The invention relates to the technical field of underwater robot recycling, in particular to a capturing system and method for recycling an underwater robot through a water surface robot. The system comprises an AUV main body, a USV main body, V-shaped wings, an acousto-optic guide module and a bearing cable, wherein the USV main body is provided with an underwater acoustic communication machine and a winch; one end of the bearing cable is wound on the winch, and the other end is connected with the V-shaped wing; the V-shaped wing is provided with an acousto-optic guide module with an ultra-short baseline transducer and a guide lamp; an ultra-short communication beacon, a light guide camera, a capturing mechanism and a locking mechanism are arranged at the bow part of the AUV main body; the front end of the bow part of the AUV main body is provided with a recycling force-bearing assembly, a force-bearing cable is captured by the capturing mechanism to enter the recycling force-bearingassembly and is locked by the locking mechanism, the front end of the AUV main body is provided with a correlation type sensor, the locking mechanism is provided with an in-place monitoring switch, and the recycling force-bearing assembly is provided with a pressure sensor. An acousto-optic combined guide mode is adopted, the capturing success rate of the underwater robot is increased, dynamic capturing and recycling can be achieved, and adaptability is high.

    本发明涉及水下机器人回收技术领域,具体地说是一种利用水面机器人回收水下机器人的捕获系统及方法,包括AUV主体、USV主体、V型翼、声光导引模块和承力电缆,USV主体上设有水声通讯机和绞车,且承力电缆一端绕置于绞车上,另一端与V型翼相连,V型翼上设有带超短基线换能器和导引灯的声光导引模块,AUV主体艏部设有超短通讯信标、灯光导引摄像机、捕获机构和锁紧机构,AUV主体艏部前端设有回收承力组件,承力电缆通过捕获机构捕获进入回收承力组件中,并通过锁紧机构锁定,在所述AUV主体前端设有对射型传感器,锁紧机构设有到位监测开关,回收承力组件设有压力传感器。本发明采用声光联合导引方式,提高了水下机器人的捕捉成功率,并可实现动态捕获回收,适应性强。


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    Title :

    Capturing system and method for recycling underwater robot through water surface robot


    Additional title:

    利用水面机器人回收水下机器人的捕获系统及方法


    Contributors:
    GU HAITAO (author) / BAI GUIQIANG (author) / TANG DONGSHENG (author) / LIN YANG (author) / LIU SHUANG (author) / ZHANG HAIYANG (author) / LI NING (author) / WANG ZIQING (author) / GAO LEI (author) / MENG LINGSHUAI (author)

    Publication date :

    2020-07-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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