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Method and device for automatic docking of underwater vehicle and base station under guidance of light

An underwater vehicle and automatic docking technology, applied to underwater operation equipment, transportation and packaging, ships, etc., can solve problems such as complex algorithms and mechanical structures, achieve high-precision guidance results, simple structure of guidance devices, and high accuracy high effect

Active Publication Date: 2014-08-06
ZHEJIANG UNIV +1
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  • Summary
  • Abstract
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  • Application Information

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Problems solved by technology

Patent CN 103057679 A discloses a docking device and a docking method for dual intelligent underwater robots, including two major systems: a positioning system and a docking system. The mechanical structure is relatively complicated, and it is used for the docking of two intelligent underwater robots, which cannot supply energy for autonomous underwater robots; patent CN 102320362 A discloses a set of docking devices for autonomous underwater vehicles and submarine observation networks , using a large horn as a mechanical guide, docking the autonomous underwater vehicle with the submarine observation network for wireless energy transmission and information exchange

Method used

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  • Method and device for automatic docking of underwater vehicle and base station under guidance of light
  • Method and device for automatic docking of underwater vehicle and base station under guidance of light
  • Method and device for automatic docking of underwater vehicle and base station under guidance of light

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Embodiment 1

[0025] The light source includes a lamp housing 11, and the lamp housing 11 is provided with a reflector 12, a high-brightness light source 13 and a filter 14 sequentially from the inside to the outside; 15°~30° conical divergent monochromatic light.

[0026] The four-quadrant photodetector comprises a convex lens 20 and a controller 24; the controller 24 is sequentially connected with an A / D sampling circuit 23, a preamplifier circuit 22 and a four-quadrant signal line 21; the convex lens 20 is arranged on one side of the four-quadrant signal line 21 On the other hand, the monochromatic light emitted by the light source is condensed by the convex lens 20, and the condensed light forms a spot, and through the irradiation area of ​​the spot on the four-quadrant signal line 21, the four-quadrant signal line 21 can obtain the corresponding current. Just can judge the position of light spot at this moment according to the electric current that produces at this moment again; As, in...

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Abstract

The invention discloses a method for automatic docking of an underwater vehicle and a base station under the guidance of light. According to the method, a fixed light source and a vehicle provided with a four-quadrant photoelectric detector are arranged. The method comprises the steps as follows: the light source is used for emitting light; the light emitted by the light source is irradiated to the four-quadrant photoelectric detector of the vehicle, and light spots are formed; and the heading attitude of the vehicle is adjusted according to the location, where the light spots are located, of the four-quadrant photoelectric detector.

Description

technical field [0001] The invention relates to the field of marine engineering, in particular to a light-guided automatic docking method and device for an underwater vehicle and a base station. Background technique [0002] In recent years, human beings have continued to explore the ocean, and gradually developed a number of equipment for ocean and lake detection and research. Underwater vehicle is one of the most representative marine detection devices, which are widely used in national defense, coast guard, maritime affairs, customs, nuclear power, hydropower, offshore oil, fishery, sea rescue, pipeline detection and marine scientific research and other fields. As a low-cost and convenient autonomous detection device, the autonomous underwater vehicle does not have any cable connection with the mother ship. At the same time, autonomous underwater vehicles need to dock with the base station for energy supply, and dock with the base station for information batch data trans...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52
Inventor 唐建中余有芳徐建国蒋珀华光
Owner ZHEJIANG UNIV
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