The present invention relates to a system and method for the automatic docking and undockign of an autonomous surface vehicle or an autonomous underwater vehicle. The system (110) comprises: - an artificial vision system (120) and a USBL acoustic positioning system (130) for providing the distance (122, 132) and orientation (124, 134) of the vehicle (100) with respect to a docking point (102); - an electromagnetic (140) and electromechanical (150) anchoring system for securing the vehicle (100) to the docking point (102); and - an autonomous control system (160) for, in a docking manoeuvre: positioning and orienting the vehicle (100) in an initial docking position (Pi) and orientation (αi); bringing the vehicle (100) closer by means of continuous measurement of distance (122, 132) and orientation (124, 134), forward movement and rotation until the vehicle (100) is oriented perpendicularly to the docking point (102), and activation of the electromagnet (201); and moving the vehicle (100) forward until the electromagnet (201) anchors magnetically to a metal support (108) at the docking point (102).
SISTEMA Y PROCEDIMIENTO PARA EL ATRAQUE Y DESATRAQUE AUTOMATICO DE UN VEHICULO AUTONOMO DE SUPERFICIE O SUBMARINO
2023-11-10
Patent
Elektronische Ressource
Spanisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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