The invention provides a deep-sea autonomous grabbing underwater robot and a target object grabbing method thereof. The deep-sea autonomous grabbing underwater robot comprises an underwater robot body, a hydraulic pump station, a controller, a buoyancy adjusting device, a mechanical arm, an optical sensor and a foresight sonar. The buoyancy adjusting device is installed on the side portion of the underwater robot body, the mechanical arm, the optical sensor and the foresight sonar are all installed on the bow portion of the underwater robot body, and the controller and the hydraulic pump station are both carried on the underwater robot body. The hydraulic pump station is used for driving the mechanical arm, and the hydraulic pump station, the optical sensor and the foresight sonar are all in signal connection with the controller. The underwater robot is simple in structure, the acoustic sensor and the optical sensor are arranged on the underwater robot body based on the ROV or AUV platform, after a target is searched and recognized and the pose of the target is locked through optical recognition, the robot adjusts the pose and hovers, and the mechanical arm grabs the target under the disturbance condition of the robot body. And the system reliability and the operation accuracy can be effectively improved.

    本发明提供了一种深海自主抓取水下机器人及其目标物抓取方法,包括水下机器人本体、液压泵站、控制器、浮力调整装置、机械臂、光学传感器以及前视声呐;浮力调整装置安装在水下机器人本体的侧部,机械臂、光学传感器以及前视声呐均安装在水下机器人本体的艏部,控制器与液压泵站均搭载于水下机器人本体上;液压泵站用于驱动机械臂,液压泵站、光学传感器以及前视声呐均与控制器信号连接。本发明结构简单,在基于ROV或AUV平台的水下机器人本体上配置了声学和光学传感器,对目标进行搜索并识别,光学识别锁定目标物位姿后,机器人调整好姿态并悬停,机械臂在机器人本体扰动情况下抓取目标物,能够有效提高系统可靠性和操作精准性。


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    Title :

    Deep sea autonomous grabbing underwater robot and target object grabbing method thereof


    Additional title:

    深海自主抓取水下机器人及其目标物抓取方法


    Contributors:
    ZHANG CHUNWEN (author) / GE TONG (author) / WANG XUYANG (author) / WU CHAO (author) / WANG MENG (author) / DUAN XIAO (author) / SU JING (author) / WU FENG (author)

    Publication date :

    2025-01-24


    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 / B25J Manipulatoren , MANIPULATORS / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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