CN116032036A - Underwater robot wireless charging system and method based on visual positioning - Google Patents
Underwater robot wireless charging system and method based on visual positioning Download PDFInfo
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Abstract
The invention discloses an underwater robot wireless charging system and method based on visual positioning, and relates to the technical field of underwater robot charging. The technical key points of the invention include: the system comprises an underwater wireless charging device and an underwater robot; the underwater wireless charging device comprises a positioning Aruco two-dimensional code, a vertical positioning rod, a wireless charging transmitting module, six support fixing Y-shaped frames and two permanent magnets; the frame of the underwater robot is a 'stand' frame consisting of three layers of transverse plates, a left upper side plate, a right upper side plate and a left lower side plate, and the frame comprises a buoyancy block, an electronic bin, a propeller, a battery bin, a mechanical claw, a wireless charging receiving module and a horizontal metal positioning rod; the method is realized based on the system, and the underwater robot is assisted to be in butt joint with the underwater wireless charging device by utilizing visual positioning. The invention improves the success rate and efficiency of the butt joint of the underwater robot and the underwater wireless charging device, and is easy to realize the reliable charging of the underwater robot.
Description
Technical Field
The invention relates to the technical field of underwater robot charging, in particular to an underwater robot wireless charging system and method based on visual positioning.
Background
The long-endurance submarine can collect more environmental data which can not be collected by the surface ships or submarines. At present, the submarine is required to be floated up to a nearby ship or land base, and the traditional electric energy supply modes mainly comprise two modes, namely, salvaging underwater equipment to the shore, replacing a new battery or charging the battery in a wired mode; the other is to carry out underwater wet plug-in type charging on underwater equipment through a cable system on a power supply platform such as a ship, a submarine base station and the like. The first mode needs manual operation, has low automation degree and poor charge concealment, and is easy to cause exposure of underwater military equipment; the wet plugging mode has complex operation and maintenance process, high cost, serious interface abrasion due to large plugging force, easy occurrence of electric leakage accidents and low reliability and safety.
The traditional electric energy supply mode limits the endurance and task execution capacity of the underwater equipment, the wireless electric energy transmission technology breaks through the inherent pattern of the traditional wired electric energy transmission, gets rid of the constraint of redundant wires, the power supply and the charging equipment are completely isolated, the power supply circuit and the charging circuit are independently packaged, and the problems of exposed wires, easiness in contact spark, poor mobility and the like in the wired electric energy transmission are well solved. For a cable-free power supply underwater robot, long-time underwater operation cannot be generally performed because the energy storage module is limited in energy. In order to improve the working efficiency and the working range of the underwater robot, the underwater docking and wireless charging technology of the underwater robot needs to be studied.
For underwater vehicles, it is important to identify the correct berth and measure distance. Unlike conventional optical sensing devices, the optical vision system of the underwater robot is required to have not only the capability of acquiring optical images and video information, but also the functions of processing the images and video information, extracting features, and classifying and recognizing.
However, the success rate and efficiency of charging docking of the underwater robot in the prior art are not high, and the requirements on hardware are too high, so that the reliable charging of the underwater robot is not easy to realize.
Disclosure of Invention
Therefore, the invention provides an underwater robot wireless charging system and method based on visual positioning to solve the problems.
According to an aspect of the present invention, there is provided an underwater robot wireless charging system based on visual localization, the system including an underwater wireless charging device and an underwater robot; wherein,,
the underwater wireless charging device comprises a positioning Aruco two-dimensional code, a vertical positioning rod, a wireless charging transmitting module, six support fixing Y-shaped frames and a rectangular bottom plate; wherein the positioning Aruco two-dimensional code is connected with the vertical positioning rod; the vertical positioning rod is vertically and fixedly arranged on one side of the long side of the rectangular bottom plate; the wireless charging transmitting module is fixedly arranged on the rectangular bottom plate; two support fixing Y-shaped frames are fixedly arranged on each short side of the rectangular bottom plate, and two support fixing Y-shaped frames are fixedly arranged on the other long side of the rectangular bottom plate far away from the vertical positioning rod;
the frame of the underwater robot is a 'speaking' type frame consisting of a three-layer transverse plate, a left upper side plate, a right upper side plate, a left lower side plate and a right lower side plate, wherein the upper side plate is fixedly connected with the lower side plate, the three-layer transverse plate comprises a first layer plate, a second layer plate and a third layer plate, the first layer plate and the second layer plate are used for connecting the left upper side plate and the right upper side plate, and the third layer plate is used for connecting the left lower side plate and the right lower side plate;
the frame of the underwater robot comprises a buoyancy block, an electronic bin, a propeller and a wireless charging receiving module; the buoyancy block is placed above the first layer plate, the electronic bin is embedded in the middle of the first layer plate, and the central line of the electronic bin is level with the first layer plate; the propeller is used for providing power for the movement of the underwater robot; the wireless charging receiving module is arranged below the third layer plate;
during butt joint, four support fixing Y-shaped frames on the short sides of the rectangular bottom plate are matched with the two lower side plates to ensure the transverse stability of the underwater robot; after the docking, the wireless charging transmitting module and the wireless charging receiving module are in wireless connection to charge the underwater robot.
Further, the frame of the underwater robot further comprises a horizontal metal positioning rod, and the horizontal metal positioning rod is connected between the left third layer plate and the right third layer plate.
Further, the underwater wireless charging device further comprises two permanent magnets, wherein the two permanent magnets are respectively arranged on two support fixing Y-shaped frames on the other long side of the rectangular bottom plate and used for adsorbing and fixing the horizontal metal positioning rod during butt joint so as to ensure the longitudinal stability of the underwater robot.
Further, the frame of the underwater robot further comprises a mechanical claw, wherein the mechanical claw is placed on the third layer plate and used for clamping the vertical positioning rod during butt joint so as to ensure that the underwater robot is stable in the vertical direction.
Further, a camera, a wireless transmission module and a controller are arranged in the electronic bin; the camera is connected with the wireless transmission module, and the controller is respectively connected with the wireless transmission module and the propeller.
Further, the frame of the underwater robot further comprises a battery compartment, the battery compartment is embedded in the middle of the second layer plate, the center line of the battery compartment is parallel to the second layer plate, and the battery compartment is used for supplying power to the electronic compartment, the propeller and the mechanical claws.
Further, the propeller comprises six, four corners respectively arranged on the lower surface of the first laminate, and two middle parts arranged on the first laminate.
According to another aspect of the invention, an underwater robot wireless charging method based on visual positioning is provided, the method is realized based on the underwater robot wireless charging system, and the underwater robot wireless charging system comprises an underwater wireless charging device and an underwater robot; the underwater wireless charging device comprises a positioning Aruco two-dimensional code and a wireless charging transmitting module; the underwater robot comprises an electronic bin and a wireless charging receiving module, wherein a camera, a wireless transmission module and a controller are arranged in the electronic bin;
the method comprises the following steps:
step one, acquiring the position of an underwater wireless charging device;
step two, enabling the underwater robot to move close to the underwater wireless charging device, and stopping moving when an image acquired by a camera carried in an electronic bin of the underwater robot contains an Aruco two-dimensional code;
step three, processing an image containing the Aruco two-dimensional code to acquire a position coordinate and an attitude angle of the underwater robot relative to the underwater wireless charging device; the method specifically comprises the following steps: x takes the center of a positioning Aruco two-dimensional code on an underwater wireless charging device as a coordinate origin W The axis is horizontal to the right and Y in the plane of the Aruco two-dimensional code W The axis is vertically upwards in the Aruco two-dimensional code plane, and Z is established according to the right hand rule W An axis, establishing a coordinate system O W -X W Y W Z W The method comprises the steps of carrying out a first treatment on the surface of the Taking the optical center of a camera as the original coordinate system of the cameraPoints, build camera coordinate system O C -X C Y C Z C The method comprises the steps of carrying out a first treatment on the surface of the Solving the coordinate system O by PNP algorithm W -X W Y W Z W To camera coordinate system O C -X C Y C Z C The method comprises the steps of (1) obtaining position coordinates and attitude angles of an underwater robot relative to an underwater wireless charging device by a rotation matrix and a translation matrix, wherein the attitude angles comprise yaw angles, roll angles and pitch angles;
step four, adjusting the position of the underwater robot to be a first position and the posture of the underwater robot to be a first posture; wherein the first position is: camera optical center coordinate O C In the coordinate system O W -Y W Z W In plane, i.e. O C To Y W Perpendicular to axis and O W -Y W Z W The included angle of the plane is 0 degree; o (O) C To X W Axis perpendicular and plane O W -X W Z W The included angle is between 10 and 30 degrees; the first posture is: the pitch angle is 180 degrees, the yaw angle is 0 degrees, and the roll angle is 0 degrees;
step five, enabling the underwater robot to be parallel to Z to the underwater wireless charging device W The direction of the shaft advances, Z is the relative distance between the underwater robot and the underwater wireless charging device W When the axis component reaches a preset distance threshold value, the underwater robot vertically falls down, O C To X W Axis perpendicular and plane O W -X W Z W The included angle is continuously reduced, Z C Axis and Z W The axes just coincide, namely O C To X W Axis perpendicular and plane O W -X W Z W And when the included angle is 0 degree, the underwater robot is in butt joint with the underwater wireless charging device to charge.
Further, in step five O C To X W Axis perpendicular and plane O W -X W Z W The included angle is continuously reduced, and O is judged in the reducing process C To X W Axis perpendicular and plane O W -X W Z W If the included angle exceeds 60 degrees, if so, the underwater robot vertically drops until O C To X W Axis perpendicular and plane O W -X W Z W The included angle is smaller than 60 degrees, and the horizontal advancing or retreating is performed again; the underwater robot is horizontally positioned a predetermined distance from the underwater wireless charging device.
Further, whether the underwater wireless charging device and the underwater robot are in butt joint is verified by using whether the output power of the underwater wireless charging device is normal or not.
The beneficial technical effects of the invention are as follows:
the invention provides the wireless charging system and the wireless charging method for the underwater robot based on visual positioning, which effectively improve the success rate and the efficiency of the docking of the underwater robot and the underwater wireless charging device, have simple implementation mode and small calculated amount, and realize the reliable charging of the underwater robot.
The invention uses a visual positioning mode to assist the underwater robot to dock with the underwater wireless charging device, improves the success rate and the efficiency of docking the underwater robot with the underwater wireless charging device, thereby carrying out stable wireless charging and improving the endurance capacity and the working range of the underwater robot.
Drawings
The invention may be better understood by reference to the following description taken in conjunction with the accompanying drawings, which are included to provide a further illustration of the preferred embodiments of the invention and to explain the principles and advantages of the invention, together with the detailed description below.
Fig. 1 is a block diagram of an underwater robot wireless charging system based on visual positioning according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an underwater robot wireless charging system after docking based on visual positioning according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a wireless charging device under water according to an embodiment of the present invention;
FIG. 4 is a flow chart of an underwater robot wireless charging method based on visual localization according to an embodiment of the invention;
FIG. 5 is a schematic diagram of two coordinate systems according to an embodiment of the present invention;
FIG. 6 is a schematic view of a first position and a first attitude of a subsurface robot in an embodiment of the invention;
FIG. 7 shows a relative distance Z between the underwater robot and the underwater wireless charging device in the embodiment of the invention W Schematic diagram when the axis component reaches a preset distance threshold.
Detailed Description
In order that those skilled in the art will better understand the present invention, exemplary embodiments or examples of the present invention will be described below with reference to the accompanying drawings. It is apparent that the described embodiments or examples are only implementations or examples of a part of the invention, not all. All other embodiments or examples, which may be made by one of ordinary skill in the art without undue burden, are intended to be within the scope of the present invention based on the embodiments or examples herein.
The embodiment of the invention provides an underwater robot wireless charging system based on visual positioning, which comprises an underwater wireless charging device 1 and an underwater robot 2 as shown in fig. 1; the underwater wireless charging device 1 comprises a positioning Aruco two-dimensional code 11, a vertical positioning rod 12, a wireless charging transmitting module 13, six support fixing Y-shaped frames 14, two permanent magnets 15 and a rectangular bottom plate 16; the positioning Aruco two-dimensional code 11 is connected with the vertical positioning rod 12, specifically, the positioning Aruco two-dimensional code 11 is connected with the L-shaped rod through a bolt and then connected with the vertical positioning rod 12 through a right-angle sleeve; the vertical positioning rod 12 is vertically and fixedly arranged on one side of the long side of the rectangular bottom plate 16; the wireless charging transmitting module 13 is fixedly arranged on the rectangular bottom plate 16, and direct current power supply is directly provided by a constant voltage direct current power supply on shore, and the wireless charging transmitting module and the constant voltage direct current power supply can be connected by a cable; two support fixing Y-shaped frames 14 are fixedly arranged on each short side of the rectangular bottom plate 16, two support fixing Y-shaped frames 14 are fixedly arranged on the other long side of the rectangular bottom plate 16 far away from the vertical positioning rod 12, and two permanent magnets 15 are respectively arranged on the two support fixing Y-shaped frames 14 on the other long side of the rectangular bottom plate 16;
the frame of the underwater robot 2 is a 'what is described' frame consisting of a three-layer transverse plate, a left upper side plate 29, a right upper side plate 29, a left lower side plate 212, the upper side plate 29 and the lower side plate 212 are fixedly connected, the three-layer transverse plate comprises a first layer plate 22, a second layer plate 25 and a third layer plate 27, the first layer plate 22 and the second layer plate 25 are used for connecting the left upper side plate 29 and the right upper side plate 29, and the third layer plate 27 is used for connecting the left lower side plate 212 and the right lower side plate 212;
the frame of the underwater robot 2 comprises a buoyancy block 21, an electronic bin 23, a propeller 24, a battery bin 26, a mechanical claw 28, a wireless charging receiving module 210 and a horizontal metal positioning rod 211; the buoyancy block 21 is arranged above the first layer plate 22, the electronic bin 23 is embedded in the middle of the first layer plate 22, the central line of the electronic bin is flush with the first layer plate 22, and the camera, the wireless transmission module and the controller are arranged in the electronic bin 23; the propellers 24 comprise six propellers, four propellers are respectively arranged at four corners of the lower surface of the first laminate 22, the central axis of each propeller 24 is perpendicular to the angular bisector of the first laminate 22, two propellers 24 are arranged in the middle of the first laminate 22, and each propeller 24 is used for providing power for the movement of the underwater robot 2; the battery compartment 26 is embedded in the middle of the second layer plate 25, and the central line of the battery compartment is flush with the second layer plate 25 and is used for supplying power to the electronic compartment 23, the propeller 24 and the mechanical claw 28; the gripper 28 is placed on top of the third plate 27; the wireless charge receiving module 210 is placed under the third layer board 27; a horizontal metal positioning rod 211 is connected between the left and right third plates 27.
During butt joint, the four support fixing Y-shaped frames 14 on the short sides of the rectangular bottom plate 16 are matched with the two lower side plates 212 to ensure the transverse stability of the underwater robot 2; the two permanent magnets 15 adsorb and fix the horizontal metal positioning rod 211 to ensure the longitudinal stability of the underwater robot 2; the mechanical claw 28 is closed to clamp the vertical positioning rod 12, so that the vertical stability of the underwater robot 2 is ensured, and the underwater wireless charging device 1 cannot float upwards to leave. The support and fixation of the Y-shaped frame 14 reduces the difficulty of the underwater robot 2 to land on the underwater wireless charging device 1, while avoiding collision with other devices such as a coil.
After docking, the wireless charging transmitting module 13 and the wireless charging receiving module 210 are in wireless connection to work so as to charge the underwater robot 2. After docking, as shown in fig. 2.
In this embodiment, preferably, the wireless transmission module in the electronic bin 23 is selected from a model number such as rasberrypi 3model b; the camera is a 100-degree wide-angle USB camera and is connected with the wireless transmission module; the camera can be carried by using a cradle head, and the model of the cradle head is, for example, an MG90S 90-degree steering engine; the controller is connected to the wireless transmission module and the propeller 24, respectively, and the model is, for example, pixHawk. The electronic bin 23 may further include a power carrier module with a transmission rate of 100Mbps and a transmission distance of 300m, for connecting to a PC computer.
In this embodiment, the propeller 24 is preferably of the type T200, for example; the clamping force of the gripper 28 is, for example, 90 to 150N, and the depth of use is 300m or less.
In this embodiment, preferably, the front cover of the electronic bin 23 is a transparent acrylic semi-sphere cover.
Further, a protruding semicircular perforated structure is provided in the middle of one long side of the rectangular bottom plate 16 for fixing the vertical positioning rod 12, as shown in fig. 3.
Another embodiment of the present invention provides a wireless charging method for an underwater robot based on visual positioning, where the method is implemented based on the wireless charging system for an underwater robot, as shown in fig. 4, and the method includes the following steps:
step one, acquiring the position of an underwater wireless charging device 1;
step two, enabling the underwater robot 2 to move close to the underwater wireless charging device 1, and stopping moving when an image acquired by a camera carried in an electronic bin 23 of the underwater robot 2 contains an Aruco two-dimensional code;
step three, processing the image containing the Aruco two-dimensional code, wherein the center of the Aruco two-dimensional code 11 positioned on the underwater wireless charging device 1 is taken as the origin of coordinates, X W The axis is horizontal to the right in the plane of the Aruco two-dimensional code 1, Y W The axis is vertically upwards in the plane of the Aruco two-dimensional code 11, and Z is established according to the right-hand rule W An axis, establishing a coordinate system O W -X W Y W Z W The method comprises the steps of carrying out a first treatment on the surface of the The optical center of the USB camera in the electronic bin 23 of the underwater robot 2 is taken as the origin of a camera coordinate system, and is established according to the general specification of the camera coordinate system, namely Z C The axis being parallel to the optical axis, Y C The axis is vertically downward, X is established according to the right hand rule C Shaft for setting up camera seatStandard series O C -X C Y C Z C As shown in fig. 5.
Solving the coordinate system O by PNP algorithm W -X W Y W Z W To camera coordinate system O C -X C Y C Z C And further obtains the position coordinates and attitude angles (yaw angle, roll angle and pitch angle) of the underwater robot relative to the underwater wireless charging device.
Step four, adjusting the robot gesture to a first position and a first gesture; wherein the first position is the optical center coordinate O of the robot camera C In world coordinate system O W -Y W Z W In plane, i.e. O C To Y W Perpendicular to axis and O W -Y W Z W The included angle of the plane is 0 degree; o (O) C To X W Axis perpendicular and plane O W -X W Z W The included angle is between 10 and 30 degrees; the first posture is: the pitch angle (pitch) of the robot is 180 degrees, the yaw angle (yaw) is 0 degrees, and the roll angle (roll) is 0 degrees at this time, as shown in fig. 6, defined by the coordinate system.
Step five, judging and adjusting the first position and the first posture again, and then adjusting the optical center O of the camera of the underwater robot 2 C To Y W Perpendicular to axis and O W -Y W Z W Whether the plane included angle is 0 degree and O C To X W Axis perpendicular and plane O W -X W Z W If the included angle is between 10 and 30 degrees, if so, the underwater robot 2 and the underwater wireless charging device 1 are longitudinally aligned; if not, the underwater robot 2 adjusts the position relative to the underwater wireless charging device 1 according to the real-time measurement until the first position and the first posture requirements are met.
Step six, after being adjusted to the first position and the first posture, the underwater robot 2 is led to be parallel to Z to the underwater wireless charging device 1 W The direction of the shaft advances, when the relative distance Z between the underwater robot 2 and the underwater wireless charging device 1 W When the axis component reaches the preset distance threshold, as shown in fig. 7, (at this point the robot 2 is no longer in the first pose because of its O C To X W Axis perpendicular and plane O W -X W Z W The included angle is not in the range of 10-30 degrees and is actually larger than the included angle), so that the underwater robot 2 vertically falls (the mechanical claw is opened before falling), O C To X W Axis perpendicular and plane O W -X W Z W The included angle is continuously reduced, and due to the setting of the mechanical structure position, when the horizontal positioning rod of the underwater robot 2 is matched with the 2Y-shaped frames behind the underwater wireless charging device 1 and the edges of the lower side plate of the underwater robot 2 are matched with the 4Y-shaped frames on the two sides of the underwater wireless charging device 1, Z is as follows C Axis and Z W The axes being exactly coincident, i.e. O C To X W Axis perpendicular and plane O W -X W Z W The included angle is just 0 degree, and the position relationship between the underwater robot 2 and the underwater wireless charging device 1 is that the butt joint is completed; when the output power of the wireless charging device is normal, the two are indicated to be in butt joint; after the butt joint is completed, the mechanical claw and the permanent magnet are used for fixing the mechanical claw and the permanent magnet, and charging is carried out.
Wherein, relative distance Z between the underwater robot and the underwater wireless charging device W After the axis component reaches a preset distance threshold, judging O C To X W Axis perpendicular and plane O W -X W Z W If the included angle exceeds 60 degrees (after the included angle exceeds 60 degrees, the relative distance measurement error is larger and affects the subsequent butt joint process), if the included angle is judged to be larger, the robot vertically drops until O C To X W Axis perpendicular and plane O W -X W Z W The included angle is smaller than 60 degrees (the relative distance Z between the underwater robot and the underwater wireless charging device at the moment) W The axis component will change from before because the measurement error becomes smaller) and then proceeds horizontally again (when the relative distance Z is measured W The axial component being greater than a predetermined distance threshold) or back (when the relative distance Z is measured W The axis component is less than a predetermined distance threshold) such that the underwater robot is at a predetermined distance horizontally from the underwater wireless charging device.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of the above description, will appreciate that other embodiments are contemplated within the scope of the invention as described herein. The disclosure of the present invention is intended to be illustrative, but not limiting, of the scope of the invention, which is defined by the appended claims.
Claims (10)
1. An underwater robot wireless charging system based on visual positioning, which is characterized in that: comprises an underwater wireless charging device (1) and an underwater robot (2); wherein,,
the underwater wireless charging device (1) comprises a positioning Aruco two-dimensional code (11), a vertical positioning rod (12), a wireless charging transmitting module (13), six support fixing Y-shaped frames (14) and a rectangular bottom plate (16); wherein the positioning Aruco two-dimensional code (11) is connected with the vertical positioning rod (12); the vertical positioning rod (12) is vertically and fixedly arranged on one side of the long side of the rectangular bottom plate (16); the wireless charging transmitting module (13) is fixedly arranged on the rectangular bottom plate (16); two support fixing Y-shaped frames (14) are fixedly arranged on each short side of the rectangular bottom plate (16), and two support fixing Y-shaped frames (14) are fixedly arranged on the other long side of the rectangular bottom plate (16) far away from the vertical positioning rod (12);
the frame of the underwater robot (2) is a 'y' frame formed by three layers of transverse plates, a left upper side plate (29), a right upper side plate (29) and a left lower side plate (212), the upper side plates (29) are fixedly connected with the lower side plates (212), the three layers of transverse plates comprise a first layer plate (22), a second layer plate (25) and a third layer plate (27), the first layer plate (22) and the second layer plate (25) are used for connecting the left upper side plate (29) and the right upper side plate (29), and the third layer plate (27) is used for connecting the left lower side plate and the right lower side plate (212);
the frame of the underwater robot (2) comprises a buoyancy block (21), an electronic bin (23), a propeller (24) and a wireless charging receiving module (210); the buoyancy block (21) is arranged above the first layer plate (22), the electronic bin (23) is embedded in the middle of the first layer plate (22), and the central line of the electronic bin is flush with the first layer plate (22); the propeller (24) is used for providing power for the movement of the underwater robot (2); the wireless charging receiving module (210) is arranged below the third layer plate (27);
during butt joint, four support fixing Y-shaped frames (14) on the short sides of the rectangular bottom plate (16) are matched with two lower side plates (212) to ensure the transverse stability of the underwater robot (2); after docking, the wireless charging transmitting module (13) and the wireless charging receiving module (210) are connected in a wireless mode to charge the underwater robot (2).
2. The underwater robot wireless charging system based on visual positioning according to claim 1, wherein the underwater robot (2) further comprises a horizontal metal positioning rod (211) in the frame, and the horizontal metal positioning rod (211) is connected between the left and right third laminates (27).
3. The underwater robot wireless charging system based on visual positioning according to claim 2, wherein the underwater wireless charging device (1) further comprises two permanent magnets (15), the two permanent magnets (15) are respectively placed on two support fixing 'Y' -shaped frames (14) on the other long side of the rectangular bottom plate (16), and are used for adsorbing and fixing the horizontal metal positioning rod (211) during docking so as to ensure the longitudinal stability of the underwater robot (2).
4. A vision-positioning-based underwater robot wireless charging system as claimed in claim 3, characterized in that the underwater robot (2) further comprises a gripper (28) in its frame, said gripper (28) being placed on top of a third plate (27) for gripping the vertical positioning rod (12) when docked to ensure the vertical stability of the underwater robot (2).
5. The underwater robot wireless charging system based on visual localization of claim 1, wherein a camera, a wireless transmission module and a controller are placed in the electronic bin (23); the camera is connected with the wireless transmission module, and the controller is respectively connected with the wireless transmission module and the propeller (24).
6. The vision-positioning-based underwater robot wireless charging system as claimed in claim 4, wherein a battery compartment (26) is further included in the frame of the underwater robot (2), the battery compartment (26) is embedded in the middle of the second laminate (25), and the center line is flush with the second laminate (25) for supplying power to the electronic compartment (23), the propeller (24) and the mechanical claw (28).
7. The vision positioning-based underwater robot wireless charging system of claim 1, wherein the propeller (24) comprises six four corners respectively placed at the lower surface of the first laminate (22), two being placed in the middle of the first laminate (22).
8. The wireless charging method for the underwater robot based on the visual positioning is characterized by being realized based on the wireless charging system of the underwater robot, wherein the wireless charging system of the underwater robot comprises an underwater wireless charging device (1) and an underwater robot (2); the underwater wireless charging device (1) comprises a positioning Aruco two-dimensional code (11) and a wireless charging transmitting module (13); the underwater robot (2) comprises an electronic bin (23) and a wireless charging receiving module (210), wherein a camera, a wireless transmission module and a controller are arranged in the electronic bin (23);
the method comprises the following steps:
step one, acquiring the position of an underwater wireless charging device (1);
step two, enabling the underwater robot (2) to move close to the underwater wireless charging device (1), and stopping moving when an image acquired by a camera carried in an electronic bin (23) of the underwater robot (2) contains an Aruco two-dimensional code;
step three, processing an image containing the Aruco two-dimensional code to acquire a position coordinate and an attitude angle of the underwater robot (2) relative to the underwater wireless charging device (1); the method specifically comprises the following steps: the center of a positioning Aruco two-dimensional code (11) on an underwater wireless charging device (1) is taken as a coordinate origin, X W The axis is horizontal to the right and Y in the plane of the Aruco two-dimensional code W The axis is vertically upwards in the Aruco two-dimensional code plane, and Z is established according to the right hand rule W An axis, establishing a coordinate system O W -X W Y W Z W The method comprises the steps of carrying out a first treatment on the surface of the Taking a camera optical center as an origin of a camera coordinate system, and establishing a camera seatStandard series O C -X C Y C Z C The method comprises the steps of carrying out a first treatment on the surface of the Solving the coordinate system O by PNP algorithm W -X W Y W Z W To camera coordinate system O C -X C Y C Z C The method comprises the steps of (1) obtaining position coordinates and attitude angles of an underwater robot relative to an underwater wireless charging device by a rotation matrix and a translation matrix, wherein the attitude angles comprise yaw angles, roll angles and pitch angles;
step four, adjusting the position of the underwater robot (2) to be a first position and the posture to be a first posture; wherein the first position is: camera optical center coordinate O C In the coordinate system O W -Y W Z W In plane, i.e. O C To Y W Perpendicular to axis and O W -Y W Z W The included angle of the plane is 0 degree; o (O) C To X W Axis perpendicular and plane O W -X W Z W The included angle is between 10 and 30 degrees; the first posture is: the pitch angle is 180 degrees, the yaw angle is 0 degrees, and the roll angle is 0 degrees;
step five, enabling the underwater robot (2) to be parallel to Z to the underwater wireless charging device (1) W The direction of the shaft advances, and Z is the relative distance between the underwater robot (2) and the underwater wireless charging device (1) W When the axis component reaches a preset distance threshold value, the underwater robot (2) vertically drops, O C To X W Axis perpendicular and plane O W -X W Z W The included angle is continuously reduced until Z C Axis and Z W The axes just coincide, namely O C To X W Axis perpendicular and plane O W -X W Z W When the included angle is 0 degree, the underwater robot (2) and the underwater wireless charging device (1) are in butt joint, and charging is carried out.
9. The method for wireless charging of an underwater robot based on visual localization of claim 8, wherein in step five O C To X W Axis perpendicular and plane O W -X W Z W The included angle is continuously reduced, and O is judged in the reducing process C To X W Axis perpendicular and plane O W -X W Z W Whether or not the included angle exceeds60 degrees, if the judgment is yes, the underwater robot (2) is vertically dropped until O C To X W Axis perpendicular and plane O W -X W Z W The included angle is smaller than 60 degrees, and the horizontal advancing or retreating is performed again; the underwater robot (2) is horizontally at a predetermined distance from the underwater wireless charging device (1).
10. The underwater robot wireless charging method based on visual localization according to claim 8 or 9, wherein whether the underwater wireless charging device (1) and the underwater robot (2) are docked is verified by using whether the output power of the underwater wireless charging device (1) is normal.
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