The invention relates to a self-organizing underwater robot, in particular to a self-organizing underwater robot for autonomous guiding docking and dynamic modeling. The invention aims to solve the problem that the existing AUV is mainly used for tasks such as large-range seabed search, detection and exploration in a horizontal plane and has limited observation capability for special operation environments such as vertical three-dimensional sections, narrow water areas and pipelines. The robot comprises a bow section module with a guiding function, a stern section module with a sensing function and an orthogonal joint module with an automatic butt joint function. Wherein the bow section module is connected with the stern section module through the orthogonal joint module. The invention belongs to the technical field of marine equipment and underwater robots.

    一种自主导引对接的自组织水下机器人和动力学建模,它涉及一种自组织水下机器人。本发明为了解决现有的AUV主要用于水平面内大范围海底搜寻、探测和勘查等任务,对于垂直三维剖面和狭窄水域及管道等特种作业环境的观测能力有限的问题。本发明包括具备导引功能的艏段模块、具备感知功能的艉段模块和具备自主对接功能的正交关节模块;其中艏段模块通过正交关节模块与艉段模块连接。本发明属于海洋装备与水下机器人技术领域。


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    Title :

    Self-organizing underwater robot for autonomous guiding docking and dynamics modeling


    Additional title:

    一种自主导引对接的自组织水下机器人和动力学建模


    Contributors:
    JIANG YANQING (author) / SHENG CONG (author) / LEE HO-JEONG (author) / LI SHUCHANG (author) / LI HANG (author) / ZHANG JUNRUI (author) / LI YE (author)

    Publication date :

    2024-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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