CN114771741A - Underwater robot laying and recycling device, laying method, recycling method and unmanned ship - Google Patents
Underwater robot laying and recycling device, laying method, recycling method and unmanned ship Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/32—Waterborne vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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Abstract
The embodiment of the invention provides a deploying and recovering device, a deploying and recovering method and a recovering method for underwater robots, and solves the problem of automatic deploying and recovering of a plurality of underwater robots on an unmanned ship. The underwater robot's cloth puts recovery unit includes: the charging square cabin, the mechanical arm, the winch and the butt joint device are arranged on the charging square cabin; the charging shelter is used for storing and charging the underwater robot; the mechanical arm is used for grabbing the underwater robot to the charging shelter during recovery and grabbing the underwater robot to a distribution point during distribution; the docking device is detachably connected with the winch, the docking device is used for docking with the underwater robot during recovery, and the winch is used for dragging the docking device which is successfully docked with the underwater robot back to a specified position.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to an underwater robot distribution and recovery device, an underwater robot distribution method, an underwater robot recovery method and an unmanned ship.
Background
An unmanned Autonomous Underwater Vehicle (AUV) is used as an unmanned underwater system platform and can be used for various tasks such as submarine topography mapping, target search and rescue, resource exploration and scientific investigation. When a single AUV works at an ultra-long distance, communication or control faults are easy to occur, so that the loss risk is high, the operation data cannot be sent back to a command center, and the operation efficiency is low. The defects can be well overcome by adopting a mode of multi-AUV cooperative operation and interconnection. The unmanned ship carries a plurality of AUVs to carry out underwater detection operation, so that unmanned operation over-the-horizon underwater detection operation can be realized, the operation cost can be reduced, and the underwater detection operation efficiency can be improved. However, currently, the AUVs are mainly deployed and recovered manually, which threatens the personal safety of operators greatly, has high cost and low efficiency, and therefore, the realization of automatic deployment and recovery of a plurality of AUVs on unmanned ships is undoubtedly one of the key technical problems which need to be broken through urgently.
Disclosure of Invention
In view of this, the embodiment of the invention provides an underwater robot deployment and recovery device, an underwater robot deployment and recovery method and an unmanned ship, and solves the problem of automatic deployment and recovery of a plurality of underwater robots on the unmanned ship.
An embodiment of the present invention provides an underwater robot cloth recycling device, including:
the charging square cabin, the mechanical arm, the winch and the butt joint device are arranged on the charging square cabin; the charging shelter is used for storing and charging the underwater robot; the mechanical arm is used for grabbing the underwater robot to the charging shelter during recovery and grabbing the underwater robot to a distribution point during distribution; the docking device is detachably connected with the winch, the docking device is used for docking with the underwater robot during recovery, and the winch is used for dragging the docking device which is successfully docked with the underwater robot back to a specified position.
In one embodiment, the underwater robot cloth recovery apparatus further comprises: a cloth discharge recovery controller; the cloth retrieval controller is configured to: controlling the mechanical arm to grab the underwater robot to the arrangement point position and arrange the underwater robot in water; controlling the docking device to dock with the underwater robot; controlling the winch to drag the docking device successfully docked with the underwater robot back to a specified position; and controlling the mechanical arm to grab the underwater robot dragged back by the docking device to the charging shelter.
In one embodiment, an acoustic positioning system is provided on the docking device.
In one embodiment, an optical positioning system is disposed on the docking device.
In one embodiment, the apparatus further comprises: and the limiting structure is used for limiting and locking the butting device.
In one embodiment, the charging shelter comprises at least one storage cell, and each storage cell is provided with a charging device.
In an embodiment, the apparatus further comprises an image acquisition device for acquiring images of the underwater robot.
A method for laying out underwater robots by using the laying-out and recycling device of the underwater robots comprises the following steps:
receiving a laying instruction;
acquiring an image of the underwater robot, and acquiring the position of the underwater robot based on the image of the underwater robot;
retrieving the underwater robot based on the position of the underwater robot and transporting the underwater robot to a first location;
judging whether the first position is a target position, if not, adjusting the underwater robot to the target position; and if so, transporting the underwater robot to the underwater.
In one embodiment, the step of acquiring an image of the underwater robot, the step of acquiring the position of the underwater robot based on the image of the underwater robot comprises:
acquiring an image of an underwater robot, and detecting the underwater robot from the image of the underwater robot;
obtaining pixel coordinates of the center of the underwater robot in an image of the underwater robot based on the detected underwater robot.
In one embodiment, the step of retrieving the underwater robot based on the position of the underwater robot and transporting the underwater robot to a first location comprises:
converting pixel coordinates of the center of the underwater robot in an image of the underwater robot into coordinates in a relative mechanical arm base coordinate system;
the mechanical arm plans a path based on the coordinates in the relative mechanical arm base coordinate system and moves to the central position of the underwater robot according to the planned path;
the robotic arm retrieves the underwater robot and delivers to the first location.
A recovery method of an underwater robot, which uses the deployment and recovery device of the underwater robot for recovery, comprises the following steps:
receiving a recovery instruction;
moving to a second position based on the recovery instruction, and releasing the docking device;
the docking device sends out a positioning sound source;
the docking device judges whether the docking is successful, if so, the docking device is recovered;
identifying a current position of the underwater robot, acquiring a placement position, and transporting the underwater robot from the current position to the placement position.
An unmanned ship comprising: the device comprises a ship body and the underwater robot arrangement and recovery device; wherein, the distribution and recovery device of the underwater robot is arranged on the ship body.
In one embodiment, a moon pool is arranged on a deck of the ship body, and the moon pool is directly used as a passage for laying and recovering the underwater robot under water.
The underwater robot distribution recovery device, the distribution method, the recovery method and the unmanned ship provided by the embodiment of the invention are characterized in that the underwater robot distribution recovery device is provided with a charging square cabin, a mechanical arm, a winch and a butt joint device; the charging square cabin is used for storing and charging the underwater robot; the mechanical arm is used for grabbing the underwater robot to the charging shelter during recovery and grabbing the underwater robot to a distribution point during distribution; the docking device is detachably connected with the winch, the docking device is used for docking with the underwater robot when being recovered, and the winch is used for dragging the docking device which is successfully docked with the underwater robot back to a specified position. The underwater robot laying and recycling device effectively solves the technical problems of laying and recycling in the operation of multiple underwater robots, and compared with the manual underwater robot laying and recycling mode, the underwater robot laying and recycling device reduces the threat to the personal safety of operators, reduces the cost and improves the working efficiency.
Drawings
Fig. 1 is a structural diagram of a deployment and retrieval apparatus for an underwater robot according to an embodiment of the present invention.
Fig. 2 is a structural diagram of a deployment and retrieval apparatus of an underwater robot according to another embodiment of the present invention.
Fig. 3 is a schematic flow chart illustrating a deployment method of an underwater robot according to an embodiment of the present invention.
Fig. 4 is a schematic flow chart illustrating a recycling method of an underwater robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present embodiment provides an unmanned ship, as shown in fig. 1 to 2, the unmanned ship includes a hull 1 and a deployment and recovery device of an underwater robot; the underwater robot laying and recycling device is arranged on the ship body 1 and used for laying and recycling the underwater robot. A moon pool 7 is arranged on a deck of the ship body 1, and the moon pool 7 is communicated with water and is used as a channel for laying and recovering the underwater robot.
The present embodiment provides an underwater robot deployment and recovery apparatus, as shown in fig. 1 to 2, the underwater robot deployment and recovery apparatus includes: charging square cabin 2, mechanical arm 5, winch 8 and docking assembly 6. The charging square cabin is used for storing and charging the underwater robot; the mechanical arm is used for grabbing the underwater robot to the charging shelter during recovery and grabbing the underwater robot to a distribution point during distribution; the docking device is detachably connected with the winch, the docking device is used for docking with the underwater robot during recovery, and the winch is used for dragging the docking device which is successfully docked with the underwater robot back to a specified position. The ship body 1 has a wide deck area, a moon pool 7 is arranged on the deck of the ship body 1, and the moon pool 7 is directly communicated with water and used as a laying and recovery channel for the underwater robot 3; the mechanical arm 5 is arranged on one side of the moon pool 7; and the winch 8 is arranged on the deck of the ship body 1. Optionally, winch 8 is an electric winch; and the docking device 6 is detachably connected with the winch 8.
In an embodiment of the present invention, the underwater robot cloth recycling device further includes: a cloth recycling controller; the cloth recycling controller is used for: controlling the mechanical arm 5 to grab the underwater robot 3 to the arrangement point and arrange the underwater robot in water; controlling the docking device 6 to dock with the underwater robot 3; controlling the winch 8 to drag the docking device 6 successfully docked with the underwater robot 3 back to the designated position of the unmanned ship; and controlling the mechanical arm 5 to grab the underwater robot 3 dragged back by the docking device 6 to the charging shelter 2.
In an embodiment of the present invention, an acoustic positioning system is disposed on the docking device 6. Optionally, the acoustic positioning system is an ultra-short baseline transducer. When the underwater robot 3 is recovered, the acoustic positioning system emits a positioning sound source, and the underwater robot 3 can receive and reflect the sound wave so as to determine the relative position of the underwater robot 3 and the docking device 6.
In an embodiment of the present invention, an optical positioning system is disposed on the docking device 6, and is disposed at the docking position of the docking device 6. When the underwater robot 3 automatically navigates to the position of the bell of the docking device 6, the optical positioning system of the docking device 6 can provide an accurate relative position.
In an embodiment of the present invention, the deploying and retrieving device of the underwater robot further includes: and the limiting structure 9 is arranged at the bottom of the ship body 1 and used for limiting and locking the butt joint device 6 so that the butt joint device 6 and the ship body 1 are relatively fixed. Optionally, the limiting structure 9 is arranged at the middle position of the bottom of the ship body 1; the limiting structure 9 is streamline.
In one embodiment of the invention, the deployment and recovery device of the underwater robot comprises at least one charging shelter 2 arranged on one side of the moon pool 7; the charging shelter 2 comprises at least one storage grid, and a charging device is arranged in each storage grid. Optionally, the charging shelter 2 is a wireless charging shelter 2. Optionally, the deployment and recovery device of the underwater robot comprises 2 charging square cabins 2 respectively arranged at two sides of the moon pool 7; each charging shelter 2 consists of 4 underwater robot 3 storage grids, a circular arc-shaped wireless charging coil is arranged in each storage grid, and energy supply and data interaction of the underwater robots 3 are realized in an electromagnetic wave form.
In an embodiment of the present invention, the apparatus further includes an image capturing device 4 disposed on the top of the hull 1 for capturing an image of the underwater robot 3. Optionally, the image acquisition device 4 is a binocular camera.
The embodiment provides a deployment method of an underwater robot, which is implemented based on the deployment and recovery device of the underwater robot in the above embodiment, as shown in fig. 3. The underwater robot arranging method comprises the following steps:
step 01, receiving a layout instruction. The underwater robots 3 are initially stored in the charging square cabins 2, the charging square cabins 2 are positioned on two sides of a main deck moon pool 7 of the ship body 1, and a plurality of underwater robots 3 can be placed in each charging square cabin 2. The unmanned ship can communicate with a shore-based command center, the shore-based command center sends a distribution instruction, and the unmanned ship receives the distribution instruction sent by the shore-based command center.
And 02, acquiring an image of the underwater robot, and acquiring the position of the underwater robot 3 based on the image of the underwater robot. The method comprises the following steps:
and 021, acquiring an image of the underwater robot, and detecting the underwater robot 3 from the image of the underwater robot. The binocular camera located at the top of the unmanned ship captures images of the underwater robot, and detects the position of the underwater robot 3 from the underwater robot images to obtain pixel coordinates of the center of each underwater robot 3 in the images.
022, obtaining pixel coordinates of the center of the underwater robot 3 in an image of the underwater robot 3 based on the detected underwater robot 3. Based on the internal reference matrix and the external reference matrix of the binocular camera, the pixel coordinates of the center of the underwater robot 3 can be converted into coordinates relative to the mechanical arm base coordinate system, as shown in the following formula:
in the formula, s is depth information, (u, v) represents pixel coordinates, (x, y, z) represents coordinates under the mechanical arm base, and two matrixes on the right side of the equation are an internal reference matrix and an external reference matrix of the binocular camera respectively.
And 03, taking out the underwater robot 3 based on the position of the underwater robot 3, and conveying the underwater robot 3 to a first position. Comprises the steps of (a) preparing a substrate,
converting the pixel coordinates of the center of the underwater robot 3 in the image of the underwater robot 3 into coordinates in a coordinate system relative to the mechanical arm base;
032, planning a path by the mechanical arm 5 based on the coordinates under the relative mechanical arm base coordinate system, and moving to the central position of the underwater robot 3 according to the planned path;
step 033, the robot arm 5 takes out the underwater robot 3 and transports to the first position. After the coordinates of each underwater robot 3 in the base coordinate system of the mechanical arm are obtained, the mechanical arm 5 can automatically plan a path to move to the center position of the underwater robot 3, then the underwater robot 3 is clamped by a clamp arranged at the tail end of the mechanical arm 5, and the clamp has a force feedback function and can judge whether the underwater robot 3 is clamped or not. The robot arm 5 takes out the underwater robot 3 to travel to the first position. Optionally, the first position is above the moon pool 7.
Step 04, judging whether the first position is a target position, and if not, adjusting the underwater robot 3 to the target position; and if so, transporting the underwater robot 3 underwater. The mechanical arm 5 takes out the underwater robot 3 and runs over the moon pool 7, the binocular camera is adopted to identify the actual position of the underwater robot 3 at the moment and judge whether the actual position is consistent with the target throwing position, if the actual position is inconsistent, the mechanical arm 5 can automatically finely adjust the position, if the actual position is consistent with the target throwing position, the mechanical arm 5 clamps the underwater robot 3 and moves underwater, the clamp holder is loosened, the underwater robot 3 can automatically start when meeting water, then the underwater robot 3 sinks to the specified depth to start operation, and thus the underwater robot 3 is laid.
The embodiment provides a recovery method of an underwater robot, which is realized based on the deployment and recovery device of the underwater robot in the embodiment. As shown in fig. 4, the underwater robot recycling method includes:
and 11, receiving a recovery instruction. When the underwater robot 3 finishes an operation task or the electric quantity is insufficient, the underwater robot can automatically float to the recovery depth and automatically send a recovery instruction, and the arrangement and recovery device of the underwater robot 3 receives the recovery instruction sent by the underwater robot 3.
And 12, moving to a second position based on the recovery instruction, and releasing the docking device 6. After receiving the recovery instruction, the unmanned ship automatically drives to a position near the underwater robot 3, and then starts the winch 8 to release the docking device 6.
And 13, sending out a positioning sound source by the butting device 6. The docking device 6 submerges to the docking depth by means of self gravity, the ultra-short baseline transducer on the docking device 6 sends out a positioning sound source, and the ultra-short baseline transponder on the underwater robot 3 receives and reflects sound waves so as to determine the relative position of the underwater robot 3 and the docking device 6.
And 14, judging whether the butt joint is successful or not by the butt joint device 6, and if so, recovering the butt joint device 6. The underwater robot 3 sails to the bell mouth position of the docking device 6 automatically, the optical positioning system of the docking device 6 provides an accurate relative position, if the docking position precision is not met, the underwater robot 3 can automatically finely adjust the position, if the docking position precision is met, the underwater robot 3 can be collided with the bell mouth of the docking device 6 at an accelerated speed, if the docking fails, the underwater robot 3 can continue to automatically finely adjust the position, then the docking position precision is judged again, if the docking succeeds, a contact sensor in the docking device 6 can be triggered, the underwater robot 3 is locked automatically, then the docking device 6 is recovered by the winch 8, the docking device 6 is matched with the limiting structure 9 of the unmanned ship, the underwater robot 3 keeps the position fixed relative to the unmanned ship, and then the winch 8 is locked automatically.
And 15, identifying the current position of the underwater robot 3, acquiring a placing position, and conveying the underwater robot 3 from the current position to the placing position. The unmanned ship automatically issues a command of recovering the underwater robot 3, the image acquisition equipment 4 identifies the position of the underwater robot 3, the mechanical arm 5 autonomously plans a motion path to move to the position of the moon pool 7 of the underwater robot 3, the clamp holder is opened, the underwater robot 3 is clamped, a signal for clamping the underwater robot 3 is fed back to the locking mechanism of the docking device 6 to open the locking mechanism, the image acquisition equipment 4 identifies the position of a storage grid, in the wireless charging shelter 2, in which the underwater robot 3 is not placed, and then the mechanical arm 5 clamps the underwater robot 3 and conveys the underwater robot to the storage grid, so that the underwater robot 3 is automatically recovered.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art.
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise. All directional indicators in the embodiments of the present application (such as up, down, left, right, front, back, top, bottom … …) are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims. The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention are included in the present invention. The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents and the like included within the spirit and scope of the present invention.
Claims (13)
1. An underwater robot cloth recovery device, comprising: the charging square cabin, the mechanical arm, the winch and the butt joint device are arranged on the charging square cabin; the charging shelter is used for storing and charging the underwater robot; the mechanical arm is used for grabbing the underwater robot to the charging shelter during recovery and grabbing the underwater robot to a distribution point during distribution; the docking device is detachably connected with the winch, the docking device is used for docking with the underwater robot when being recovered, and the winch is used for dragging the docking device which is successfully docked with the underwater robot back to a specified position.
2. The underwater robot cloth recovery apparatus of claim 1, further comprising: a cloth recycling controller; the cloth recycling controller is used for: controlling the mechanical arm to grab the underwater robot to the placement position and place the underwater robot in water; controlling the docking device to dock with the underwater robot; controlling the winch to drag the docking device successfully docked with the underwater robot back to a specified position; and controlling the mechanical arm to grab the underwater robot dragged back by the docking device to the charging shelter.
3. The underwater robotic placement recovery device of claim 1, wherein an acoustic positioning system is disposed on the docking device.
4. The underwater robot deployment recovery device of claim 1, wherein an optical positioning system is provided on the docking device.
5. The underwater robot deployment recovery device of claim 1, further comprising: and the limiting structure is used for limiting and locking the butt joint device.
6. The underwater robot deployment and retrieval device of claim 1, wherein said charging shelter includes at least one storage cell, one charging device being disposed within each said storage cell.
7. The underwater robot deployment and retrieval device of claim 1, further comprising an image capture apparatus for capturing images of the underwater robot.
8. An underwater robot deployment method using the underwater robot deployment and recovery apparatus of any one of claims 1 to 7, comprising:
receiving a laying instruction;
acquiring an image of the underwater robot, and acquiring the position of the underwater robot based on the image of the underwater robot;
retrieving the underwater robot based on the position of the underwater robot and transporting the underwater robot to a first location;
judging whether the first position is a target position, if not, adjusting the underwater robot to the target position; and if so, transporting the underwater robot to the underwater.
9. The underwater robot deploying method according to claim 8, wherein the step of acquiring the image of the underwater robot, and the step of acquiring the position of the underwater robot based on the image of the underwater robot, comprises:
acquiring an image of an underwater robot, and detecting the underwater robot from the image of the underwater robot;
obtaining pixel coordinates of the center of the underwater robot in an image of the underwater robot based on the detected underwater robot.
10. The underwater robot deploying method of claim 9, wherein the step of taking out the underwater robot based on the position of the underwater robot and transporting the underwater robot to a first position comprises:
converting pixel coordinates of the center of the underwater robot in an image of the underwater robot into coordinates in a relative mechanical arm base coordinate system;
the mechanical arm plans a path based on the coordinates under the relative mechanical arm base coordinate system and moves to the central position of the underwater robot according to the planned path;
the robot arm takes out the underwater robot and transports to the first location.
11. An underwater robot recycling method for recycling using the underwater robot cloth recycling device of any one of claims 1 to 7, comprising:
receiving a recovery instruction;
moving to a second position based on the recovery instruction, and releasing the docking device;
the docking device sends out a positioning sound source;
the docking device judges whether the docking is successful, and if so, the docking device is recovered;
identifying a current position of the underwater robot, acquiring a placement position, and transporting the underwater robot from the current position to the placement position.
12. An unmanned ship, comprising: a hull and underwater robot deployment and retrieval apparatus as claimed in any one of claims 1 to 7; wherein, the distribution and recovery device of the underwater robot is arranged on the ship body.
13. The unmanned ship of claim 12, wherein a moon pool is opened on a deck of the ship body, and the moon pool is directly connected underwater for a passage for laying and recovering the underwater robot.
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