Segmented pose detection and docking device and method for large underwater robot

Abstract

The invention relates to a large underwater robot segmented pose detection docking device and method.Two adjusting mechanisms each comprise a front support, a rear support and four trolleys capable of moving in the X direction, a transverse moving seat capable of moving in the Y direction is arranged in each trolley, and a supporting shaft capable of lifting in the Z direction is arranged on each transverse moving seat; the two ends of the front support are supported through supporting shafts on the two trolleys on the front side respectively, the two ends of the rear support are supported through supporting shafts on the two trolleys on the rear side respectively, the two ends of the first cabin section are supported through the rear support and the front support in the first adjusting mechanism, and the two ends of the second cabin section are supported through the rear support and the front support in the second adjusting mechanism. The butt joint end face flanges of the first cabin section and the second cabin section are each provided with a target ball, all the target balls are scanned through a laser tracker, the trolley, the transverse moving base and the supporting shaft are all controlled by a control system to move, and the control system calculates the movement amount according to the positions of the target balls scanned by the laser tracker. The position posture of the butt joint end face of the cabin section can be accurately reflected, and butt joint can be automatically adjusted.

Description

technical field [0001] The invention relates to the field of large-scale underwater robot assembly, in particular to a large-scale underwater robot segmented pose detection docking device and method. Background technique [0002] Large-scale underwater robot structures are usually formed by segmental processing and reassembly. During the docking and assembly process of the cabins, the position and attitude of the cabins need to be adjusted according to different situations. However, due to the large size and weight of the underwater robot cabins Larger, it is difficult to observe and judge the actual pose state during docking, which makes the assembly process difficult. If the pose of the cabin cannot be accurately detected and adjusted to the ideal state, the impact force generated during docking of the cabin will damage the cabin structure and Therefore, how to accurately detect and adjust the position and posture of the large underwater robot cabin to meet the docking req...

AI Technical Summary

Problems solved by technology

[0002] Large-scale underwater robot structures are usually formed by segmental processing and reassembly. During the docking and assembly process of the cabins, the position and attitude of the cabins need to be adjusted according to different situations. However, due to the large size and weight of the underwater robot cabins Larger, it is difficult to observe and judge the actual pose state during docking, which makes the assembly process difficult. If the pose of the cabin cannot be accurately detected and adjusted to the ideal state, the impact force generated during docking of the cabin will damage the cabin structure and components in the cabin, so how to accurately detect and adjust the position and posture of the large underwater robot cabin to meet the docking requirements is particularly important

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