The invention discloses a submarine salvaging device and salvaging method based on an ROV, and belongs to the technical field of underwater robots. The device comprises a main body frame and an ROV body. The main body frame comprises a first frame, a second frame, a third frame and a vertical beam, and the first frame, the second frame and the third frame are sequentially connected from top to bottom through the vertical beam; the ROV body is carried on the main body frame, and the ROV body comprises a bearing head, a floating body, a sonar, an image acquisition device, a fishing hook, a fishing rope and a manipulator. The bearing head is connected with the vertical beam through a first connecting piece and connected with a mother ship through an umbilical cable. The floating body is arranged on the first frame; the sonar is fixed on the floating body and is used for detecting a salvaged object; the image acquisition equipment is fixed on the floating body and is used for acquiring an image of a salvaged object; the fishing hook is connected with the vertical beam through a second connecting piece; the first end of the fishing rope is connected with the fishing hook; and the manipulator is arranged on the second frame, is used for clamping the second end of the fishing rope and is fixed on the fishing object. According to the underwater salvage device and method based on the ROV, an underwater target can be accurately positioned, efficient grabbing and salvage can be achieved, the underwater salvage device and method adapt to complex sea conditions, and the salvage operation cost and risk are reduced.

    本发明公开了一种基于ROV的海底打捞装置及打捞方法,属于水下机器人技术领域。装置包括主体框架和ROV本体。主体框架包括第一框架、第二框架、第三框架和竖梁,第一框架、第二框架和第三框架通过竖梁由上而下依次连接;ROV本体搭载于主体框架上,ROV本体包括承重头、浮体、声呐、图像采集设备、打捞钩、打捞绳索和机械手。承重头通过第一连接件与竖梁连接,承重头通过脐带缆连接母船;浮体设于第一框架上;声呐固定在浮体上,声呐用以探测打捞物;图像采集设备固定在浮体上,图像采集设备用以采集打捞物图像;打捞钩通过第二连接件与竖梁连接;打捞绳索的第一端连接打捞钩;机械手设于第二框架上,机械手用以夹持打捞绳索的第二端并固定在打捞物上。本发明提供的基于ROV的海底打捞装置及打捞方法可以精准定位水下目标,高效抓取打捞,适应复杂海况,降低打捞作业成本与风险。


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    Title :

    Undersea salvaging device and salvaging method based on ROV


    Additional title:

    基于ROV的海底打捞装置及打捞方法


    Contributors:
    CHU HONGKUI (author) / TAO JUN (author) / ZHANG XIN (author) / YU DAWEI (author) / YUAN YE (author)

    Publication date :

    2025-03-18


    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



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