wireless communication protocols for data exchange between the robot and functional modules. This substitution eliminates the mechanical complexity of plugging and unplugging cables while maintaining reliable energy and signal transmission.
4Device complexity
If a fixed configuration of functional modules is used, then the robot structure is simple, but the robot cannot adapt to different work tasks
Solution Approach 1:
The robot system is segmented into a standardized core body and interchangeable functional modules with uniform interfaces. This segmentation maintains structural simplicity through standardization while enabling adaptability by allowing different module combinations for different tasks. The modular architecture keeps the base design simple but provides flexibility through configuration changes.
Solution Approach 2:
The robot transitions from a static fixed configuration to a dynamic reconfigurable system. Functional modules can be attached or detached based on task requirements, allowing the robot to adapt its capabilities. The standardized interfaces and wireless connection mechanisms make this reconfiguration process simple, maintaining ease of manufacture while achieving task adaptability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enables efficient reconstruction and assembly of underwater robots with three motion modes, reducing construction costs and improving working efficiency by allowing autonomous adsorption and separation of functional modules, as well as non-contact battery replacement and maintenance.
Implementation Method 1
adjacent docking functional modules are adsorbed with each other by the permanent magnets during the docking and reconstruction, and are separated by means of an electromagnetic force which is repulsive to an adsorption force of the permanent magnets and is generated by energizing the coils
Data Source
AI summary
A multi-modal robot system capable of realizing autonomous submarine docking and reconstruction, includes a non-contact charging platform, several functional modules and a docking robot, wherein a coil is arranged on the non-contact charging platform, and energy and signals are transmitted between the coil and the functional modules; each of the functional modules includes a propeller module, an energy module, an observation detection module, an operation tool module, a navigation control module, a bow detection module and a tail propulsion module; and according to an instruction of a docking and reconstruction task, the docking robot reconstructs a multi-modal underwater robot by docking specific functional modules. The multi-modal robot system of the present invention can reconstruct the operation modal of the robot according to actual needs, realize the reconstruction and assembly of the underwater robot with three motion modes of horizontal plane cruise, fixed-point operation and vertical profiling, and reduce cost.