Design, Modeling and Implementation of a Projectile-Based Mechanism for USVs Charging Tasks

摘要

This letter proposes a novel projectile-based mechanism to realize unmanned surface vehicle (USV) charging at berths, which is a challenging task. The proposed mechanism involves two key parts: a projectile-based launcher mechanism, and a bowl-like magnetic charger socket. The proposed mechanism provides significant potential for USV charging with a larger and more flexible working range than those associated with existing solutions, such as robotic arm charging systems. The novel bowl-like magnetic charger socket design enables the projectile system to self-align during the charging operation. Furthermore, the design allows the system to exhibit excellent mobility, and therefore, the necessity of a charging structure is eliminated. Besides, the charging operation can be scaled for USVs of different sizes. The proposed mechanism is evaluated through USV indoor experiments in a lab pool and field experiments in a lake, and a success rate of nearly 90 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\%$</tex-math></inline-formula> is achieved. The proposed approach is a promising solution for USV charging tasks.