本申请涉及水下作业设备技术领域,公开一种子母型水下机器人系统及供电方法,其中,子母型水下机器人系统包括:母机和多个子机;母机,用于实时获取多个子机各自的位置信息,并将成功获取位置信息的子机确定为第一子机,根据位置信息向第一子机供电;母机,还用于将未成功获取位置信息的子机确定为第二子机,并向第一子机发送第二子机定位供电指令;第一子机,用于根据第二子机定位供电指令获取第二子机的相对位置信息,并根据相对位置信息向第二子机供电。本申请能够实现多级跳跃性充能,绕开障碍物,从而实现在母机与子机之间存在遮挡物或与子机距离较远等复杂作业情况下,仍确保各个子机的稳定无线供电。
The invention relates to the technical field of underwater operation equipment, and discloses a child-mother type underwater robot system and a power supply method.The child-mother type underwater robot system comprises a mother machine and a plurality of child machines; the master machine is used for acquiring the position information of the plurality of sub-machines in real time, determining the sub-machine which successfully acquires the position information as a first sub-machine, and supplying power to the first sub-machine according to the position information; the master machine is also used for determining the sub-machine which does not successfully acquire the position information as a second sub-machine and sending a second sub-machine positioning power supply instruction to the first sub-machine; and the first sub-machine is used for acquiring relative position information of the second sub-machine according to the second sub-machine positioning power supply instruction and supplying power to the second sub-machine according to the relative position information. According to the invention, multi-stage jumping energy charging can be realized, and obstacles can be bypassed, so that stable wireless power supply of each sub-machine can be still ensured under the complex operation conditions that there is a shelter between the master machine and the sub-machine or the distance between the master machine and the sub-machine is relatively long.
子母型水下机器人系统及供电方法
2024-04-30
Patent
Electronic Resource
Chinese