The invention relates to an underwater robot offshore recovery method which comprises the following steps: when an underwater robot floats up to the sea surface without power, communicating with a mother ship control unit through an iridium global satellite system, and sending GPS information and robot state information. And after the console receives the GPS position information, the mother shipadvances by taking the coordinate as a target point. The mother ship arrives at a target point and looks out and searches through a console, and the console is remotely controlled through radio. The power positioning of the mother ship is adjusted according to the ocean surface flow direction, the ship board on the portal side flows downwards, the sea surface on the recycling side can be kept quiet through the layout, and robot recycling is facilitated. The hoisting rope is connected with the hoisting hook through the long rod, and the recycling rope winch is started to hoist the carrier to beseparated from the water surface. And after the robot is completely attached to the butt joint mechanism, the robot hoisting locking mechanism is tightly held to enter a working state, and at the moment, the hoisting winch can be released. And after normal fastening of the locking mechanism is confirmed, the portal is operated to swing back, and the whole recycling process is completed after therobot falls to the fixed position.
本发明涉及一种水下机器人海上回收方法,包括:水下机器人无动力上浮到达海面时,通过铱星全球卫星系统与母船控制单元进行通讯,发送GPS信息以及机器人状态信息。控制台收到GPS位置信息后,母船以此坐标为目标点行进。母船到达目标点通过驾驶台瞭望搜索,控制台通过无线电进行遥控。根据海洋表层流向调整母船动力定位,门架侧船舷顺流,此种布局可保障回收侧海面较为平静,便于机器人回收。利用长杆将起吊绳与起吊钩连接,开启回收绳绞盘将载体起吊至脱离水面。当机器人于对接机构完全贴合后,机器人起吊锁紧机构抱紧进入工作状态,此时可将起吊生绞车释放。确认锁紧机构紧固正常后操作门架回摆,将机器人落与固定位置后完成整个回收流程。
Underwater robot offshore recovery method
一种水下机器人海上回收方法
26.06.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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