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Underwater docking platform with posture capable of being autonomously adjusted

A technology for underwater docking and attitude adjustment, which is applied to ships, ship salvage, transportation, and packaging. The effect of interpretation, good promotion and application value, docking accuracy and success rate improvement

Active Publication Date: 2015-10-21
青岛中科芯光集成电路有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, limited by the size and mass, the energy carried by the underwater vehicle is very limited, and it must establish a connection with the docking platform to replenish energy and exchange information during long-term operations.
Most of the current docking platforms are fixed, and the underwater vehicle needs to accurately adjust its own attitude to drive into the docking platform to complete the docking. However, the sensitivity of underwater vehicles to adjust their own attitude is low, and the success rate of docking is difficult to guarantee.
[0003] Chinese patent 201210439839.6 discloses "an underactuated AUV underwater recovery device", which mainly includes a series of linkage mechanisms. When the AUV drives in, it is tightly hugged. The device can only rely on the AUV to adjust its own attitude and heading. The device can only be recovered after the recovery, which has great limitations
Chinese patent 201110382046.0 discloses "a single-degree-of-freedom symmetrical swing-driven underwater robot recovery device with a large expansion and contraction ratio", although it can form a cylindrical enclosing area, but it needs to form a complete package in the axial direction, which may affect the underwater robot. robot causing damage
Chinese patent 201310217457.3 discloses "the base system of the funnel-shaped inlet docking platform of the autonomous underwater vehicle" can realize reliable support for the docking system, but mainly relies on the way of adding counterweights, and its own posture cannot be actively adjusted

Method used

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  • Underwater docking platform with posture capable of being autonomously adjusted
  • Underwater docking platform with posture capable of being autonomously adjusted

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0018] exist figure 1 and figure 2 Among them, it includes: a docking laser 1, which is arranged on the front axis of the underwater vehicle; a parallel movement platform 2, and a turntable (4) is arranged on the upper end surface of the parallel movement platform 2; a recovery cabin 9, which is fixedly installed on the turntable 4 On, one end of the recovery cabin 9 is the entrance, and the other end is the positioning end; the entrance detection switch 3 is fixedly installed at the entrance of the recovery cabin 9, the front detection switch 8 is installed on the front end of the recovery cabin 9 cabins, and the rear end of the recovery cabin 9 cabins Detection switch 10 after installation; And, photoelectric detection device, photoelectric detection device comprises electric push rod 6, support 7 and photoelectric detector 5, and electric push rod 6 housings are hinged above the recovery chamber 9 entrances; Support one end and electric push rod 6 The output shaft is hing...

Embodiment 2

[0021] In the second embodiment, the device can also include a buffer 11, which is fixedly installed inside the positioning end of the recovery cabin 9, and when the underwater vehicle drives into the recovery cabin, it absorbs energy and decelerates it. Avoiding collisions can effectively ensure the safety of underwater vehicles.

[0022] When the underwater vehicle navigates to the underwater docking platform area through underwater acoustic navigation, the docking laser 1 on the underwater vehicle is turned on, and the underwater docking platform enters the search mode at the same time. Driven by the parallel motion platform 2 and the turntable 4, the fixed The photodetector 5 on the recovery cabin 9 searches for the light beam emitted by the docking laser 1 according to a predetermined trajectory. at the location of the underwater docking platform,

[0023] If the laser beam of the docking laser 1 is imaged on the edge of the photodetector 5, the underwater docking platfo...

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Abstract

The invention relates to an underwater docking platform, and in particular to an underwater docking platform with the posture capable of being autonomously adjusted. The underwater docking platform comprises a docking laser, a parallel-connection movement platform, an inlet detection switch, a rotary table, a photoelectric detector, an electric pushing rod, a support, a front detection switch, a recovery capsule and a rear detection switch. Due to the adoption of the combined series-parallel connection mode of the parallel-connection movement platform and the rotary table, the structure is simple, accuracy is high, the bearing capacity is high, and meanwhile wide searching range is guaranteed. The photoelectric detector is located in the axial direction of the recovery capsule, and therefore imaging and interpretation are facilitated; and the photoelectric detector can be lifted up along with the support, and therefore it can be guaranteed that an underwater vehicle can smoothly enter the recovery capsule. The device is high in structural rigidity, flexible in use and high in universality; only one docking laser needs to be additionally arranged on the underwater vehicle, and therefore modification is little and popularization is easy; and the docking accuracy and the success rate can be improved to a large extent, and the underwater docking platform has the very good application and popularization value.

Description

technical field [0001] The invention relates to an underwater docking platform, in particular to an underwater docking platform capable of autonomously adjusting attitude. Background technique [0002] With the development of oceans and rivers, underwater vehicles, as an indispensable tool, have been paid more and more attention, and have broad application prospects and important scientific research value. However, limited by the size and mass, the energy carried by the underwater vehicle is very limited, and it must establish a connection with the docking platform to replenish energy and exchange information during long-term operations. Most of the current docking platforms are fixed, and the underwater vehicle needs to accurately adjust its attitude to drive into the docking platform to complete the docking. However, the sensitivity of underwater vehicles to adjust their own attitude is low, and the success rate of docking is difficult to guarantee. [0003] Chinese paten...

Claims

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Application Information

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IPC IPC(8): B63C7/16
Inventor 朱建鑫温亚楠田维坚
Owner 青岛中科芯光集成电路有限公司
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