Underwater Robot Capable of Autonomously Replacing Operational Tools and Method Thereof
Summary
This invention presents an underwater robot and a corresponding method for autonomously replacing operational tools. The robot body vertically integrates propulsion, battery, and main-control compartments and connects to interchangeable tool modules through a guided magnetic docking interface.
A multi-camera perception system detects optical beacons on each tool module and estimates its relative pose. The robot uses this pose information to identify the tool, approach it, align the docking interfaces, and complete attachment or detachment automatically. Magnetic and Hall-effect sensing provides docking-state feedback, while non-contact signaling enables tool control after connection.
Key Contributions
- Autonomous underwater replacement of task-specific tool modules.
- Vision-guided localization, identification, approach, and docking.
- Guided electromagnetic attachment with docking-state feedback.
- A modular architecture that expands the robot's capabilities in complex underwater environments.
View the official Chinese patent document
Translation notice: This page is an unofficial English summary provided for accessibility. The official Chinese patent document is the authoritative source.