The invention discloses a method and device for laying and recovering an underwater robot and a mother ship. The recovery efficiency of the underwater robot can be improved. The method for laying and recovering the underwater robot comprises the following steps: when a mother ship and the underwater robot are located in the same view field range, obtaining position pictures of the mother ship and the underwater robot; according to the position picture, obtaining a pose relative relation between the current mother ship and the underwater robot; according to the position and posture relative relation, the position and posture of the mother ship and the position and posture of the underwater robot are adjusted, so that the underwater robot enters the recovery position of the mother ship; and when the underwater robot enters the recovery position of the mother ship, the underwater robot is locked to complete recovery.
本申请公开了一种布放回收水下机器人的方法、装置及母船,可以提高水下机器人回收效率。其中,布放回收水下机器人的方法包括:当母船以及水下机器人位于同一视场范围时,获取母船以及水下机器人的位置图片;根据所述位置图片,获取当前所述母船与所述水下机器人的位姿相对关系;根据所述位姿相对关系,分别调整所述母船的位置和姿态以及所述水下机器人的位置和姿态,以使所述水下机器人进入所述母船的回收位置;当所述水下机器人进入所述母船的回收位置时,锁死所述水下机器人以完成回收。
Method and device for laying and recovering underwater robot and mother ship
一种布放回收水下机器人的方法、装置及母船
2024-05-03
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B64U / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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