Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
Nowadays, underwater vehicles have been studied and developed for seabed search. It is necessary for the underwater vehicle to search for a long time in deep sea in order to explore efficiently. We have developed a dual-eye-based docking method for underwater battery recharging to enable the Autonomous Underwater Vehicles (AUVs) that can operate for extended period of time. In addition, the 3D pose estimation for real time docking performance was improved by using active/lighting 3D marker against turbidity under dark environment. In real sea, we have studied that the robot could not perform docking continuously due to the influence of changing the ocean current direction occasionally. As a solution, we have proposed and constructed the rotary docking station which can control the docking direction along with ocean current direction. In this paper, we verify the functionality of the rotary station and the results of docking experiment using it.
