CN112758251A - Automatic mooring device and control method thereof, and water robot and control method thereof - Google Patents
Automatic mooring device and control method thereof, and water robot and control method thereof Download PDFInfo
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- CN112758251A CN112758251A CN202011618775.7A CN202011618775A CN112758251A CN 112758251 A CN112758251 A CN 112758251A CN 202011618775 A CN202011618775 A CN 202011618775A CN 112758251 A CN112758251 A CN 112758251A
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- mooring
- frame
- water robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The embodiment of the invention relates to an automatic mooring device and a control method thereof, a water robot and a control method thereof, wherein the automatic mooring device comprises: the control module is electrically connected with the overturning driving module; the overturning driving module is in linkage connection with the mooring frame and is used for driving the mooring frame to overturn; one end of the mooring frame is connected with the overturning driving module, and the other end of the mooring frame is fixedly connected with the water robot; the control module is configured to: and starting the overturning driving module, and driving one end of the mooring frame to overturn by using the overwater robot as an axis through the overturning driving module so as to enable the mooring frame to be sleeved on the fixed pile. The embodiment of the invention realizes automatic mooring and fixing of the water robot, does not need manual work, realizes unmanned culture operation to the maximum extent, and ensures that the main culture work is easier, the production efficiency is high, the operation is safe and the manpower is saved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic control, in particular to an automatic mooring device and a control method thereof, a water robot and a control method thereof.
Background
In recent years, with the development of advanced technologies such as robots, artificial intelligence, big data and the like, various waterborne intelligent robots including unmanned ships, underwater exploration, life-saving equipment, bionic water worms and the like are also continuously developed and widely applied to the fields of aquaculture, industry, agriculture, environmental protection, military and the like. The overwater intelligent robot is mostly provided with a power system, a navigation system, a wireless communication system, a manipulator, sensors with various purposes and intelligent electronic equipment, can automatically cruise, automatically control and operate, and can replace manpower to finish various tasks such as throwing of feed, water quality monitoring, hydrological mapping, underwater detection, overwater cleaning, emergency rescue, security patrol, military anti-diving and the like.
The water robot is mostly unmanned automatic operation, and the water robot returns to a mother port to park after completing the water operation, and the water robot is basically in a stop working state for saving electric power. And when the water surface has the condition of wind and wave, the robot can drift to a distance along with the wind and wave on the water surface, and is extremely easy to collide with other equipment or barriers in water to cause damage, and the robot needs to be fixed by manually pulling a rope on the spot.
Disclosure of Invention
The embodiment of the invention aims to provide an automatic mooring device and a control method thereof, a water robot and a control method thereof, which can realize automatic fixed mooring after the water robot returns to a harbor, can realize automatic mooring without manual work on site, and realize unmanned culture operation to the maximum extent, so that the culture main work is easier, the production efficiency is high, the operation is safe, and the manpower is saved.
In a first aspect, an embodiment of the present invention provides an automatic mooring apparatus, including:
the control module is electrically connected with the overturning driving module;
the overturning driving module is in linkage connection with the mooring frame and is used for driving the mooring frame to overturn;
one end of the mooring frame is connected with the overturning driving module, and the other end of the mooring frame is fixedly connected with the water robot;
the control module is configured to:
starting the overturning driving module, and driving one end of the mooring frame to overturn by using the overwater robot as an axis through the overturning driving module so as to enable the mooring frame to be sleeved on the fixed pile; the spud pile is arranged at the mother port of the water robot.
In some embodiments, the tumble drive module includes:
the control module is electrically connected with the driving motor, and a bearing of the driving motor is sleeved in the first half coupling of the coupling;
and the second half coupler of the coupler is sleeved on the mooring frame and is in linkage connection with the mooring frame.
In some embodiments, the drive motor is one of a dc motor, a steering engine, or a stepper motor.
In some embodiments, one end and the other end of the mooring frame enclose a frame body which can be sleeved on the fixing pile.
In some embodiments, a triangular tensile frame structure adapted to the external dimension of the fixing pile is disposed in the frame, and is used for sleeving the fixing pile.
In some embodiments, the frame body has a lower horizontal height after being turned over than the installation height of the fixing piles.
In a second aspect, embodiments of the present invention provide a water robot comprising an automatic mooring arrangement as defined in any one of the preceding claims.
In a third aspect, an embodiment of the present invention provides a control method of an automatic parking apparatus, applied to the automatic parking apparatus as described in any one of the above, the method including:
starting a turnover driving module, and driving one end of a mooring frame to turn over by using the overwater robot as an axis through the turnover driving module so as to enable the mooring frame to be sleeved on the fixed pile; the spud pile is arranged at the mother port of the water robot.
In some embodiments, the method further comprises:
and starting the overturning driving module, and driving one end of the mooring frame to overturn by using the overwater robot as an axis through the overturning driving module so as to enable the mooring frame to be far away from the fixed pile.
In a fourth aspect, an embodiment of the present invention provides a control method of a water robot, which is applied to the water robot as described above, and the method includes:
acquiring current position information of the water robot;
judging whether the water robot is located in a preset range or not according to the current position information;
if the water robot is located in the preset range, starting the overturning driving module, and driving one end of the mooring frame to overturn through the overturning driving module by taking the water robot as an axis so as to enable the mooring frame to be sleeved on the fixed pile; the fixing piles are arranged at a mother port of the water robot;
and if the departure instruction is received, starting the overturning driving module, and driving one end of the mooring frame to overturn by using the water robot as an axis through the overturning driving module so as to enable the mooring frame to be far away from the fixed pile.
In a fifth aspect, an embodiment of the present invention provides a water robot apparatus, including:
at least one processor, and
a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling an automatic mooring apparatus and the method of controlling a marine robot described above.
In a sixth aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by a marine robot, cause the marine robot to perform the method of controlling an automatic mooring apparatus and the method of controlling a marine robot as described above.
The automatic mooring device comprises a control module, a turnover driving module and a mooring frame, wherein the control module is connected with the turnover driving module, the turnover driving module is in linkage connection with the mooring frame and is used for driving the mooring frame to turn over, one end of the mooring frame is connected with the turnover driving module, and the other end of the mooring frame is fixedly connected with the waterborne robot; when the water robot reaches a preset range, namely reaches the position near a fixed pile of a mother port, the control module starts the overturning driving module, one end of the mooring frame is driven by the overturning driving module to overturn by the water robot, so that the mooring frame is sleeved on the fixed pile, the water robot is automatically moored and fixed, manual arrival is not needed, unmanned breeding operation is realized to the maximum extent, the main breeding work is easier, the production efficiency is high, the operation is safe, the manpower is saved, and the water robot has a wide commercial value and an application prospect.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic block diagram of one embodiment of an automatic parking apparatus of the present invention;
FIG. 2 is a schematic structural view of one embodiment of the automatic mooring apparatus of the present invention;
FIG. 3 is a schematic structural view of one embodiment of the water robot of the present invention;
FIG. 4 is a diagram of the relative position of the present invention water robot with respect to the spud pile within a predetermined range;
fig. 5 is a schematic view of the automatic mooring device of the present invention sleeved on a fixed pile;
FIG. 6 is a schematic structural view of a triangular tension frame structure of the automatic mooring apparatus of the present invention;
FIG. 7 is a schematic structural view of another embodiment of the water robot of the present invention;
FIG. 8 is a diagram of another relative position of the present invention water robot with the spud pile within a predetermined range;
FIG. 9 is a schematic structural view of another embodiment of the water robot of the present invention;
fig. 10 is a schematic flow chart of an embodiment of a control method of an automatic parking apparatus of the present invention;
FIG. 11 is a schematic flow chart diagram of one embodiment of a method of controlling a water robot of the present invention;
figure 12 is a schematic diagram of the hardware configuration of the controller of one embodiment of the water robot of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic block diagram of an automatic parking apparatus according to an embodiment of the present invention, the automatic parking apparatus 100 includes:
the control module 13, the control module 13 is electrically connected with the turnover driving module 11;
the overturning driving module 11 is in linkage connection with the mooring frame 12 and is used for driving the mooring frame 12 to overturn;
one end of the mooring frame 12 is connected with the overturning driving module 11, and the other end of the mooring frame 12 is fixedly connected with the water robot 10;
the control module 13 is configured to:
starting the overturning driving module 11, and driving one end of the mooring frame 12 to overturn by taking the water robot 10 as an axis through the overturning driving module 11 so as to enable the mooring frame 12 to be sleeved on the fixing pile 20; the spud 20 is provided in the female harbor of the water robot 10.
The water robot 10 can be a throwing robot for aquaculture of shrimps, crabs, fishes and the like, and needs to return to a mother port to automatically park after the water operation is completed.
It should be noted that the control module 13 of the automatic mooring device 100 may be the main control module of the marine robot 10, and of course, the automatic mooring device 100 may also be a set of control modules independently, and the set of control modules is similar to the structure of the control module 13 of the marine robot 10 and serves as the main control center of the automatic mooring device 100.
As shown in fig. 2-3, fig. 2 is a schematic structural view of an automatic mooring device 100, fig. 3 is a schematic structural view of a water robot 10, a turning drive module 11 comprises a drive motor 15 and a coupling 14, one end of a mooring frame 12 is connected with the turning drive module 11, namely, one end of the mooring frame 12 is connected with a bearing of the drive motor 15 through the coupling 14, the coupling 14 can adopt an oldham coupling 14, and consists of two half couplings 14 with grooves on the end surfaces and an intermediate disc with convex teeth on two surfaces, and the convex teeth can slide in the grooves, so that the relative displacement between the two shafts during installation and operation can be compensated. The central slider as a torque-transmitting element is usually made of engineering plastic, in particular other materials, such as metallic materials, can be selected. Therefore, the bearing sleeve of the driving motor 15 is arranged in the first half coupling 14 of the coupling 14, the second half coupling 14 of the coupling 14 is arranged on one end of the parking frame 12 in a sleeved mode, and when the driving motor 15 is started, the coupling 14 is driven to rotate, so that the parking frame 12 is linked to overturn.
The automatic mooring device 100 and the water robot 10 comprise a control module 13, a turnover driving module 11 and a mooring frame 12, wherein the control module 13 is connected with the turnover driving module 11, the turnover driving module 11 is in linkage connection with the mooring frame 12 and is used for driving the mooring frame 12 to turn over, one end of the mooring frame 12 is connected with the turnover driving module 11, and the other end of the mooring frame 12 is fixedly connected with the water robot 10; when the water robot 10 reaches a preset range, namely, the water robot reaches the position near the fixing pile 20 of a mother port, the control module 13 starts the overturning driving module 11, one end of the mooring frame 12 is driven by the overturning driving module 11 to overturn by taking the water robot 10 as an axis, so that the mooring frame 12 is sleeved on the fixing pile 20, the water robot 10 is automatically moored and fixed, manual arrival is not needed, unmanned breeding operation is realized to the maximum extent, the main breeding work is easier, the production efficiency is high, the operation is safe, manpower is saved, and the water robot has wide commercial value and application prospect.
In some of these embodiments, the driving motor 15 is one of a dc motor, a steering engine, or a stepping motor. Any drive assembly that can drive the coupler 14 to turn the docking frame 12.
In some embodiments, one end of the mooring frame 12 and the other end thereof enclose a frame body that can be sleeved on the fixing pile 20.
As shown in fig. 2 and 3, one end and the other end of the mooring frame 12 enclose to form a frame body, and the frame body has a rectangular structure.
One end of the frame body is fixed on the side end face of the water robot 10, and the frame body is enclosed with the other end to form a rectangular frame body, the frame body can be sleeved on the fixing pile 20, and can also be sleeved on the upper end face of the water robot 10, and is matched with the appearance of the water robot 10, so that the frame body and the water robot 10 can be integrated into a whole, certainly, the frame body is not limited to the upper end face of the water robot 10, and can also be sleeved on other positions of the water robot 10, as long as the water robot 10 can be ensured to sail, the frame body can be stabilized on the water robot 10, and can be overturned out when arriving at a port.
As shown in fig. 4, fig. 4 shows the relative position relationship between the water robot 10 and the fixing pile 20 when the water robot is within the preset range, at this time, the control module 13 of the automatic mooring device 100/water robot 10 can start the driving motor 15, so that the driving motor 15 drives the shaft coupling 14 to rotate, and further drives the frame body to rise, and then turn downwards.
As shown in fig. 5, the frame body is sleeved on the fixing pile 20 from top to bottom, so that the water robot 10 is fixed in the mother harbor, and the water robot 10 cannot drift under the thrust of wind waves on the water surface.
In some embodiments, a triangular tensile frame structure 121 adapted to the external dimension of the fixing pile 20 is disposed in the frame for sleeving the fixing pile 20.
As shown in fig. 6, a plurality of triangular tensile frame structures 121 adapted to the overall dimension of the fixing pile 20 are provided in the frame, and the triangular tensile frame structures 121 can be sleeved on the fixing pile 20.
The triangular tensile frame structure 121 can be formed by adding connecting rods in the frame. As shown in fig. 7, the triangular tensile frame structure 121 may be attached to a side end surface of the water robot 10, so as to be integrated with the water robot 10.
As shown in fig. 8, fig. 8 shows the relative position relationship between the water robot 10 and the fixing pile 20 within the preset range, at this time, the control module 13 of the automatic mooring device 100/water robot 10 may start the driving motor 15, so that the driving motor 15 drives the shaft coupling 14 to rotate, and further drives the triangular tensile frame structure 121 in the whole frame to rise, and then turn downward.
As shown in fig. 9, the triangular tensile frame structure 121 is sleeved on the fixing pile 20 from top to bottom, so that the waterborne robot 10 is fixed in the mother harbor, and the waterborne robot 10 cannot drift under the thrust of wind and waves on the water surface.
It should be noted that the frame and the triangular frame structure 121 can be made of metal or other materials with tensile property.
In some of these embodiments, the frame body has a lower horizontal height after being turned over than the mounting height of the spud 20.
The spud 20 may be a wooden pile or other pile body, and is vertically installed near the shore, and the spud 20 is installed at a height higher than the horizontal height of the parking frame 12 after it is turned downward, and is suitable for the free turning and frame sleeving of the parking frame 12.
Fig. 10 is a schematic flow chart showing an embodiment of a control method of an automatic mooring apparatus according to the present invention, which can be performed by a controller 13 in the automatic mooring apparatus/water robot, as shown in fig. 10, and applied to the automatic mooring apparatus described above, as shown in fig. 10, and includes:
101: starting a turnover driving module, and driving one end of a mooring frame to turn over by using the overwater robot as an axis through the turnover driving module so as to enable the mooring frame to be sleeved on the fixed pile; the spud pile is arranged at the mother port of the water robot.
In some of these embodiments, the method further comprises:
102: and starting the overturning driving module, and driving one end of the mooring frame to overturn by using the overwater robot as an axis through the overturning driving module so as to enable the mooring frame to be far away from the fixed pile.
According to the control method of the automatic mooring device, the automatic mooring device comprises a control module, a turnover driving module and a mooring frame, wherein the control module is connected with the turnover driving module, the turnover driving module is connected with the mooring frame in a linkage mode and used for driving the mooring frame to turn over, one end of the mooring frame is connected with the turnover driving module, and the other end of the mooring frame is fixedly connected with the water robot; when the water robot reaches a preset range, namely reaches the position near a fixed pile of a mother port, the control module starts the overturning driving module, one end of the mooring frame is driven by the overturning driving module to overturn by the water robot, so that the mooring frame is sleeved on the fixed pile, the water robot is automatically moored and fixed, manual arrival is not needed, unmanned breeding operation is realized to the maximum extent, the main breeding work is easier, the production efficiency is high, the operation is safe, the manpower is saved, and the water robot has a wide commercial value and an application prospect.
Fig. 11 is a schematic flow chart of an embodiment of a control method of a water robot according to the present invention, which can be executed by a controller 13 in the water robot, as shown in fig. 11, and the method is applied to the water robot as described above, and includes:
201: acquiring current position information of the water robot;
202: judging whether the water robot is located in a preset range or not according to the current position information;
203: if the water robot is located in the preset range, starting the overturning driving module, and driving one end of the mooring frame to overturn through the overturning driving module by taking the water robot as an axis so as to enable the mooring frame to be sleeved on the fixed pile; the fixing piles are arranged at a mother port of the water robot;
204: and if the departure instruction is received, starting the overturning driving module, and driving one end of the mooring frame to overturn by using the water robot as an axis through the overturning driving module so as to enable the mooring frame to be far away from the fixed pile.
Specifically, after the overwater robot finishes working, when the overwater robot automatically cruises to the position of the fixing pile, a mooring instruction is sent to an automatic mooring device, further, current position information of the overwater robot is obtained through a navigation positioning system, and the navigation positioning system can be a Beidou satellite navigation system or a GPS positioning system; then, judging whether the water robot is located in a preset range or not according to the current position information, for example, whether the water robot reaches the position close to a fixed pile or not, if the water robot is located in the preset range, starting a turnover driving module when the water robot is continuously close to the fixed pile, and driving one end of a mooring frame to turn over through the turnover driving module by taking the water robot as an axis so as to enable the mooring frame to be sleeved on the fixed pile; the spud pile is arranged at the mother port of the water robot.
When the mooring frame is sleeved on the fixed pile, the water robot can be controlled to stop moving, and mooring is finished, so that the water robot is automatically moored and fixed.
When the water robot needs to take off a ship to work, a departure instruction is received, whether a mooring frame on an automatic mooring device of the water robot is far away from a fixed pile or not is judged, if yes, a turnover driving module is started, one end of the mooring frame is driven by the turnover driving module to turn over by the water robot through a shaft, and if the mooring frame is driven to be lifted upwards by a driving motor of the turnover driving module through a coupler, the mooring frame is far away from the fixed pile.
And after the mooring frame is far away from the fixing piles, the mooring frame can be placed on the side end face or other positions of the water robot, so that the water robot and the automatic mooring device are in an integral structure when in navigation.
According to the control method of the water robot, the automatic mooring device comprises a control module, a turnover driving module and a mooring frame, wherein the control module is connected with the turnover driving module, the turnover driving module is in linkage connection with the mooring frame and is used for driving the mooring frame to turn over, one end of the mooring frame is connected with the turnover driving module, and the other end of the mooring frame is fixedly connected with the water robot; when the water robot reaches a preset range, namely reaches the position near a fixed pile of a mother port, the control module starts the overturning driving module, one end of the mooring frame is driven by the overturning driving module to overturn by the water robot, so that the mooring frame is sleeved on the fixed pile, the water robot is automatically moored and fixed, manual arrival is not needed, unmanned breeding operation is realized to the maximum extent, the main breeding work is easier, the production efficiency is high, the operation is safe, the manpower is saved, and the water robot has a wide commercial value and an application prospect.
Fig. 12 is a schematic diagram of a hardware structure of a controller in an embodiment of the water robot, as shown in fig. 12, the control module 13 is a controller 13, and the controller 13 includes:
one or more processors 131, memory 132. Fig. 12 illustrates an example of one processor 131 and one memory 132.
The processor 131 and the memory 132 may be connected by a bus or other means, and fig. 5 illustrates the connection by the bus as an example.
The memory 132, which is a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the water robot in the embodiment of the present application. The processor 131 executes various functional applications of the controller and data processing by running nonvolatile software programs, instructions, and modules stored in the memory 132, that is, implements the control method of the water robot of the above-described method embodiment.
The memory 132 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a software compatible device, and the like. Further, the memory 132 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 132 optionally includes memory located remotely from the processor 131, which may be connected to the water robot over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 132 and when executed by the one or more processors 131 perform the method of controlling the automatic mooring apparatus/the method of controlling the marine robot of any of the above-described method embodiments, e.g. performing the method steps 101, 102 of fig. 10, 201 to 204 of fig. 11 described above.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Embodiments of the present application provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more processors, such as the one processor 131 in fig. 12, to enable the one or more processors to perform the method for controlling an automatic mooring apparatus/a water robot in any of the above-mentioned method embodiments, such as the method steps 101 and 102 in fig. 10 and the method steps 201 to 204 in fig. 11 described above.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic mooring apparatus, comprising:
the control module is electrically connected with the overturning driving module;
the overturning driving module is in linkage connection with the mooring frame and is used for driving the mooring frame to overturn;
one end of the mooring frame is connected with the overturning driving module, and the other end of the mooring frame is fixedly connected with the water robot;
the control module is configured to:
starting the overturning driving module, and driving one end of the mooring frame to overturn by using the overwater robot as an axis through the overturning driving module so as to enable the mooring frame to be sleeved on the fixed pile; the spud pile is arranged at the mother port of the water robot.
2. The apparatus of claim 1, wherein the tumble drive module comprises:
the control module is electrically connected with the driving motor, and a bearing of the driving motor is sleeved in the first half coupling of the coupling;
and the second half coupler of the coupler is sleeved on the mooring frame and is in linkage connection with the mooring frame.
3. The device of claim 2, wherein the drive motor is one of a dc motor, a steering engine, or a stepper motor.
4. The apparatus of claim 1, wherein one end of said mooring frame is enclosed with the other end to form a frame body that fits over said anchor pile.
5. The device of claim 4, wherein a triangular tensile frame structure adapted to the overall dimension of the fixing pile is disposed in the frame, and is used for sleeving the fixing pile.
6. The device of claim 4, wherein the frame body has a horizontal height after being turned over that is lower than the installation height of the fixing piles.
7. A water robot comprising an automatic mooring arrangement as claimed in any one of claims 1 to 6.
8. A control method of an automatic parking apparatus, applied to the automatic parking apparatus according to any one of claims 1 to 6, comprising:
starting a turnover driving module, and driving one end of a mooring frame to turn over by using the overwater robot as an axis through the turnover driving module so as to enable the mooring frame to be sleeved on the fixed pile; the spud pile is arranged at the mother port of the water robot.
9. The control method of an automatic parking apparatus according to claim 8, further comprising:
and starting the overturning driving module, and driving one end of the mooring frame to overturn by using the overwater robot as an axis through the overturning driving module so as to enable the mooring frame to be far away from the fixed pile.
10. A method of controlling a water robot, applied to the water robot of claim 7, the method comprising:
acquiring current position information of the water robot;
judging whether the water robot is located in a preset range or not according to the current position information;
if the water robot is located in the preset range, starting the overturning driving module, and driving one end of the mooring frame to overturn through the overturning driving module by taking the water robot as an axis so as to enable the mooring frame to be sleeved on the fixed pile; the fixing piles are arranged at a mother port of the water robot;
and if the departure instruction is received, starting the overturning driving module, and driving one end of the mooring frame to overturn by using the water robot as an axis through the overturning driving module so as to enable the mooring frame to be far away from the fixed pile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011618775.7A CN112758251B (en) | 2020-12-31 | 2020-12-31 | Automatic mooring device and control method thereof, and water robot and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011618775.7A CN112758251B (en) | 2020-12-31 | 2020-12-31 | Automatic mooring device and control method thereof, and water robot and control method thereof |
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| Publication Number | Publication Date |
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| CN112758251A true CN112758251A (en) | 2021-05-07 |
| CN112758251B CN112758251B (en) | 2021-12-10 |
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