Zhejiang University

Mingwei Lin

Canjun Yang

Ri Lin

Zilin Xing

Anzhe Yi

Bohao He

Shuguang Chu

Dejun Li

A multi-modal robot system capable of realizing autonomous submarine docking and reconstruction, includes a non-contact charging platform, several functional modules and a docking robot, wherein a coil is arranged on the non-contact charging platform, and energy and signals are transmitted between the coil and the functional modules; each of the functional modules includes a propeller module, an energy module, an observation detection module, an operation tool module, a navigation control module, a bow detection module and a tail propulsion module; and according to an instruction of a docking and reconstruction task, the docking robot reconstructs a multi-modal underwater robot by docking specific functional modules. The multi-modal robot system of the present invention can reconstruct the operation modal of the robot according to actual needs, realize the reconstruction and assembly of the underwater robot with three motion modes of horizontal plane cruise, fixed-point operation and vertical profiling, and reduce cost.

Multi-modal robot system capable of realizing autonomous submarine docking and reconstruction

The present invention discloses a flexible dynamic capturing system for an underwater moving carrier, including a shell, a front-end flexible guide apparatus, at least one tail flexible hand clamping and fastening apparatus, and a bottom retracting apparatus fastened in the shell. The front-end flexible guiding apparatus includes several flexible arms, the several flexible arms are fastened on a first rigid base in a circumferential array. The flexible arms can bend to an inner side and outer side of a circumference respectively when driven. Each tail flexible hand clamping and fastening apparatus includes several flexible claws, and the several flexible claws are divided into two groups and fastened on a second rigid base. When the flexible claws are driven, the two groups of flexible claws can bend and wind relative to each other. The bottom retracting apparatus implements lifting or lowering of the front-end flexible guide apparatus and the tail flexible hand clamping and fastening apparatus. The flexible dynamic capturing system for the present invention can capture underwater moving carriers of different diameters, and can be retracted and stored with a compact volume.

Flexible dynamic capturing system for underwater moving carrier

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HANGZHOU, China

Mingwei Lin