A modular crawler-type ROV disclosed by the present invention comprises an ROV module, a crawler module and an automatic docking module, the ROV module and the crawler module are in automatic docking through the automatic docking module, the automatic docking module comprises a docking module, a first positioning module, a second positioning module and an underwater camera, the first positioning module is fixed on the ROV module, and the second positioning module is fixed on the underwater camera. The first positioning module is fixed to the ROV module and used for obtaining real-time position information of the ROV module, the second positioning module is fixed to the crawler module and used for obtaining real-time position information of the crawler module, the underwater camera is fixed to the lower portion of the ROV module and used for obtaining image data below the ROV module, and a controller of the modular crawler-type ROV controls the underwater camera based on the position information obtained by the first positioning module and the second positioning module. The ROV module is controlled to move to the position above the to-be-processed track module, then the docking module is controlled to complete docking based on image data acquired by the underwater camera, and accurate connection of the ROV module and the track module is achieved. Automatic butt joint between one ROV module and the multiple crawler belt modules is achieved through the autonomous butt joint module.

    本发明公开了一种模块化履带式ROV,其包括ROV模块、履带模块和自动对接模块,ROV模块和履带模块通过自动对接模块自动对接,自动对接模块包括对接模块、第一定位模块、第二定位模块和水下摄像机,第一定位模块固定在ROV模块上,用于获取ROV模块实时位置信息,第二定位模块固定在履带模块,用于获取履带模块实时位置信息,水下摄像机固定在ROV模块下方,用于获取其下方的图像数据,模块化履带式ROV的控制器基于第一定位模块和第二定位模块获取的位置信息,控制ROV模块移动至待处理的履带模块上方,再基于水下摄像机获取的图像数据,控制对接模块完成对接,实现ROV模块和履带模块的准确连接。通过自主对接模块实现一台ROV模块与多台履带模块之间的自动对接。


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    Title :

    Underwater autonomous docking modular crawler-type ROV


    Additional title:

    一种水下自主对接模块化履带式ROV


    Contributors:
    LIANG LULU (author) / LAN CHUANCHUN (author) / LIU HU (author) / FAN PING (author) / MA XIUFEN (author)

    Publication date :

    2023-12-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / H02K Dynamoelektrische Maschinen , DYNAMO-ELECTRIC MACHINES



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